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

Data descriptions

9.1 Machine data for SINUMERIK 840D sl

36906

$MA_SAFE_CTRLOUT_MODULE_NR

Special cases, errors,...

corresponds with ...

36907

$MA_SAFE_DRIVE_PS_ADDRESS

MD number

PROFIsafe address of the drive

Default value: 0

Min. input limit: 0

Max. input limit: 65534

Change becomes effective after: POWER ON

Protection level: 7/-

Unit: -

Data type: DWORD

Meaning:

This NCK-MD contains the PROFIsafe address of the drive assigned to this axis. This MD is read

out of drive parameter p9810 when booting. The address must be unique across all of the axes.

This MD cannot be written to; the PROFIsafe address must be parameterized in the drive.

The value of this MD is incorporated in the calculation of MD36998 $MA_SAFE_ACT_CHECK-

SUM[2].

Special cases, errors,...

corresponds with ...

36909

$MA_SAFE_ENC_MEAS_STEPS_RESOL

MD number

Resolution measuring steps for linear absolute encoders

Default value: 0.0001

Min. input limit: 0

Max. input limit:4295

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: mm

Data type: DOUBLE

Meaning:

Sets the absolute position resolution for a linear absolute encoder.

When booting - for linear DRIVE-CLiQ encoders - this information is read-out of drive parameter

r0469 and is then compared with the last value saved here. This MD is then overwritten. Alarm

27036 is output if they are not equal. The value of this MD is incorporated in the checksum

calculation of MD36998 $MA_SAFE_ACT_CHECKSUM[0].

Special cases, errors,...

corresponds with ...

MD36913 $MA_SAFE_ENC_MEAS_STEPS_POS1

MD36917 $MA_SAFE_ENC_GRID_POINT_DIST

Additional reference

36912

$MA_SAFE_ENC_INPUT_NR

MD number

Actual value assignment

Default value: 1

Min. input limit: 1

Max. input limit: 3

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: BYTE

Meaning:

Number of the actual value input via which the safety-relevant actual values are acquired.

Special cases, errors,...

corresponds with ...

p9526, p0189

Safety Integrated (system-integrated)

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

349

Data descriptions

9.1 Machine data for SINUMERIK 840D sl

36913

$MA_SAFE_ENC_MEAS_STEPS_POS1

MD number

Non-safety-related measuring increments POS1

Default value: 22000

Min. input limit: 0

Max. input limit:4294967295

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

Sets the non-safety-related measuring steps of position value POS1.

When booting - for linear DRIVE-CLiQ encoders - this information is read-out of drive parameter

r0473 and is then compared with the last value saved here. This MD is then overwritten. Alarm

27036 is output if they are not equal. The value of this MD is incorporated in the checksum

calculation of MD36998 $MA_SAFE_ACT_CHECKSUM[0].

Special cases, errors,...

corresponds with ...

MD36909 $MA_SAFE_ENC_MEAS_STEPS_RESOL

MD36917 $MA_SAFE_ENC_GRID_POINT_DIST

Additional reference

36914

$MA_SAFE_SINGLE_ENC

MD number

SI single-encoder system

Default value: TRUE

Min. input limit: -

Max. input limit: -

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: BOOLEAN

Meaning:

ID that SI is carried out with an encoder. If different encoders are used for the Safety Integrated

monitoring functions in the drive and in the NCK, then this MD must be parameterized to be 0.

Special cases, errors,...

corresponds with ...

36916

$MA_SAFE_ENC_IS_LINEAR

MD number

Linear encoder

Default value: FALSE

Min. input limit: -

Max. input limit: -

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: BOOLEAN

Safety Integrated (system-integrated)

350

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

Data descriptions

9.1 Machine data for SINUMERIK 840D sl

36916

$MA_SAFE_ENC_IS_LINEAR

Meaning:

This MD specifies whether a linear or a rotary encoder is connected.

= 0:

rotary encoder is connected, its resolution is specified using MD36918 $MA_SAFE_ENC_RESOL

- and converted over to the load side using MD36920 $MA_SAFE_ENC_GEAR_PITCH, MD36921

$MA_SAFE_ENC_GEAR_DENOM[n] and MD36922 $MA_SAFE_ENC_GEAR_NUMERA[n].

MD36917 $MA_SAFE_ENC_GRID_POINT_DIST is of no significance.

= 1:

linear encoder is connected, MD36917 $MA_SAFE_ENC_GRID_POINT_DIST is used to specify its

resolution.

MD36918 $MA_SAFE_ENC_RESOL, MD36920 $MA_SAFE_ENC_GEAR_PITCH, MD36921

$MA_SAFE_ENC_GEAR_DENOM[n] and MD36922 $MA_SAFE_ENC_GEAR_NUMERA[n] are of

no significance.

If the value changes then Alarm 27036 is output.

corresponds with ...

For 0:

MD36918 $MA_SAFE_ENC_RESOL

MD36920 $MA_SAFE_ENC_GEAR_PITCH

MD36921 $MA_SAFE_ENC_GEAR_DENOM[n]

MD36922 $MA_SAFE_ENC_GEAR_NUMERA[n]

For 1:

MD36917 $MA_SAFE_ENC_GRID_POINT_DIST

36917

$MA_SAFE_ENC_GRID_POINT_DIST

MD number

Grid spacing, linear scale

Default value: 0.01

Min. input limit: 0.000 01

Max. input limit: 250

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: mm

Data type: DOUBLE

Meaning:

This MD specifies the grid spacing of the linear scale used here.

Not relevant for rotary encoders.

If the value changes then Alarm 27036 is output.

corresponds with ...

36918

$MA_SAFE_ENC_RESOL

MD number

Encoder pulses per revolution

Default value: 2048

Min. input limit: 1

Max. input limit: 100000000

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

This MD specifies the number of pulses per revolution for a rotary encoder.

Not relevant for a linear encoder.

If the value changes then Alarm 27036 is output.

corresponds with ...

Safety Integrated (system-integrated)

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

351

Data descriptions

9.1 Machine data for SINUMERIK 840D sl

36919

$MA_SAFE_ENC_PULSE_SHIFT

MD number

Shift factor of the encoder multiplication

Default value: 11

Min. input limit: 2

Max. input limit: 18

Change becomes effective after: POWER ON

Protection level: 7/-

Unit: -

Data type: BYTE

Meaning:

Shift factor of the multiplication (resolution) of the encoder that is used for the Safety Integrated

monitoring functions in the NCK. The encoder value must be divided by 2 so many times in order

to obtain the number of encoder pulses. A shift factor of 11 corresponds to an encoder multi-

plication by a factor of 2048. If the drive provides this information (r0979[3,13,23]), then this

MD is automatically internally assigned a value after the drive has run up. If the value changes

then Alarm 27036 is output.

corresponds with ...

36920

$MA_SAFE_ENC_GEAR_PITCH

MD number

Leadscrew pitch

Default value: 10.0

Min. input limit: 0.1

Max. input limit: 10000

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: mm

Data type: DOUBLE

Meaning:

Gear ratio of the gearbox (gear) between the encoder and load for a linear axis with rotary

encoder.

corresponds with ...

36921

$MA_SAFE_ENC_GEAR_DENOM[0...7]

MD number

Denominator, gearbox ratio encoder/load

Default value: 1

Min. input limit: 1

Max. input limit: 2147000000

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

Denominator of the gear between encoder and load, i.e. the denominator of the fraction num-

ber of encoder revolutions / number of load revolutions

n = 0, 1, ... ,7 stand for gearbox stages 1, 2, ... 8

The actual value is selected using safety-related input signals (SGE).

corresponds with ...

MD36922 $MA_SAFE_ENC_GEAR_NUMERA[n]

36922

$MA_SAFE_ENC_GEAR_NUMERA[0...7]

MD number

Numerator, gearbox ratio encoder/load

Default value: 1

Min. input limit: 1

Max. input limit: 2147000000

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

Numerator of the gear between encoder and load, i.e. the numerator of the fraction number of

encoder revolutions / number of load revolutions

n = 0, 1, ... 7 stand for gearbox stage 1, 2, ... 8

The actual value is selected using safety-related input signals (SGE).

corresponds with ...

MD36921 $MA_SAFE_ENC_GEAR_DENOM[n]

Safety Integrated (system-integrated)

352

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

Data descriptions

9.1 Machine data for SINUMERIK 840D sl

36923

$MA_SAFE_INFO_ENC_RESOL[0...7]

MD number

Safety-relevant encoder resolution

Default value: 0.0

Min. input limit: -

Max. input limit: -

Change becomes effective after: POWER ON

Protection level: 7/-

Unit: mm, degrees

Data type: DOUBLE

Meaning:

Display data:

Resolution of the encoder being used in the particular gear stage for the Safety Integrated

monitoring functions. With this accuracy, for a single-encoder system, safety-related positions

can be monitored. If different encoders are used for the Safety Integrated monitoring functions

in the drive and in the NCK, then this MD is 0.

corresponds with ...

36924

$MA_SAFE_ENC_NUM_BITS[0...3]

MD number

Bit information of the redundant actual value

Default value: 16,2,16,16

Min. input limit: -16

Max. input limit:32

Change becomes effective after: POWER ON

Protection level: 7/-

Unit: -

Data type: DWORD

Meaning:

Information about the redundant actual value:

Field index 0: Number of valid bits of the redundant actual value

Field index 1: Number of bits of the fine resolution of the redundant actual value

Array index 2: Number of relevant bits of the redundant actual value

Array index 3: Most significant bit of the redundant coarse position

This information is read-out when booting (for DRIVE-CLiQ encoder, from the drive parameters

r0470, r0471, r0472 and r0475, for SMI/SMC/SME encoders, the default values apply) and

compared with the values that were last saved here. This MD is then overwritten. Alarm 27035

or 27036 is output if they are not equal. If the combination of some values is incorrect, or if the

number of relevant bits (index 2) is equal to 0, then Alarm 27038 is output.

The values from MD36924 $MA_SAFE_ENC_NUM_BITS[0,1] are incorporated in the calculation

of MD36998 $MA_SAFE_ACT_CHECKSUM[1]. The values from MD36924

$MA_SAFE_ENC_NUM_BITS[2,3] are incorporated in the calculation of MD36998

$MA_SAFE_ACT_CHECKSUM[0].

If the combination of some values is incorrect, or if the number of relevant bits (index 2) is equal

to 0, then Alarm 27038 is output.

Special cases, errors,...

corresponds with ...

Additional reference

36925

$MA_SAFE_ENC_POLARITY

MD number

Direction reversal actual value

Default value: 1

Min. input limit: -1

Max. input limit: 1

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Safety Integrated (system-integrated)

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

353

Data descriptions

9.1 Machine data for SINUMERIK 840D sl

36925

$MA_SAFE_ENC_POLARITY

Meaning:

Using this data, the direction of the actual value can be reversed.

= -1: Direction reversal

= 0: no direction reversal or

= 1: no direction reversal

corresponds with ...

36926

$MA_SAFE_ENC_IS_GEAR_REVERSAL[0..7]

MD number

Gearbox direction of rotation reversal

Default value: FALSE

Min. input limit: -

Max. input limit: -

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: BOOLEAN

Meaning:

Sets the direction of rotation reversal for the gearbox.

0 (FALSE): no direction of rotation reversal

1 (TRUE): direction of rotation reversal

n = 0, 1, ... 7 stand for gearbox stages 1, 2, ... 8

The actual value is selected using safety-related input signals (SGE).

corresponds to ...

36927

$MA_SAFE_ENC_MOD_TYPE

MD number

Encoder evaluation type

Default value: 1

Min. input limit: 0

Max. input limit: 255

Change becomes effective after: POWER ON

Protection level: 7/-

Unit: -

Data type: BYTE

Meaning:

Type of the encoder evaluation of this axis used for Safety Integrated.

= 1: Sensor Module (SMI, SMC, SME)

= 2: DRIVE-CLiQ encoder

= 3: EnDatV2.2 converter

This type is read out of drive parameter r9527 when booting. If a valid value has not been

entered, alarm 27038 is output. If the drive parameter contains a valid value, then this is

compared with the last value saved in this MD. This MD is then overwritten. Alarm 27035 is

output if they are not equal. The value of this MD is incorporated in the calculation of MD36998

$MA_SAFE_ACT_CHECKSUM[1].

corresponds with ...

36928

$MA_SAFE_ENC_IDENT[0...2]

MD number

Encoder identification

Default value: 0

Min. input limit: 0

Max. input limit: FFFFFFFF

Change becomes effective after: POWER ON

Protection level: 7/-

Unit: -

Data type: DWORD

Safety Integrated (system-integrated)

354

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

Data descriptions

9.1 Machine data for SINUMERIK 840D sl

36928

$MA_SAFE_ENC_IDENT[0...2]

Meaning:

Identification of the encoder evaluation of this axis used for Safety Integrated. When booting,

the encoder evaluation (drive parameter r9881) reads out this identification and compares with

the last value saved here. This MD is then overwritten. The value of this MD is incorporated in

the calculation of MD36998 $MA_SAFE_ACT_CHECKSUM[1].

corresponds with ...

r9881: SI Motion Sensor Module Node Identifier, second channel

36929

$MA_SAFE_ENC_CONF

MD number

Configuration of the redundant actual value

Default value: 0

Min. input limit: 0

Max. input limit: 7FFFFFFFH

Change becomes effective after: POWER ON

Protection level: 7/-

Unit: -

Data type: DWORD

Meaning:

Configuration of the redundant actual value:

Bit 0: up/down counter

= 0: Down counter

= 1: Up counter

Bit 1: Encoder CRC: processing the redundant coarse position

= 0: most significant byte first

=1: least significant byte first

Bit 2: redundant coarse position MSB/LSB justified

= 0: redundant coarse position LSB justified

= 1: redundant coarse position MSB justified

Bit 4: Binary comparison not possible

= 0: Binary comparison possible

= 1: Binary comparison not possible

When booting - for DRIVE-CLiQ encoders - this information is read-out of drive parameter r0474

(the default values apply for SMI/SMC/SME encoders) and is then compared with the last value

saved here. This MD is then overwritten. Alarm 27035 is output if they are not equal. The value

of this MD is incorporated in the calculation of MD36998 $MA_SAFE_ACT_CHECKSUM[1].

If, in drive parameter r0474 an unknown bit is set, then Alarm 27038 is output. The alarm

output in this position can be hidden using the MD $MN_SAFE_DIAGNOSIS_MASK, bit 3 = 1.

corresponds with ...

36930

$MA_SAFE_STANDSTILL_TOL

MD number

Standstill tolerance

Default value: 1.0

Min. input limit: 0.0

Max. input limit: 100.

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: mm/inch, degrees

Data type: DOUBLE

Meaning:

This MD specifies the tolerance for a Safe Operating Stop.

If the difference between the position limit value and position actual value is greater than the

tolerance set here when a Safe Operating Stop is selected, then the control system outputs

Alarm 27010 with STOP B.

The position limit value is the position actual value at the instant that a Safe Operating Stop is

selected.

corresponds with ...

MD36956 $MA_SAFE_PULSE_DISABLE_DELAY

Safety Integrated (system-integrated)

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

355

Data descriptions

9.1 Machine data for SINUMERIK 840D sl

36931

$MA_SAFE_VELO_LIMIT[0...3]

MD number

Limit value for safely reduced speed

Default value: 2000

Min. input limit: 0.0

Max. input limit: -

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: mm/min, inch/min,

rev/min

Data type: DOUBLE

Meaning:

This MD defines the limit values for safely reduced speeds 1, 2, 3 and 4.

When SG1, SG2, SG3 or SG4 is selected and the actual speed exceeds this limit value, then the

control system initiates Alarm 27011 with the stop response configured in MD36961

$MA_SAFE_VELO_STOP_MODE or MD36963 $MA_SAFE_VELO_STOP_REACTION.

n = 0, 1, 2, 3 stand for the limit value of SG1, SG2, SG3, SG4

Special cases, errors,...

When SBH/SG is active in a 1-encoder system, the speed is monitored corresponding to the

encoder limit frequency. An appropriate alarm is output if this limit is exceeded.

corresponds with ...

MD36961 $MA_SAFE_VELO_STOP_MODE

MD36963 $MA_SAFE_VELO_STOP_REACTION

36932

$MA_SAFE_VELO_OVR_FACTOR[0...15]

MD number

SG correction values

Default value: 100.0

Min. input limit: 1.0

Max. input limit: 100.0

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: %

Data type: DOUBLE

Meaning:

Limit value corrections for safely reduced speeds 2 and 4 can be selected using SGEs and the

associated correction value (percentage value) set using this MD.

n = 0, 1, ... , 15 stand for correction 0, 1, ... 15

Note

• The function "correction, safely reduced speed" is enabled using MD36901

$MA_SAFE_FUNCTION_ENABLE.

• This correction has no effect for the limit values associated with safely reduced speeds 1 and

Special cases, errors,...

corresponds with ...

MD36978 $MA_SAFE_OVR_INPUT[n]

MD36931 $MA_SAFE_VELO_LIMIT[n]

Additional reference

/FBSIsl/ see Chapter "Override for safely reduced speed (Page 143)"

36933

$MA_SAFE_DES_VELO_LIMIT[0...3]

MD number

SG setpoint speed limiting

Default value: 0

Min. input limit: 0

Max. input limit: 100

Change becomes effective after: RESET

Protection level: 7/2

Unit: %

Data type: DOUBLE

Safety Integrated (system-integrated)

356

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

Data descriptions

9.1 Machine data for SINUMERIK 840D sl

36933

$MA_SAFE_DES_VELO_LIMIT[0...3]

Meaning:

Evaluation factor to define the speed setpoint limit.

The selection of the active evaluation factor is realized using the axis specific NC/PLC interface

DB3x.DB34.0 and 1.

Parameterization:

This MD may have to be altered several times before an optimum setting for the dynamic

response of the drives is found.

Effect of SI monitoring with NCK involvement:

• When 0% is entered the setpoint speed limiting is not active.

• When 100% is entered, the setpoint is limited to the active SG stage

• The active actual speed limit value is evaluated using this factor and is entered into the

interpolator as setpoint limit.

• When SBH is selected, a setpoint of 0 is entered.

• This data is not included in the crosswise data comparison with the drive.

• This data is not included in the axis-specific checksum MD36998 $MA_SAFE_ACT_CHECK-

SUM[ ] as it involves a 1-channel function.

Special cases, errors,...

If, from the PLC user program, there is no input to select the evaluation factor, then MD value

from MD36933 $MA_SAFE_DES_VELO_LIMIT[0] becomes active.

corresponds with ...

Additional reference

/FBSIsl/ see Chapter "Limiting the speed setpoint (Page 743)"

36934

$MA_SAFE_POS_LIMIT_PLUS[0...1]

MD number

Upper limit value for safe limit position

Default value: 100000

Min. input limit: -2147000

Max. input limit: 2147000

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: mm, inches, degrees

Data type: DOUBLE

Meaning:

This MD specifies the upper limit value for safe end positions 1 and 2.

When SE1 or SE2 is selected and the actual position exceeds this limit, then the control system

outputs Alarm 27012 with the stop response configured in $MA_SAFE_POS_STOP_MODE and

changes over into the SBH mode. If SBH is violated, STOP B and A are initiated as stop response.

n = 0, 1 stand for the upper limit value of SE1, SE2

Special cases, errors,...

If a lower or identical value is entered in MD36934 $MD_SAFE_POS_LIMIT_PLUS[n] than in

MD36935 $MA_SAFE_POS_LIMIT_MINUS[n], then a parameterizing error is displayed.

corresponds with ...

MD36962 $MA_SAFE_POS_STOP_MODE

MD36935 $MA_SAFE_POS_LIMIT_MINUS[n]

MD36901 $MA_SAFE_FUNCTION_ENABLE

Additional reference

/FBSIsl/ see Chapter "Safe software limit switches (SE) (Page 153)"

36935

$MA_SAFE_POS_LIMIT_MINUS[0...1]

MD number

Lower limit value for safe limit position

Default value: -100000:

Min. input limit: -2147000

Max. input limit: 2147000

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: mm, inches, degrees

Data type: DOUBLE

Safety Integrated (system-integrated)

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

357

Data descriptions

9.1 Machine data for SINUMERIK 840D sl

36935

$MA_SAFE_POS_LIMIT_MINUS[0...1]

Meaning:

This MD specifies the lower limit value for safe end positions 1 and 2.

When SE1 or SE2 is selected and the actual position is less than this limit value, then the control

system outputs Alarm 27012 with the stop response configured in MD36962

$MA_SAFE_POS_STOP_MODE and changes over into the SBH mode. If SBH is violated, STOP B

and A are initiated as stop response.

n = 0, 1 stand for the lower limit value of SE1, SE2

Special cases, errors,...

If a lower or identical value is entered in MD36934 $MD_SAFE_POS_LIMIT_PLUS[n] than in

MD36935 $MA_SAFE_POS_LIMIT_MINUS[n], then a parameterizing error is displayed.

corresponds with ...

MD36962 $MA_SAFE_POS_STOP_MODE

MD36934 $MA_SAFE_POS_LIMIT_PLUS[n]

Additional reference

/FBSIsl/ see Chapter "Safe software limit switches (SE) (Page 153)"

36936

$MA_SAFE_CAM_POS_PLUS[0...29]

MD number

Plus cams position for Safe Cams

Default value: 10

Min. input limit: -2147000

Max. input limit: 2147000

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: mm, inches, degrees

Data type: DOUBLE

Meaning:

This MD specifies the plus cam position for Safe Cams SN1+, SN2+, SN3+, ...

For the "Safe Cams" function, the following applies:

If the actual position is greater than this value when the Safe Cam function is active (MD36901

$MA_SAFE_FUNCTION_ENABLE), then the appropriate safety-relevant output signal (SGA) is

set to 1.

If the actual position falls below this value, SGA is set to 0.

n = 0, 1, 2, 3 stand for the plus cam position of SN1+, SN2+, SN3+, SN4+

For the "Safe Cam Track" function, the following applies:

If the "Safe Cam Track" function is enabled (MD36903 $MA_SAFE_CAM_ENABLE), then the

safety-related output signals "cam track" and "cam range" are set corresponding to the param-

eterization in MD36938 $MA_SAFE_CAM_TRACK_ASSIGN[n].

n = 0 ... 29 stand for the plus cam position of SN1+, ..., SN30+

corresponds with ...

MD36901 $MA_SAFE_FUNCTION_ENABLE

MD36903 $MA_SAFE_CAM_ENABLE

MD36937 $MA_SAFE_CAM_POS_MINUS[n]

MD36938 $MA_SAFE_CAM_TRACK_ASSIGN[n]

MD36988 $MA_SAFE_CAM_PLUS_OUTPUT[n]

MD37900 $MA_SAFE_CAM_TRACK_OUTPUT[n]

MD37901/37902/37903/37904 $MA_SAFE_CAM_RANGE_OUTPUT_1/2/3/4[n]

MD37906/37907/37908/37909 $MA_SAFE_CAM_RANGE_BIN_OUTPUT_1/2/3/4[n]

Additional reference

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

36937

$MA_SAFE_CAM_POS_MINUS[0...29]

MD number

Minus cams position for Safe Cams

Default value: -10.

Min. input limit: -2147000

Max. input limit: 2147000

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: mm, inches, degrees

Safety Integrated (system-integrated)

358

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

Data descriptions

9.1 Machine data for SINUMERIK 840D sl

36937

$MA_SAFE_CAM_POS_MINUS[0...29]

Data type: DOUBLE

Meaning:

This MD specifies the minus cam position for Safe Cams SN1-, SN2-, SN3-, ...

For the "Safe Cams" function, the following applies:

If the actual position is greater than this value when the Safe Cam function is active (MD36901

$MA_SAFE_FUNCTION_ENABLE), then the appropriate safety-relevant output signal (SGA) is

set to 1.

If the actual position falls below this value, SGA is set to 0.

n = 0, 1, 2, 3 stand for the minus cam position of SN1-, SN2-, SN3-, SN4-

For the "Safe Cam Track" function, the following applies:

If the "Safe Cam Track" function is enabled (MD36903 $MA_SAFE_CAM_ENABLE), then the

safety-related output signals "cam track" and "cam range" are set corresponding to the param-

eterization in MD36938 $MA_SAFE_CAM_TRACK_ASSIGN[n].

n = 0 ... 29 stand for the plus cam position of SN1-, ..., SN30-

corresponds with ...

MD36901 $MA_SAFE_CAM_RANGE_OUTPUT_1[n]

MD36903 $MA_SAFE_CAM_ENABLE

MD36936 $MA_SAFE_CAM_POS_PLUS[n]

MD36938 $MA_SAFE_CAM_TRACK_ASSIGN[n]

MD36989 $MA_SAFE_CAM_MINUS_OUTPUT[n]

MD37900 $MA_SAFE_CAM_TRACK_OUTPUT[n]

MD37901/37902/37903/37904 $MA_SAFE_CAM_RANGE_OUTPUT_1/2/3/4[n]

MD37906/37907/37908/37909 $MA_SAFE_CAM_RANGE_BIN_OUTPUT_1/2/3/4[n]

Additional reference

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

36938

$MA_SAFE_CAM_TRACK_ASSIGN[0...29]

MD number

Cam track assignment

Default value: 100, 101, ... , 114; 200,

Min. input limit: 100

Max. input limit: 414

201, ..., 214

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

Assigns the individual cams to a maximum of 4 cam tracks including defining the numerical

value for the SGA "cam range".

The "hundreds" position defines which cam track is assigned to the cams. Valid values are 1, 2

or 3 or 4.

The "tens" and "ones" positions contain the numerical value that should be signaled to the safe

logic as SGA "cam range" and processed there. Valid values are 0 to 14, whereby each numerical

value may only be used once for each cam.

Therefore the valid value range of this machine data is:

100...114, 200...214, 300...314, 400...414

Examples:

MD36938[0] = 207: Cam 1 (index 0) is assigned to cam track 2. If the position is in the range of

this cam, then 7 is entered in the SGA "cam range" of the 2nd cam track.

MD36938[5] = 100: Cam 6 (index 5) is assigned to cam track 1. If the position is in the range of

this cam, then 0 is entered in the SGA "cam range" of the 1st cam track.

Safety Integrated (system-integrated)

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

359

Data descriptions

9.1 Machine data for SINUMERIK 840D sl

36938

$MA_SAFE_CAM_TRACK_ASSIGN[0...29]

corresponds with ...

MD36903 $MA_SAFE_CAM_ENABLE

MD36936 $MA_SAFE_CAM_POS_PLUS[n]

MD36937 $MA_SAFE_CAM_POS_MINUS[n]

MD37900 $MA_SAFE_CAM_TRACK_OUTPUT[n]

MD37901/37902/37903/37904 $MA_SAFE_CAM_RANGE_OUTPUT_1/2/3/4[n]

MD37906/37907/37908/37909 $MA_SAFE_CAM_RANGE_BIN_OUTPUT_1/2/3/4[n]

Additional reference

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

36940

$MA_SAFE_CAM_TOL

MD number

Tolerance for Safe Cams

Default value: 0.1

Min. input limit: 0.001

Max. input limit: 10

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: mm, inches, degrees

Data type: DOUBLE

Meaning:

Due to the different mounting locations of the encoders and variations in clock cycle and signal

transit (propagation times), the cam signals of the two monitoring channels never switch at

precisely the same position and never simultaneously.

This data specifies the tolerances for all cams as a load-side distance. The monitoring channels

may have different signal states for the same cam within this tolerance bandwidth, without

generating Alarm 27001.

Recommendation:

Enter the same value as in MD36942 $MA_SAFE_POS_TOL or slightly higher.

Special cases, errors,...

Additional reference

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

36942

$MA_SAFE_POS_TOL

MD number

Tolerance, actual value comparison (crosswise)

Default value: 0.1

Min. input limit: 0.001

Max. input limit: Linear axis 10 mm/

inch,

Max. input limit: Rotary axis 360 de-

grees

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: mm, inches, degrees

Data type: DOUBLE

Meaning:

Due to the fact that encoders are not mounted at identical locations and the effect of backlash,

torsion, leadscrew errors etc. the actual positions sensed simultaneously by the NCK and drive

may differ from one another.

The tolerance bandwidth for the crosswise comparison of the actual positions in the two mon-

itoring channels is specified in this machine data.

Special cases, errors,...

When defining this tolerance value, primarily the values from the machine-specific risk analysis

must be taken into account.

Stop response STOP F is activated when the tolerance bandwidth is violated.

Safety Integrated (system-integrated)

360

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

Data descriptions

9.1 Machine data for SINUMERIK 840D sl

36944

$MA_SAFE_REFP_POS_TOL

MD number

Tolerance, actual value comparison (referencing)

Default value: 0.01

Min. input limit: 0

Max. input limit: Linear axis 1mm/inch,

Max. input limit: Rotary axis 36 degrees

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: mm, inches, degrees

Data type: DOUBLE

Meaning:

This machine data specifies the tolerance for checking the actual values after referencing (for

incremental encoders) or when powering-up (for absolute encoders).

An absolute actual axis position is determined by referencing. A second absolute actual position

is calculated from the last stop position that was saved prior to the control being powered-down

and the distance traversed since power-on. The control system checks the actual values after

referencing on the basis of these two absolute positions, the traversed distance and this ma-

chine data.

The following factors must be taken into consideration when calculating tolerance values:

Backlash, leadscrew errors, compensation factors (max. compensation values for SSFK, sag and

temperature compensation), temperature errors, torsion (2-encoder system), gearbox toler-

ance for selector gearboxes, coarser resolution (2-encoder system), oscillating distance/range

for selector gearboxes.

Note:

If the two absolute actual positions deviate from one another by more than the value set in this

data - with a valid user agreement - then Alarm 27001 is output with Fault code 1003 and a new

user agreement is required for referencing.

Special cases, errors,...

36945

$MA_SAFE_VELO_X_FILTER_TIME

MD number

Filter time n<n_x

Default value: 0.0

Min. input limit: 0.0

Max. input limit: 0.5

Change becomes effective after: POWER ON

Protection level: 7/2

Unit:ms

Data type: DOUBLE

Meaning:

Sets the filter time for generating the SGA n<n_x.

The filtering must be activated by setting bit 16 in MD36901 $MA_SAFE_FUNCTION_ENABLE to

With default value 0, filtering is not active.

By parameterizing a filter time not equal to 0, the response time of the SGA n<n_x increases.

Special cases, errors,...

corresponds with ...

MD36946 $MA_SAFE_VELO_X

MD36947 $MA_SAFE_VELO_X_HYSTERESIS

Additional reference

/FBSIsl/ see Chapter "Safe speed range detection "n<nx" (Page 147)"

36946

$MA_SAFE_VELO_X

MD number

Speed limit n<n_x

Default value: 20 - for mm/min, inch/min

Min. input limit: 0

Max. input limit: 1000

default value: 20. for rpm

min. Input limit: 0

max. Input limit: 1000.

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: mm/min, inch/min,

rev/min

Safety Integrated (system-integrated)

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

361

Data descriptions

9.1 Machine data for SINUMERIK 840D sl

36946

$MA_SAFE_VELO_X

Data type: DOUBLE

Meaning:

This machine data defines the limit speed n_x for the SGA "n < n_x".

If this velocity limit is fallen below, SGA "n < n_x" is set.

If this machine data has a value of 0, then function "n<n_x" is not active.

Note:

To evaluate the SGA "n<n_x" an I/O assignment must be made using MD36985 $MA_SAFE_VE-

LO_X_STATUS_OUTPUT.

corresponds with ...

Additional reference

/FBSIsl/ see Chapter "Safe speed range detection "n<nx" (Page 147)":

36947

$MA_SAFE_VELO_X_HYSTERESIS

MD number

Speed limit n<n_x

Default value: 10 - for mm/min, inch/min

Min. input limit: 0

Max. input limit: 500

default value: 10 for rpm

min. Input limit: 0

max. Input limit: 500

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: mm/min, inch/min,

rev/min

Data type: DOUBLE

Meaning:

Sets the hysteresis threshold for generating the SGA n<n_x.

In addition to the hysteresis, this MD is also used to check the speed in the two monitoring

channels against threshold n_x. As a maximum it can be different by the value of this MD, oth-

erwise, Stop F with fault identifier 2 is output.

The following must apply: MD36947 $MA_SAFE_VELO_X_HYSTERESIS less than or equal to 3/4

MD36946 $MA_SAFE_VELO_X

The function "Synchronization "n < nx", hysteresis and filtering" must be active (MD36901

$MA_SAFE_FUNCTION_ENABLE, bit 16 = 1).

corresponds with ...

MD36945 $MA_SAFE_VELO_X_FILTER_TIME

MD36946 $MA_SAFE_VELO_X

Additional reference

/FBSIsl/ see Chapter "Safe speed range detection "n<nx" (Page 147)"

36948

$MA_SAFE_STOP_VELO_TOL

MD number

Speed tolerance for Safe Acceleration Monitor

Default value: 300 - for mm/min, inch/ mi-

Min. input limit: 0

Max. input limit: 120000

nute default value: 50. for rpm

min. Input limit: 0

max. Input limit: 200000

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: mm, inches, degrees

Data type: DOUBLE

Meaning:

Actual speed tolerance for safe monitoring of the acceleration (SBR).

After Safe Acceleration Monitor has been activated (by initiating a STOP B or C), then this

tolerance is applied to the actual speed.

It is not permissible that the actual velocity is greater than the limit that is therefore specified.

Otherwise, a STOP A will be initiated. This means that if the drive accelerates, then this will be

identified as quickly as possible.

corresponds with ...

Additional reference

/FBSIsl/ see Chapter "Safe Acceleration Monitor (Page 133)"

(a recommended setting and setting formula are specified in this Chapter).

Safety Integrated (system-integrated)

362

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

Data descriptions

9.1 Machine data for SINUMERIK 840D sl

36949

$MA_SAFE_SLIP_VELO_TOL

MD number

Speed tolerance, slip

Default value: 6 - for mm/min, inch/min

Min. input limit: 0

Max. input limit: 1000

default value: 1. for rpm

min. Input limit: 0

max. Input limit: 1000.

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: mm, inches, degrees

Data type: DOUBLE

Meaning:

Speed/velocity difference that, for a 2-encoder system, is tolerated between the motor and load

sides without the crosswise data comparison between the drive and NCK signaling an error.

MD36949 $MA_SAFE_SLIP_VELO_TOL is only evaluated, if MD36901 $MA_SAFE_FUNC-

TION_ENABLE, bit 3 is set.

corresponds with ...

Additional references

/FBSIsl/ see Chapter "Actual value synchronization (slip for 2-encoder systems) (Page 96)"

36950

$MA_SAFE_MODE_SWITCH_TIME

MD number

Tolerance time for SGE changeover

Default value: 0.5

Min. input limit: 0.0

Max. input limit: 10

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: s

Data type: DOUBLE

Meaning:

SGE changeover operations do not take effect simultaneously owing to variations in run times

(propagation times) for SGE data transfer in the two monitoring channels. A crosswise data

comparison would, in this case, output an error message.

This data is used to specify the period of time after SGE changeover operations during which no

crosswise comparison of actual values and monitoring results is carried out (machine data is still

compared!). The selected monitoring functions continue to operate unhindered in both mon-

itoring channels.

A safety-related function is immediately activated in a monitoring channel if selection or

changeover is detected in this channel.

The different run time (propagation time) is mainly caused by the PLC cycle time.

System-related minimum tolerance time: 2 x PLC cycle time (maximum cycle) + 1 x IPO cycle

time.

The variations in the run times in the external circuitry (e.g. relay operating times) must also be

taken into account.

Special cases, errors,...

Additional reference

/FBSIsl/ see Chapter "Safety-related input/output signals (Page 169)"

36951

$MA_SAFE_VELO_SWITCH_DELAY

MD number

Delay time, speed changeover

Default value: 0.1

Min. input limit: 0.0

Max. input limit: 600.

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: s

Data type: DOUBLE

Meaning:

A timer with this value is started when changing from a higher to a lower safely reduced speed

- or when a Safe Operating Stop is selected when the safely reduced speed function is active.

While the timer is running, the speed continues to be monitored against the last selected speed

limit value. During this period, the axis/spindle can be braked, for example, from the PLC user

program, without the monitoring function signaling an error and initiating a stop response.

Safety Integrated (system-integrated)

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

363

Data descriptions

9.1 Machine data for SINUMERIK 840D sl

36951

$MA_SAFE_VELO_SWITCH_DELAY

Special cases, errors,...

1. The timer is immediately interrupted as soon as a higher or identical SG limit (i.e. to that

which was previously active) is selected.

2. The timer is immediately interrupted if "non-safe operation" (SGE "deselect SBH/SG=1") is

selected.

3. The timer is re-triggered (restarted) if, while the timer is running, a changeover is made to

a lower SG limit than was previously active or to SBH.

corresponds with ...

36952

$MA_SAFE_STOP_SWITCH_TIME_C

MD number

Transition time, STOP C to safe standstill

Default value: 0.1

Min. input limit: 0.0

Max. input limit: 600.

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: s

Data type: DOUBLE

Meaning:

This machine data defines the time period between the initiation of a STOP C and the activation

of a Safe Operating Stop.

The parameterized value must be selected as low as possible.

After the time has expired, the drive is monitored for a Safe Operating Stop. If the axis/spindle

was still not able to be stopped, then STOP B is initiated.

corresponds with ...

36953

$MA_SAFE_STOP_SWITCH_TIME_D

MD number

Transition time, STOP D to safe standstill

Default value: 0.1

Min. input limit: 0.0

Max. input limit: 600.

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: s

Data type: DOUBLE

Meaning:

This machine data defines the time period between the initiation of a STOP D and the activation

of a Safe Operating Stop.

The parameterized value must be selected as low as possible.

After the time has expired, the drive is monitored for a Safe Operating Stop. If the axis/spindle

was still not able to be stopped, then STOP B is initiated.

corresponds with ...

36954

$MA_SAFE_STOP_SWITCH_TIME_E

MD number

Transition time, STOP E to safe standstill

Default value: 0.1

Min. input limit: 0.0

Max. input limit: 600.

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: s

Data type: DOUBLE

Meaning:

This data defines the time period between the initiation of a STOP E and the activation of a Safe

Operating Stop.

The parameterized value must be selected as low as possible.

After the time has expired, the drive is monitored for a Safe Operating Stop. If the axis/spindle

was still not able to be stopped, then STOP B is initiated.

Safety Integrated (system-integrated)

364

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

Data descriptions

9.1 Machine data for SINUMERIK 840D sl

36954

$MA_SAFE_STOP_SWITCH_TIME_E

Special cases, errors,...

corresponds with ...

36955

$MA_SAFE_STOP_SWITCH_TIME_F

MD number

Transition time STOP F to STOP B

Default value: 0.0

Min. input limit: 0.0

Max. input limit: 600.

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: s

Data type: DOUBLE

Meaning:

Time after which, for a STOP F with active monitoring functions, a change is made to STOP B.

The parameterized value must be selected as low as possible.

During this time, e.g., another braking response can be activated using synchronous actions.

The changeover is also made if a STOP C/D/E occurs during this time.

Special cases, errors,...

corresponds with ...

36956

$MA_SAFE_PULSE_DISABLE_DELAY

MD number

Delay time, pulse cancellation

Default value: 0.1

Min. input limit: 0.0

Max. input limit: 600

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: s

Data type: DOUBLE

Meaning:

For a STOP B, the axis is braked with speed setpoint 0 (or OFF3 ramp). After the delay time

defined in this data, the braking mode changes to STOP A for pulse cancellation. The parame-

terized value must be selected as low as possible.

Special cases, errors,...

The pulses are cancelled earlier than defined in this machine data if the condition for the pulse

cancellation is present via MD36960: $MA_SAFE_STANDSTILL_VELO_TOL or via MD36620:

$MA_SERVO_DISABLE_DELAY_TIME.

If the timer in this machine data is set to zero, then an immediate transition is made from STOP

B to a STOP A (immediate pulse cancellation).

corresponds with ...

MD36960 $MA_SAFE_STANDSTILL_VELO_TOL

MD36620 $MA_SERVO_DISABLE_DELAY_TIME

MD36060 $MA_STANDSTILL_VELO_TOL

36957

$MA_SAFE_PULSE_DIS_CHECK_TIME

MD number

Time to check pulse cancellation

Default value: 0.1

Min. input limit: 0.0

Max. input limit: 10

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: s

Data type: DOUBLE

Safety Integrated (system-integrated)

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

365

Data descriptions

9.1 Machine data for SINUMERIK 840D sl

36957

$MA_SAFE_PULSE_DIS_CHECK_TIME

Meaning:

This machine data specifies the time when, after pulse cancellation has been requested, the

pulses must be actually cancelled.

The time that elapses between deleting the SGA "enable pulses" and detecting the SGE "pulses

cancelled status" may not exceed the time limit set in this data.

Note:

If this time is exceeded, a STOP A is initiated.

Special cases, errors,...

36958

$MA_SAFE_ACCEPTANCE_TST_TIMEOUT

MD number

Time limit for the acceptance test duration

Default value: 40.0

Min. input limit: 5

Max. input limit: 100

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: s

Data type: DOUBLE

Meaning:

On the NCK side, a time limit can be entered for the duration of an acceptance test. If an

acceptance test takes longer than the time specified in this MD, then the NCK terminates the

test.

The acceptance test status is set to zero on the NCK side. If the acceptance test has been reset,

then on the NCK and drive sides, SI power on alarms are again changed over from being able to

be acknowledged with a reset to being able to be acknowledged with power on.

NCK clears Alarm 27007 and the drive clears message C01799. This MD is also used to limit the

duration of an acceptance test SE (safe limit positions). After the parameterized time has ex-

pired, acceptance test SE is canceled and Alarm 27008 cleared. The software limit positions are

then again effective - the same as they are entered in the machine data.

corresponds with ...

36960

$MA_SAFE_STANDSTILL_VELO_TOL

MD number

Shutdown speed, pulse cancellation

Default value: 0 - for mm/min, inch/min

Min. input limit: 0.0

Max. input limit: 1000

default value: 0. for rpm

min. Input limit: 0.0

max. Input limit: 1000.

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: mm/min, inch/min,

rev/min

Data type: DOUBLE

Meaning:

When the axis/spindle speed drops below this limit, it is considered to be at a "standstill". In the

STOP B mode the pulses are then cancelled (as a result of the transition to STOP A).

corresponds with ...

MD36956 $MA_SAFE_PULSE_DISABLE_DELAY

36961

$MA_SAFE_VELO_STOP_MODE

MD number

Stop response, safely reduced speed

Default value: 5

Min. input limit: 0

Max. input limit: 14

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: BYTE

Safety Integrated (system-integrated)

366

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

Data descriptions

9.1 Machine data for SINUMERIK 840D sl

36961

$MA_SAFE_VELO_STOP_MODE

Meaning:

The stop response programmed in this machine data is initiated if a limit value for safely reduced

speed 1, 2, 3 or 4 is exceeded.

= 0, 1, 2, 3 correspond to STOP A, B, C, D - common for each SG level

= 5 means that the stop response can be configured for specific SGs in MD36963 $MA_SAFE_VE-

LO_STOP_REACTION.

The ones position defines the selection of the stop response when the safely reduced speed is

exceeded.

The tens position defines the behavior when the communication fails if a time greater than 0

was parameterized in MD10089 $MN_SAFE_PULSE_DIS_TIME_BUSFAIL.

0: STOP A

1: Stop B

2: Stop C

3: Stop D

4: Stop E

MD36961 $MA_SAFE_VELO_STOP_MODE invalid, stop response is parameterized using

MD36963 SAFE_VELO_STOP_REACTION

10:

STOP A, in addition when the communication fails to the drive and SG is active, the pulses are

not immediately cancelled

11:

Stop B, in addition when the communication fails to the drive and SG is active, the pulses are not

immediately cancelled

12:

Stop C, in addition when the communication fails to the drive and SG is active, the pulses are not

immediately cancelled

13:

Stop D, in addition when the communication fails to the drive and SG is active, the pulses are not

immediately cancelled

14:

Stop E, in addition when the communication fails to the drive and SG is active, the pulses are not

immediately cancelled

Special cases, errors,...

For a value of 5 in this MD, the stop response for each SG stage is selectively defined MD36963

$MA_SAFE_VELO_STOP_REACTION.

corresponds with ...

MD36931 $MA_SAFE_VELO_LIMIT[n]

MD36963 $MA_SAFE_VELO_STOP_REACTION[n]

36962

$MA_SAFE_POS_STOP_MODE

MD number

Stop response, safe limit position

Default value: 2

Min. input limit: 2

Max. input limit: 4

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: BYTE

Safety Integrated (system-integrated)

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

367

Data descriptions

9.1 Machine data for SINUMERIK 840D sl

36962

$MA_SAFE_POS_STOP_MODE

Meaning:

When passing a safe limit position 1 or 2, then the stop response specified in this machine data

is initiated.

2: STOP C

3: STOP D

4: STOP E

corresponds with ...

MD36934 $MA_SAFE_POS_LIMIT_PLUS[n]

MD36935 $MA_SAFE_POS_LIMIT_MINUS[n]

36963

$MA_SAFE_VELO_STOP_REACTION[0...3]

MD number

Stop response, safely reduced speed

Default value: 2

Min. input limit: 0

Max. input limit: 14

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: BYTE

Meaning:

The stop response programmed in this machine data is initiated if a limit value for safely reduced

speed 1, 2, 3 or 4 is exceeded.

n = 0, 1, 2, 3 stand for SG1, SG2, SG3, SG4

The ones position defines the SG-specific selection of the stop response when the safely reduced

speed is exceeded.

The tens position defines the behavior when the communication to the drive fails on an SG-

specific basis if a time greater than 0 was parameterized in $MN_SAFE_PULSE_DIS_TIME_BUS-

FAIL.

Value means:

0: STOP A

1: Stop B

2: Stop C

3: Stop D

4: Stop E

10:

STOP A, in addition when the communication fails to the drive, the pulses are not immediately

cancelled if this SG stage active

11:

Stop B, in addition when the communication fails to the drive, the pulses are not immediately

cancelled if this SG stage active

12:

Stop C, in addition when the communication fails to the drive, the pulses are not immediately

cancelled if this SG stage active

13:

Stop D, in addition when the communication fails to the drive, the pulses are not immediately

cancelled if this SG stage active

14:

Stop E, in addition when the communication fails to the drive, the pulses are not immediately

cancelled if this SG stage active

Note:

This MD is only active if MD36961 $MA_SAFE_VELO_STOP_MODE and drive parameter p9561

have the value 5.

Safety Integrated (system-integrated)

368

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

Data descriptions

9.1 Machine data for SINUMERIK 840D sl

36963

$MA_SAFE_VELO_STOP_REACTION[0...3]

Special cases, errors,...

corresponds with ...

MD10089 $MA_SAFE_PULSE_DIS_TIME_BUSFAIL

MD36961 $MA_SAFE_VELO_STOP_MODE

36964

$MA_SAFE_IPO_STOP_GROUP

MD number

Grouping, safety IPO response

Default value: 0

Min. input limit: 0

Max. input limit: 1

Change becomes effective after: RESET

Protection level: 7/2

Unit: -

Data type: BYTE

Meaning:

This MD is only effective for Safety Integrated axes/spindles.

It influences the channel-wide IPO response distribution of Safety Integrated.

0 = default setting:

All other axes/spindles in the channel are notified of the IPO stop response of this axis.

1 =

For internal stops, the axes and machining spindles, interpolating with the axis involved, are

also additionally influenced via the initiated safety alarms. On the other hand, other axes/spin-

dles in the channel continue to operate without any disturbance.

For external stops (without alarm) all of the other axes/spindles remain unaffected by the safety

axis/spindle stop. This allows, for example, the pulses of the spindle to be safely cancelled (using

an external STOP A). This means that the spindle can be manually rotated and the axes can still

be safely monitored while it is moving.

If, in some machining situations, the other axes/spindles should stop together with the safety

axis/spindle, then the user is responsible in implementing this using PLC or synchronized action

logic combinations.

corresponds with ...

36965

$MA_SAFE_PARK_ALARM_SUPPRESS

MD number

Alarm suppression for parking 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 MD is only effective for Safety Integrated axes/spindles.

0: Default setting:

Alarms 27000/A01797 are displayed when selecting parking.

Alarms 27000/A01797 are not displayed when selecting parking. This is necessary for axes that

are disconnected from one another on the encoder side during the machining process (e.g.

dressing axes). Alarms are displayed when parking operation is subsequently deselected.

corresponds with ...

36966

$MA_SAFE_BRAKETEST_TORQUE

MD number

Holding torque, brake test (NC-controlled)

Default value: 5.0

Min. input limit: 0.0

Max. input limit: 800.0

Safety Integrated (system-integrated)

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

369

Data descriptions

9.1 Machine data for SINUMERIK 840D sl

36966

$MA_SAFE_BRAKETEST_TORQUE

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: %

Data type: DOUBLE

Meaning:

This MD specifies the torque or force when testing the mechanical brake system. This torque or

this force is generated during the test against the closed brake, and it is not permissible that the

axis moves.

The percentage value entered here refers to drive parameter p2003 of the axis.

The following supplementary conditions apply:

When selecting the brake test (i.e. with the brake open), if the actual torque is more than 85%

of the test torque, the brake test is interrupted with Alarm 20095. This therefore ensures that

the motor can hold the axis even if the brake is defective.

If the brake test is performed using drive parameter p1532 (MD36968 $MA_SAFE_BRAKET-

EST_CONTROL bit 0 = 0), the required safety margin is increased by twice the difference between

the actual holding torque and the value in parameter p1532.

Enables the corresponding test function via MD37000 $MA_FIXED_STOP_MODE, bit 1.

corresponds with ...

MD36969 $MA_SAFE_BRAKETEST_TORQUE_NORM

Additional reference

/FBSIsl/ see Chapter "Safe Brake Test (SBT) (Page 286)"

36967

$MA_SAFE_BRAKETEST_POS_TOL

MD number

Position tolerance brake test (NC-controlled)

Default value: 1.0

Min. input limit: 0.0

Max. input limit: -

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: mm/degr.

Data type: DOUBLE

Meaning:

Maximum position tolerance when testing the mechanical brake system.

If the axis position deviates from the position by more than this tolerance, when the brake test

is selected, then the brake test is aborted.

Enables the corresponding test function via MD37000 $MA_FIXED_STOP_MODE, bit 1.

corresponds with ...

Additional reference

/FBSIsl/ see Chapter "Safe Brake Test (SBT) (Page 286)"

36968

$MA_SAFE_BRAKETEST_CONTROL

MD number

Expanded setting for the brake test

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

Safety Integrated (system-integrated)

370

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

Data descriptions

9.1 Machine data for SINUMERIK 840D sl

36968

$MA_SAFE_BRAKETEST_CONTROL

Meaning:

Extended settings for the NC-controlled and SINAMICS brake test.

Bit 0: Select the average value for the torque limiting

Bit 0 = 0:

Drive parameter p1532 is used as the average value of the torque limiting.

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: Criterion for reaching the torque limit in the PLC

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 programmed time (PLC).

Bit 2: Selects the positioning response at the end of the SINAMICS brake test.

Bit 2 = 0: Positioning to the actual axis position

Bit 2 = 1: Positioning to the last programmed axis position

corresponds with ...

Additional reference

/FBSIsl/ see Chapter "Safe Brake Test (SBT) (Page 286)"

36969

$MA_SAFE_BRAKETEST_TORQUE_NORM

MD number

Reference quantity for the holding torque, brake test

Default value: 0.0

Min. input limit: -

Max. input limit: -

Change becomes effective after: POWER ON

Protection level: 7/0

Unit: Nm

Data type: DOUBLE

Meaning:

Setting the reference quantity for torques.

All of the torques specified as relative value refer to this reference quantity.

This MD involves an image of drive parameter p2003.

corresponds with ...

Additional reference

Description of the parameterization of the SGE machine data MD36970 to MD36978 and MD37901

to MD37909

This machine data involves eight-digit hexadecimal numbers, where each digit has a different

significance that is now explained:

Coding of the input assignment is mm xx nn

Permissible Explanation

values

Inversion

0, 8

0: No inversion

8: Inversion before processing

SPL interface

0, 4

4: Assignment to SPL interface

mm SPL interface

01-02H

01: Addressing the internal SPL interface

$A_OUTSI

Safety Integrated (system-integrated)

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

371

Data descriptions

9.1 Machine data for SINUMERIK 840D sl

02: Addressing the external SPL inter-

face $A_INSE

System variable word

01-06H

Index of the system variable word

index

Number of the system

01-20H

Bit number in the system variable word

variable bit

• Input value of 0 means: there is no assignment, the input remains fixed at 0

• Input value of 80 00 00 00 means: There is no assignment, the input remains fixed at 1

• Several input signals can be parameterized at the same system variable.

Note

The maximum input value for all axis-specific NCK-SGE configuring machine data is 84020620.

An incorrect entry will be detected the next time the system boots and flagged using Alarm

27033.

36970

$MA_SAFE_SVSS_DISABLE_INPUT

MD number

Input assignment, SBH/SG deselection

Default value: 0

Min. input limit: 0

Max. input limit: 84020620

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

This machine data defines the NCK input to select/deselect the SBH and SG functions

Structure:

Structure: Refer to the coding of the input assignment

Signal means

= 0, SG or SBH is selected

= 1, SG and SBH are deselected

Special cases, errors,...

• Input value of 0 means: There is no assignment, the input remains fixed at 0, SG and SBH

cannot be deselected

• Input value of 80 00 00 00 means: There is no assignment, the input remains fixed at 1

• Several input signals can be parameterized at the same system variable.

corresponds with ...

References:

36971

$MA_SAFE_SS_DISABLE_INPUT

MD number

Input assignment, SBH deselection

Default value: 0

Min. input limit: 0

Max. input limit: 84020620

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Safety Integrated (system-integrated)

372

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

Data descriptions

9.1 Machine data for SINUMERIK 840D sl

36971

$MA_SAFE_SS_DISABLE_INPUT

Meaning:

Assignment of the NCK input to de-select the Safe Operating Stop function.

Structure: Refer to the coding of the input assignment

Input assignment to the safe functions if safely reduced speed or Safe Operating Stop has been

activated.

Signal means

= 0, Safe Operating Stop is selected

= 1, Safe Operating Stop is deselected (only if STOP C, D or E has not been activated by other

functions)

Special cases, errors,...

This input is of no significance if SG and SBH have been deselected (refer to MD36970

$MA_SAFE_SVSS_DISABLE_INPUT).

corresponds with ...

MD36970 $MA_SAFE_SVSS_DISABLE_INPUT

36972

$MA_SAFE_VELO_SELECT_INPUT[0...1]

MD number

Input assignment, SG selection

Default value: 0

Min. input limit: 0

Max. input limit: 84020620

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

This machine data defines the two inputs to select SG1, SG2, SG3 or SG4.

Structure: Refer to the coding of the input assignment

n = 1, 0 stand for bit 1, 0 to select from SG1 to SG4

Assignment of the input bits to the safely reduced speeds:

Bit 1 = 0, bit 0 = 0: SG1 selected

Bit 1 = 0, bit 0 = 1: SG2 selected

Bit 1 = 1, bit 0 = 0: SG3 selected

Bit 1 = 1, bit 0 = 1: SG4 selected

Special cases, errors,...

corresponds with ...

36973

$MA_SAFE_POS_SELECT_INPUT

MD number

Input assignment, SE selection

Default value: 0

Min. input limit: 0

Max. input limit: 84020620

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

This machine data defines the input to select the safe end position 1 or 2.

Structure: Refer to the coding of the input assignment

Signal means

= 0, SE1 is active

= 1, SE2 is active

Special cases, errors,...

corresponds with ...

Safety Integrated (system-integrated)

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

373

Data descriptions

9.1 Machine data for SINUMERIK 840D sl

36974

$MA_SAFE_GEAR_SELECT_INPUT[0...2]

MD number

Input assignment, gearbox ratio selection

Default value: 0

Min. input limit: 0

Max. input limit: 84020620

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

Input assignment for selecting the gear ratio (gearbox stage).

Structure: Refer to the coding of the input assignment

n = 2, 1, 0 stand for bits 2, 1, 0 to select gearbox stages 1 to 8

Bit 2 = 0, bit 1 = 0, bit 0 = 0: Gear stage 1 active

Bit 2 = 0, bit 1 = 0, bit 0 = 1: Gear stage 2 active

Bit 2 = 0, bit 1 = 1, bit 0 = 0: Gear stage 3 active

Bit 2 = 1, bit 1 = 1, bit 0 = 1: Gear stage 8 active

Special cases, errors,...

corresponds with ...

36977

$MA_SAFE_EXT_STOP_INPUT[0 ... 3]

MD number

Input assignment, external brake request

Default value: 0

Min. input limit: 0

Max. input limit: 84020620

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

This data defines the NCK inputs to select/deselect the external brake requests.

Structure: Refer to the coding of the input assignment

n = 0, 1, 2, 3 stand for various braking types

n = 0: Assignment for "deselect external STOP A" (SH, pulse cancellation)

n = 1: Assignment for "deselect external STOP C" (braking at the current limit/OFF3 ramp)

n = 2: Assignment for "deselect external STOP D" (braking along a path)

n = 3: Assignment for "deselect external STOP E" (ESR, braking along a path)

Special cases, errors,...

The signal "deselect external STOP A" cannot be parameterized inverted. In the case of an error,

a parameterizing error is signaled

corresponds with ...

Additional reference

36978

$MA_SAFE_OVR_INPUT[n]: 0 ... 3

MD number

Input assignment, SG override

Default value: 0

Min. input limit: 0

Max. input limit: 84020620

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Safety Integrated (system-integrated)

374

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

Data descriptions

9.1 Machine data for SINUMERIK 840D sl

36978

$MA_SAFE_OVR_INPUT[n]: 0 ... 3

Meaning:

Assigns the NCK inputs for the correction of the limit value of the safely reduced speeds 2 and

Structure: Refer to the coding of the input assignment

n = 3, 2, 1, 0 stand for correction selection bits 3, 2, 1, 0

Assigns the input bits to the SG correction values:

Bit 3 = 0, bit 2 = 0, bit 1 = 0, bit 0 = 0: correction 0 is selected

Bit 3 = 0, bit 2 = 0, bit 1 = 0, bit 0 = 1: correction 1 is selected

Bit 3 = 1, bit 2 = 1, bit 1 = 1, bit 0 = 1: correction 15 is selected

The correction factor itself (percentage) is defined using the following machine data:

MD36932 $MA_SAFE_VELO_OVR_FACTOR[n]

• The function "correction, safely reduced speed" is enabled using MD36901

$MA_SAFE_FUNCTION_ENABLE bit 5.

Special cases, errors,...

corresponds with ...

MD36932 $MA_SAFE_VELO_OVR_FACTOR[n]

Additional reference

/FBSIsl/ see Chapter "Override for safely reduced speed (Page 143)"

Description of the parameterization of the SGA machine data MD36980 to MD36990 and MD37901

to 37909

This machine data involves eight-digit hexadecimal numbers, where each digit has a different

significance, which is now explained:

Coding of the output assignment is mm xx nn

Permissible Explanation

values

Inversion

0, 8

0: No inversion

8: Inversion before output

SPL assignment

0, 4

4: Assignment to the SPL interface

mm SPL interface

01H

01: Addressing the internal SPL interface

$A_INSI

System variable word

01-06H

Number of the system variable word

index

Number of the sys-

01-20H

Bit number in the system variable word

tem variable bit

• Input value of 0 means: there is no assignment, the output remains unaffected.

• Input value of 80 00 00 00 means: There is no assignment, the output remains fixed at 1

Safety Integrated (system-integrated)

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

375

Data descriptions

9.1 Machine data for SINUMERIK 840D sl

• If a single output signal is connected to a system variable, the following applies: If MD bit 31

is set, then the signal is processed inverted.

• If several output signals are connected to the same system variable, the following applies: If

MD bit 31 is set, then the relevant signal is initially inverted. The (in some cases inverted)

output signals are then AND'ed, and the result is entered in the system variable.

Note

The maximum input value for all axis-specific NCK_SGA configuring machine data is 84010620.

An incorrect entry will be detected the next time the system boots and flagged using Alarm

27033.

36980

$MA_SAFE_SVSS_STATUS_OUTPUT

MD number

Output assignment, SBH/SG active

Default value: 0

Min. input limit: -

Max. input limit: 84010620

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

Assigns the output to signal the status of the functions safely reduced speed and Safe Operating

Stop.

Structure: Coding of the output assignment

Signal means:

= 0, SG and SBH are not active

= 1, SG or SBH is active

Special cases, errors,...

• Input value of 0 means: there is no assignment, the output remains unaffected.

• Input value of 80 00 00 00 means: There is no assignment, the output remains fixed at 1

• If a single output signal is parameterized to a system variable, the following applies: If MD

bit 31 is set, then the signal is processed inverted.

• If several output signals are connected to the same system variable, the following applies:

If MD bit 31 is set, then the relevant signal is initially inverted. The (in some cases inverted)

output signals are then AND'ed and the result is visible in the system variable.

corresponds with ...

Additional reference

36981

$MA_SAFE_SS_STATUS_OUTPUT

MD number

Output assignment for SBH active

Default value: 0

Min. input limit: -

Max. input limit: 84010620

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

This machine data defines the output or the system variable for the "SBH active" signal.

Structure: Refer to the coding of the output assignment

Signal means

= 0, SBH is not active

= 1, SBH is active

Safety Integrated (system-integrated)

376

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

Data descriptions

9.1 Machine data for SINUMERIK 840D sl

36981

$MA_SAFE_SS_STATUS_OUTPUT

Special cases, errors,...

Additional reference

36982

$MA_SAFE_VELO_STATUS_OUTPUT[ 0 ... 1]

MD number

Output assignment active SG selection

Default value: 0

Min. input limit: -

Max. input limit: 84010620

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

This machine data defines the outputs or the system variables for the signals "SG active bit 0" and

"SG active bit 1".

Structure: Refer to the coding of the output assignment

n = 1, 0 stand for SG active bit 1, 0

Bit 1 = 0, bit 0 = 0: SG1 active, if SBH/SG active and SBH is not active; SBH active, if SBH/SG active

and SBH is active

Bit 1 = 1, bit 0= 0: SG2 active

Bit 1 = 0, bit 0= 1: SG3 active

Bit 1 = 1, bit 0= 1: SG4 active

Special cases, errors,...

Additional reference

36985

$MA_SAFE_VELO_X_STATUS_OUTPUT

MD number

Output assignment n < n_x

Default value: 0

Min. input limit: -

Max. input limit: 84010620

Change becomes effective after: POWER ON

Protection level: 7/2

Unit:

Data type: DWORD

Meaning:

This machine data defines the output or the system variable for the signal "n < n_x".

Structure: Refer to the coding of the output assignment

Signal means

= 0, actual speed is higher than the limit speed in MD36946 $MA_SAFE_VELO_X

= 1, actual speed is lower or equal to the limit speed

Special cases, errors,...

corresponds with ...

MD36946 $MA_SAFE_VELO_X

Additional reference

36987

$MA_SAFE_REFP_STATUS_OUTPUT

MD number

Output assignment, axis safely referenced

Default value: 0

Min. input limit: 0

Max. input limit: 84010620

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Safety Integrated (system-integrated)

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

377

Data descriptions

9.1 Machine data for SINUMERIK 840D sl

36987

$MA_SAFE_REFP_STATUS_OUTPUT

Meaning:

This machine data specifies the output for the "axis safely referenced" signal.

Structure: Coding of the output assignment

Signal

= 0

Axis is not safely referenced (i.e. the safe end position monitoring is inactive!)

= 1

Axis is safely referenced

Special cases, errors,...

Additional reference

36988

$MA_SAFE_CAM_PLUS_OUTPUT[0 ... 3]

MD number

Output assignment, SN1+ to SN4+

Default value: 0, 0, 0, 0

Min. input limit: -

Max. input limit: 84010620

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

This machine data specifies the outputs for the cam signals SN1+ to SN4+.

n = 0, 1, 2, 3 stands for the assignment of plus cams SN1+, SN2+, SN3+, SN4+

Structure: Coding of the output assignment

Signal means

= 0

Axis is located to the left of the cam (actual value < cam position)

= 1

Axis is located to the right of the cam (actual value > cam position)

Special cases, errors,...

If a cam is negated and applied to an output with an additional cam and the signals are AND'ed,

then this results in a single cam signal for area sensing purposes.

Additional reference

36989

$MA_SAFE_CAM_MINUS_OUTPUT[0...3]

MD number

Output assignment, SN1- to SN4-

Default value: 0

Min. input limit: -

Max. input limit: 84010620

Change becomes effective after: POWER ON

Protection level: 7/2

Unit:

Data type: DWORD

Meaning:

This machine data defines the outputs for the minus cams SN1- to SN4-.

= 0, 1, 2, 3 corresponds to the assignment for minus cams SN1-, SN2-, SN3-, SN4-

Structure: Coding of the output assignment

Signal means

= 0

Axis is located to the left of the cam (actual value < cam position)

= 1

Axis is located to the right of the cam (actual value > cam position)

Safety Integrated (system-integrated)

378

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

Data descriptions

9.1 Machine data for SINUMERIK 840D sl

36989

$MA_SAFE_CAM_MINUS_OUTPUT[0...3]

Special cases, errors,...

If a cam is negated and applied to an output with an additional cam and the signals are AND'ed,

then this results in a single cam signal for area sensing purposes.

Additional reference

36990

$MA_SAFE_ ACT_STOP_OUTPUT[0...3]

MD number

Output assignment of the active stop

Default value: 0

Min. input limit: -

Max. input limit: 84010620

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

Assignment of the output signals to display the stops that are presently active.

Structure: Coding of the output assignment

Index = 0: Assignment for "STOP A/B is active"

Index = 1: Assignment for "STOP C is active"

Index = 2: Assignment for "STOP D is active"

Index = 3: Assignment for "STOP E is active"

Special cases, errors,...

corresponds with ...

Additional reference

36992

$MA_SAFE_CROSSCHECK_CYCLE

MD number

Displays axis-specific crosswise comparison clock cycle

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:

Effective axis-specific comparison clock cycle in seconds.

The clock cycle is obtained from MD10091 $MN_INFO_SAFETY_CYCLE_TIME and the number of

data to be compared crosswise.

Special cases, errors,...

36993

$MA_SAFE_CONFIG_CHANGE_DATE[0...7]

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: STRING

Meaning:

Display data:

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

Changes made to the machine data that are calculated into the axis-specific checksums

MD36998 $MA_SAFE_ACT_CHECKSUM[] are recorded.

Special cases, errors,...

Safety Integrated (system-integrated)

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

379

Data descriptions

9.1 Machine data for SINUMERIK 840D sl

36994

$MA_SAFE_PREV_CONFIG[0...8]

MD number

Data, previous safety axis configuration

Default value: 0H

Min. input limit: 0H

Max. input limit: FFFFFFFF

Change becomes effective after: POWER ON

Protection level: Siemens

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, function enable

Index[2]: previous value reference checksum MD36999 $MA_SAFE_DES_CHECKSUM[0]

Index[3]: Last value, function enable before loading standard data

Index[4]: last value reference checksum MD36999SAFE_DES_CHECKSUM[0] before loading

standard data

Index[5]: previous value reference checksum MD36999SAFE_DES_CHECKSUM[1]

Index[6]: last value reference checksum MD36999SAFE_DES_CHECKSUM[1] before loading

standard data

Index[7]: previous value reference checksum MD36999SAFE_DES_CHECKSUM[2]

Index[8]: last value reference checksum MD36999SAFE_DES_CHECKSUM[2] before loading

standard data

Special cases, errors,...

36995

$MA_SAFE_STANDSTILL_POS

MD number

Standstill position

Default value: 0

Min. input limit: -

Max. input limit: -

Change becomes effective after: POWER ON

Protection level: 0/0

Unit: -

Data type: DWORD

Meaning:

The position at which the axis has currently stopped is displayed in this MD.

To be able to perform a plausibility check on the axis referencing when the control system is

powered-up the next time, the current axis position is permanently saved (in a non-volatile

fashion) when the following events take place:

• When Safe Operating Stop (SBH) is selected

• Cyclically when SE/SN activated

Special cases, errors,...

Any manual changes to the MD are detected the next time that the control is powered-up

(plausibility check). A new user agreement is required after referencing.

36997

$MA_SAFE_ACKN

MD number

User agreement

Default value: 0

Min. input limit: -

Max. input limit: -

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Safety Integrated (system-integrated)

380

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

Data descriptions

9.1 Machine data for SINUMERIK 840D sl

36997

$MA_SAFE_ACKN

Meaning:

The status of the user agreement is displayed in this machine data.

The user can confirm or cancel his "user agreement" using an appropriate screen.

If it is internally detected in the software that the reference to the machine has been lost, then

it is automatically cancelled (e.g. when changing over gear ratios or when referencing, the

plausibility check when comparing with the saved stop position fails).

Special cases, errors,...

Any manual changes to the MD are detected the next time that the control is powered-up

(plausibility check). A new user agreement is required after referencing.

36998

$MA_SAFE_ACT_CHECKSUM[0,1,2]

MD number

Actual checksum

Default value: 0H

Min. input limit: 0H

Max. input limit: FFFFFFFFF

Change becomes effective after: POWER ON

Protection level: 7/0

Unit: -

Data type: DWORD

Meaning:

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: axis-specific monitoring functions

Index 1: HW component IDs

Index 2: Drive assignment

36999

$MA_SAFE_DES_CHECKSUM[0,1,2]

MD number

Reference checksum

Default value: 0H

Min. input limit: 0H

Max. input limit: FFFFFFFF

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: axis-specific monitoring functions

Index 1: HW component IDs

Index 2: Drive assignment

37000

$MA_FIXED_STOP_MODE

MD number

Travel to fixed stop mode

Default value: 0

Min. input limit: 0

Max. input limit: 3

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Safety Integrated (system-integrated)

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

381

Data descriptions

9.1 Machine data for SINUMERIK 840D sl

37000

$MA_FIXED_STOP_MODE

Data type: BYTE

Meaning:

Activation of subfunction "Travel to fixed stop"

Bit 0: Reserved

Bit 1: enables the Safe Brake Test

= 0: Safe brake test not available

= 1: Safe brake test can be performed, controlled from the PLC.

Note:

The user must ensure that travel to fixed stop and Safe Brake Test are not simultaneously en-

tered.

37900

$MA_SAFE_CAM_TRACK_OUTPUT[0...3]

MD number

Output assignment cam tracks 1 to 4

Default value: 0H

Min. input limit: 0H

Max. input limit: -

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

This machine data specifies the outputs for cam tracks 1 to 4.

n = 0, 1, 2, 3 corresponds to the assignment for cam tracks 1 to 4

Structure: Refer to the coding of the output assignment

Signal means

= 0, axis is not located on a cam of cam track n

= 1, axis is located on a cam of the cam track

Note:

The "Safe Cam Track" function is enabled using MD36903 $MA_SAFE_CAM_ENABLE.

Special cases, errors,...

37901

$MA_SAFE_CAM_RANGE_OUTPUT_1[0...3]

MD number

Output assignment, cam range for cam track 1

Default value: 0

Min. input limit: 0

Max. input limit: 84020620

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Safety Integrated (system-integrated)

382

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

Data descriptions

9.1 Machine data for SINUMERIK 840D sl

37901

$MA_SAFE_CAM_RANGE_OUTPUT_1[0...3]

Meaning:

This machine data specifies the outputs for the cam range of cam track 1.

Structure: Refer to the coding of the output assignment

n = 0, 1, 2, 3 correspond to the 4 bits to specify the range on cam track 1

Bit 3 = 0, bit 2 = 0, bit 1 = 0, bit 0 = 0: Cam range 0 is active

Bit 3 = 0, bit 2 = 0, bit 1 = 0, bit 0 = 1: Cam range 1 is active

up to ...

Bit 3 = 1, bit 2 = 1, bit 1 = 1, bit 0 = 1: Cam range 15 is active

The cam range is defined using the following machine data:

MD36938 $MA_SAFE_CAM_TRACK_ASSIGN[n]

Signal means

= 0...14, axis is located in the range of the cam that was assigned to range ID 0...14 on cam track

= 15 axis is located in the range to the right of the outermost cam of cam track 1

Note:

The "Safe Cam Track" function is enabled using MD36903 $MA_SAFE_CAM_ENABLE.

If not all of the 4 bits are assigned, then under certain circumstances, it cannot be uniquely and

clearly identified as to which cam range is active.

Special cases, errors,...

corresponds with ...

MD37900 $MA_SAFE_CAM_TRACK_OUTPUT

37902

$MA_SAFE_CAM_RANGE_OUTPUT_2[0...3]

MD number

Output assignment, cam range for cam track 2

Default value: 0

Min. input limit: 0

Max. input limit: 84020620

Change becomes effective after: POWER ON

Protection level: 7/2

Unit:

Data type: DWORD

Meaning:

This machine data specifies the outputs for the cam range of cam track 2.

Structure: see $MA_SAFE_SVSS_STATUS_OUTPUT

n = 0, 1, 2, 3 correspond to the 4 bits to specify the range on cam track 2

Bit 3 = 0, bit 2 = 0, bit 1 = 0, bit 0 = 0: Cam range 0 is active

Bit 3 = 0, bit 2 = 0, bit 1 = 0, bit 0 = 1: Cam range 1 is active

up to ...

Bit 3 = 1, bit 2 = 1, bit 1 = 1, bit 0 = 1: Cam range 15 is active

The cam range is defined using the following machine data:

MD36938 $MA_SAFE_CAM_TRACK_ASSIGN[n]

Signal means

= 0...14, axis is located in the range of the cam that was assigned to range ID 0...14 on cam track

= 15 axis is located in the range to the right of the outermost cam of cam track 2

Note:

The "Safe Cam Track" function is enabled using MD36903 $MA_SAFE_CAM_ENABLE.

If not all of the 4 bits are assigned, then under certain circumstances, it cannot be uniquely and

clearly identified as to which cam range is active.

Safety Integrated (system-integrated)

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

383

Data descriptions

9.1 Machine data for SINUMERIK 840D sl

37902

$MA_SAFE_CAM_RANGE_OUTPUT_2[0...3]

Special cases, errors,...

corresponds with ...

MD37900 $MA_SAFE_CAM_TRACK_OUTPUT

37903

$MA_SAFE_CAM_RANGE_OUTPUT_3[0...3]

MD number

Output assignment, cam range for cam track 3

Default value: 0

Min. input limit: 0

Max. input limit: 84020620

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

This machine data specifies the outputs for the cam range of cam track 3.

Structure: see $MA_SAFE_SVSS_STATUS_OUTPUT

n = 0, 1, 2, 3 correspond to the 4 bits to specify the range on cam track 3

Bit 3 = 0, bit 2 = 0, bit 1 = 0, bit 0 = 0: Cam range 0 is active

Bit 3 = 0, bit 2 = 0, bit 1 = 0, bit 0 = 1: Cam range 1 is active

up to ...

Bit 3 = 1, bit 2 = 1, bit 1 = 1, bit 0 = 1: Cam range 15 is active

The cam range is defined using the following machine data:

MD36938 $MA_SAFE_CAM_TRACK_ASSIGN[n]

Signal means

= 0...14, axis is located in the range of the cam that was assigned to range ID 0...14 on cam track

= 15 axis is located in the range to the right of the outermost cam of cam track 3

Note:

The "Safe Cam Track" function is enabled using MD36903 $MA_SAFE_CAM_ENABLE.

If not all of the 4 bits are assigned, then under certain circumstances, it cannot be uniquely and

clearly identified as to which cam range is active.

Special cases, errors,...

corresponds with ...

MD37900 $MA_SAFE_CAM_TRACK_OUTPUT

37904

$MA_SAFE_CAM_RANGE_OUTPUT_4[0...3]

MD number

Output assignment, cam range for cam track 4

Default value: 0

Min. input limit: 0

Max. input limit: 84020620

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Safety Integrated (system-integrated)

384

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

Data descriptions

9.1 Machine data for SINUMERIK 840D sl

37904

$MA_SAFE_CAM_RANGE_OUTPUT_4[0...3]

Meaning:

This machine data specifies the outputs for the cam range of cam track 4.

Structure: see $MA_SAFE_SVSS_STATUS_OUTPUT

n = 0, 1, 2, 3 correspond to the 4 bits to specify the range on cam track 4

Bit 3 = 0, bit 2 = 0, bit 1 = 0, bit 0 = 0: Cam range 0 is active

Bit 3 = 0, bit 2 = 0, bit 1 = 0, bit 0 = 1: Cam range 1 is active

up to ...

Bit 3 = 1, bit 2 = 1, bit 1 = 1, bit 0 = 1: Cam range 15 is active

The cam range is defined using the following machine data:

MD36938 $MA_SAFE_CAM_TRACK_ASSIGN[n]

Signal means

= 0...14, axis is located in the range of the cam that was assigned to range ID 0...14 on cam track

= 15 axis is located in the range to the right of the outermost cam of cam track 4

Note:

The "Safe Cam Track" function is enabled using MD36903 $MA_SAFE_CAM_ENABLE.

If not all of the 4 bits are assigned, then under certain circumstances, it cannot be uniquely and

clearly identified as to which cam range is active.

Special cases, errors,...

corresponds with ...

MD37900 $MA_SAFE_CAM_TRACK_OUTPUT

37906

$MA_SAFE_CAM_RANGE_BIN_OUTPUT_1[0...14]

MD number

Output assignment, cam range bit for cam track 1

Default value: 0

Min. input limit: 0

Max. input limit: 84020620

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

This machine data specifies the outputs for the cam range bits of cam track 1.

Structure: see $MA_SAFE_SVSS_STATUS_OUTPUT

Field index n corresponds to the parameterizable cam range numbers on cam track 1.

The cam range number is defined using the following machine data:

MD36938 $MA_SAFE_CAM_TRACK_ASSIGN[0...29]

Signal means

= 0, axis is not located on the cam with cam range number n

= 1, axis is located on the cam with cam range number n

Example:

The signal that is addressed using field index 5 goes to 1 if the axis is located at the cam that is

assigned to cam track 1 by parameterizing the cam range number 5.

Note:

The "Safe Cam Track" function is enabled using MD36903 $MA_SAFE_CAM_ENABLE.

If the cam range number n is not parameterized on cam track 1 then the signal of field index n

can never go to 1. The output MD with field index n must in this case not be parameterized.

Special cases, errors,...

Safety Integrated (system-integrated)

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

385

Data descriptions

9.1 Machine data for SINUMERIK 840D sl

37907

$MA_SAFE_CAM_RANGE_BIN_OUTPUT_2[0...14]

MD number

Output assignment, cam range bit for cam track 2

Default value: 0

Min. input limit: 0

Max. input limit: 84020620

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

This machine data specifies the outputs for the cam range bits of cam track 2.

Structure: see $MA_SAFE_SVSS_STATUS_OUTPUT

Field index n corresponds to the parameterizable cam range numbers on cam track 2.

The cam range number is defined using the following machine data:

MD36938 $MA_SAFE_CAM_TRACK_ASSIGN[0...29]

Signal means

= 0, axis is not located on the cam with cam range number n

= 1, axis is located on the cam with cam range number n

Example:

The signal that is addressed using field index 5 goes to 1 if the axis is located at the cam that is

assigned to cam track 2 by parameterizing the cam range number 5.

Note:

The "Safe Cam Track" function is enabled using MD36903 $MA_SAFE_CAM_ENABLE.

If the cam range number n is not parameterized on cam track 2 then the signal of field index n

can never go to 1. The output MD with field index n must in this case not be parameterized.

Special cases, errors,...

37908

$MA_SAFE_CAM_RANGE_BIN_OUTPUT_3[0...14]

MD number

Output assignment, cam range bit for cam track 3

Default value: 0

Min. input limit: 0

Max. input limit: 84020620

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

This machine data specifies the outputs for the cam range bits of cam track 3.

Structure: see $MA_SAFE_SVSS_STATUS_OUTPUT

Field index n corresponds to the parameterizable cam range numbers on cam track 3.

The cam range number is defined using the following machine data:

MD36938 $MA_SAFE_CAM_TRACK_ASSIGN[0...29]

Signal means

= 0, axis is not located on the cam with cam range number n

= 1, axis is located on the cam with cam range number n

Example:

The signal that is addressed using field index 5 goes to 1 if the axis is located at the cam that is

assigned to cam track 3 by parameterizing the cam range number 5.

Note:

The "Safe Cam Track" function is enabled using MD36903 $MA_SAFE_CAM_ENABLE.

If the cam range number n is not parameterized on cam track 3 then the signal of field index n

can never go to 1. The output MD with field index n must in this case not be parameterized.

Special cases, errors,...

Safety Integrated (system-integrated)

386

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

Data descriptions

9.1 Machine data for SINUMERIK 840D sl

37909

$MA_SAFE_CAM_RANGE_BIN_OUTPUT_4[0...14]

MD number

Output assignment, cam range bit for cam track 3

Default value: 0

Min. input limit: 0

Max. input limit: 84020620

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: DWORD

Meaning:

This machine data specifies the outputs for the cam range bits of cam track 4.

Structure: see $MA_SAFE_SVSS_STATUS_OUTPUT

Field index n corresponds to the parameterizable cam range numbers on cam track 4.

The cam range number is defined using the following machine data:

MD36938 $MA_SAFE_CAM_TRACK_ASSIGN[0...29]

Signal means

= 0, axis is not located on the cam with cam range number n

= 1, axis is located on the cam with cam range number n

Example:

The signal that is addressed using field index 5 goes to 1 if the axis is located at the cam that is

assigned to cam track 4 by parameterizing the cam range number 5.

Note:

The "Safe Cam Track" function is enabled using MD36903 $MA_SAFE_CAM_ENABLE.

If the cam range number n is not parameterized on cam track 4 then the signal of field index n

can never go to 1. The output MD with field index n must in this case not be parameterized.

Special cases, errors,...

37920

$MA_SAFE_STANDSTILL_VELO_LIMIT

MD number

Switchover speed SBH/SG

Default value: 0.0 - for mm/min, inch/min

Min. input limit: 0.0

Max. input limit: 1000.0

default value: 0.0 for rpm

min. Input limit: 0.0

max. Input limit: 1000.0

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: mm/min, inch/ min,

rpm

Data type: DOUBLE

Meaning:

When the axis/spindle speed drops below this limit, it is considered to be at a "standstill". A

switch over to Safe Operating Stop or to a lower velocity level is realized at the latest after the

time parameterized in MD37922 $MA_SAFE_STANDSTILL_DELAY expires. This premature

switchover is only realized if a velocity > 0.0 is parameterized in this MD.

corresponds with ...

MD37922 $MA_SAFE_STANDSTILL_DELAY and drive parameter p9567/p9569

Special cases, errors,...

37922

$MA_SAFE_STANDSTILL_DELAY

MD number

Delay time, switchover to SBH/SG

Default value: 0.1

Min. input limit: 0.0

Max. input limit: 10

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: s

Data type: DOUBLE

Safety Integrated (system-integrated)

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

387

Data descriptions

9.1 Machine data for SINUMERIK 840D sl

37922

$MA_SAFE_STANDSTILL_DELAY

Meaning:

If, when transitioning to a safe operating stop or to a lower velocity level, standstill is identified

(see MD37920 $MA_SAFE_STANDSTILL_VELO_LIMIT), then at the latest, after this transition

time SBH or the selected SG stage becomes active. In this case, transition times from STOP C, D

and E - as well as from SG to SBH - are interrupted or replaced by this delay time.

corresponds with ...

MD37920 $MA_SAFE_STANDSTILL_VELO_LIMIT and drive parameter p9567/p9569

Special cases, errors,...

37950

$MA_SAFE_INFO_ENABLE

MD number

SIC/SCC and PROFIsafe enable

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 enable evaluation of the SIC/SCC telegram between the control system and drive and to

enable the transfer of the PROFIsafe telegram between F-PLC and drive.

Enables the evaluation of the Safety Control Channel / Safety Information Channel (SCC/SIC).

Bit 0: For axes with NC safety functionality, only the drive-integrated brake test is supported via

SIC/SCC.

Bit 1: Enables PROFIsafe communication between F-PLC and drive

corresponds with ...

Special cases, errors,...

37952

$MA_PROFISAFE_MODULE_NR

MD number

PROFIsafe module number

Default value: 1. .31

Min. input limit: 1

Max. input limit: 31

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: BYTE

Meaning:

Number to select a logical basis address from MD13372 $MN_SAFE_PS_DRIVE_LOGIC_ADDR.

corresponds with ...

Special cases, errors,...

37954

$MA_SAFE_INFO_MODULE_NR

MD number

SIC/SCC module number

Default value: 1..31

Min. input limit: 1

Max. input limit: 31

Change becomes effective after: POWER ON

Protection level: 7/2

Unit: -

Data type: BYTE

Meaning:

Number to select a logical basis address from MD13374 $MN_SAFE_INFO_DRIVE_LOGIC_ADDR

corresponds with ...

Special cases, errors,...

Safety Integrated (system-integrated)

388

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

Data descriptions

9.2 Parameters for SINAMICS S120

9.2

Parameters for SINAMICS S120

9.2.1

Parameters for SINAMICS S120

Note

Some safety parameters for the motion monitoring functions on the CU are protected with

access level 4 (manufacturer access) which means that as standard, they are not visible in the

expert list of the STARTER drive commissioning tool. However, the access stage is reduced as a

result of a user-specific view for SINUMERIK 840D sl to 3 (expert access) so that the safety

parameters for the motion monitoring functions are visible on the HMI without having to enter

a password for the access level.

This comment must be taken into account for all safety parameters for the motion monitoring

functions (name "SI Motion..."), which are listed in the following Chapters: There, standard

access level 4 is sometimes specified, while in operation with SINUMERIK 840D sl, access level

3 is actually effective.

The following parameters are available:

• Safety parameters for the Control Unit

• Safety parameters for the Motor Module

Parameter number

The parameter number consists of a leading "p" or "r", followed by the parameter number and

the index (optional).

Examples of the representation in the parameter list:

• p...: Adjustable parameters (read and write parameters)

• r...: Display parameters (read only)

• p0918: Adjustable parameter 918

• p0099[0...3]: Adjustable parameter 99, indices 0 to 3

• p1001[0...n]: Adjustable parameter 1001, indices 0 to n (n = configurable)

• r0944: Display parameter 944

Other examples of notation in the documentation:

• p1070[1]: Adjustable parameter 1070, index 1

• p2098[1].3: Adjustable parameter 2098, index 1 bit 3

• r0945[2](3): Display parameter 945, index 2 of drive object 3

• p0795.4: Adjustable parameter 795, bit 4

Safety Integrated (system-integrated)

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

389

Data descriptions

9.2 Parameters for SINAMICS S120

The possible data types of parameter values are as follows:

Integer8

8: Bit integer number

I16

Integer16

16: Bit integer number

I32

Integer32

32: Bit integer number

Unsigned8

8: Bit without sign

U16

Unsigned16

16: Bit without sign

U32

Unsigned32

32: Bit without sign

REAL32

Floating-point number (32 bits)

For a complete list of the parameters in the SINAMICS S120 drive system, refer to:

Reference: /LH1/ SINAMICS S List Manual

9.2.2

Parameter overview

When copying, the parameters shown in bold are not taken into consideration. The machine

manufacturer must manually enter this data.

Table 9-2

Parameters for SINAMICS S120

No.

Designators for SINAMICS S120

Checksum

Equivalent MD for 840D sl

Name

No.

Name

p2003

Reference torque

36969

$MN_SAFE_BRAKETEST_TOR-

QUE_NORM

Parameters for motion monitoring

p9500

SI Motion monitoring clock cycle (Con-

10090

$MN_SAFETY_SYSCLOCK_TIME_RATIO

trol Unit)

p9501

SI Motion enable safe functions (Con-

36901

$MA_SAFE_FUNCTION_ENABLE

trol Unit)

p9502

SI Motion axis type (Control Unit)

36902

$MA_SAFE_IS_ROT_AX

p9503

SI Motion SCA (SN) enable (Control

36903

$MA_SAFE_CAM_ENABLE

Unit)

p9505

SI Motion SP modulo value (Control

36905

$MA_SAFE_MODULO_RANGE

Unit)

p9513

SI Motion non-safety-related measur-

36913

$MA_SAFE_ENC_MEAS_STEPS_POS1

ing steps POS1 (Control Unit).

p9514

SI Motion absolute encoder linear

36914

$MA_SAFE_SINGLE_ENC

measuring steps (Control Unit)

p9515

SI Motion coarse position value config-

uration (CU)

p9516

SI Motion, motor encoder configura-

36916

$MA_SAFE_ENC_IS_LINEAR

tion, safety-related functions (CU)

p9517

SI Motion linear scale grid division (Con-

36917

$MA_SAFE_ENC_GRID_POINT_DIST

trol Unit)

p9518

SI Motion encoder pulses per revolu-

36918

$MA_SAFE_ENC_RESOL

tion (Control Unit)

Safety Integrated (system-integrated)

390

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

Data descriptions

9.2 Parameters for SINAMICS S120

No.

Designators for SINAMICS S120

Checksum

Equivalent MD for 840D sl

Name

No.

Name

p9519

SI Motion fine resolution G1_XIST1

36919

$MA_SAFE_ENC_PULSE_SHIFT

(Control Unit)

p9520

SI Motion leadscrew pitch (Control

36920

$MA_SAFE_ENC_GEAR_PITCH

Unit)

p9521

SI Motion gearbox encoder/load de-

36921

$MA_SAFE_ENC_GEAR_DENOM[n]

nominator (Control Unit)

p9522

SI Motion gearbox encoder/load nu-

36922

$MA_SAFE_ENC_GEAR_NUMERA[n]

merator (Control Unit)

p9523

SI Motion redundant coarse position

value valid bits (CU)

p9524

SI Motion fine resolution coarse posi-

tion value (Control Unit)

p9525

SI Motion redundant coarse position

relevant bits (Control Unit)

p9526

SI Motion encoder assignment control

(Control Unit)

r9527

SI Motion Sensor Module type 2. Chan-

nel (Control Unit)

r9529

SI Motion Gx_XIST1 coarse position

safety most significant bit (Control Unit)

p9530

SI Motion standstill tolerance (Control

36930

$MA_SAFE_STANDSTILL_TOL

Unit)

p9531

SI Motion SLS (SG) limit values (Control

36931

$MA_SAFE_VELO_LIMIT[n]

Unit)

p9532

SI Motion SLS (SG) override factor (Con-

36932

SAFE_VELO_OVR_FACTOR[n]

trol Unit)

p9534

SI Motion SLP (SE) upper limit values

36934

$MA_SAFE_POS_LIMIT_PLUS[n]

(Control Unit)

p9535

SI Motion SLP (SE) lower limit values

36935

$MA_SAFE_POS_LIMIT_MINUS[n]

(Control Unit)

p9536

SI Motion SCA (SN) plus cam position

36936

$MA_SAFE_CAM_POS_PLUS[n]

(Control Unit)

p9537

SI Motion, SCA (SN) minus cam position

36937

$MA_SAFE_CAM_POS_MINUS[n]

p9538

SI Motion SCA (SN) cam track assign-

36938

$MA_SAFE_CAM_TRACK_ASSIGN

ment (Control Unit)

p9540

SI Motion SCA (SN) tolerance (Control

36940

$MA_SAFE_CAM_TOL

Unit)

p9542

SI Motion actual value comparison tol-

36942

$MA_SAFE_POS_TOL

erance (crosswise) (Control Unit)

p9544

SI Motion actual value comparison tol-

36944

$MA_SAFE_REFP_POS_TOL

erance (referencing) (CU)

p9545

SI Motion SSM (SGA n < nx) filter time

36945

$MA_SAFE_VELO_X_FILTER_TIME

(Control Unit)

p9546

SI Motion SSM (SGA n < nx) speed limit

36946

$MA_SAFE_VELO_X

n_x (CU)

Safety Integrated (system-integrated)

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

391

Data descriptions

9.2 Parameters for SINAMICS S120

No.

Designators for SINAMICS S120

Checksum

Equivalent MD for 840D sl

Name

No.

Name

p9547

SI Motion SSM (SGA n < n_x) speed hys-

36947

$MA_SAFE_VELO_X_HYSTERESIS

teresis (CU)

p9548

SI Motion SBR actual speed tolerance

36948

$MA_SAFE_STOP_VELO_TOL

(Control Unit)

p9549

SI Motion slip velocity tolerance (Con-

36949

$MA_SAFE_SLIP_VELO_TOL

trol Unit)

p9550

SI Motion SGE changeover tolerance

36950

$MA_SAFE_MODE_SWITCH_TIME

time (Control Unit)

p9551

SI Motion SGE changeover delay time

36951

$MA_SAFE_VELO_SWITCH_DELAY

(Control Unit)

p9552

SI Motion transition time STOP C to SOS

36952

$MA_SAFE_STOP_SWITCH_TIME_C

(SBH) (Control Unit)

p9553

SI Motion transition time STOP D to SOS

36953

$MA_SAFE_STOP_SWITCH_TIME_D

(SBH) (Control Unit)

p9554

SI Motion transition time STOP E to SOS

36954

$MA_SAFE_STOP_SWITCH_TIME_E

(SBH) (Control Unit)

p9555

SI Motion transition time STOP F to

36955

$MA_SAFE_STOP_SWITCH_TIME_F

STOP B (Control Unit)

p9556

SI Motion pulse suppression delay time

36956

$MA_SAFE_PULSE_DISABLE_DELAY

(Control Unit)

p9557

SI Motion pulse cancellation checking

36957

$MA_SAFE_PULSE_DIS_CHECK_TIME

time (Control Unit)

p9558

SI Motion acceptance test time limit

36958

$MA_SAFE_ACCEPTANCE_TST_TIMEOUT

(Control Unit)

p9560

SI Motion pulse suppression shutdown

36960

$MA_SAFE_STANDSTILL_VELO_TOL

speed (Control Unit)

p9561

SI Motion SLS (SG) stop response (Con-

36961

$MA_SAFE_VELO_STOP_MODE

trol Unit)

p9562

SI Motion SLP (SE) stop response (Con-

36962

$MA_SAFE_POS_STOP_MODE

trol Unit)

p9563

SI Motion SLS(SG)-specific stop re-

36963

$MA_SAFE_VELO_STOP_REACTION[n]

sponse (Control Unit)

p9567

SI Motion switchover time to SOS

p9569

SI Motion transition time to SOS after

standstill

p9570

SI Motion acceptance test mode (Con-

Corresponds to OPI variables for NCK

trol Unit)

p9571

SI Motion acceptance test status (Con-

Corresponds to OPI variables for NCK

trol Unit)

r9590

SI Motion version safety motion moni-

toring (Control Unit)

Parameters for basic safety functions integrated in the drive

p9601

SI enable functions integrated in the

drive (Control Unit)

p9602

SI enable Safe Brake Control (Control

Unit)

Safety Integrated (system-integrated)

392

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

Data descriptions

9.2 Parameters for SINAMICS S120

No.

Designators for SINAMICS S120

Checksum

Equivalent MD for 840D sl

Name

No.

Name

p9620

BI: SI signal source for STO (SH)/SBC/

SS1 (Control Unit)

p9621

BI: SI Safe Brake Adapter signal source

(Control Unit)

p9622

SI SBA relay wait times (Control Unit)

p9625

SI HLA shutoff valve wait time (CU)

p9626

SI HLA shutoff valve feedback signal

contacts configuration (CU)

p9650

SI SGE switchover tolerance time (Con-

trol Unit)

p9651

SI STO/SBC/SS1 debounce time (Control

Unit)

p9652

SI Safe Stop 1 delay time (Control Unit)

p9653

SI Safe Stop 1 drive-based braking re-

---

sponse

p9658

SI transition time STOP F to STOP A

(Control Unit)

p9659

SI forced checking procedure timer

r9660

SI forced checking procedure remain-

ing time

p9697

SI Motion, pulse cancellation failsafe

delay time (CU)

General diagnostic parameters on the CU

r9710

SI Motion, diagnostics result list 1

r9711

SI Motion diagnostics results list 2

r9712

SI Motion diagnostics position actual

value motor side

r9713

SI Motion diagnostics position actual

value load side

r9714

SI Motion diagnostics speed actual val-

ue load side

r9718

CO/BO: SI Motion, control signals 1

r9719

CO/BO: SI Motion, control signals 2

r9721

SI Motion, status signals

r9724

SI Motion, cross-check cycle

r9725

SI Motion, diagnostics STOP F

p9726

SI Motion, user agreement, select/dese-

Corresponds to OPI variables for NCK

lect

r9727

SI Motion, internal drive user agree-

36997

$MA_SAFE_ACKN

ment

r9728

SI Motion actual checksum SI parame-

36998

$MA_SAFE_ACT_CHECKSUM

ters

p9729

SI Motion reference checksum SI pa-

36999

$MA_SAFE_DES_CHECKSUM

rameters

Safety Integrated (system-integrated)

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

393

Data descriptions

9.2 Parameters for SINAMICS S120

No.

Designators for SINAMICS S120

Checksum

Equivalent MD for 840D sl

Name

No.

Name

r9730

SI Motion safe maximum velocity

r9731

SI safe position accuracy

r9733

SI CO: SI Motion effective setpoint

speed limiting

p9735

SI Motion diagnostics results list 3

p9736

SI Motion diagnostics results list 4

p9737

SI Motion diagnostics results list 5

p9738

SI Motion diagnostics results list 6

p9739

SI Motion diagnostics results list 7

r9744

SI message buffer changes, counter

r9747

SI message code

r9748

SI message time received in millisec-

onds

r9749

SI message value

p9752

SI message cases, counter

r9753

SI message value for float values

r9754

SI message time received in days

r9755

SI message time removed in millisec-

onds

r9756

SI message time removed in days

p9759

SI acknowledge messages, drive object

p9761

SI password input

p9762

SI password new

p9763

SI password acknowledgment

r9770

SI version, safety functions integrated

in the drive (Control Unit)

r9771

SI common functions (Control Unit)

r9772

CO/BO: SI status (Control Unit)

r9773

CO/BO: SI status (Control Unit+Motor

Module)

r9774

CO/BO: SI status (safe standstill group)

r9776

SI diagnostics

r9780

SI monitoring cycle (Control Unit)

r9794

SI crosswise comparison list (Control

Unit)

r9795

SI diagnostics, STOP F (Control Unit)

r9798

SI actual checksum SI parameters (Con-

trol Unit)

p9799

SI reference checksum SI parameters

(Control Unit)

Parameters for functions integrated in the drive MM

p9801

SI enable safety functions (Motor Mod-

ule)

Safety Integrated (system-integrated)

394

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

Data descriptions

9.2 Parameters for SINAMICS S120

No.

Designators for SINAMICS S120

Checksum

Equivalent MD for 840D sl

Name

No.

Name

p9802

SI enable Safe Brake Control (Motor

Module)

p9810

SI PROFIsafe address (Motor Module)

p9821

BI: SI Safe Brake Adapter signal source

(Motor Module)

p9822

SI SBA relay wait times (Motor Module)

p9850

SI SGE changeover, tolerance time (Mo-

tor Module)

p9851

SI STO/SBC/SS1 debounce time (Motor

Module)

p9852

SI Safe Stop 1 delay time (Motor Mod-

ule)

p9858

SI transition time STOP F to STOP A (Mo-

tor Module)

r9870

SI version (Motor Module)

r9871

SI common functions (Motor Module)

r9872

CO/BO: SI status (Motor Module)

r9880

SI monitoring cycle (Motor Module)

r9881

SI Sensor Module Node Identifier con-

trol

r9890

SI version (Sensor Module)

r9894

SI crosswise comparison list (Motor

Module)

r9895

SI diagnostics, STOP F (Motor Module)

p9897

SI Motion, pulse cancellation failsafe

delay time (MM)

r9898

SI actual checksum SI parameters (Mo-

tor Module)

p9899

SI reference checksum SI parameters

(Motor Module)

p10201

SI Motion SBT enable

p10202

SI Motion SBT brake selection

p10203

SI Motion SBT control selection

p10204

SI Motion SBT motor type

p10208

SI Motion SBT test torque ramp time

p10209

SI Motion SBT brake holding torque

p10210

SI Motion SBT test torque factor se-

quence 1

p10211

SI Motion SBT test duration sequence 1

p10212

SI Motion SBT position tolerance se-

quence 1

p10218

SI Motion SBT test torque sign

p10220

SI Motion SBT test torque factor se-

quence 2

Safety Integrated (system-integrated)

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

395

Data descriptions

9.2 Parameters for SINAMICS S120

No.

Designators for SINAMICS S120

Checksum

Equivalent MD for 840D sl

Name

No.

Name

p10221

SI Motion SBT test duration sequence 2

p10222

SI Motion SBT position tolerance se-

quence 2

p10230

SI Motion SBT control word

r10231

SI Motion SBT control word diagnostics

r10234.

SI Safety Information Channel status

0...15

word S_ZSW3B

p10235

CI: SI Safety Control Channel control

word S_STW3B

p10240

SI Motion SBT test torque diagnostics

p10241

SI Motion SBT load torque diagnostics

p10242

SI Motion SBT state diagnostics

p10250

CI: SI Safety Control Channel control

word S_STW1B

r10251.

CO/BO: SI Safety Control Channel con-

8...12

trol word S_STW1B diagnostics

p60122

IF1 PROFIdrive SIC/SCC telegram selec-

tion

Downloading standard motor data

When standard motor data is loaded some drive parameters are overwritten. If another type of

motor is installed (e.g. after repairs have been carried out) and the associated motor default data

is downloaded, then the encoder data must be changed back to its original value.

9.2.3

Description of parameters

r0469[0...2]

Absolute encoder linear measuring increments

Displays the absolute position resolution for a linear absolute encoder.

Checksum:

Protection level:

[0] = Encoder 1

[1] = encoder 2

[2] = encoder 3

SINUMERIK 840D sl. Service - Safety Integrated. Manual (2020) - page 6