SINUMERIK 840D sl. Service - Safety Integrated. Manual (2020)

Connecting sensors and actuators

8.5 Safe programmable logic

System variable

Meaning

Value range

Data type

Possible access for

$AA_IM[axis]

Actual MCS setpoint of

DOUBLE

an axis

$VA_IM[axis]

Encoder actual value in

DOUBLE

the machine coordinate

system

Error status

$A_XFAULTSI

In the crosswise data

INT

comparison between

NCK and drive of any ax-

is, an actual-value error

has been detected

$VA_XFAULTSI[axis

The crosswise data com-

INT

name]

parison for this axis be-

tween NCK and drive has

detected an actual value

error

$VA_STOPSI

Actual Safety Integrated

INT

STOP of the particular ax-

$A_STOPESI

Actual Safety Integrated

INT

STOP E for any axis

Internal SPL inputs/outputs

$A_INSI[n]

NCK input

n = 1, 2, ... 192

BOOL

stands for the

number of the in-

put

$A_INSID[n]

NCK inputs

n = 1, 2, ... 6 stands

INT

for the number of

the double word

(32 bit)

$A_INSIP[n]

Image, PLC input

n = 1,2, ... 192

BOOL

stand for the No.

of the input

$A_INSIPD[n]

Image of the PLC inputs

n = 1, 2, ... 6 stands

INT

for the number of

the double word

(32 bit)

$A_OUTSI[n]

NCK output

n = 1, 2, ... 192

BOOL

stands for the

number of the out-

put

$A_OUTSID[n]

NCK outputs

n = 1, 2, ... 6 stands

INT

for the number of

the double word

(32 bit)

$A_OUTSIP[n]

Image, PLC output

n = 1, 2, ... 192

BOOL

stands for the

number of the out-

put

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8.5 Safe programmable logic

System variable

Meaning

Value range

Data type

Possible access for

$A_OUTSIPD[n]

Image of the PLC outputs

n = 1, 2, ... 6 stands

INT

for the number of

the double word

(32 bit)

External SPL inputs/outputs

$A_INSE[n]

NCK input

n = 1, 2, ... 192

BOOL

stands for the

number of the in-

put

$A_INSED[n]

NCK inputs

n = 1, 2, ... 6 stands

INT

for the number of

the double word

(32 bit)

$A_INSEP[n]

Image of PLC input

n = 1, 2, ... 192

BOOL

stands for the

number of the in-

put

$A_INSEPD[n]

Image of the PLC inputs

n = 1, 2, ... 6 stands

INT

for the number of

the double word

(32 bit)

$A_OUTSE[n]

NCK output

n = 1, 2, ... 192

BOOL

stands for the

number of the out-

put

$A_OUTSED[n]

NCK outputs

n = 1, 2, ... 6 stands

INT

for the number of

the double word

(32 bit)

$A_OUTSEP[n]

Image of a PLC output

n = 1, 2, ... 192

BOOL

stands for the

number of the out-

put

$A_OUTSEPD[n]

Image of the PLC outputs

n = 1, 2, ... 6 stands

INT

for the number of

the double word

(32 bit)

SPL markers and timers

$A_MARKERSI[n]

Marker

n = 1, 2, ... 192

BOOL

stands for the

number of the

marker

$A_MARKERSID[n]

Marker

n = 1, 2, ... 6 stands

INT

for the number of

the double word

(32 bit)

$A_MARKERSIP[n]

Image of the PLC-SPL

n = 1, 2, ...192

BOOL

markers

stands for the

number of the PLC

marker

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8.5 Safe programmable logic

System variable

Meaning

Value range

Data type

Possible access for

$A_MARKERSIPD[n]

Image of the PLC markers

n = 1, 2, ... 6 stands

INT

for the number of

the double word

(32 bit)

$A_TIMERSI[n]

Timer

n = 1, 2...16 stands

REAL

for the number of

the timer

F_SENDDP

$A_FSDP_ERR_RE-

Response when a com-

n = 1, ..., 16 stands

INT

AC[n]

munication error occurs

for the number of

the F-SENDDP rela-

tionship, is also

valid for

$A_FSDP_ERROR,

$A_FSDP_SUBS_O

N, $A_FSDP_DIAG

$A_FSDP_ERROR[n]

There is a communica-

n = 1, ..., 16

BOOL

tion error

$A_FSDP_SUBS_ON[

Substitute values are out-

n = 1, ..., 16

BOOL

put to the application at

the F_RECVDP (receiver)

$A_FSDP_DIAG[n]

The cause of the commu-

n = 1, ..., 16

INT

nication error deter-

mined by F_SENDDP is

communicated

F_RECVDP

$A_FRDP_SUBS[n]

Those substitute values

n = 1, ..., 16 stands

INT

are specified, which are

for the number of

output to the SPL in cer-

the F-RECVDP con-

tain states

nection, is also val-

id for

$A_FRDP_ERR_RE-

AC,

$A_FRDP_ACK_REI

, $A_FRDP_ERROR,

$A_FRDP_SUBS_O

$A_FRDP_ACK_RE

$A_FRDP_SEND-

MODE,

$A_FRDP_DIAG

$A_FRDP_ERR_RE-

Response when a com-

n = 1, ..., 16

INT

AC[n]

munication error occurs

$A_FRDP_ERROR[n]

There is a communica-

n = 1, ..., 16

BOOL

tion error

$A_FRDP_SUBS_ON[

Substitute values are out-

n = 1, ..., 16

BOOL

put to the application

$A_FRDP_ACK_REQ[

Error-free F-telegrams

n = 1, ..., 16

BOOL

are again cyclically ex-

changed after a commu-

nication error

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8.5 Safe programmable logic

System variable

Meaning

Value range

Data type

Possible access for

$A_FRDP_DIAG[n

The cause of the commu-

n = 1, ..., 16

INT

nication error deter-

mined by F_RECVDP is

communicated

$A_FRDP_SEND-

Actual operating mode

n = 1, ..., 16

BOOL

MODE[n]

of the F-CPU of the

F_SENDDP communica-

tion partner

Miscellaneous

$A_STATSID

A value not equal to 0

Bit 0...5=1: CDC er-

INT

means that an error has

ror in I/O signals,

occurred in the cross-

markers or dynam-

wise data comparison.

ic data of the

FSENDDP/

FRECVDP commu-

nication

Bit 26=1: Error has

occurred in PROFI-

safe communica-

tion

Bit 27=1: CDC er-

ror in static data

Bit 28=1: CDC er-

ror "SPL protection

status"

Bit 29=1: Time er-

ror in the commu-

nication between

NCK and SPL

Bit 30=1: PLC sig-

nals a stop to the

NCK

$A_CMDSI

Control word for cross-

n = 1: Increase the

BOOL

wise data comparison

time for the signal

between the NCK and

change monitor-

PLC (SPL-CDC)

ing to 10 s

$A_LEVELSID

CDC level display:

0...320

INT

Number of signals for

which NCK and PLC de-

tect different signal levels

$A_PLCSIIN[n]

Single-channel commu-

1, 2, ... 96

BOOL

nication between NCK

and PLC SPL

$A_PLCSIOUT[n]

Single-channel commu-

1, 2, ... 96

BOOL

nication between NCK

and PLC SPL

$AC_SAFE_SYNA_M

Free safety synchroniz-

[0, MAX_INT]

ing elements

$VA_SAFE_TYPE[ax-

Information about the

[0,2]

INT

is]

active safety operating

mode of this axis

Note: r = read, w = write

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8.5 Safe programmable logic

8.5.10

Behavior after power on/mode change/reset

1. After the system has booted, the following Safety Integrated system variables are assigned

the value zero:

$A_INSE(D), not for F_DP communication,

$A_OUTSE(D),

$A_OUTSI(D),

$A_MARKERSI(D),

,$A_INSEP(D), not for F_DP communication,

$A_OUTSEP(D),

$A_OUTSIP(D),

$A_MARKERSIP(D),

$A_INSI(D).

2. Preassignment of other variables before cyclic processing of the NCK-SPL starts can be

programmed in the same part program as the NCK-SPL itself. To ensure that the pre-

assignment instructions are only performed once, they must use the following syntax:

IDS=<nr> WHEN TRUE DO<boot instructions>

As a result of the identifier IDS, the events "operating mode change" and "reset" have no

effect on the processing of the NCK-SPL.

3. Several boot instructions can be programmed in one block.

4. For the relevant FDP system variables, see Chapter "Boot behavior of the F_DP

communication (Page 243)" - and the following.

8.5.11

SPL data on the PLC side

The safe programmable logic of the PLC (PLC-SPL) is a sub-function of the safety functions

integrated in the SINUMERIK.

Signals

The PLC-SPL signals are in DB18 and are sub-divided into

1. Parameterization part, and

2. Data area/status

Parameterization part

SPL_READY:

The SPL_READY = TRUE signal indicates that the commissioning phase has been completed, i.e.

if a CDC error has occurred, the basic program sends a "STOP D/E" to all the axes.

STOP_MODE:

For crosswise comparison error:

0 = external STOP D

1 = external STOP E

to the drive

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8.5 Safe programmable logic

Data area/status

SPL_DATA

The useful (net) data for the PLC-SPL is contained in the SPL_DATA structure. The net data area

is sub-divided into internal inputs/outputs and marker areas and external inputs/outputs that

correspond to the hardware I/O.

With the appropriate parameterization for external inputs/outputs, the basic program transfers

the input image of the I/Os to the external inputs in DB18 and from the external outputs in DB18

to the output.

SPL_DELTA

The SPL_DELTA area is used for diagnostics. A signal with the status TRUE in this area means that

the signal is different in the NCK and PLC at this bit position.

CMDSI

Signal CMDSI can be used to extend the timeout value in the crosswise SPL data comparison by

a factor of 10. This extension is used for long forced checking procedure pulses or single-channel

test stop logic functions.

STATSI

A value not equal to 0 means that an error has occurred in the crosswise data comparison.

LEVELSI

The LEVELSI signal is used for diagnostics, and provides information as to how many signals are

presently active with different signal levels.

COMM_TO

If communication between NCK and PLC regarding the SPL-CDC is interrupted, then the PLC is

switched into the STOP state with a delay of 5 s. Status signal DB18.DBB119, bit 5 is used to

inform the SPL programmer that the 5 s timer was started. This means that it is possible to initiate

system-specific actions before the PLC goes into the stop condition.

SPL status signals for SPL_STATUS (DB18.DBB136)

For a detailed description, refer to Chapter "PLC data block (DB18) (Page 480)"

8.5.12

Direct communications between NCK and PLC-SPL

In SPL applications, a certain degree of single-channel communications between the two SPLs

(NCK and PLC) is always required in addition to safety-related switching elements being

connected through two channels. Testing external stops and the Emergency Stop

acknowledgment are typical applications.

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8.6 Safe Brake Test (SBT)

In order to be able to exchange single-channel SI-specific signals between the NCK and PLC in a

dedicated data area, a corresponding communication interface exists between these

components. The meaning of the individual bits in this interface are defined by the user.

NCK

PLC

$A_PLCSIOUT[1...96]

DB18.DBB128-131,

96 bits from the NCK to PLC

DB18.DBB432-439

$A_PLCSIIN[1...96]

DB18.DBB132-135,

96 bits from the PLC to NCK

DB18.DBB440-447

Supplementary conditions

System variables $A_PLCSIOUT[1...96] and $A_PLCSIIN[1...96] are protected so that they

cannot be accessed from other programs, except the NCK-SPL program (SAFE.SPF). A

corresponding programming command is rejected with Alarm 17070 "Channel %1 block %2

Data write-protected".

8.6

Safe Brake Test (SBT)

8.6.1

Applications

Axes and mechanical systems can drop due to gravity when the drives are switched off. The

function test of the brake mechanical system should be used for all axes that must be prevented

from moving in an uncontrolled manner by a holding brake. This test function is primarily

intended for vertical axes.

The functionality is based on "travel to fixed stop" (FXS). Travel to fixed stop can be individually

parameterized to test the function of the mechanical braking system. It is activated and

deselected from the PLC. For further details on travel to fixed stop, see /FB1/, F1.

The machine manufacturer can use his PLC user program to close the brake at a suitable instant

in time (guide value, every 8 h, see Chapter "Information sheets from the various regulatory

bodies (Page 31)") and to initiate that the drive produces an additional force in addition to the

weight of the axis. As long as no fault has occurred, the brake can exert the necessary braking

torque / the necessary braking force and the axis will hardly move.

When an error occurs, the actual position value exits the parameterizable monitoring window.

This prevents an axis from sagging. The function test of the brake mechanical system is

negatively acknowledged.

The brake test must always be started when the axis is at a standstill. The direction in which the

drive exerts its torque / its force is defined by the PLC using a "traversing motion" via FC18. The

direction of travel should be selected so that the motor applies force in the direction of the

already force already exerted due to the weight of the load. It must be possible to reach the

target of this motion without any danger (no collision, sufficient distance to the end stops) if the

brake cannot provide the necessary torque / force.

Note

When the brake test is active, no temperature compensation may be carried out.

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8.6 Safe Brake Test (SBT)

Note

From software release 4.7 SP2, the brake test integrated in the drive can also be used in

conjunction with SINUMERIK Safety Integrated. You can find an application example on the

Internet at our "Industry Online Support":

8.6.2

Parameterization

The user can use the following axis-specific NCK machine data to parameterize the function test

of the mechanical braking system:

Machine data

Description

MD37000 $MA_FIXED_STOP_MODE

Enable brake test

MD37030 $MA_FIXED_STOP_THRESHOLD

Threshold for fixed stop detection

MD37050

Alarm screen form fixed stop

$MA_FIXED_STOP_ALARM_MASK

MD36966 $MA_SAFE_BRAKETEST_TORQUE

Enters the test torque

MD36967 $MA_SAFE_BRAKETEST_POS_TOL

Position tolerance, brake test

MD36968 $MA_SAFE_BRAKETEST_CONTROL

Bit 0 = 0: Drive MD1192/p1532 is used as the average

value of the torque limit.

Bit 0 = 1: The measured torque at the instant in time that

the brake test is selected is used as the average value of

the torque limit.

Bit 1 = 0: The torque limit value must be reached during

the programed travel distance.

Bit 1 = 1: The torque limit value must be reached during

the programed time (TV_FXSreached parameterization

FB11).

The function test of the mechanical braking system is enabled by setting bit 1 in MD37000

$MA_FIXED_STOP_MODE. If the user needs to travel to a fixed stop with this axis from the part

program, then bit 0 can also be set. It is internally monitored to check that only one type of travel

to fixed stop is active at a time. In the case of an error, Alarm 20092, "Axis % Travel to fixed stop

still active" is issued.

MD37000 $MA_FIXED_STOP_MODE: Travel to fixed stop mode

The function test of the mechanical braking system is enabled by setting bit 1 in MD37000

$MA_FIXED_STOP_MODE. If the user needs to travel to a fixed stop with this axis from the part

program, then bit 0 can also be set. It is internally monitored to check that only one type of travel

to fixed stop is active at a time. In the case of an error, Alarm 20092, "Axis % Travel to fixed stop

still active" is issued.

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8.6 Safe Brake Test (SBT)

MD37030 $MA_FIXED_STOP_THRESHOLD: Threshold for fixed stop reached

The contour deviation that is determined is always used in the brake test to detect that the fixed

stop has been reached. The parameterization in MD37040 $MA_FIXED_STOP_BY_SENSOR is

therefore irrelevant. The required threshold value must be set in MD37030

$MA_FIXED_STOP_THRESHOLD. This means that the traversing distance from the PLC via FC18

must be greater than this threshold value.

If the travel distance that is entered is too short, after the end position is reached on the setpoint

side, Alarm 20096 "Axis %1 brake test aborted, additional information %2" is output. The

supplementary info contains the value 2 "End position reached, motion ended".

MD36966 $MA_SAFE_BRAKETEST_TORQUE: Holding torque, brake test

The machine manufacturer must parameterize the required brake test torque as percentage in

the axis-specific MD36966 $MA_SAFE_BRAKETEST_TORQUE. The magnitude of the torque to be

configured is orientated to the maximum holding force of the brake, according to the data sheet,

that should be checked. Internally, this is used to calculate the drive torque that is required in

addition to the weight of the axis to load the brake. The drive torque to load the holding brake

is limited to the maximum motor torque if the desired test torque would demand a higher drive

torque. Value for MD36966 = (test torque of the brake / p2003) * 100.

The value from $MA_SAFE_BRAKETEST_TORQUE refers to the reference torque or the reference

force from drive parameter p2003, whose image is saved in

$MA_SAFE_BRAKETEST_TORQUE_NORM.

The magnitude of the torque to be configured is orientated to the maximum holding force of the

brake to be tested.

Incorrect parameterization in MD $MA_SAFE_BRAKETEST_TORQUE could mean that the drive

with reduced torque cannot even apply the required holding torque. These parameter

assignments are detected when the brake test is selected and results in Alarm 20095 "Axis %1

inadmissible holding torque %2".

MD36967 $MA_SAFE_BRAKETEST_POS_TOL: Position tolerance, brake test

The monitoring window for the maximum permissible movement during the brake test is

defined in the axis-specific MD36967 $MA_SAFE_BRAKETEST_POS_TOL. The PLC actively

monitors this position window - from the start of the brake test and not only when it has been

detected that the fixed stop has been reached. This is a difference when compared to activating

FXS from the part program.

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8.6 Safe Brake Test (SBT)

MD36968 $MA_SAFE_BRAKETEST_CONTROL, bit 0: Sequence check for the brake test

Principally, the automatic determination of the load torque available using MD36968

$MA_SAFE_BRAKETEST_CONTROL, bit 0 = 1 is preferred. This is because over the complete

traversing path of a suspended axis the torque situation continually changes to some extent or

the other. The torque situation is, e.g. dependent on the different tools/workpieces being used,

and can vary significantly. Using the automatic torque determination function, the

instantaneous holding torque available at standstill is automatically determined (m_Act) and is

temporarily used as average value for the torque limiting in the drive. In this case, it must be

ensured that at the start of the test, the brake is open, otherwise an incorrect reference value will

be determined. With the automatic torque determination function, the plausibility of the load

torque is not checked. The currently available holding torque is displayed in r1509 "Force

setpoint before force limiting".

If the automatic torque determination function is not used (MD36968

$MA_SAFE_BRAKETEST_CONTROL, bit 0 = 0), then p1532 "Torque limit offset" should be

parameterized. Also in this case, when selecting the brake test, the holding torque required for

the force due to the weight is internally measured and the effective brake test torque adapted.

Contrary to the automatic torque determination function, the plausibility of the load torque is

checked.

MD36968 $MA_SAFE_BRAKETEST_CONTROL, bit 1: Criterion for reaching the torque limit

The brake test sequence requires that during the programmed traversing distance, the torque

limit is reliably reached (MD36968 $MA_SAFE_BRAKETEST_CONTROL, bit 1 = 0).

If the programmed traversing distance is very short, e.g. as a result of restricted space for the axis

to move, then it can occur that the required limit value is not reached in the short time that the

axis moves (Alarm 20096 "Axis %1 Brake test aborted, additional information %2").

Using MD36968 $MA_SAFE_BRAKETEST_CONTROL, bit 1 = 1, reaching the programmed end

position is no longer used as criterion for aborting the test. This means that using its monitoring

timer, the PLC itself can decide the wait time until the torque limit is reached. The test can be

continued if, during this time, DB31-61.DBX62.5 is set = 1. If the torque limit is not reached, the

PLC exits the brake test with DB31-61.DBX11.0 = 0.

MD36968 $MA_SAFE_BRAKETEST_CONTROL, Bit 2: Positioning response at the end of the

SINAMICS brake test

The positioning behavior at the end of the SINAMICS brake test must be set so that the brake is

subject to a minimum load. By pressing against the brake, the axis moves away from the last

programmable position. To conclude the brake test, the actual axis position for the next path

motion is used. (MD36968 $MA_SAFE_BRAKETEST_CONTROL bit 2 = 0). This results in motion

to the last programmed axis position on the path.

By setting MD36968 $MA_SAFE_BRAKETEST_CONTROL bit 2 = 1, the actual axis position is not

accepted. After the axis has been pressed against the brake, the closed-loop position controller

withdraws the axis to the last programmed position.

Vertical axes can be prevented from sagging as a result of a repeated brake test by setting

$MA_SAFE_BRAKETEST_CONTROL bit 2 = 1. It is also possible to briefly exceed the software limit

switch while pressing against the brake without initiating an alarm.

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8.6 Safe Brake Test (SBT)

Effectiveness of the torque limiting

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Figure 8-35

Torque limiting for SINAMICS S120

①

When selecting the brake test, the holding torque required for the force due to the weight of the

axis is internally measured (m_Act).

②

The drive must only additionally provide the difference between this torque and the braking

torque from MD36966 $MA_SAFE_BRAKETEST_TORQUE. In the diagram, this torque is

designated m_Drive.

③

For the non-automatic torque determination function, the following applies: The SINAMICS

drive sets its torque limits symmetrically around the torque from drive parameter p1532.

However, in the diagram the measured torque m_Act is less than p1532.

This is the reason that m_FXS from the diagram above is entered as torque limiting.

m_FXS is the sum from m_Drive and drive parameter p1532. If the measured torque m_Act matches that

parameterized in drive parameter p1532, m_FXS becomes the value from the MD

$MA_SAFE_BRAKETEST_TORQUE.

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8.6 Safe Brake Test (SBT)

8.6.3

Torque limits

The torque limits p1520[0] and p1521[0] and the reference torque p2003 are pre-assigned

when commissioning the motor. The torque limits and the reference torque are pre-assigned

differently depending on the technological application p0500, and dependent on the hardware

components being used.

p500 and the resulting pre-assignment of p0640 , p2003 , p1520 , p1521:

1. p500 100 (default) - and as a result:

- p2003 = r0333 rated motor torque

- p1520 = r0333 rated motor torque

- p1521 = - r0333 rated motor torque

- p0640 = minimum (p304, r209)

2. p500 101 (feed drive) - and as a result:

- p2003 p338 * p316

- p1520 p323 * p316

- p1521 -(p323 * p316)

- p0640 minimum (p338, r209)

3. p500 102 (spindle drive) - and as a result:

- p2003 = r0333 rated motor torque

- p1520 = r0333 rated motor torque

- p1521 = - r0333 rated motor torque

- p0640 = minimum (p304*1.5, r209)

The currently active torques can be read in parameters:

• r1538 display of the currently active upper torque limit

• r1539 display of the currently active lower torque limit

Further, the torque limits p1522[0] and p1523[0] are pre-assigned as follows:

• p1522[0] 63:2902:5 reference to +100% referred to p2003 in the same Motor Module

• p1523[0] 63:2902:12 reference to -100% referred to p2003 in the same Motor Module

When using the Safe Brake Test, these pre-assignments for p1522[0] / p1523[0] may not be

changed.

However, when upgrading the software, the following setting, which is also permissible, can be

present:

• p1522[0] 0:1.0 100% of p2003

• p1523[0] 63:2900.0 reference to p2900 in the same Motor Module

• p2900[0] -100% -100% from p2003

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8.6 Safe Brake Test (SBT)

To ensure that the brake test functions without any errors, it should be checked as to whether

the required test torque in MD36966 $MA_SAFE_BRAKETEST_TORQUE is not prevented from

being generated due to the fact that torque limits are effective in the drive. For details on this,

please see SINAMICS List Manual, e.g. function charts 5610 and 5620.

For instance, the selectable torque limits from p1520/p1521 and p1522/p1523 may not be set

so low that the required torque cannot be established for the brake test. When required, p1520/

p1521 or p2003 should be adapted. When making a change to p2003, machine data 36966

should be re-determined.

Further, e.g. the following parameters can also have a limiting effect:

• p1530/p1531 (power limit, motoring/regenerating)

• p0640 (current limit)

• p0326 (motor stall torque correction factor)

The following points should be taken into consideration when calculating the test torque:

• The matching torque corresponding to the current limit of the power unit (p0640) is:

p1520 = p640 * p316

p1521 = -(p640 * p316)

p2003= p640*p316

• The content of parameter p1520/1521 is greater than or equal to the content of parameter

p2003.

• Brake test torque calculation:

Brake test torque = value from r1509 * 1.3, or

Brake test torque = input from the mechanical system * 1.3

8.6.4

Traversing direction for the brake test

The brake test must always be started when the axis is at a standstill. The direction in which the

drive produces its force is specified by the PLC using the direction specified by the traversing

motion of FC18. For a brake test, the motor should apply a force to the brake that is applied in

addition to the force due to weight. The target of this traversing motion must be able to be

reached without incurring any potential hazard (sufficient clearance to end stops) for the case

that the brake cannot provide the necessary force. As part of the application, the position can be

interrogated using conventional cams (not safety cams, as this is not a safety-related function)

that then define the traversing direction of the axis via FC18 during the braking test. If a brake

test is executed against the force due to weight, in spite of the closed brake, the motor must

generate a torque corresponding to the force due to weight and the test torque.

Note when using MD36968 $MA_SAFE_BRAKETEST_CONTROL, bit 0 = 0:

If a traversing direction is selected that opposes the force due to the weight, Alarm "20097 axis

%1 incorrect direction braking test" is initiated if the actual torque, when selecting the brake test,

deviates by more than 7.5% of MD36966 $$MA_SAFE_BRAKETEST_TORQUE from drive

parameter p1532. This alarm indicates that the brake test was executed with a torque that was

incorrect by more than 15%. In principle, automatically determining the available load torque

using MD36968 $MA_SAFE_BRAKETEST_CONTROL, bit 0 = 1 is the preferred solution, see

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8.6 Safe Brake Test (SBT)

Chapter "Parameterization (Page 287)", Section MD36968 $MA_SAFE_BRAKETEST_CONTROL:

Sequence check for the brake test.

8.6.5

Brake control for SINUMERIK 840D sl

If Safety Integrated is activated for an axis, then the brake can be closed using the interface

signal "Close brake", DB31-61, DBX23.5. The feedback signal is realized using the interface bit

"Motor holding brake open", DB31-61, DBX92.5. This involves a single-channel control

configuration. If the brake is to be safely controlled, then the SBC function integrated in the drive

must also be activated. The interface bits for the brake, only activated in conjunction with Safety

Integrated, have a higher priority than the standard interface signal DB31-61, DBX20.5 "Open

motor holding brake". The "Extended brake control" function of the S120 is used independently

of SBT.

8.6.6

Sequence

WARNING

Configuring the brake test

The brake test must be carried out before carrying out the test stop.

If the brake test was not successful (i.e. the brake cannot hold the axis), then it is not

permissible that the test stop is carried out. Users must carefully take this into consideration

when configuring the brake test and test stop. The brake may only be tested when the axis is

in an absolutely safe position.

The brake test must always be started when the axis is at a standstill. For the entire duration of

the brake test, the enable signals of the parameterized axis must be set to enable (e.g. the

controller inhibit, feed enable signals). It must be ensured that a feed override of 100% is

effective.

Monitoring limits of the PLC sequence signals

Step

Status/expected feedback signal

Activate brake test

DBX11.0 = 1

TV_BTactiv

Brake test active

DBX71.0 = 1

TV_BTactiv

Close brake

DBX23.5 = 1

TV_Bclose

Brake closed

DBX92.5 = 0

TV_Bclose

Output traversing command

DBX64.6 or DBX64.7

TV_FeedCommand

Check, output traversing command

DBX62.5 = 1

TV_FXSreached

Wait for the holding time

DBX62.5 = 1

TV_FXShold

Deselect brake test / open brake

DBX71.0 = 0

TV_BTactiv

The PLC signals described here are used in or as parameters in the basic program blocks FB11 and

FC18.

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8.6 Safe Brake Test (SBT)

For a PLC-controlled axis, also see:

Reference: /FB2/, P2 "Autonomous single-axis processes"

Note

The signals shown here are only intended for diagnostics and providing an understanding. The

signals should not be influenced by the user program elsewhere.

Sequence to test the mechanical braking

Before the brake test can be started via FB 11 (from the basic program), the NC axis to be tested

must be transferred to the PLC as "PLC-controlled axis". During the complete test, the axis must

remain a PLC-controlled axis. Start via FB11 can be made after the transfer to the PLC.

The start parameter of FB11 must be continuously 1 during the complete test. With MD36968

$MA_SAFE_BRAKETEST_CONTROL bit 0 =1, shortly before the brake is closed, the actual holding

torque is determined and is temporarily used in the drive as average value for the torque limiting.

After the brake is closed, the PLC-controlled axis is traversed in the specified direction against the

brake using FC18. If the fixed stop is detected ("Fixed stop reached" DB31-DB61, DBX62.5), the

PLC interrupts the traversing motion (FC18 is exited with error 30). The reduced torque limits are

withdrawn and the brake is re-opened.

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8.6 Safe Brake Test (SBT)

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8.6 Safe Brake Test (SBT)

8.6.7

Description of FB11

Declaration of the function

VAR_INPUT

Start : BOOL;

//Start of brake test

Ackn : BOOL;

//Acknowledge error

Bclosed : BOOL;

//Brake closed input (single channel - PLC)

Axis : INT ;

//Testing axis no.

TimerNo : TIMER ;

//Timer from user

TV_BTactive : S5TIME ;

//TimeValue -> brake test active

TV_Bclose : S5TIME ;

//TimeValue -> close brake

TV_FeedCommand : S5TIME ;

//TimeValue -> force FeedCommand

TV_FXSreached : S5TIME ;

//TimeValue -> fixed stop reached

TV_FX

//TimeValue -> test brake

Shold :

S5TIM

E ;

END_VAR

VAR_OUTPUT

CloseBrake : BOOL;

//Signal close brake

MoveAxis : BOOL;

//Do move axis

Done: BOOL;

Error : BOOL;

State : BYTE ;

//Error byte

END_VAR

The following table lists all of the formal parameters of the brake test function:

Signal

Cate-

Type

Remark

gory

Start

BOOL

Start brake test

Ackn

BOOL

Acknowledge fault

Bclosed

BOOL

Feedback signal input as to whether the brake has

been closed (single-channel - PLC)

Axis

INT

Axis number of axis to be tested

TimerNo

TIMER

Timer from user program

TV_Btactive

S5TIME

Monitoring time value → brake test active. Axis

signal check DBX71.0

TV_Bclose

S5TIME

Monitoring time value → close brake. Input signal

Bclosed check after CloseBrake output set.

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8.6 Safe Brake Test (SBT)

Signal

Cate-

Type

Remark

gory

TV_FeedCommand

S5TIME

Monitoring time → output drive command.

Check drive commands after MoveAxis output

has been set.

TV_FXSreached

S5TIME

Monitoring time → fixed stop reached

TV_FXShold

S5TIME

Monitoring time → test brake

CloseBrake

BOOL

Request, close brake

MoveAxis

BOOL

Request, initiate traversing motion

Done

BOOL

Test successfully completed

Error

BOOL

An error occurred

State

BYTE

Error status

FB11 error identifiers

State

Meaning

No error

Starting conditions not fulfilled, e.g. axis not in closed-loop control/brake closed/axis disabled

When selecting the brake test, there is no feedback from the NC in the "Brake test active" signal

No "Brake closed" feedback using input signal B closed

No drive command output (e.g. axis motion has not been started)

Fixed stop is not reached → axis RESET was initiated

Traversing inhibit/approach too slow → fixed stop cannot be reached. Monitoring time

TV_FXSreached has expired.

Programmed end position reached. Possible causes: Brake not holding, approach velocity too

high, traversing distance to small

Brake opens during the holding time

Error when deselecting the brake test

Internal error

"PLC-controlled axis" signal not enabled in the user program

Note

The block must be called by the user program. The user must provide an instance DB with any

number for this purpose. The call is multi-instance-capable.

Additional alarm support

To support the brake test commissioning, Alarm 20096, "Axis %1 brake test aborted, additional

information %2" can be enabled with MD11411 $MN_ENABLE_ALARM_MASK, bit 5 = 1. This

alarm supplies more detailed information if the brake test is interrupted.

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8.6 Safe Brake Test (SBT)

8.6.8

Application example

Information and notes for typical applications are provided as example in the following

description.

Parameterization of the machine data

Machine data

Value

Description

MD37000 $MA_FIXED_STOP_MODE

Enable brake test

MD37030 $MA_FIXED_STOP_THRESH-

2 mm

Threshold for fixed stop detection. The value must be

OLD

less than the traversing distance of FC18.

MD37050

Content

Only initiate alarm 20095, if the brake test torque is

$MA_FIXED_STOP_ALARM_MASK

+ 16

less than the holding torque.

MD36966 $MA_SAFE_BRAKET-

Enter test torque referred to p2003

EST_TORQUE

MD36967 $MA_SAFE_BRAKET-

1 mm

Position tolerance, brake test

EST_POS_TOL

MD36968 $MA_SAFE_BRAKET-

Bit 0 = 1: The measured torque at the instant in time

EST_CONTROL

that the brake test is selected is used as the average

value of the reduced torque limit.

MD37000 $MA_FIXED_STOP_MODE, bit1 = 1 is the prerequisite for the SBT; only then does the

NCK evaluate the PLC signal "start brake test". If this is not the case, a timeout after the brake test

has started ensures that the SBT (FB11) is canceled (see Fig. "Sequence function test of the

mechanical braking system").

If, when starting the brake test using axis DB DBX11.0 = 1, it is identified that for this axis

MD36901 $MA_SAFE_FUNCTION_ENABLE = 0, then Alarm 27033 "Axis %1 parameterization of

the MD %2[%3] invalid, error code %4" is output.

If the "travel to fixed stop" function is used elsewhere, then the parameterization of the fixed stop

alarms should be adapted. The fixed stop alarms should be parameterized as follows for the

brake test:

MD37050

Enable fixed stop alarms

$MA_FIXED_STOP_ALARM_MASK

MD37052 $MA_FIXED_STOP_ALARM_RE-

Bit 0-4 = 1

Response, fixed stop alarms

ACTION

Example of calling FB11

OPEN DB37

//Brake test, Z axis

DBX

92.5

//Feedback signal, brake open

111.5

//Z axis brake is closed

7.5.

//Initiation for the brake test, Z axis

110.7

//Brake test already started

110.0

//Edge marker

111.4

//Error has occurred

110.7

//Brake test running

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8.6 Safe Brake Test (SBT)

110.6

//Start

SPBN m001

//Conditional jump

DBB 68

//Load channel status

W#16#F

//Select bits

115

//Load channel status

B#16#10

//Load fixed value

DBB8

//Request neutral axis

m001: NOP 0

//Jump marker

DBX 68.6

//Checkback signal, axis is neutral

110.6

//Start

110.1

//Edge marker

110.6

//Start

110.5

//Step 1

DBX 28.7

//Request PLC-monitored axes

DBX 63.1

//Checkback signal, axis controlled by PLC

110.5

//Step 1

110.2

//Edge marker

110.5

//Step 1

111.0

//Start FB11

CALL FB 11, DB211

//Brake test block

Start

:=M1

//Start brake test

11.0

Ackn

:=E3.

//Acknowledge error with reset button

Bclos

::=M1

//Feedback signal, brake not open

11.5

Axis

:=7

//Axis number of axis to be tested axis Z axis

TimerNo :=T 110

//Timer number

TV_BTactiv :=S5T#200MS

//Monitoring time value: Brake test active

DBX71.0

TV_Bclosed :=S5T#1S,

//Monitoring time value: Brake closed

TV_FeedCommand :=S5T#1S

//Monitoring time value: Traversing command

issued

TV_FXSreached := S5T#1S

//Monitoring time value: Fixed stop reached

TV_FXShold := S5T#2S,

//Monitoring time value: Brake test time

CloseBrake := DB37.DBX23.5

//Request to close brake

MoveAxis := M111.2

//Request to initiate traversing motion

Done

:= M111.3,

//Test successfully completed

Error

:= M111.4,

//Error has occurred

State

:= MB112

//Brake test, Z axis

OPEN DB37

//Brake test, Z axis

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8.6 Safe Brake Test (SBT)

111.2

//Moveaxis

111.5

//FC18 start

111.7

//Start FC18

111.3

//Test successfully completed

111.4

//Error has occurred

110.3

//Edge marker

DBX 28.7

//Request, PLC-controlled axis

DBX6

//Checkback signal, axis controlled by PLC

3.1

111.0

//Start brake test for FB

110.7

//Brake test running

SPBN m002

//Conditional jump

115

//Load marked channel status

W#16#10

//Select bits

DBB8

//Request channel axis

m00: NOP 0;

CALL FC18

//Traverse Z axis

Start

:=M

111.7

//Start of traversing motion

Stop

:= FALSE

//Not used

Funct

:= B#16#5

//Mode: Axis mode

Mode := B#16#1

//Traversing: Incremental

AxisNo

:= 7

//Axis number of axis to be traversed, Z axis

Pos

:= -5.000000e+000,

//Traversing distance: Minus 5 mm

FRate := 1.000000e+003,

//Feedrate: 1000 mm/min

InPos

:= M

113.0,

//Position reached

Error

:= M

113.1

//Error has occurred

State

:= MB 114

//Error status

AUF DB37

//Open axis DB

113.0

//Position reached

113.1

//Error has occurred

113.2

//Edge marker

111.7

//Start FC18

3.7

//Reset MCP

SPBN end

//Conditional jump

111.4

//Error has occurred

= DBX28.1

//Acknowledge error with axis reset

111.0

//Start FB11

110.7

//Brake test running

end: NOP 0

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8.6 Safe Brake Test (SBT)

Determining the test torque, MD36966 $MA_SAFE_BRAKETEST_TORQUE

When determining the test torque MD36966 $MA_SAFE_BRAKETEST_TORQUE, the maximum

holding torque that occurs must first be determined. The maximum occurring holding torque

can be determined in parameter r1509 by traversing the axis to various positions with different

forces / torques due to weight (tools or workpieces).

Examples to determine MD36966 $MA_SAFE_BRAKETEST_TORQUE, p2003=100Nm:

Max. holding torque

Test torque

Actual torque limit before SBT

M_0max r1509

M_T=M_0max+ 30%

M_T*0.85

20Nm = 20%

26 %

22.1%

30Nm = 30%

39 %

33.15%

40Nm = 40%

52 %

44.2%

50Nm = 50%

65 %

55.3%

60Nm = 60%

78 %

66.3%

70Nm = 70%

91 %

77.4%

The "limit value of the actual torque before SBT" shown here, indicates that the actual torque,

automatically determined before the SBT, must not be lower, as otherwise Alarm 20095 "Axis %1

inadmissible holding torque" is output.

Evaluating the test results

Analysis using servo trace

The signal characteristics must be viewed in order to evaluate the brake test. The behavior

during the brake test can be recorded using the trace and the following settings:

Signal selection

System deviation

Following error

Torque limit

Torque-generating actual current value i(q)

Measurement parameters

Measurement duration: 10 s

Trigger: No trigger

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8.6 Safe Brake Test (SBT)

Torque limit when testing the SBT

Reduction of the torque limit - at the end of the

test, the limit is set to 0 in order to decrease the

additionally generated torque to zero.

Required torque when testing the SBT

During the test, an additional torque is built up

and reduced again at the end.

8.6.9

Supplementary conditions

• When testing the mechanical braking system, it is not permissible that traverse to fixed stop

(FXS) and traversing with a limited torque, FOC are simultaneously active. In this case, Alarm

20092, "Axis %1 travel to fixed stop still active" is triggered.

• During the brake test, contour monitoring is not active. After the PLC has started traversing

motion then there is also no standstill monitoring.

• For a gantry or master/slave group, the machinery manufacturer (OEM) must decide on a

case-for-case basis whether a defective brake could result in mechanical damage. The brake

test should not be performed if mechanical damage could occur.

• For other "travel to fixed stop" applications, machine data MD37050

$MA_FIXED_STOP_ALARM_MASK and MD37052 $MA_FIXED_STOP_ALARM_REACTION

should be adapted.

• If FC18 is called for the same axis in the remainder of the user program, the calls must be

mutually interlocked. For example, this can be achieved via a common call of this function

with an interlocked common data interface for the FC18 parameters. An additional option is

to call the FC18 a multiple number of times, in which case the inactive FC18 must be skipped.

An interlock against being used a multiple number of times must be provided.

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8.7 Safety Information Channel and Safety Control Channel

• The feed override should be set to 100% so that the required velocity can be reached during

the test. If this is realized via the interface, then it should be carefully noted that if the brake

test is not successful, then the override does not statically remain at 100%. As an alternative

to directly writing to the interface, a message can be generated.

• The torque limits change when a parameter set is changed over.

• Changing the reference torque p2003 means that the use of a referred torque quantity

results in a different dynamic behavior. If p2003 is changed then this alters the system

behavior when the brake test is performed. In order to avoid this, when booting, the NCK

system software reads out the value from p2003 and saves it in MD

$MA_SAFE_BRAKETEST_TORQUE_NORM. For each additional control boot, MD36969

$MA_SAFE_BRAKETEST_TORQUE_NORM is checked for changes and where relevant, Alarm

27039 "Axis %1 parameterization MD %2[%3] changed, confirmation and functional test

required!" is displayed. MD36969 $MA_SAFE_BRAKETEST_ TORQUE_NORM, is included in

the axis-specific checksum $MA_SAFE_ACT_CHECKSUM[0].

• With simultaneous use of the extended brake control (r0108.14=1) and dynamic stiffness

control (MD32640 $MA_STIFFNESS_CONTROL_ENABLE=1), the factory setting

p1152=r0899.15 must be changed ("disconnected"), and p1152 must be set to 1.

• Transformations: Active transformations must be deactivated for the duration of the brake

test, as otherwise unexpected axis motion can occur.

8.7

Safety Information Channel and Safety Control Channel

Safety Information Channel

The Safety Information Channel (SIC) enables Safety Integrated functionality status information

of the drive to be transmitted to the higher-level motion control system. As a consequence, for

safety STOP responses of the drive (e.g. for STO) the motion control is informed, which allows

it to respond in the best possible way. This means that in situations such as these e.g. no

additional setpoints are issued for the path, which means that no follow-on/subsequent alarms

occur that have to be acknowledged. Any types of setpoint inputs, e.g. override, F or S program

blocks, are blocked by the setpoint speed limiting transferred in the SIC.

Further, the status information is made available in the PLC user interface. This gives users the

option of initiating the appropriate responses in the PLC user program to the safety functions of

the drive.

Safety Control Channel

With the Safety Control Channel (SCC), control information is sent to the safety functions of the

drive via the higher-level control. This means that functions, such as a brake test or a test stop,

can be selected in the drive.

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8.7 Safety Information Channel and Safety Control Channel

Use in the "SINUMERK Safety Integrated" operating mode

This functionality is used in the following cases in the "SINUMERIK Safety Integrated" operating

mode:

• Connecting external SINAMICS drives with safety functionality integrated in the drive, which

are assigned to an NC axis, to the motion control.

• Using the brake test functionality integrated in the drive for the NC axes with SINUMERIK

Safety Integrated monitoring enabled.

Note

The hardware configuration for both cases are described in an application example, which you

can find on the Internet in our "Industry Online Support".

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Data descriptions

9.1

Machine data for SINUMERIK 840D sl

9.1.1

Overview of the machine data

The checksum data have the following meanings:

Axis-specific checksums

CRC

Functionality

Change results in an alarm

AX[0]

Monitoring functionality

27032 "Axis %1 checksum error safe monitoring. Confirmation

and acceptance test required!"

AX[1]

SINAMICS HW-dependent

27035 "Axis %1 new HW component, acknowledgment and

data

function test required"

AX[2]

SINAMICS coupling

27060 "Axis %1 checksum error of drive assignment. Confir-

mation and acceptance test required"

NCK checksums

CRC

Functionality

Change results in an alarm

NCK[0]

Safe communication; SPL

27070 "Checksum error, SPL parameter assignment, and SPL

I/O connection; SPL func-

interfaces. Confirmation and acceptance test required!"

tionality

NCK[1]

User SPL configuration

27071 "Checksum error, safe SPL parameterization. Confirma-

tion and acceptance test required!"

NCK[2]

Enable I/O connection

27072 "Checksum error, enabling safe communication. Con-

firmation and acceptance test required"

NCK[3]

PROFIsafe-CRC1

27073 "Checksum error, S7 PROFIsafe configuration. Confir-

mation and acceptance test required.

-- means: This data is not calculated into any checksum.

Table 9-1

Overview of machine data for SINUMERIK 840D sl

Number

Identifier

Name

Checksums MD

General ($MN_ ...)

10050

SYSCLOCK_CYCLE_TIME

Basic system clock cycle, see /FB1/, G2

10060

POSCTRL_SYSCLOCK_TIME_RATIO

Factor, position controller clock cycle, see /

FB1/, G2

10070

IPO_SYSCLOCK_CYCLE_TIME_RATIO

Factor, interpolator clock cycle

10071

IPO_CYCLE_TIME

Interpolator clock cycle

NCK[0]

10089

SAFE_PULSE_DIS_TIME_BUSFAIL

Wait time pulse cancellation when the bus fails

AX[0]

10090

SAFETY_SYSCLOCK_TIME_RATIO

Factor for monitoring clock cycle

10091

INFO_SAFETY_CYCLE_TIME

Display, monitoring clock cycle time

AX[0]

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Data descriptions

9.1 Machine data for SINUMERIK 840D sl

Number

Identifier

Name

Checksums MD

10092

INFO_CROSSCHECK_CYCLE_TIME

Displays the clock cycle time for a crosswise

data comparison

10093

INFO_NUM_SAFE_FILE_ACCESS

Number of SPL file access operations

10094

SAFE_ALARM_SUPPRESS_LEVEL

Alarm suppression level

10095

SAFE_MODE_MASK, bit 1

Safety Integrated operating modes

NCK[2], NCK[0]

10096

SAFE_DIAGNOSIS_MASK

Safety Integrated diagnostic functions

10097

SAFE_SPL_STOP_MODE

Stop response for SPL errors

NCK[0]

10098

PROFISAFE_IPO_TIME_RATIO

Factor PROFIsafe communications clock cycle

NCK[0]

time

10099

INFO_PROFISAFE_CYCLE_TIME

PROFIsafe communications clock cycle time

10200

INT_INCR_PER_MM

Computational resolution for linear positions

see /FB1/, G2

10210

INT_INCR_PER_DEG

Computational resolution for angular posi-

tions see /FB1/, G2

10385

PROFISAFE_MASTER_ADRESS

PROFIsafe address of the PROFIsafe master

NCK[0]

module

10386

PROFISAFE_IN_ADRESS

PROFIsafe address of an input module

NCK[0]

10387

PROFISAFE_OUT_ADRESS

PROFIsafe address of a PROFIsafe output mod-

NCK[0]

ule

10388

PROFISAFE_IN_ASSIGN

Input assignment, $A_INSE to PROFIsafe input

NCK[0]

module

10389

PROFISAFE_OUT_ASSIGN

Output assignment, $A_OUTSE to PROFIsafe

NCK[0]

module

10393

SAFE_DRIVE_LOGIC_ADDRESS

Logical drive addresses, SI

AX[2]

11411

ENABLE_ALARM_MASK

Activation of alarms

11415

SUPPRESS_ALARM_MASK_2

Suppress alarm outputs

11500

PREVENT_SYNACT_LOCK

Protected synchronized actions

11602

ASUP_START_MASK

Ignore stop conditions for ASUB

11604

ASUB_START_PRIO_LEVEL

Priorities as of which ASUP_START_MASK takes

effect

13300

PROFISAFE_IN_FILTER

F-net data filter IN

NCK[0]

13301

PROFISAFE_OUT_FILTER

F-net data filter OUT

NCK[0]

13302

PROFISAFE_IN_ENABLE_MASK

Enable screen of the connections to PROFIsafe

NCK[2]

input modules

13303

PROFISAFE_OUT_ENABLE_MASK

Enable screen form of the connections to PRO-

NCK[2]

FIsafe output modules

13304

PROFISAFE_IN_SUBS_ENAB_MASK

Activation of the substitute value output for

NCK[2]

PROFIsafe input modules

13305

PROFISAFE_IN_SUBS

Substitute values for passive connections to

NCK[0]

PROFIsafe input modules

13307

PROFISAFE_IPO_RESERVE

Number of IPO clock cycles without PROFIsafe

calculations

13308

PROFISAFE_IN_NAME

Name of the PROFIsafe input module

13309

PROFISAFE_OUT_NAME

Name of the PROFIsafe output module

13310

SAFE_SPL_START_TIMEOUT

Delay, display Alarm 27097

13312

SAFE_SPL_USER_DATA

User SPL data is changed

NCK[1]

Safety Integrated (system-integrated)

308

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Data descriptions

9.1 Machine data for SINUMERIK 840D sl

Number

Identifier

Name

Checksums MD

13316

SAFE_GLOB_CONFIG_CHANGE_DATA

Date/time of the last change SI-NCK-MD

13317

SAFE_GLOB_PREV_CONFIG

Data, previous safety configuration

13318

SAFE_GLOB_ACT_CHECKSUM

Actual checksum NCK

13319

SAFE_GLOB_DES_CHECKSUM

Reference checksum

13320

SAFE_SRDP_IPO_TIME_RATIO

Factor F_DP communication clock cycle

NCK[0]

13322

INFO_SAFE_SRDP_CYCLE_TIME

Maximum F_DP communication clock cycle

13330

SAFE_SDP_ENABLE_MASK

Enable screen form F_SENDDP communication

NCK[2]

relationships

13331

SAFE_SDP_ID

Identifier of the F_SENDDP communication re-

NCK[0]

lationship

13332

SAFE_SDP_NAME

Name of the SPL connection

13333

SAFE_SDP_CONNECTION_NR

Number of the SPL connection

NCK[0]

13334

SAFE_SDP_LADDR

Basis address of the input/output data area

NCK[0]

F_SENDDP

13335

SAFE_SDP_TIMEOUT

Monitoring time for F_SENDDP

NCK[0]

13336

SAFE_SDP_ASSIGN

Output assignment.$A_OUTSE to F_SENDDP

NCK[0]

net data

13337

SAFE_SDP_FILTER

F-net data filter between $A_OUTSE and

NCK[0]

F_SENDDP

13338

SAFE_SDP_ERR_REAC

Error response

NCK[0]

13340

SAFE_RDP_ENABLE_MASK

Enable screen form F_RECVDP communication

NCK[2]

relationship

13341

SAFE_RDP_ID

Identifier of the F_RECVDP communication re-

NCK[0]

lationship

13342

SAFE_RDP_NAME

Name of the SPL connection

13343

SAFE_RDP_CONNECTION_NR

Assignment, SPL connection to system varia-

NCK[0]

bles

13344

SAFE_RDP_LADDR

Basis address of the input/output data area,

NCK[0]

F_RECVDP

13345

SAFE_RDP_TIMEOUT

Monitoring time for F_RECVDP

NCK[0]

13346

SAFE_RDP_ASSIGN

Input assignment F_RECVDP net data to

NCK[0]

$A_INSE

13347

SAFE_RDP_FILTER

F-net data filter between F_RECVDP and

NCK[0]

$A_INSE

13348

SAFE_RDP_ERR_REAC

Error response

NCK[0]

13349

SAFE_RDP_SUBS

Substitute values in the case of an error

NCK[0]

13370

SAFE_MODE

Safety operating mode

13374

SAFE_INFO_DRIVE_ADDR

Logical basis addresses for the SIC/SCC com-

munication between NCK and drive

13376

SAFE_INFO_TELEGRAM_TYPE

SIC/SCC telegram number

Channel-specific ($MC_ ... )

20106

PROG_EVENT_IGN_SINGLEBLOCK

PROG_EVENTs ignore the single block

20107

PROG_EVENT_IGN_INHIBIT

PROG_EVENTs ignore read-in inhibit

20108

PROG_EVENT_MASK

Event-controlled program call

20192

PROG_EVENT_IGN_PROG_STATE

Do not display the execution of the prog events

on the OPI

Safety Integrated (system-integrated)

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309

Data descriptions

9.1 Machine data for SINUMERIK 840D sl

Number

Identifier

Name

Checksums MD

20700

REFP_NC_START_LOCK

NC-Start disable without reference point

28251

MM_NUM_SAFE_SYNC_ELEMENTS

Number of elements for expressions in safety

synchronized actions

Axis/spindle-specific ($MA_ ...)

30130

CTRLOUT_TYPE

Setpoint output type

30240

ENC_TYPE

Encoder type of the actual value sensing (po-

sition actual value) see /FB1/, G2

30300

IS_ROT_AX

Rotary axis/spindle see /FB1/, R2

30320

DISPLAY_IS_MODULO

Modulo 360 degrees display for rotary axis or

spindle see /FB1/, R2

30330

MODULO_RANGE

Size of the modulo range see /FB1/, R2

32300

MA_AX_ACCEL

Axis acceleration see /FB1/, B2

35200

GEAR_STEP_SPEEDCTRL_ACCEL

Acceleration in the open-loop speed control-

led mode see /FB1/, S1

35210

GEAR_STEP_POSCTRL_ACCEL

Acceleration in the closed-loop position con-

trolled mode see /FB1/, S1

35410

SPIND_OSCILL_ACCEL

Acceleration when oscillating see /FB1/, S1

36060

STANDSTILL_VELO_TOL

Threshold velocity/speed "axis/spindle station-

ary" see /FB1/, A2

36620

SERVO_DISABLE_DELAY_TIME

Shutdown delay controller enable see /FB1/, A2

36901

SAFE_FUNCTION_ENABLE

Enables safety-related functions

AX[0]

36902

SAFE_IS_ROT_AX

Rotary axis

AX[0]

36903

SAFE_CAM_ENABLE

enable Safe Cam Track

AX[0]

36904

SAFE_ADD_FUNCTION_MASK

Enables additional functions for Safety Integra-

AX[0]

ted

36905

SAFE_MODULO_RANGE

Modulo value Safe Cams

AX[0]

36906

SAFE_CTRLOUT_MODULE_NR

SI drive assignment

AX[2]

36907

SAFE_DRIVE_PS_ADDRESS

PROFIsafe address of the drive

AX[2]

36909

SAFE_ENC_MEAS_STEPS_RESOL

Resolution measuring steps for linear absolute

AX[0]

encoders

36912

SAFE_ENC_INPUT_NR

Actual value assignment: Drive encoder num-

AX[2]

ber

36913

SAFE_ENC_MEAS_STEPS_POS1

Non-safety-related measuring increments

AX[0]

POS1

36914

SAFE_SINGLE_ENC

SI single-encoder system

AX[0]

36916

SAFE_ENC_IS_LINEAR

Linear scale

AX[0]

36917

SAFE_ENC_GRID_POINT_DIST

Grid spacing, linear scale

AX[0]

36918

SAFE_ENC_RESOL

Encoder pulses per revolution

AX[0]

36919

SAFE_ENC_PULSE_SHIFT

Shift factor of the encoder multiplication

AX[0]

36920

SAFE_ENC_GEAR_PITCH

Leadscrew pitch

AX[0]

36921

SAFE_ENC_GEAR_DENOM[n]

Denominator, gearbox ratio encoder/load

AX[0]

36922

SAFE_ENC_GEAR_NUMERA[n]

Numerator, gearbox ratio encoder/load

AX[0]

36923

SAFE_INFO_ENC_RESOL

Safety-relevant encoder resolution

Safety Integrated (system-integrated)

310

Function Manual, 10/2020, 6FC5397-4BP40-6BA2

Data descriptions

9.1 Machine data for SINUMERIK 840D sl

Number

Identifier

Name

Checksums MD

36924

SAFE_ENC_NUM_BITS[0]

Bit information of the redundant actual value

AX[1]

SAFE_ENC_NUM_BITS[1]

AX[1]

SAFE_ENC_NUM_BITS[2]

AX[0]

SAFE_ENC_NUM_BITS[3]

AX[0]

36925

SAFE_ENC_POLARITY

Direction reversal actual value

AX[0]

36927

SAFE_ENC_MOD_TYPE

Encoder evaluation type

AX[1]

36928

SAFE_ENC_IDENT

Encoder identification

AX[1]

36929

SAFE_ENC_CONF

Configuration of the redundant actual value

AX[1]

36930

SAFE_STANDSTILL_TOL

Standstill tolerance

AX[0]

36931

SAFE_VELO_LIMIT[n]

Limit value for safely reduced speed

AX[0]

36932

SAFE_VELO_OVR_FACTOR[n]

SG correction values

AX[0]

36933

SAFE_DES_VELO_LIMIT

SG setpoint speed limiting

36934

SAFE_POS_LIMIT_PLUS[n]

Upper limit value for safe limit position

AX[0]

36935

SAFE_POS_LIMIT_MINUS[n]

Lower limit value for safe limit position

AX[0]

36936

SAFE_CAM_POS_PLUS[n]

Plus cams position for Safe Cams

AX[0]

36937

SAFE_CAM_POS_MINUS[n]

Minus cams position for Safe Cams

AX[0]

36938

SAFE_CAM_TRACK_ASSIGN[n]

Cam track assignment

AX[0]

36940

SAFE_CAM_TOL

Tolerance for Safe Cams

AX[0]

36942

SAFE_POS_TOL

Tolerance, actual value comparison (cross-

AX[0]

wise)

36944

SAFE_REFP_POS_TOL

Tolerance, actual value comparison (referenc-

AX[0]

ing)

36945

SAFE_VELO_X_FILTER_TIME

Filter time n< n_x

AX[0]

36946

SAFE_VELO_X

Speed limit n_x

AX[0]

36947

SAFE_VELO_X_HYSTERESIS

Speed limit n<n_x

AX[0]

36948

SAFE_STOP_VELO_TOL

Speed tolerance for Safe Acceleration Monitor

AX[0]

36949

SAFE_SLIP_VELO_TOL

Speed tolerance, slip

AX[0]

36950

SAFE_MODE_SWITCH_TIME

Tolerance time for SGE changeover

AX[0]

36951

SAFE_VELO_SWITCH_DELAY

Delay time, speed changeover

AX[0]

36952

SAFE_STOP_SWITCH_TIME_C

Transition time, STOP C to safe standstill

AX[0]

36953

SAFE_STOP_SWITCH_TIME_D

Transition time, STOP D to safe standstill

AX[0]

36954

SAFE_STOP_SWITCH_TIME_E

Transition time, STOP E to safe standstill

AX[0]

36955

SAFE_STOP_SWITCH_TIME_F

Transition time STOP F to STOP B

AX[0]

36956

SAFE_PULSE_DISABLE_DELAY

Delay time, pulse cancellation

AX[0]

36957

SAFE_PULSE_DIS_CHECK_TIME

Time to check pulse cancellation

AX[0]

36958

SAFE_ACCEPTANCE_TST_TIMEOUT

Time limit for the acceptance test duration

AX[0]

36960

SAFE_STANDSTILL_VELO_TOL

Shutdown speed, pulse cancellation

AX[0]

36961

SAFE_VELO_STOP_MODE

Stop response, safely reduced speed

AX[0]

36962

SAFE_POS_STOP_MODE

Stop response, safe limit position

AX[0]

36963

SAFE_VELO_STOP_REACTION[n]

Stop response, safely reduced speed

AX[0]

36964

SAFE_IPO_STOP_GROUP

Grouping, safety IPO response

36965

SAFE_PARK_ALARM_SUPPRESS

Alarm suppression for parking axes

AX[0]

36966

SAFE_BRAKETEST_TORQUE

Holding torque, brake test

AX[0]

36967

SAFE_BRAKETEST_POS_TOL

Position tolerance, brake test

AX[0]

Safety Integrated (system-integrated)

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311

Data descriptions

9.1 Machine data for SINUMERIK 840D sl

Number

Identifier

Name

Checksums MD

36968

SAFE_BRAKETEST_CONTROL

Extended settings for the brake test

AX[0]

36969

SAFE_BRAKETEST_TORQUE_NORM

Reference quantity for the holding torque,

AX[0]

brake test

36970

SAFE_SVSS_DISABLE_INPUT

Input assignment, SBH/SG deselection

AX[0]

36971

SAFE_SS_DISABLE_INPUT

Input assignment, SBH deselection

AX[0]

36972

SAFE_VELO_SELECT_INPUT[n]

Input assignment, SG selection

AX[0]

36973

SAFE_POS_SELECT_INPUT

Input assignment, SE selection

AX[0]

36974

SAFE_GEAR_SELECT_INPUT[n]

Input assignment, gearbox ratio selection

AX[0]

36977

SAFE_EXT_STOP_INPUT[n]

Input assignment, external brake request

AX[0]

36978

SAFE_OVR_INPUT[n]

Input assignment, SG override

AX[0]

36980

SAFE_SVSS_STATUS_OUTPUT

Output assignment, SBH/SG active

AX[0]

36981

SAFE_SS_STATUS_OUTPUT

Output assignment for SBH active

AX[0]

36982

SAFE_VELO_STATUS_OUTPUT[n]

Output assignment active SG selection

AX[0]

36985

SAFE_VELO_X_STATUS_OUTPUT

Output assignment for n < n_x

AX[0]

36987

SAFE_REFP_STATUS_OUTPUT

Output assignment, axis safely referenced

AX[0]

36988

SAFE_CAM_PLUS_OUTPUT[n]

Output assignment, SN1+ to SN4+

AX[0]

36989

SAFE_CAM_MINUS_OUTPUT[n]

Output assignment, SN1- to SN4-

AX[0]

36990

SAFE_ACT_STOP_OUTPUT[n]

Output assignment, active STOP

AX[0]

36992

SAFE_CROSSCHECK_CYCLE

Displays axis-specific crosswise comparison

clock cycle

36993

SAFE_CONFIG_CHANGE_DATE[n]

Date/time of the last change SI-NCK-MD

36994

SAFE_PREV_CONFIG[n]

Data, previous safety function

36995

SAFE_STANDSTILL_POS

Standstill position

36997

SAFE_ACKN

User agreement

36998

SAFE_ACT_CHECKSUM

Actual checksum

36999

SAFE_DES_CHECKSUM

Reference checksum

37000

FIXED_STOP_MODE

Travel to fixed stop mode

37900

SAFE_CAM_TRACK_OUTPUT

Output assignment cam tracks 1 to 4

AX[0]

37901

SAFE_CAM_RANGE_OUTPUT_1

Output assignment, cam range for cam track 1

AX[0]

37902

SAFE_CAM_RANGE_OUTPUT_2

Output assignment, cam range for cam track 2

AX[0]

37903

SAFE_CAM_RANGE_OUTPUT_3

Output assignment, cam range for cam track 3

AX[0]

37904

SAFE_CAM_RANGE_OUTPUT_4

Output assignment, cam range for cam track 4

AX[0]

37906

SAFE_CAM_RANGE_BIN_OUTPUT_1

Output assignment, cam range bit for cam

AX[0]

track 1

37907

SAFE_CAM_RANGE_BIN_OUTPUT_2

Output assignment, cam range bit for cam

AX[0]

track 2

37908

SAFE_CAM_RANGE_BIN_OUTPUT_3

Output assignment, cam range bit for cam

AX[0]

track 3

37909

SAFE_CAM_RANGE_BIN_OUTPUT_4

Output assignment, cam range bit for cam

AX[0]

track 4

37920

SAFE_STANDSTILL_VELO_LIMIT

Switchover speed, Safe Operating Stop

AX[0]

37922

SAFE_STANDSTILL_DELAY

Delay time switching over to Safe Operating

AX[0]

Stop

Safety Integrated (system-integrated)

312

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Data descriptions

9.1 Machine data for SINUMERIK 840D sl

Number

Identifier

Name

Checksums MD

37950

SAFE_INFO_ENABLE

SIC/SCC and PROFIsafe enable

37954

SAFE_INFO_MODULE_NR

SIC/SCC module number

9.1.2

Description of machine data

General

General information about machine data and an explanation of their contents such as units,

data type, protective stage, effectiveness, etc. can be found in the following references:

Reference: /LIS1/, List Manual Machine Data SINUMERIK 840D sl

10050

$MN_SYSCLOCK_CYCLE_TIME

MD number

Basic system cycle clock

Default value: 0.004

Min. input limit: 0.000125

Max. input limit: 0.031

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: s

Data type: DOUBLE

Meaning:

Basic clock cycle time of the system software

The clock cycle times of cyclic tasks (position controller/IPO) are set in a multiple of this basic

clock cycle. Apart from special applications in which POSCTRL_SYSCLOCK_TIME_RATIO is set to

a value greater than 1, the basic clock cycle corresponds to the position controller clock cycle.

For systems with PROFIBUS-DP connection, this MD corresponds to the PROFIBUS-DP cycle time.

When booting, this time is read out of the configuring file (SDP type 2000) and written into the

MD.

This MD can only be changed using the configuring file.

Note:

If this MD is reduced, then this can result in an automatic correction of POSCTRL_CYCLE_DELAY,

that cannot be undone at the next increase!

Details:

The basic clock cycle is an integer multiple (SYSCLOCK_SAMPL_TIME_RATIO) of units of the

clock cycle of the measured value sampling. When the system boots, the entered value is

automatically rounded to an integer multiple.

Note:

After a power off/on, discrete timer division ratios may produce a value that is not an integer of

the input value, e.g.

Entry =0.005s

after power off/on =0.00499840

Entry =0.006s

after power off/on =0.0060032

Special cases, errors,...

corresponds with..

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313

Data descriptions

9.1 Machine data for SINUMERIK 840D sl

10060

$MN_POSCTRL_SYSCLOCK_TIME_RATIO

MD number

Factor for position-control cycle

Default value:1

Min. input limit: 1

Max. input limit: 31

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

The position control clock cycle is entered as a multiple of the time units of the basic system

clock cycle SYSCLOCK_CYCLE_TIME.

The default setting is "1". This means that the position control clock cycle corresponds to the

basic system clock cycle SYSCLOCK_CYCLE_TIME.

Setting values > 1 involves computation time for processing the additional timer interrupts by

the operating system, and should only be used in cases where a task exists in the system that

should run faster than the position controller clock cycle.

For systems with PROFIBUS DP connection, this MD represents ratio between the PROFIBUS DP

clock cycle and position controller clock cycle.

Special cases, errors,...

corresponds with..

10070

$MN_IPO_SYSCLOCK_TIME_RATIO

MD number

Factor for interpolator clock cycle

Default value: 4

Min. input limit: 1

Max. input limit: 100

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

The interpolator clock cycle is entered as a multiple of the time units of the basic system clock

cycle SYSCLOCK_CYCLE_TIME.

It is only permissible to set integer multiples of the position controller clock cycle (set using

POSCTRL_SYSCLOCK_TIME_RATIO). Values, that do not represent an integer multiple of the

position controller clock cycle, are automatically increased to the next integer multiple of the

position controller clock cycle before they become effective (at the next boot).

In this case, Alarm 4102 "IPO cycle increase to [ ] ms" is output.

Special cases, errors,...

corresponds with..

MD10060 POSCTRL_SYSCLOCK_TIME_RATIO

10071

$MN_IPO_CYCLE_TIME

MD number

Interpolator clock cycle

Default value: 0.0

Min. input limit: -

Max. input limit: -

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

Interpolation time

Displays the interpolator clock cycle time (this cannot be modified !).

Internally, this is formed from the machine data SYSCLOCK_CYCLE_TIME and IPO_SYS-

CLOCK_TIME_RATIO.

Special cases, errors,...

corresponds with..

MD10050 SYSCLOCK_CYCLE_TIME

MD10070 IPOL_SYSCLOCK_TIME_RATIO

Safety Integrated (system-integrated)

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Data descriptions

9.1 Machine data for SINUMERIK 840D sl

10089

$MN_SAFE_PULSE_DIS_TIME_BUSFALL

MD number

Wait time pulse cancellation when the bus fails

Default value: 0.0

Min. input limit: 0.0

Max. input limit: 0.8

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: s

Data type: DOUBLE

Meaning:

Time after which a communication failure to the drive occurs the pulses are safely canceled.

During this time it is still possible to implement a response that is executed independently in the

drive (refer to extended stop and retract).

In the following cases, the system does not wait for this time up to pulse cancellation to expire:

• When selecting an external STOP A, a test stop

• When SBH is active or SBH is selected

• For an active SG stage or when selecting an SG stage for which immediate pulse cancellation

is parameterized in MD36961 $MA_SAFE_VELO_STOP_MODE or MD36963 $MA_SAFE_VE-

LO_STOP_REACTION.

Note:

This value is is transferred to drive parameter p9580 using the copy function of SI-MD and

compared in a crosswise data comparison.

This general machine data is included in the axis-specific checksum calculation of the safety-

related machine data (MD36998 $MA_SAFE_ACT_CHECKSUM, MD36999

$MA_SAFE_DES_CHECKSUM).

Special cases, errors,...

corresponds with..

10090

$MN_SAFETY_SYSCLOCK_TIME_RATIO

MD number

Factor for monitoring clock cycle

Default value: 3

Min. input limit: 1

Max. input limit: 50

Change becomes effective after: POWER ON

Protection level: 7/1

Unit: -

Data type: DWORD

Meaning:

Ratio between the monitoring and system basic clock cycle. The monitoring clock cycle is the

product of this data and MD10050 $MN_SYSCLOCK_CYCLE_TIME.

Special cases, errors,...

The monitoring clock cycle is checked when powering up:

• It must be an integer multiple of the position control clock cycle

• It must be < 25 ms

If these conditions are not fulfilled, the factor is rounded-off to the next possible value. The

monitoring cycle that is actually set is displayed using MD10091 $MN_INFO_SAFETY_CY-

CLE_TIME.

Further, the value for the crosswise data comparison clock cycle that is displayed using

MD10092 $MN_INFO_CROSSCHECK_CYCLE_TIME also changes.

Note:

The monitoring clock cycle defines the response time of the monitoring functions. It should be

noted that a short monitoring clock cycle time increases the load on the CPU.

corresponds with..

MD10050 $MN_SYSCLOCK_CYCLE_TIME

MD10091 $MN_INFO_SAFETY_CYCLE_TIME

MD10092 $MN_INFO_CROSSCHECK_CYCLE_TIME

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315

Data descriptions

9.1 Machine data for SINUMERIK 840D sl

10091

$MN_INFO_SAFETY_CYCLE_TIME

MD number

Display, monitoring clock cycle time

Default value: 0.0

Min. input limit: 0.0

Max. input limit:-

Change becomes effective after: POWER ON

Protection level: 7/0

Unit: s

Data type: DOUBLE

Meaning:

Display data:

Set monitoring clock cycle in seconds. Is obtained from MD10050 $MN_SYSCLOCK_CY-

CLE_TIME and MD10090 $MN_SAFETY_SYSCLOCK_TIME_RATIO.

The data value is always re-calculated as soon as one of the following data is changed:

MD10090 $MN_SAFETY_SYSCLOCK_TIME_RATIO

MD10060 $MN_POSCTRL_SYSCLOCK_TIME_RATIO

MD10050 $MN_SYSCLOCK_CYCLE_TIME

The new value only becomes effective after POWER ON.

corresponds with:

MD10090 $MN_SAFETY_SYSCLOCK_TIME_RATIO

Additional reference

/FBSIsl/ see Chapter "Monitoring cycle (Page 81)", Chapter "Crosswise data comparison (CDC)

(Page 81)"

10092

$MN_INFO_CROSSCHECK_CYCLE_TIME

MD number

Displays the clock cycle time for a crosswise data comparison

Default value: 0.0

Min. input limit: -

Max. input limit:-

Change becomes effective after: POWER ON

Protection level: 7/-

Unit: s

Data type: DOUBLE

Meaning:

Display data:

Maximum crosswise data comparison in seconds.

This is obtained from the MD10091 $MN_INFO_SAFETY_CYCLE_TIME and the number of data

to be compared crosswise (depending on the functionality that has been enabled, this can

differ for the individual axes).

The data value is always re-calculated as soon as one of the following data is changed:

MD10090 $MN_SAFETY_SYSCLOCK_TIME_RATIO

MD10060 $MN_POSCTRL_SYSCLOCK_TIME_RATIO

MD10050 $MN_SYSCLOCK_CYCLE_TIME

The new value only becomes effective after POWER ON.

corresponds with ...

MD10090 $MN_SAFETY_SYSCLOCK_TIME_RATIO

MD36992 $MA_SAFE_CROSSCHECK_CYCLE

Additional reference

/FBSIsl/ see Chapter "Monitoring cycle (Page 81)", Chapter "Crosswise data comparison (CDC)

(Page 81)"

10093

$MN_INFO_NUM_SAFE_FILE_ACCESS

MD number

Number of SPL file access operations

Default value: 0

Min. input limit: 0

Max. input limit: -

Change becomes effective after: POWER ON

Protection level: 0/0

Unit: -

Data type: DWORD

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9.1 Machine data for SINUMERIK 840D sl

10094

$MN_SAFE_ALARM_SUPPRESS_LEVEL

Meaning:

Influences the display of safety alarms.

The monitoring channels NCK and drive display alarms with the same significance in several

situations.

In order to reduce the size of the alarm screen, this MD is used to specify whether safety alarms

with the same significance are to be suppressed. The two-channel stop response is not influ-

enced by the setting.

0 = alarms triggered in two channels are displayed to the full extent

• two-channel display of all axis-specific safety alarms

• Alarm 27001, fault code 0 is displayed

• Alarms 27090, 27091, 27092, 27093 and 27095 are displayed through two channels and

a multiple number of times.

1 = alarms with the same meaning are only displayed once.

This involves the following alarms and messages:

27010 = C01707

27011 = C01714

27012 = C01715

27013 = C01706

27020 = C01710

27021 = C01709

27022 = C01708

27023 = C01701

27024 = C01700

For these alarms, only one of the specified alarms (270xx or C01xxx) is initiated. The alarm of

the monitoring channel that then subsequently initiates the alarm with the same significance,

is no longer displayed.

Furthermore, Alarm 27001 with fault code 0 is suppressed. This alarm occurs as a result of drive

Alarm C01711. In this particular case, drive parameters r9710[0,1], r9711[0,1], r9735[0,1],

r9736[0,1], r9737[0,1], r9738[0,1], r9739[0,1] provide information regarding the cause of the

error.

2 = default setting

Going beyond the functionality with MD value=1, the alarms from the SPL

processing (27090, 27091, 27092, 27093 and 27095) are only displayed

through one channel and only once. This also applies to alarms of the PROFIsafe communica-

tions (27250 and following).

3 = axis-specific alarms 27000 and A01797 are replaced by Alarm message 27100 for all axes/

drives. Alarm 27040 is replaced by Alarm 27140 for all axes/drives.

12 = going beyond the functionality with MD value = 2, the alarms are prioritized. What appears

to be apparent follow-on alarms are no longer displayed or are automatically cleared from the

display.

The following alarms may be involved:

27001, 27004, 27020, 27021, 27022, 27023, 27024, 27091, 27101, 27102, 27103, 27104,

27105, 27106, 27107

13 = going beyond the functionality with MD value = 3, the alarms are assigned priorities as for

MD value 12.

1xx (100 position set) = axis-specific checksum alarms of the NCK (27032, 27035, 27060) are

replaced in the SPL commissioning mode (MD11500 $MN_PREVENT_SYNACT_LOCK[0,1] = 0)

by alarm 27135 for all axes.

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9.1 Machine data for SINUMERIK 840D sl

10094

$MN_SAFE_ALARM_SUPPRESS_LEVEL

This machine data must be set to 0 to generate an acceptance report. This allows the system to

document all of the alarms that have been initiated.

Special cases, errors,...

10095

$MN_SAFE_MODE_MASK

MD number

Safety Integrated operating modes

Default value: 0

Min. input limit: 0

Max. input limit: 0x001E

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

Bit 1=0: The "Modular PROFIsafe I/O interface" function is not active.

Bit 1=1: The "Modular PROFIsafe I/O interface" function is active.

Bit 2=0: The reduced language scope for SAFE.SPF is only activated for an automatic start when

booting (MD20108 $MC_PROG_EVENT_MASK bit 5)

Bit 2=1: The reduced language scope for SAFE.SPF is also activated if SAFE.SPF is called using the

CALL command

Bit 3=0: all PROFIsafe drivers in one IPO clock cycle

Bit 3=1: PROFIsafe driver distributed over several IPO clock cycles

Bit 4=0: in safety operating mode "SINUMERIK Safety Integrated (SPL)", it is not possible to

couple NC axes to the drive monitoring functions via SIC/SCC

Bit 4=1: in safety operating mode "SINUMERIK Safety Integrated (SPL)", it is permissible to

couple NC axes to the drive monitoring functions via SIC/SCC

Special cases, errors,...

corresponds with:

Bit 1:

MD13302 $MN_PROFISAFE_IN_ENABLE_MASK

MD13303 $MN_PROFISAFE_OUT_ENABLE_MASK

Bit 2:

MD20108 $MC_PROG_EVENT_MASK, bit 5

10096

$MN_SAFE_DIAGNOSIS_MASK

MD number

Safety Integrated diagnostic functions

Default value: 1

Min. input limit: 0

Max. input limit: 0x000F

Change becomes effective after: NewConf

Protection level: 7/2

Unit: -

Data type: DWORD

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Data descriptions

9.1 Machine data for SINUMERIK 840D sl

10096

$MN_SAFE_DIAGNOSIS_MASK

Meaning:

Bit 0=0

SGE differences between NCK and the drive monitoring channels are not displayed

Bit 0=1

Default setting: SGE differences between NCK and the drive monitoring channels are displayed

Differences between the following SGEs are detected (the listed bit numbers refer to the axis-

specific mapping of the SGEs - these correspond to the assignment of the axis-specific VDI

interface):

Bit 0: SBH/SG deselection = DB3<x>.DBX22.0

Bit 1: SBH deselection = DB3<x>.DBX22.1

Bit 3: SG selection, bit 0 = DB3<x>.DBX22.3

Bit 4: SG selection, bit 1 = DB3<x>.DBX22.4

Bit 12: SE selection = DB3<x>.DBX23.4

Bit 28: SG correction, bit 0 = DB3<x>.DBX33.4

Bit 29: SG correction, bit 1 = DB3<x>.DBX33.5

Bit 30: SG correction, bit 2 = DB3<x>.DBX33.6

Bit 31: SG correction, bit 3 = DB3<x>.DBX33.7

The differences are indicated using message Alarm 27004.

Bit 1 = 0:

Default setting: Displays an unsuccessful SPL start after the timer defined in MD13310

SAFE_SPL_START_TIMEOUT has expired with Alarm 27097

Bit 1 = 1:

Display of Alarm 27097 is suppressed.

Alarm 27097 indicates, that in spite of the SPL configuration, SPL was not started after the time

set in MD13310 MD SAFE_SPL_START_TIMEOUT expired. For the cause, refer to the description

of Alarm 27097.

Bit 2 = 0: Default setting: Communication errors with SFC error codes are displayed using Alarm

27354

Bit 2 = 1: Display of Alarm 27354 is suppressed

Bit 3 = 0: Default setting: Display of Alarm 27038, if, in drive parameter r0474 an unknown bit

is set.

Bit 3 = 1: Display of Alarm 27038 is suppressed.

Special cases, errors,...

10097

$MN_SAFE_SPL_STOP_MODE

MD number

Stop response for SPL errors

Default value: 3

Min. input limit: 3

Max. input limit: 4

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: BYTE

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9.1 Machine data for SINUMERIK 840D sl

10097

$MN_SAFE_SPL_STOP_MODE

Meaning:

Selects the stop response when errors are detected in the crosswise data comparison of NCK and

PLC-SPL

3: Stop D

4 Stop E

When the value 4 is entered in this MD (Stop E) without enabling the external Stop E in all axes

with SI function enable signals (MD36901 $MA_SAFE_FUNCTION_ENABLE not equal to 0) re-

sults in Alarm 27033 with reference to this MD.

To remedy this, either parameterize STOP D or set bit 4 and bit 6 in MD36901 $MA_SAFE_FUNC-

TION_ENABLE for all of the axes involved.

If this MD is set to 4, then DB18.DBX36.1 (STOP E) must also be set to 1 in order to communicate

this parameterization to the PLC. For a different parameterization, Alarm 27090 is output.

Special cases, errors,...

10098

$MN_PROFISAFE_IPO_TIME_RATIO

MD number

Factor PROFIsafe communications clock cycle time

Default value: 1

Min. input limit: 1

Max. input limit: 25

Change becomes effective after: POWER ON

Protection level: 7/1

Unit: -

Data type: DWORD

Meaning:

Ratio between PROFIsafe communication and interpolation clock cycle. The actual PROFIsafe

communication clock cycle is the product from this data and MD10071 $MN_IPO_CYCLE_TIME

and is displayed in MD10099 $MN_INFO_PROFISAFE_CYCLE_TIME. In this clock cycle, OB40 on

the PLC side is initiated from the NCK to enable communication between the F-master and F-

slaves.

The PROFIsafe communications clock cycle may not be greater than 25 ms.

Special cases, errors,...

10099

$MN_INFO_PROFISAFE_CYCLE_TIME

MD number

PROFIsafe communications clock cycle time

Default value: 0.0

Min. input limit: -

Max. input limit: -

Change becomes effective after: POWER ON

Protection level: 7/0

Unit: s

Data type: DOUBLE

Meaning:

Display data:

Displays the maximum time grid for communications between an F-master and F-slave. PRO-

FIsafe communication via the OB40 in the PLC uses this time grid.

The value is obtained from the interpolator clock cycle and MD10098 $MN_PROFI-

SAFE_IPO_TIME_RATIO.

When the set communication clock cycle is exceeded, this is also displayed here.

In the case of an incorrect parameterization (communication clock cycle exceeds the maximum

value of 25.0 ms) then the maximum value that can be set is displayed.

Special cases, errors,...

10385

$MN_PROFISAFE_MASTER_ADDRESS[0...2]

MD number

PROFIsafe address of the master module

Default value: 0

Min. input limit: 0

Max. input limit: 0x0500FA7DH

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Data descriptions

9.1 Machine data for SINUMERIK 840D sl

10385

$MN_PROFISAFE_MASTER_ADDRESS[0...2]

Change becomes effective after: power on

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

Defines the PROFIsafe address for the F-master NCK/PLC. This is used to uniquely assign an F-

master to an F-slave. This parameter must be entered in accordance with the "F_source_ad-

dress" parameter set in S7-ES for the F-slaves. An attempt to establish communications is only

made for F-slaves that have entered this address.

Format: 0s 00 aaaa

s: Bus segment (5 = I/O connection on the PLC side)

aaaa: Hexadecimal PROFIsafe address of the F-master

Special cases, errors,...

10386

$MN_PROFISAFE_IN_ADDRESS[0...47]

MD number

PROFIsafe address of an input module

Default value: 0

Min. input limit: 0

Max. input limit: 0x0502FFFF

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

Definition of the PROFIsafe target address of an input module

Format: 0s 0x aaaa

s: Bus segment (5 = I/O connection on the PLC side)

x: Sub-slot address

Value range: 0...2

x = 0 addresses the F-net data signals 1 ...32

x = 1 addresses the F-net data signals 33 ...64

x = 2 addresses the F-net data signals 65...96

aaaa: Hexadecimal PROFIsafe address of the F-module

Special cases, errors,...

10387

$MN_PROFISAFE_OUT_ADDRESS[0...47]

MD number

PROFIsafe address of an output module

Default value: 0

Min. input limit: 0

Max. input limit: 0x0502FFFFH

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

PROFIsafe target address of an output module

Format: 0s 0x aaaa

s: Bus segment (5 = I/O connection on the PLC side)

x: Sub-slot address

Value range: 0...2

x = 0 addresses the F-net data signals 1 ...32

x = 1 addresses the F-net data signals 33 ...64

x = 2 addresses the F-net data signals 65...96

aaaa: Hexadecimal PROFIsafe address of the F-module

Special cases, errors,...

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9.1 Machine data for SINUMERIK 840D sl

10388

$MN_PROFISAFE_IN_ASSIGN[0...47]

MD number

Input assignment $A_INSE to PROFIsafe module

Default value: 0

Min. input limit: 0

Max. input limit: 192192

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

Assignment between an ext. SPL interface $A_INSE and a PROFIsafe input module

The SPL area data is specified in the decimal notation in the following format: aaa bbb

with aaa = area limit 1, SPL signal $A_INSE[aaa]

bbb = area limit 2, SPL signal $A_INSE[bbb]

Example:

$MN_PROFISAFE_IN_ASSIGN[0] = 001 004 or alternatively 004 001:

System variables $A_INSE[1...4] are supplied with the state of the input terminals of the PRO-

FIsafe module, which was parameterized using MD10386 $MN_PROFISAFE_IN_ADDRESS[0]

and selected using MD13300 $MN_PROFISAFE_IN_FILTER[0].

Special cases, errors,...

10389

$MN_PROFISAFE_OUT_ASSIGN[0...47]

MD number

Output assignment, $A_OUTSE to PROFIsafe module

Default value: 0

Min. input limit: 0

Max. input limit:192192

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

Assignment between an ext. SPL interface $A_OUTSE and a PROFIsafe output module

The SPL area data is specified in the decimal notation in the following format: aaa bbb

with aaa = area limit 1, SPL signal $A_OUTSE[aaa]

bbb = area limit 2, SPL signal $A_OUTSE[bbb]

Example:

$MN_PROFISAFE_OUT_ASSIGN[0] = 064 061 or alternatively 061 064:

The output terminals selected in MD13301 $MN_PROFISAFE_IN_FILTER[0] of the PROFIsafe

module parameterized using MD10387 $MN_PROFISAFE_OUT_ADDRESS[0] are supplied with

the states of system variables $A_OUTSE[61...64].

Special cases, errors,...

10393

$MN_SAFE_DRIVE_LOGIC_ADDRESS[0...30]

MD number

Logical drive addresses, SI

Default value: 6700, 6724, 6748, 6772, ...

Min. input limit: 258

Max. input limit:16383

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

Logical I/O addresses of the SI telegram of drives connected to PROFIBUS. An address is assigned

to a drive.

Special cases, errors,...

Note:

The value of the MD field entry, which is effective for an axis via MD36906

$MA_SAFE_CTRLOUT_MODULE_NR is incorporated in the calculation of MD36998

$MA_SAFE_ACT_CHECKSUM[2].

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9.1 Machine data for SINUMERIK 840D sl

The parameterization in MD10393 $MN_SAFE_DRIVE_LOGIC_ADDRESS correlates with the

logical I/O addresses that were defined when configuring the telegram.

$MN_SAFE_DRIVE_LOGIC_ADDRESS[$MA_SAFE_CTRLOUT_MODULE_NR[axis number]] must

contain the configured I/O address.

11411

$MN_ENABLE_ALARM_MASK

MD number

Activation of alarms

Default value: 0

Min. input limit: -

Max. input limit:-

Change becomes effective after: RESET

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

Screen form to generate alarms, which are normally suppressed.

Bit set: Alarms of this alarm group are output.

Bit not set: Alarms of this alarm group are not output.

Bit hex. Value, significance

=====================================================================

0: 0x1 Alarms are output, which have as alarm response SHOWALARMAUTO.

1: 0x2 Alarms are output, which have as alarm response SHOWWARNING.

2: 0x4 Alarm 22280 "Thread power-up path too short" is output.

3: 0x8 Alarms, which are triggered by the NCU LINK MODULE, are switched-in.

4: 0x10 Alarm 10883 "Chamfer or rounding must be shortened" permitted.

5: 0x20 Alarm 20096 "Brake test interrupted" is output.

6: 0x40 Alarm 16956 "Program cannot be started because of global start inhibit" is output.

Alarm 14005 ”Program cannot be started because of program-specific start inhibit" is output.

Alarm can only be switched-in in the RESET channel state, in all other channel states, it is output

without any associated conditions.

7: 0x80 Alarm 16957 "Stop-delay range is suppressed" is output.

8: 0x100 Alarm 1011 Fine coding 150019 or 150020 "Incorrect axis number in the LINK"

9: 0x200 Alarm 22033 Diagnostics 1 to 6 for "Track synchronous operation" (couplings)

10: 0x400 alarm 15122 "PowerOn after power fail: %1 data were restored, of which %2 machine

data, %3 error" is output.

11: 0x800 Alarms 10722, 10723, 10732 or 10733 are output instead of alarms 10720, 10721,

10730 or 10731.

12: 0x1000 Alarm 22033 Diagnostics greater than or equal to 7 for "Track synchronous opera-

tion" (couplings)

Special cases, errors,...

11415

$MN_SUPPRESS_ALARM_MASK_2

MD number

Suppress alarm outputs

Default value: 0x8

Min. input limit: -

Max. input limit:-

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

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9.1 Machine data for SINUMERIK 840D sl

11415

$MN_SUPPRESS_ALARM_MASK_2

Meaning:

Screen form for suppressing special alarm outputs.

Bit set: The corresponding alarm (warning) is not triggered.

Bit hex. Meaning

Value

=====================================================================

0: 0x1 16773 "Channel %1 Axis %3 is following axis. The axis/spindle inhibits of the leading axes

are different"

1: 0x2 2100 "NCK battery warning level reached"

2101 ”NCK battery alarm”

2102 ”NCK battery alarm”

2: 0x4 2120 "NCK fan alarm" (ineffective on modules that are designed not to require a fan)

3: 0x8 15120 ”PowerFail: Show buffer overflow"

4: 0x10 15187 "Error during execution of PROGEVENT file"

5: 0x20 15188 "Error when executing ASUB file"

6: 0x40 26120 ”$AA_ESR_ENABLE = 1 and axis should become neutral“

26121 ”Axis is neutral and $AA_ESR_ENABLE should be set =1”

26123 ”$AA_ESR_ENABLE = 1 should be set, however $MA_ESR_REACTION is not set”

26124 ”$AC_TRIGGER initiated, however axis is neutral, ESR ignores this axis"

7: 0x80 10724 ”Software limit at the start of the block violated”

10734 ”Working area limitation violated at the start of the block ”

10737 ”WCS working area limitation violated at the start of the block”

8: 0x100 14008 ”WRITE command in /_N_EXT_DIR”

10734 ”Working area limitation violated at the start of the block ”

10737 ”WCS working area limitation violated at the start of the block”

9: 0x200 14006 "Invalid program name"

10: 0x400 4006 "Maximum number of axes that can be activated exceeded"

11: 0x800 16017 "LIFTFAST ignores this axis, as it cannot be used for the current axis type"

12: 0x1000 22025 "Channel %1 Block %2 Following axis/spindle %3 Synchronism (2): Fine

tolerance exceeded"

- exception: The alarm is generated if for the following axis/spindle involved, CPMALARM[FAx]

Bit 8 = 0 is programmed.

22026 "Channel %1 Block %2 Following axis/spindle %3 Synchronous operation (2): Coarse

tolerance exceeded"

- exception: The alarm is generated if for the following axis/spindle involved, CPMALARM[FAx]

bit 9 = 0 is programmed.

13: 0x2000 22001 ”Braking ramp longer than Stop D time.”

22002 "Braking ramp longer than Stop D time for gear stage %3 Reason %4."

14: 0x4000 16963 "ASUB start refused."

15: 0x8000 21751,” Limit velocity %2 degrees/min at the modulo axis %1 exceeded (incorrect

cam output)”

21752,” Axis %1 Minimum cam width cams %3 fallen below for active velocity %2”

16: 0x10000 17212 "Channel %1 tool management: Load manual tool %3, Duplo no. %2 to

spindle/toolholder"

17214 "Channel %1 Tool management: Unload manual tool %3 from spindle/toolholder %2"

17215 "Channel %1 tool management: Unload manual tool %3 from the buffer magazine lo-

cation %2"

17216 "Channel %1 unload manual tool from toolholder %4 and load manual tool %3 %2"

17: 0x20000 16771 "Channel %1 Block %3 Following axis %2 Overlaid movement not enabled"

Special cases, errors,...

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Data descriptions

9.1 Machine data for SINUMERIK 840D sl

11500

$MN_PREVENT_SYNACT_LOCK

MD number

Protected synchronized actions

Default value: 0.0

Min. input limit: 0

Max. input limit:255

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

Fist and last ID of a protected synchronized action area.

Synchronized actions with ID numbers that are located in the protected range, can no longer be:

• overwritten

• deleted (CANCEL)

• disabled (lock)

once they have been defined. Protected synchronized actions cannot be disabled via the PLC

either. They are indicated to the PLC as non-lockable in the interface.

Note:

Protection for synchronized actions must be cancelled while generating the synchronized ac-

tions as otherwise, at each change, a power on would be necessary in order to re-define the

logic. With 0.0, there is no area of protected synchronized actions. The function is switched-out.

The values are read as absolute values and the upper and lower values can be specified in any

sequence.

Special cases, errors,...

11602

$MN_ASUP_START_MASK

MD number

Ignore stop conditions for ASUB

Default value: 0

Min. input limit: 0

Max. input limit:0xf

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

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9.1 Machine data for SINUMERIK 840D sl

11602

$MN_ASUP_START_MASK

Meaning:

The machine data specifies which stop reasons are to be ignored for an ASUB start. The ASUB is

started or the following stop reasons are ignored:

Bit 0:

Reason for the stop: Stop key, M0 or M01

If the NCK is in the reset state (or JOG mode), an ASUB is immediately started (without this bit,

an ASUB cannot be started in RESET/JOG).

NOTICE

This bit is implicitly set if, in $MN_PROG_EVENT_MASK if there is a deviation from zero in one

channel!

This bit is implicitly set, if bit 1 is set in $MN_SEARCH_RUN_MODE!

Bit 1:

Starting also permitted even if not all of the axes are referenced.

Bit 2:

Starting permitted even if a read-in inhibit is active, i.e. the blocks of the ASUB program are

immediately loaded and executed. This means that the machine data IGNORE_INHIBIT_ASUP

becomes ineffective. The NCK behavior corresponds to that of the machine data allocation

IGNORE_INHIBIT_ASUP= FFFFFFFF.

When the bit is not set:

The ASUB is selected internally, but processed only when the read-in disable is canceled.

The assignment of machine data IGNORE_INHIBIT_ASUP is evaluated.

If the following also applies: IGNORE_INHIBIT_ASUP = 0, then although an ASUB is internally

initiated, the blocks of the ASUB program are only loaded when the read-in inhibit is withdrawn.

When the ASUB is triggered, the path is immediately braked (except with the BLSYNC option).

The read-in inhibit is set again in the ASUB program.

Bit 3:

Caution:

The following function can always be activated in single-channel systems.

Multi-channel systems required, in addition, bit 1 in machine data $MN_BAG_MASK. The func-

tion is only effective for ASUBs, that were activated from the interrupted program state (channel

status reset). The function does not work in multi-channel systems without $MN_BAG_MASK

bit 1.

If an ASUB is automatically started from the JOG mode, then the user may stop in the middle of

the ASUB program. The JOG operating mode is continuously displayed to the user.

In this situation, the user can jog as BIT 3 is set. Without bit 3, this is not possible. In this situation,

the mode change is interlocked with Alarm 16927.

The user can continue the ASUB program using the "start" key.

It goes without saying that the user cannot jog as long as the ASUB program is running. The user

may jog again once the ASUB program has ended.

Bit 4...15: reserved

corresponds with ...

MD11604 $MN_ASUP_START_PRIO_LEVEL

Special cases, errors,...

11604

$MN_ASUP_START_PRIO_LEVEL

MD number

Priorities as of which ASUP_START_MASK takes effect

Default value: 0

Min. input limit: 0

Max. input limit:128

Change becomes effective after: power on

Protection level: 7/2

Unit: -

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Data descriptions

9.1 Machine data for SINUMERIK 840D sl

11604

$MN_ASUP_START_PRIO_LEVEL

Data type: DWORD

Meaning:

This machine data specifies from which ASUB priority the machine data $MN_AS-

UP_START_MASK is to be applied. MD ASUP_START_MASK is applied from the level specified

here up to the highest ASUB priority level 1.

corresponds with ...

MD11602 $MN_ASUP_START_MASK

Special cases, errors,...

13300

$MN_PROFISAFE_IN_FILTER[0...47]

MD number

F-net data filter IN

Default value: 0xFFFFFFFF

Min. input limit: -

Max. input limit: -

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

Filter between F-net data and $A_INSE variables

This machine data is used to define which bits are transferred from the F-net data interface of

the PROFIsafe module into the NCK for further processing.

The filtered F-net data bits are pushed together inside the NCK to form a bit array without any

gaps (consecutive bit array).

Using machine data MD10388 $MN_PROFISAFE_IN_ASSIGN[n] it is then defined in which

$A_INSE variables the filtered F-net data bits should be transferred.

Example:

Note: For reasons of simplicity, only 16 bits are taken into consideration.

Parameterization:

$MN_PROFISAFE_IN_FILTER = 1010100101000100

$MN_PROFISAFE_IN_ASSIGN = 011006

n = 16

|x|x|x|x|x|1|1|1|0|0|1|x|x|x|x|x|

$A_INSE[n], x = not relevant

|0|0|0|0|0|0|0|0|0|0|1|1|1|0|0|1|

NCK-internal F-net data image

|1|0|1|0|1|0|0|1|0|1|0|0|0|1|0|0|

$MN_PROFISAFE_IN_FILTER

|1|0|1|0|1|0|0|0|0|0|0|0|0|1|0|0|

example of a value available at the F-net data interface of the PROFIsafe module

corresponds with ...

Additional reference

13301

$MN_PROFISAFE_OUT_FILTER[0...47]

MD number

F-net data filter OUT

Default value: FFFFFFFFH

Min. input limit: 0

Max. input limit: FFFFFFFFH

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

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Data descriptions

9.1 Machine data for SINUMERIK 840D sl

13301

$MN_PROFISAFE_OUT_FILTER[0...47]

Meaning:

Filter between $A_OUTSE variables and F-net data

The machine data is used to define in which F-net data bits the relevant $A_OUTSE[n] variables

are transferred.

Machine data MD10389 $MN_PROFISAFE_OUT_ASSIGN is used to define which $A_OUTSE[n]

variables are transferred into the F-net data bits of the PROFIsafe module.

Example:

Note: For reasons of simplicity, only 16 bits are taken into consideration.

Parameterization:

$MN_PROFISAFE_OUT_FILTER = 1010100101000100

$MN_PROFISAFE_OUT_ASSIGN = 011006

n = 16 11 6 1

|x|x|x|x|x|1|1|1|1|1|1|x|x|x|x|x|

example of a value in the $A_OUTSE variables, x = not relevant

|0|0|0|0|0|0|0|0|0|0|1|1|1|1|1|1|

NCK-internal F-net data image

|1|0|1|0|1|0|0|1|0|1|0|0|0|1|0|0|

$MN_PROFISAFE_OUT_FILTER

|1|0|1|0|1|0|0|1|0|1|0|0|0|1|0|0|

F-net data of the PROFIsafe module

corresponds with ...

Additional reference

13302

$MN_PROFISAFE_IN_ENABLE_MASK[0...1]

MD number

Enable screen form of the connections to PROFIsafe input modules

Field index 0: Default value 0

Min. input limit: 0

Max. input limit: FFFFFFFFH

Field index 1: Default value 0

min. Input limit: 0

max. Input limit: 0000FFFFH

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

The machine data sets of the PROFIsafe connections to PROFIsafe input modules are enabled

using the enable screen forms.

A machine data set includes the following data:

MD10386 $MN_PROFISAFE_IN_ADDRESS[n]

MD10388$MN_PROFISAFE_IN_ASSIGN[n]

MD13300 $MN_PROFISAFE_IN_FILTER[n]

MD13305 $MN_PROFISAFE_IN_SUBS[n]

Bit n = 0

Machine data set [n] is checked for consistency, however it is not active.

The PROFIsafe connection [n] or the slot [n] is inactive.

Bit n = 1

The machine data set [n] is active.

The PROFIsafe connection [n] or the slot [n] is active.

corresponds with ...

MD10095 $MN_SAFE_MODE_MASK, bit 1

MD13304 $MN_PROFISAFE_IN_SUBS_ENAB_MASK

Additional reference

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Data descriptions

9.1 Machine data for SINUMERIK 840D sl

13303

$MN_PROFISAFE_OUT_ENABLE_MASK[0...1]

MD number

Enable screen form of the connections to PROFIsafe outputs modules

Field index 0: Default value 0

Min. input limit: 0

Max. input limit: FFFFFFFFH

Field index 1: Default value 0

min. Input limit: 0

max. Input limit: 0000FFFFH

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

The machine data sets of the PROFIsafe connections to PROFIsafe output modules are enabled

using the enable screen forms.

A machine data set includes the following data:

MD10387 $MN_PROFISAFE_OUT_ADDRESS[n]

MD10389 $MN_PROFISAFE_OUT_ASSIGN[n]

MD13301 $MN_PROFISAFE_OUT_FILTER[n]

Bit n = 0

The machine data set [n] is checked for consistency, but is however not active.

The PROFIsafe connection [n] or the slot [n] is inactive.

Bit n = 1

The machine data set [n] is active.

The PROFIsafe connection [n] or the slot [n] is active.

corresponds with ...

MD10095 $MN_SAFE_MODE_MASK, bit 1

Additional reference

13304

$MN_PROFISAFE_IN_SUBS_ENAB_MASK[0...1]

MD number

Activation of the substitute value output for PROFIsafe input modules

Field index 0: Default value 0

Min. input limit: 0

Max. input limit: FFFFFFFFH

Field index 1: Default value 0

min. Input limit: 0

max. Input limit: 0000FFFFH

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

The substitute value output for connections to PROFIsafe input modules is enabled using the

enable screen form.

Bit n = 0

For the connection parameterized in machine data set [n], the process data of the PROFIsafe

input module are transferred to the SPL input data.

The PROFIsafe connection [n] or the slot [n] is active.

Bit n = 1

For the connection parameterized in machine data set [n], the substitute values from $MN_PRO-

FISAFE_IN_SUBS[n] are transferred into the SPL input data.

The PROFIsafe connection [n] or the slot [n] is passive.

corresponds with ...

MD10095 $MN_SAFE_MODE_MASK, bit 1

MD13305 $MN_PROFISAFE_IN_SUBS

Additional reference

13305

$MN_PROFISAFE_IN_SUBS[0...47]

MD number

Substitute values for passive connections to PROFIsafe input modules

Default value 0

Min. input limit: 0

Max. input limit: FFFFFFFFH

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Data descriptions

9.1 Machine data for SINUMERIK 840D sl

13305

$MN_PROFISAFE_IN_SUBS[0...47]

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

For passive connections to PROFIsafe input modules, substitute values parameterized in the

machine data are transferred to SPL inputs ($A_INSE) parameterized using MD10388

$MN_PROFISAFE_IN_ASSIGN[n].

If the SPL inputs parameterized using MD10388 $MN_PROFISAFE_IN_ASSIGN[n] overlap with

the SPL inputs of an active slot, then the substitute values of the passive slot are adapted by the

control so that SPL inputs are not allocated twice. The states of the signals from the active slots

have priority.

corresponds with ...

MD10095 $MN_SAFE_MODE_MASK, bit 1

MD13304 $MN_PROFISAFE_IN_SUBS_ENAB_MASK

Additional reference

13307

$MN_PROFISAFE_IPO_RESERVE

MD number

Number of IPO clock cycles without PROFIsafe calculations

Default value 0

Min. input limit: 0

Max. input limit: 50

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

The value specifies the number of IPO clock cycles per PROFIsafe clock cycles, in which no

PROFIsafe calculations should be made.

This machine data is only active if machine data MD10095 $MN_SAFE_MODE_MASK, bit 3 is set.

The number of IPO clock cycles must be selected lower than the value in machine data

MD10098 $MN_PROFISAFE_IPO_TIME_RATIO.

corresponds with ...

Additional reference

13308

$MN_PROFISAFE_IN_NAME[0...47]

MD number

Name of the PROFIsafe input module

Default value -

Min. input limit: -

Max. input limit: -

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: STRING

Meaning:

Every PROFIsafe input module can be assigned a symbolic name. If a name is assigned, this is

displayed in the alarm text instead of the PROFIsafe address.

corresponds with ...

Additional reference

13309

$MN_PROFISAFE_OUT_NAME[0...47]

MD number

Name of the PROFIsafe output module

Default value -

Min. input limit: -

Max. input limit:-

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: STRING

Meaning:

Every PROFIsafe output module can be assigned a symbolic name. If a name is assigned, this is

displayed in the alarm text instead of the PROFIsafe address.

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Data descriptions

9.1 Machine data for SINUMERIK 840D sl

13309

$MN_PROFISAFE_OUT_NAME[0...47]

corresponds with ...

Additional reference

13310

$MN_SAFE_SPL_START_TIMEOUT

MD number

Delay, display Alarm 27097

Default value 20.

Min. input limit: 1.

Max. input limit: 60.

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: s

Data type: DOUBLE

Meaning:

After the control has booted, after the time has expired, Alarm 27097 is displayed if there was

no SPL start.

corresponds with ...

Additional reference

13312

$MN_SAFE_SPL_USER_DATA[0...3]

MD number

User data

Default value 0

Min. input limit: 0x0

Max. input limit: 0xFFFFFFFF

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

User data is used to save user-specific information.

Using crosswise data comparison between the NCK and PLC, this data is monitored for changes.

Changes to this data are identified by the checksum calculation and signaled with alarm 27071.

The data must match the corresponding PLC data (DB18.DBD 256 - 268). Discrepancies be-

tween the NCK and PLC lead to the parameterized Stops (STOP D or STOP E) being initiated and

are displayed using Alarm 27090.

corresponds with ...

Additional reference

13316

$MN_SAFE_GLOB_CFIG_CHANGE_DATA[0...6]

MD number

Date/time of the last change SI-NCK-MD

Default value -

Min. input limit: -

Max. input limit: -

Change becomes effective after: POWER ON

Protection level: 7/-

Unit: -

Data type: DWORD

Meaning:

Display data:

Date and time of the last configuration change of safety-related NCK machine data.

Changes made to the machine data that are calculated into the checksums MD13318

$MN_SAFE_GLOB_ACT_CHECKSUM are recorded.

corresponds with ...

Additional reference

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Data descriptions

9.1 Machine data for SINUMERIK 840D sl

13317

$MN_SAFE_GLOB_PREV_CONFIG[0...10]

MD number

Data of the previous safety configuration

Default value 0H

Min. input limit: 0H

Max. input limit: FFFFFFFFH

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

Buffer memory to save previous safety configuration data

Index 0: Status flag bit of the change history

Index 1: Previous value, option data

Index 2: previous value reference checksum MD13319 $MN_SAFE_GLOB_DES_CHECKSUM[0]

Index 3: Last value, option data before loading default data

Index 4: last value reference checksum MD13319 $MN_SAFE_GLOB_DES_CHECKSUM[0] be-

fore loading standard data

Index 5: previous value reference checksum MD13319 $MN_SAFE_GLOB_DES_CHECKSUM[1]

Index 6: last value reference checksum MD13319 $MN_SAFE_GLOB_DES_CHECKSUM[1] be-

fore loading standard data

Index 7: previous value reference checksum MD13319 $MN_SAFE_GLOB_DES_CHECKSUM[2]

Index 8: last value reference checksum MD13319 $MN_SAFE_GLOB_DES_CHECKSUM[2] be-

fore loading standard data

Index 9: previous value reference checksum MD13319 $MN_SAFE_GLOB_DES_CHECKSUM[3]

Index 10: last value reference checksum MD13319 $MN_SAFE_GLOB_DES_CHECKSUM[3] be-

fore loading standard data

corresponds with ...

Additional reference

13318

$MN_SAFE_GLOB_ACT_CHECKSUM[0...3]

MD number

Actual checksum NCK

Default value 0H

Min. input limit: 0H

Max. input limit: FFFFFFFFH

Change becomes effective after: POWER ON

Protection level: 7/-

Unit: -

Data type: DWORD

Meaning:

Display data:

The actual checksum - calculated after POWER ON or a RESET - over the actual values of safety-

related machine data is entered here.

Assignment of the field indices:

Index 0: General safety parameterization, parameterization of the SPL I/O coupling

Index 1: SPL user data

Index 2: Enable I/O connection (PROFIsafe and F_SEND/F_RECV)

Index 3: PROFIsafe parameters from the S7 configuring

corresponds with ...

Additional reference

13319

$MN_SAFE_GLOB_DES_CHECKSUM[0...3]

MD number

Reference checksum

Default value 0H

Min. input limit: 0H

Max. input limit: FFFFFFFFH

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Data descriptions

9.1 Machine data for SINUMERIK 840D sl

13319

$MN_SAFE_GLOB_DES_CHECKSUM[0...3]

Change becomes effective after: POWER ON

Protection level: 7/1

Unit: -

Data type: DWORD

Meaning:

This machine data contains the reference checksum over the actual values of safety-related

machine data that was saved during the last machine acceptance test.

Assignment of the field indices:

Index 0: General safety parameterization, parameterization of the SPL I/O coupling

Index 1: SPL user data

Index 2: Enable I/O connection (PROFIsafe and F_SEND/F_RECV)

Index 3: PROFIsafe parameters from the S7 configuring

corresponds with ...

Additional reference

13320

$MN_SAFE_SRDP_IPO_TIME_RATIO

MD number

Factor F_DP communication clock cycle

Default value 10

Min. input limit: 1

Max. input limit: 65535

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

Ratio between the interpolator clock cycle and the F_DP clock cycle in which F_DP communi-

cation takes place. In the resulting time grid, OB40 on the PLC side is initiated from the NCK to

enable F_DP communication.

The value obtained for the communication clock cycle from this MD and the set IPO clock cycle

may not be greater than 250 ms.

corresponds with ...

Additional reference

13322

$MN_INFO_SAFE_SRDP_CYCLE_TIME

MD number

Maximum F_DP communication clock cycle

Default value 0.0

Min. input limit: -

Max. input limit: -

Change becomes effective after: POWER ON

Protection level: 7/0

Unit: s

Data type: DOUBLE

Meaning:

Display data:

Displays the maximum time grid in which F_DP communication takes place for plant/system

coupling, which is operated via the OB40 on the PLC.

The value is obtained from the interpolator clock cycle and MD13320

$MN_SAFE_SRDP_IPO_TIME_RATIO.

When the set communication clock cycle is exceeded, this is also displayed here.

In the case of an incorrect parameterization (communication clock cycle exceeds the maximum

value of 250.0 ms) then the maximum value that can be set is displayed.

corresponds with ...

Additional reference

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Data descriptions

9.1 Machine data for SINUMERIK 840D sl

13330

$MN_SAFE_SDP_ENABLE_MASK

MD number

Enable screen form F_SENDDP communication relationships

Default value 0

Min. input limit: 0

Max. input limit: 0xFFFF

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

Enable screen form for the individual F_SENDDP communication relationships and their SPL

couplings.

corresponds with ...

Additional reference

13331

$MN_SAFE_SDP_ID[0...15]

MD number

Identifier of the F_SENDDP communication relationship

Default value 0

Min. input limit: -32768

max. input limit: +32767

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

Any value that is unique throughout the network as identifier of the F_SENDDP communication

relationship.

SIMATIC block parameters: DP_DP_ID

corresponds with ...

Additional reference

13332

$MN_SAFE_SDP_NAME[0...15]

MD number

Name of the F_SENDDP communication relationship

Default value -

Min. input limit: -

Max. input limit: -

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type:STRING

Meaning:

A name can be assigned to each F_SENDDP communication relationship.

If a name is assigned, this is displayed in the alarm text instead of DP_DP_ID.

corresponds with ...

Additional reference

13333

$MN_SAFE_SDP_CONNECTION_NR[0...15]

MD number

Number of the F_SENDDP-SPL connection

Default value 0

Min. input limit: 0

Max. input limit: 16

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: BYTE

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Data descriptions

9.1 Machine data for SINUMERIK 840D sl

13333

$MN_SAFE_SDP_CONNECTION_NR[0...15]

Meaning:

This machine data is used to set the number of the F_SENDDP-SPL connection which is para-

meterized with this data set. The F_SENDDP-SPL connection number is, at the same time, also

the index to access the system variables of the user interface of this F_SENDDP-SPL connection.

This applies to the following system variables:

$A_FSDP_ERR_REAC

$A_FSDP_ERROR

$A_FSDP_SUBS_ON

$A_FSDP_DIAG

Example:

MD13333 $MN_SAFE_SDP_CONNECTION_NR[2] = 3 means that the control and status infor-

mation of the F_SENDDP-SPL connection, which is parameterized via data set 2, can be found

in the system variables with the field index 3.

corresponds with ...

Additional reference

13334

$MN_SAFE_SDP_LADDR[0...15]

MD number

log. basis address of the input/output data area F_SENDDP

Default value 288

Min. input limit: 288

Max. input limit: 32767

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

The start address of the input and output data area, parameterized in SIMATIC STEP 7, via which

the F_SENDDP of this SPL connection communicates.

SIMATIC block parameters: LADDR

corresponds with ...

Additional reference

13335

$MN_SAFE_SDP_TIMEOUT[0...15]

MD number

Monitoring time for F_SENDDP

Default value 0.5

Min. input limit: 0.0

Max. input limit: 60

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: s

Data type: DOUBLE

Meaning:

The monitoring time is the time within which the F_SENDDP sends a new F-telegram to

F_RECVDP or F_RECVDP must have acknowledged a new F-telegram. When the monitoring time

is exceeded, F_RECVDP outputs substitute values to the SPL.

SIMATIC block parameters: TIMEOUT

corresponds with ...

Additional reference

13336

$MN_SAFE_SDP_ASSIGN[0...15]

MD number

Output assignment $A_OUTSE to F_SENDDP net data

Default value 0

Min. input limit: 0

Max. input limit: 192192

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

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Data descriptions

9.1 Machine data for SINUMERIK 840D sl

13336

$MN_SAFE_SDP_ASSIGN[0...15]

Data type: DWORD

Meaning:

The selection of the SPL signals $A_OUTSE in the F_SENDDP net data to be transferred can only

be done area for area.

The SPL area is specified in the decimal notation in the format aaa bbb

with aaa = area limit 1, SPL signal $A_OUTSE[aaa]

bbb = area limit 2, SPL signal $A_OUTSE[bbb]

Example:

$MN_SAFE_SDP_ASSIGN[0] = 001 004 or alternatively 004 001. The SPL signals $A_OUTSE[1]

to $A_OUTSE[4] are transferred in the F_SENDDP net data, selected using MD13337

$MN_SAFE_SDP_FILTER[0].

corresponds with ...

Additional reference

13337

$MN_SAFE_SDP_FILTER[0...15]

MD number

F-net data filter between $A_OUTSE and F_SENDDP

Default value 0xFFFF

Min. input limit: 0

Max. input limit: 0xFFFF

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

This MD is used to create an assignment between OUTSE signals and F_SENDDP net data signals .

The SPL signals selected via MD13336 $MN_SAFE_SDP_ASSIGN are transferred in the

F_SENDDP net data signals, for which a 1 is set in this MD.

Bit x = 1

An SPL signal is transferred at the bit position x of the F_SENDDP net data.

Bit x = 0

No SPL signal is transferred at the bit position x of the F_SENDDP net data.

corresponds with ...

Additional reference

13338

$MN_SAFE_SDP_ERR_REAC[0...15]

MD number

Error response F_SENDDP

Default value 0

Min. input limit: 0

Max. input limit: 3

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

The error response defined here is initiated in the case of a communication error. This value is

valid as long as no other value is entered from the SPL via the system variable $A_FSDP_ERR_RE-

AC.

Meaning of values:

0 = Alarm 27350 + Stop D/E

1 = Alarm 27350

2 = Alarm 27351 (only display, self-clearing)

3 = no system response

corresponds with ...

Additional reference

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Data descriptions

9.1 Machine data for SINUMERIK 840D sl

13340

$MN_SAFE_RDP_ENABLE_MASK

MD number

Enable screen form F_RECVDP communication relationships

Default value 0

Min. input limit: 0

Max. input limit: 0xFFFF

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

Enable screen form for the individual F_RECVDP communication relationships and their SPL

couplings.

corresponds with ...

Additional reference

13341

$MN_SAFE_RDP_ID[0...15]

MD number

Identifier of the F_RECVDP communication relationship

Default value 0

Min. input limit: -32768

max. input limit: +32767

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

Any value that is unique throughout the network as identifier of the F_RECVDP communication

relationship.

SIMATIC block parameters: DP_DP_ID

corresponds with ...

Additional reference

13342

$MN_SAFE_RDP_NAME[0...15]

MD number

Name of the F_RECVDP communication relationship

Default value -

Min. input limit: -

Max. input limit: -

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: STRING

Meaning:

A name can be assigned to each F_RECVDP communication relationship. If a name is assigned,

this is displayed in the alarm text instead of DP_DP_ID.

corresponds with ...

Additional reference

13343

$MN_SAFE_RDP_CONNECTION_NR[0...15]

MD number

Number of the F_RECVDP-SPL connection

Default value 0

Min. input limit: 0

Max. input limit: 16

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: BYTE

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Data descriptions

9.1 Machine data for SINUMERIK 840D sl

13343

$MN_SAFE_RDP_CONNECTION_NR[0...15]

Meaning:

The number of the F_RECVDP-SPL connection, which is parameterized with this data set, is set

using the machine data. The F_RECVDP-SPL connection number is, at the same time, also the

index to access the system variables of the user interface of this F_RECVDP-SPL connection.

This applies to the following system variables:

$A_FRDP_SUBS

$A_FRDP_ERR_REAC

$A_FRDP_ERROR

$A_FRDP_SUBS_ON

$A_FRDP_ACK_REQ

$A_FRDP_DIAG

$A_FRDP_SENDMODE

Example:

MD13343 $MN_SAFE_SDP_CONNECTION_NR[2] = 3 means that the control and status infor-

mation of the F_RECVDP-SPL connection, which is parameterized via data set 2, can be found in

the system variables with the field index 3.

corresponds with ...

Additional reference

13344

$MN_SAFE_RDP_LADDR[0..15]

MD number

log. basis address of the input/output data area, F_RECVDP

Default value 288

Min. input limit: 288

Max. input limit: 32767

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

The logical basis address of the input and output data area parameterized in SIMATIC STEP7 via

which this F_RECVDP connection communicates.

SIMATIC block parameters: LADDR

corresponds with ...

Additional reference

13345

$MN_SAFE_RDP_TIMEOUT[0...15]

MD number

Monitoring time for F_RECVDP

Default value 0.5

Min. input limit: 0.0

Max. input limit: 60

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: s

Data type: DOUBLE

Meaning:

The monitoring time is the time within which the F_SENDDP sends a new F-telegram to

F_RECVDP or F_RECVDP must have acknowledged a new F-telegram. When the monitoring time

is exceeded, F_RECVDP outputs substitute values to the SPL.

SIMATIC block parameters: TIMEOUT

corresponds with ...

Additional reference

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Data descriptions

9.1 Machine data for SINUMERIK 840D sl

13346

$MN_SAFE_RDP_ASSIGN[0...15]

MD number

Input assignment F_RECVDP net data to $A_INSE

Default value 0

Min. input limit: 0

Max. input limit: 192192

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

The selection of the SPL signals $A_INSE to be supplied from the F_RECVDP net data can only be

done area for area.

The SPL area is specified in the decimal notation in the format aaa bbb

with aaa = area limit 1, SPL signal $A_INSE[aaa]

bbb = area limit 2, SPL signal $A_INSE[bbb]

Example:

$MN_SAFE_RDP_ASSIGN[0] = 001 004 or alternatively 004 001:

The F_RECVDP net data, selected using MD13347 F_RDP_FILTER[0] are transferred in the SPL

signals $A_INSE[1] to $A_INSE[4].

corresponds with ...

Additional reference

13347

$MN_SAFE_RDP_FILTER[0...15]

MD number

F-net data filter between F_RECVDP and $A_INSE

Default value 0xFFFF

Min. input limit: 0x0

Max. input limit: 0xFFFF

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

This MD is used to create an assignment between F_RECVDP net data signals and INSE signals.

The F_RECVDP net data signals, for which a 1 is set in this MD, are transferred in the SPL signals

selected using MD13346 $MN_SAFE_RDP_ASSIGN.

Bit x = 1

The F_RECVDP net data signal of bit position x is transferred as SPL signal.

Bit x = 0

The F_RECVDP net data signal of bit position x is not transferred as SPL signal.

corresponds with ...

Additional reference

13348

$MN_SAFE_RDP_ERR_REAC[0...15]

MD number

Error response F_RECVDP

Default value 0

Min. input limit: 0

Max. input limit: 3

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

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Data descriptions

9.1 Machine data for SINUMERIK 840D sl

13348

$MN_SAFE_RDP_ERR_REAC[0...15]

Meaning:

The error response defined here is initiated in the case of a communication error. This value is

valid as long as no other value is entered from the SPL via the system variable $A_FRDP_ERR_RE-

AC.

Meaning of values:

- 0 = Alarm 27350 + Stop D/E

- 1 = Alarm 27350

- 2 = Alarm 27351 (display only, self clearing)

- 3 = No system response

corresponds with ...

Additional reference

13349

$MN_SAFE_RDP_SUBS[0...15]

MD number

Substitute values in the case of an error

Default value 0

Min. input limit: 0

Max. input limit: 0xFFFF

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

In the case of a communication error, the substitute values defined here are activated in the

system variables $A_INSE assigned in this F_RECVDP-SPL connection. This value is valid as long

as no other value is entered from the SPL via the system variable $A_FRDP_SUBS.

corresponds with ...

Additional reference

13370

$MN_SAFE_MODE

MD number

Safety operating mode

Default value 0

Min. input limit: 0

Max. input limit: 3

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

MD to distinguish between the safety operating modes:

0 = safety operating mode "SINUMERIK Safety Integrated (SPL)"

1 = safety operating mode "SINUMERIK Safety Integrated (drive-based)"

2 = safety operating mode "SINUMERIK Safety Integrated (F_PLC) (without drive-based)"

3 = safety operating mode "SINUMERIK Safety Integrated plus (F-PLC)"

corresponds with ...

Additional reference

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Data descriptions

9.1 Machine data for SINUMERIK 840D sl

Only MD13370 $MN_SAFE_MODE_MASK = 0 is relevant for this documentation. Please do not

change this value.

13372

$MN_SAFE_PS_DRIVE_LOGIC_ADDR[0...30]

MD number

Logical PROFIsafe drive address SI

Default value 1008, 992, 976, 960, 944,

Min. input limit: 0

Max. input limit: 16383

928, 912, 896, 880, 864, 848, 832,816,

800, 784, 768, 752, 736, 720, 704, 688,

672, 656, 640, 624, 608, 592, 576, 560,

544, 528, 512, 496, 480, 464, 448, 432,

416, 400, 384, 368, 352

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

The default values of the logical basis addresses correspond to the values from the S7 default

configuration.

corresponds with ...

Additional reference

MD13372 $MN_PS_DRIVE_LOGIC_ADDR is not relevant for this documentation.

13374

$MN_SAFE_INFO_DRIVE_LOGIC_ADDR[0...30]

MD number

Logical SIC/SCC drive address SI

Default value 5800, 5816, 5832, 5848,

Min. input limit: 0

Max. input limit: 16383

5864, 5880, 5896, 5912, 5928, 5944,

5960, 5976, 5992, 6008, 6024, 6040,

6056, 6072, 6088, 6104, 6120, 6136,

6152, 6168, 6184, 6200, 6216, 6232,

6248, 6264, 6280

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

Logical basis addresses for the SIC/SCC communication between NCK and drive. The default

values of the logical basis addresses correspond to the values from the S7 default configuration.

corresponds with ...

Additional reference

13376

$MC_SAFE_INFO_TELEGRAM_TYPE[0...30]

MD number

SIC/SCC telegram number

Default value 701

Min. input limit: 0

Max. input limit: 999

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

Number of the SIC/SCC telegram type

corresponds with ...

Additional reference

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Data descriptions

9.1 Machine data for SINUMERIK 840D sl

20106

$MC_PROG_EVENT_IGN_SINGLEBLOCK

MD number

Prog events ignore the single block

Default value (0x0, 0x0,...)

Min. input limit: 0

Max. input limit: 0x3F

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

Event-controlled program calls (prog events) can be set regarding their behavior for a read-in

disable

Bit 0 = 1:

Prog event after a part program start makes a block change without another start

Bit 1 = 1:

Prog event after a part program end makes a block change without another start

Bit 2 = 1:

Prog event after a control panel reset makes a block change without another start

Bit 3 = 1:

Prog event after power up makes a block change without another start

Bit 4 = 1:

Prog event after 1st start after block search makes a block change without another start

Bit 5 = 1:

Safety prog event when booting makes a block change without another start.

corresponds with ...

Additional reference

20107

$MC_PROG_EVENT_IGN_INHIBIT

MD number

Prog events ignore the read-in disable

Default value (0x0, 0x0,...)

Min. input limit: 0

Max. input limit: 0x3F

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

Event-controlled program calls (prog events) can be set regarding their behavior for a read-in

disable

Bit 0 = 1:

Prog event after a part program start makes a block change despite the read-in inhibit

Bit 1 = 1:

Prog event after a part program end makes a block change despite the read-in inhibit

Bit 2 = 1:

Prog event after a control panel reset makes a block change despite the read-in inhibit

Bit 3 = 1:

Prog event after booting makes a block change despite the read-in inhibit

Bit 4 = 1:

Prog event after 1st start after block search makes block change despite the read-in inhibit

Bit 5 = 1:

Safety prog event when booting makes a block change despite the read-in inhibit

corresponds with ...

Additional reference

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Data descriptions

9.1 Machine data for SINUMERIK 840D sl

20108

$MC_PROG_EVENT_MASK

MD number

Event-controlled program call

Default value (0x0, 0x0,...)

Min. input limit: 0

Max. input limit: 0x3F

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

Parameterizes the event where the user program set with MD11620 $MN_PROG_EVENT_NAME

(default setting: _N_PROG_EVENT_SPF) is implicitly called:

Bit 0 = 1: Part program start

Bit 1 = 1: Part program end

Bit 2 = 1: Operator panel reset

Bit 3 = 1: Booting

Bit 4 = 1: Reserved

Bit 5 = 1: Safety program during power-up

The user program is called using the following search path:

1. /_N_CUS_DIR/_NPROG_EVENT_SPF

2. /_N_CMA_DIR/_NPROG_EVENT_SPF

3. /_N_CST_DIR/_NPROG_EVENT_SPF

The safety program must be available at the following location:

1. _N_CST_DIR/_N_SAFE_SPF

In addition, after the action blocks, the user program set using MD11620

$MN_PROG_EVENT_NAME is automatically started via MD11450 $MN_SEARCH_RUN_MODE

bit 1, independent of the settings in this machine data.

corresponds with ...

Additional reference

20192

$MC_PROG_EVENT_IGN_PROG_STATE

MD number

Do not display the execution of the prog events on the OPI

Default value (0x0, 0x0,...)

Min. input limit: 0

Max. input limit: 0x3F

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

Event-controlled program calls (prog events) can be influenced regarding their behavior at the

OPI interface. The variables progStatus and chanStatus remain uninfluenced in spite of the

active prog event processing - and stay at the old value. As a consequence, the prog event

processing can be hidden from the HMI.

Bit 0 = 1: Reserved bit with effect

Bit 1 = 1: Prog event after part program end does not change progStatus and chanStatus

Bit 2 = 1: Prog event after operator panel reset does not change progStatus and chanStatus

Bit 3 = 1: Prog event after booting does not change progStatus and chanStatus

Bit 4 = 1: Reserved

Bit 5 = 1: Safety prog event when booting does not change progStatus and chanStatus

corresponds with ...

Additional reference

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Data descriptions

9.1 Machine data for SINUMERIK 840D sl

20700

$MC_REFP_NC_START_LOCK

MD number

NC start inhibit without reference point

Default value TRUE

Min. input limit: -

Max. input limit: -

Change becomes effective after: RESET

Protection level: 7/2

Unit: -

Data type: BOOLEAN

Meaning:

The NC/PLC interface signal (NC start) to start part programs or part program blocks (MDA and

save/overwrite) is effective, even if one or all axes of the channel has/have still not been refer-

enced. In order that the axes still reach the correct position after the NC start, the workpiece

coordinate system (WCS) must be set to a correct value using other methods (scratching, au-

tomatic work offset determination, etc.).

Those axes, that were specified (in the application) as requiring to be referenced in the axis-

specific MD20700 $MA_REFP_CYCLE_NR (value > -1), must be referenced before an NC start is

permitted.

corresponds with ...

Additional reference

28251

$MC_MM_NUM_SAFE_SYNC_ELEMENTS

MD number

Number of elements for expressions in safety synchronized actions

Default value: 0

Min. input limit: 0

Max. input limit: 32000

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

The expressions of motion synchronized actions are saved in storage elements in the control

system. A motion synchronizing action requires a minimum of 4 elements.

The assignments are as follows:

each operand in the condition: 1 element

each action: >= 1 element

each assignment: 2 elements

each additional operand in complex expressions: 1 element

See also: MD28250 $MC_MM_NUM_SYNC_ELEMENTS

corresponds with ...

Additional reference

36901

$MA_SAFE_FUNCTION_ENABLE

MD number

Enables safety-related functions

Default value: 0H

Min. input limit: 0H

Max. input limit: 0x81FFFB

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

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Data descriptions

9.1 Machine data for SINUMERIK 840D sl

36901

$MA_SAFE_FUNCTION_ENABLE

Meaning:

The functions for safe operation can be enabled for one axis/spindle using this machine data.

It is only possible to enable - on an axis-specific basis - as many axes/spindles for safe oper-

ation as have been enabled by the global option.

The more partial functions that are set then the more computing time the safe functions

require.

Bit 0: enable safely reduced speed, Safe Operating Stop

Bit 1: enable safe limit switch

Bit 2: reserved for functions with absolute reference (such as SE/SN)

Bit 3: enable actual value synchronization, 2-encoder system

Bit 4: enable external ESR activation (STOP E)

Bit 5: enable SG correction

Bit 6: enable the external stop requests / external STOPs

Bit 7: enable cam synchronization

Bit 8: enable Safe Cams, pair 1, cam+

Bit 9: enable Safe Cams, pair 1, cam-

Bit 10: enable Safe Cams, pair 2, cam+

Bit 11: enable Safe Cams, pair 2, cam-

Bit 12: enable Safe Cams, pair 3, cam+

Bit 13: enable Safe Cams, pair 3, cam-

Bit 14: enable Safe Cams, pair 4, cam+

Bit 15: enable Safe Cams, pair 4, cam-

Bit 16: enable synchronization, hysteresis and filtering "n<n_x"

Bit 23: enable deactivation of the SBH/SG monitoring during an external STOP A

Special cases, errors,...

• If bit 1 or a higher bit is set, then bit 0 must also be set since the control system switches

to a Safe Operating Stop in response to STOP C, D or E (a parameterizing alarm 27033 is

displayed if an error is detected).

• If an insufficient number of axes/spindles have been enabled for safe operation using the

global option, then this data may be overwritten with the value 0000 when booting.

corresponds with ...

Global option

Additional reference

/FBSIsl/ see Chapter "Enabling the safety-related functions (Page 98)"

36902

$MA_SAFE_IS_ROT_AX

MD number

Rotary axis

Default value: FALSE

Min. input limit: -

Max. input limit: -

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: BOOLEAN

Meaning:

This data specifies whether the axis for safe operation is a rotary axis/spindle or linear axis.

= 0: Linear axis

= 1: Rotary axis/spindle

The value in this MD must be the same as in MD30300 $MA_IS_ROT_AX. If they are not identical

a parameterizing error is displayed.

corresponds with ...

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Data descriptions

9.1 Machine data for SINUMERIK 840D sl

36903

$MA_SAFE_CAM_ENABLE

MD number

Function enable Safe Cam Track

Default value: 0H

Min. input limit: 0H

Max. input limit:3FFF FFFFH

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

30 Safe Cams can be enabled for one axis/spindle for the "Safe Cam Track" function using this

machine data.

The enable signals may only be issued if the cam enable is not used in MD36901

$MA_SAFE_FUNCTION_ENABLE.

The cam synchronization is automatically activated if the "Safe Cam Track" function is enabled.

Bit 0: enable Safe Cam Track, cam 1

Bit 1: enable Safe Cam Track, cam 2

Bit 2: enable Safe Cam Track, cam 3

Bit 3: enable Safe Cam Track, cam 4

Bit 4: enable Safe Cam Track, cam 5

Bit 5: enable Safe Cam Track, cam 6

Bit 6: enable Safe Cam Track, cam 7

Bit 7: enable Safe Cam Track, cam 8

Bit 8: enable Safe Cam Track, cam 9

Bit 9: enable Safe Cam Track, cam 10

Bit 10: enable Safe Cam Track, cam 11

Bit 11: enable Safe Cam Track, cam 12

Bit 12: enable Safe Cam Track, cam 13

Bit 13: enable Safe Cam Track, cam 14

Bit 14: enable Safe Cam Track, cam 15

Bit 15: enable Safe Cam Track, cam 16

Bit 16: enable Safe Cam Track, cam 17

Bit 17: enable Safe Cam Track, cam 18

Bit 18: enable Safe Cam Track, cam 19

Bit 19: enable Safe Cam Track, cam 20

Bit 20: enable Safe Cam Track, cam 21

Bit 21: enable Safe Cam Track, cam 22

Bit 22: enable Safe Cam Track, cam 23

Bit 23: enable Safe Cam Track, cam 24

Bit 24: enable Safe Cam Track, cam 25

Bit 25: enable Safe Cam Track, cam 26

Bit 26: enable Safe Cam Track, cam 27

Bit 27: enable Safe Cam Track, cam 28

Bit 28: enable Safe Cam Track, cam 29

Bit 29: enable Safe Cam Track, cam 30

Corresponds with ...

MD36901 $MA_SAFE_FUNCTION_ENABLE

Additional reference

/FBSIsl/ see Chapter "Safety software cams and safety cam track (SN) (Page 156)"

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Data descriptions

9.1 Machine data for SINUMERIK 840D sl

36904

$MA_SAFE_ADD_FUNCTION_MASK

MD number

Enables additional functions for Safety Integrated

Default value: 0H

Min. input limit: 0H

Max. input limit:1H

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

Bit 0:

On the NCK side, for STOP B and C, braking is not initiated by entering "Speed setpoint 0".

Braking is realized on the drive side, based on the OFF3 ramp.

Special cases, errors,...

corresponds with ...

Additional reference

36905

$MA_SAFE_MODULO_RANGE

MD number

Modulo value Safe Cams

Default value: 0.0

Min. input limit: 0.0

Max. input limit:737280.0

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: Degrees

Data type: DOUBLE

Meaning:

Actual value range within which Safe Cams for rotary axes are calculated. The axis must be a

rotary axis (MD36902 $MA_SAFE_IS_ROT_AX = 1).

0: Modulo correction after +/- 2048 revolutions (i.e. after 737 280 degrees)

> 0 and multiples of 360 degrees:

Modulo correction after this value e.g. value = 360 degrees --> the actual value range is between

0 and 359.999 degrees, i.e. a modulo correction is carried out after every revolution.

Special cases, errors,...

• If the value set in this data is not 0 or a multiple of 360 degrees, then an appropriate alarm

is output when the system boots.

• The cam positions are also checked with respect to the parameterized actual value when the

system boots. An appropriate alarm is output if parameterization errors are detected.

• Actual value ranges set in MD36905 $MA_SAFE_MODULO_RANGE and MD30330

$MA_MODULO_RANGE must be multiple integers.

corresponds with ...

MD30330 $MA_MODULO_RANGE

MD36935 $MA_SAFE_CAM_POS_PLUS[n]

MD36937 $MA_SAFE_CAM_POS_MINUS[n]

Additional reference

/FBSIsl/ see Chapter "Safety software cams and safety cam track (SN) (Page 156)"

36906

$MA_SAFE_CTRLOUT_MODULE_NR

MD number

SI drive assignment

Default value: 1, 2, 3..

Min. input limit: 0

Max. input limit: 31

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: BYTE

Meaning:

Assignment of the drive for SI Motion monitoring functions

The entry refers to data array MD10393 $MN_SAFE_DRIVE_LOGIC_ADDRESS.

The same drive must be assigned, that was also selected using MD30110 $MA_CTRLOUT_MOD-

ULE_NR and MD13050 $MN_DRIVE_LOGIC_ADDRESS.

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