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

Data descriptions

9.2 Parameters for SINAMICS S120

p9542

SI Motion actual value comparison tolerance (crosswise) (Control Unit)

Sets the tolerance for the crosswise comparison of the actual position between the

Checksum:

Protection level:

two monitoring channels

Yes

See also: C01711

For a linear axis, the tolerance is internally limited to 10 mm. The default setting of

p9542 corresponds, for a configuration for "linear axis with rotary motor" and de-

fault setting of p9520, p9521 and p9522, to a position tolerance on the motor side

of 36°.

Unit:

Default value:

Minimum value:

Maximum value:

Data type:

Effectiveness:

0.1

0.001

360 mm

Floating Point32

POWER ON

p9544

SI Motion actual value comparison tolerance (referencing) (Control Unit)

Sets the tolerance in mm or degrees to check the actual values after referencing

Checksum:

Protection level:

(incremental encoder) or when powering-up (absolute encoder).

Yes

See also: C01711

For linear axes, the maximum value is limited to 1 mm.

Unit:

Default value:

Minimum value:

Maximum value:

Data type:

Effectiveness:

mm, degrees

0.01

36 mm or 36 de-

FloatingPoint32

POWER ON

grees

p9545

SI Motion SSM (SGA n<n_x) filter time) (Control Unit)

Sets the filter time for the SSM feedback signal to detect standstill (n < n_x).

Checksum:

Protection level:

The filter time is only effective when the function has been enabled (p9501.16 = 1).

Yes

The parameter is contained in the crosswise data comparison of the two monitoring

channels.

The set time is internally rounded off to an integer multiple of the monitoring clock

cycle (p9500/p9300).

Unit:

Default value:

Minimum value:

Maximum value:

Data type:

Effectiveness:

0.00

100.00

FloatingPoint32

POWER ON

p9546

SI Motion SSM (SGA n < n_x) speed limit (CU)

Sets the speed limit for the SSM feedback signal to detect standstill (n < n_x).

Checksum:

Protection level:

If this limit value is fallen below, the signal "SSM feedback signal active" (SGA n <

Yes

n_x) is set.

For p9568 = 0, the value in p9546 is also valid for the function "SAM".

For p9506 = 3, the following applies: If the value falls below the set threshold, the

function "Safe Acceleration Monitor" SAM is deactivated.

Unit:

Default value:

Minimum value:

Maximum value:

Data type:

Effectiveness:

mm/min, rpm

1000000

Floating Point32

POWER ON

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Data descriptions

9.2 Parameters for SINAMICS S120

p9547

SI Motion SSM (SGA n < n_x) speed hysteresis (CU)

Sets the speed hysteresis for the SSM feedback signal to detect standstill (n < n_x).

Checksum:

Protection level:

See also: C01711

Yes

The velocity hysteresis is only effective when the function has been enabled

(p9501.16 = 1).

Unit:

Default value:

Minimum value:

Maximum value:

Data type:

Effectiveness:

mm/min, rpm

10.0000

0.0010

500.0000

FloatingPoint32

POWER ON

p9548

SI Motion SBR actual speed tolerance (Control Unit)

Sets the speed tolerance for the safe monitoring of the acceleration (SAM) function

Checksum:

Protection level:

See also: C01711

Yes

The set time is internally rounded off to an integer multiple of the monitoring clock

cycle (p9500/p9300).

Unit:

Default value:

Minimum value:

Maximum value:

Data type:

Effectiveness:

600000

Floating Point32

POWER ON

p9556

SI Motion STOP A delay time (Control Unit)

Sets the delay time for the safe pulse cancellation after STOP B.

Checksum:

Protection level:

This parameter has no effect for encoderless motion monitoring functions with safe

Yes

braking ramp monitoring (p9506 = 1), and at the same time enabled OFF3 ramp

(p9507.3 = 0).

See also: C01711

Unit:

Default value:

Minimum value:

Maximum value:

Data type:

Effectiveness:

Unsigned32

r9712

CO: SI Motion diagnostics position actual value motor side

Displays the position actual value on the motor side for the motion monitoring

Checksum:

Protection level:

functions on the Control Unit.

The display is updated in the safety monitoring cycle clock.

Unit:

Default value:

Minimum value:

Maximum value:

Data type:

Effectiveness:

Unsigned32

r9713

CO: SI Motion diagnostics position actual value load side

Displays the position actual value on the load side of the two monitoring channels

Checksum:

Protection level:

and their difference.

For rotary axes, the following units apply: Millidegrees

[0] = load side actual value on the Control Unit

[1] = load side actual value on the second channel

[2] = load side actual value difference Control Unit - second channel

[3] = load side maximum actual value difference, CU - second channel

See also: C01711

Unit:

Default value:

Minimum value:

Maximum value:

Data type:

Effectiveness:

Unsigned32

p9726

SI Motion, user agreement, select/deselect

Setting to select/deselect the user agreement

Checksum:

Protection level:

0: [00 hex] deselect user agreement

172: [AC hex] select user agreement

See also: p10203, r10251

Yes

Unit:

Default value:

Minimum value:

Maximum value:

Data type:

Effectiveness:

Unsigned32/Inte-

POWER ON

ger16

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Data descriptions

9.2 Parameters for SINAMICS S120

r10251.8...12

CO/BO: SI Safety Control Channel control word S_STW1B diagnostics

Display and BICO output for the diagnostics of control word S_STW1B of the Safety

Checksum:

Protection level:

Control Channel.

Yes

Bit signal name

08 Extended Functions test stop selection

1 signal: Selected, 0 signal: Not selected

09 Extended Functions trigger referencing

1 signal: Selected, 0 signal: Not selected

10 Extended Functions trigger reset

1 signal: Selected, 0 signal: Not selected

Extended Functions premature SOS after STOP D

1 signal: Selected, 0 signal: Not selected

Unit:

Default value:

Minimum value:

Maximum value:

Data type:

Effectiveness:

Unsigned32

POWER ON

p60122

IF1 PROFIdrive SIC/SCC telegram selection

Sets the telegram for the Safety Information Channel (SIC)/Safety Control Channel

Checksum:

Protection level:

(SCC)

The SIC/SCC telegram p60122 is attached to the PZD telegram p0922/p2079 with no

gaps.

700: Supplementary telegram 700, PZD-0/3

701: Supplementary telegram 701, PZD-2/5

999: Free telegram configuration with BICO

The distance to the PZD telegram can be increased with p2070/p2071 (this distance

is the number of receive words between the end of the PZD telegram and the start

of the SIC/SCC telegram). After changing p0922/p2079 or p2070/p2071, p60122

must be set again.

The telegram interconnections can only be changed if p60122 and p0922 are set

equal to 999.

Unit:

Default value:

Minimum value:

Maximum value:

Data type:

Effectiveness:

999

700

999

Integer16

POWER ON

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Data descriptions

9.4 Drive parameters that are read from the NCK-SI

9.3

NCK-MD that are read from Safety Integrated

The safety software reads the following NCK machine data. To a large extent, these machine

data are not calculated into the checksums, as they do not have any direct safety-relevant

significance, or as a consequence of changing this data, the safety-relevant data is changed,

which in turn, is calculated into the checksum.

MD identifier

Use

num-

ber

10050

SYSCLOCK_CYCLE_TIME

to determine the monitoring clock cycle;

as time basis for position controller based monitoring times

10060

POSCTRL_SYSCLOCK_TIME_RATIO

to distribute the SI monitoring channels to various position control clock

cycles

10070

IPO_SYSCLOCK_TIME_RATIO

as time basis for IPO-based monitoring times

30100

CTRLOUT_SEGMENT_NR

Defines as to whether a PROFIdrive drive is involved.

36906

CTRLOUT_MODULE_NR

to determine access to the interface to the DRV;

is used to determine the drive module type

30130

CTRLOUT_TYPE

to protect against parameterizing errors

10200

INT_INCR_PER_MM

to convert the reference position from the NCK into the SI computation

format (linear axes)

10210

INT_INCR_PER_DEG

to convert the reference position from the NCK into the SI computation

format (rotary axes/spindles)

30300

IS_ROT_AX

for a plausibility check, rotary axis setting

30230

ENC_INPUT_NR

from which encoder data is read using drive parameter r0979

30240

ENC_TYPE

to protect against inadmissible measuring functions

34210

ENC_REFP_STATE

to protect against inadmissible measuring functions

30330

MODULO_RANGE

for plausibility check, modulo values

10360

FASTIO_DIG_NUM_OUTPUTS

determines double assignment of IO modules

10071

IPO_CYCLE_TIME

time basis for IPO-based monitoring times

11500

PREVENT_SYNACT_LOCK

SPL protection

9.4

Drive parameters that are read from the NCK-SI

The following drive parameters are read when the control boots to protect the drive

parameterization, relevant for the safety functions, from being changed.

Parameter No.

Meaning

Stored in the NCK-MD

Alarm when changing

the MD value

p2003

Reference torque

SAFE_BRAKETEST_TOR-

27039

QUE_NORM

r0979[1, 11, 21] ^{1) 4)}

Encoder type

SAFE_ENC_IS_LINEAR

27036

r0979[2, 12, 22] ^{1), 4), 5)}

Encoder resolution

SAFE_ENC_GRID_POINT_DIST

27036

SAFE_ENC_RESOL²⁾

r0979[3, 13, 23]^{1) 4), 5)}

Shift factor XIST1

SAFE_ENC_PULSE_SHIFT

27036

r9744

Message buffer changes counter

-³⁾

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Data descriptions

9.5 Protecting checksum

Parameter No.

Meaning

Stored in the NCK-MD

Alarm when changing

the MD value

r9747[0]

Message code

- ³⁾

r9748[0]

Message time, received

-³⁾

r9749[0]

Message value

- ³⁾

p9810

PROFIsafe address

SAFE_DRIVE_PS_ADDRESS

27035

r9881[0...11]

Sensor Module Node Identifier

SAFE_ENC_IDENT

27035

r0469[0,1,2] ^{1), 4), 5)}

Resolution measuring steps for line-

SAFE_ENC_MEAS_STEPS_RESOL

27036

ar absolute encoders

r0470[0,1,2] ^{1), 4), 5)}

Valid bits of the redundant coarse

SAFE_ENC_NUM_BITS[0]

27035

position value

r0471[0,1,2]^{1), 4), 5)}

Fine resolution of the redundant

SAFE_ENC_NUM_BITS[1]

27035

coarse position value

r0472[0,1,2] ^{1), 4), 5)}

Relevant bits of the redundant

SAFE_ENC_NUM_BITS[2]

27036

coarse position value

r0473[0,1,2] ^{1), 4), 5)}

Non-safety-related measuring steps

SAFE_ENC_MEAS_STEPS_POS1

27036

position value POS1

r0474[0,1,2] ^{1), 4), 5)}

Configuration of the redundant

SAFE_ENC_CONF

27035

coarse position value

Bit 0: Count direction, up/down

Bit 1: CRC 16: LSB/ MSB first

Bit 2: MSB/LSB justified

r0475[0,1,2] ^{1), 4), 5)}

Safety MSB of the redundant coarse

SAFE_ENC_NUM_BITS[3]

27036

position value

r9527 ⁵⁾

Encoder evaluation type

SAFE_ENC_MOD_TYPE

27035

Which parameter indices are read depends on which encoder was selected using MD $MA_SAFE_ENC_INPUT_NR.

In which MD the value is saved, depends on the selected encoder type. Setting is made using MD $MC_SAFE_ENC_IS_LINEAR.

These parameters are not mapped in NCK-MD, but in Alarm 27900 and correspondingly alarm parameters changed over.

These parameters are only evaluated if the encoder parameterization is valid.

If the drive parameter violates the internal limits of the associated NCK-MDs, then Alarm 27038 "Axis %1 value%2 in drive

parameter %3 violates the limits of NCK-MD %4" is output, and the value is not transferred into the NCK-MD.

9.5

Protecting checksum

Checksums are generated using this MD in order to detect falsification of the SI-relevant machine

data checked in the acceptance test.

In order to provide users with the most accurate information as possible about the area of the

safety relevant parameterization in which a discrepancy has occurred between the reference

and actual checksum, the machine data and the associated checksums are subdivided into:

• Machine data that are parameterized via the axis-specific SI functionality ⇒

$MA_SAFE_ACT_CHECKSUM[0...2]

• Machine data that are parameterized via the general and NCK-specific SI functionality ⇒

$MN_SAFE_GLOB_ACT_CHECKSUM[0...3]

There are machine data fields, which are independent of one another, for these two machine

data groups, in which the checksums are saved.

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Data descriptions

9.6 Interface signals

These two groups are subdivided into various machine data, which in turn are used to calculate

independent checksums. Each checksum change is displayed with its own alarm message. This

means that using the alarm number alone, the user can identify which function area should be

especially carefully assessed in the subsequently required function or acceptance test.

Modular machine concepts are supported by this distribution.

The value of the checksums $MN_SAFE_GLOB_ACT_CHECKSUM[0...3] and

$MA_SAFE_ACT_CHECKSUM[0...2] is re-calculated for various events:

• When the control system powers up

• Machine control panel reset

• PI service "_N_CRCSMD"

A comparison between the MD values $MN_SAFE_GLOB_ACT_CHECKSUM[0...3] /

$MA_SAFE_ACT_CHECKSUM[0...2] and the expected values for the checksums in MD

$MN_SAFE_GLOB_DES_CHECKSUM[0...3] / $MA_SAFE_DES_CHECKSUM[0...2] is only

performed when the control boots, a discrepancy between the values is displayed using one of

the alarms mentioned below.

In this case, it is necessary to confirm the actual checksum by copying this value into MD

$MN_SAFE_GLOB_DES_CHECKSUM[0...3] / $MA_SAFE_DES_CHECKSUM[0...2] and rebooting

the control.

9.6

Interface signals

General

The safety-related input and output signals (SGE and SGA) are signals that are sent to and

received from the system through two channels.

WARNING

STOP F

A STOP F (displayed using Alarms 27001, 27101 and onwards or F01711) only results in a

subsequent STOP B/A response, if at least one of the safety-related functions SBH, SG, SE or SN

is active or selected. If only the function "n < n_x" is active, then a STOP F does not result in a

subsequent STOP B/A response.

This means that if "n < n_x" is used as a safety function, then at least one of the SBH, SG, SE, SN

or n<n_xsynchronization functions must be active or selected (e.g. by selecting a high SG level).

Note

The SGE/SGA in the drive monitoring channel are mapped in an area of the NC/PLC interface

(signals to/from the drive) and must be supplied in the PLC user program.

As a result of the two-channel structure of Safety Integrated, the machine manufacturer must

supply the SGE and SGA in both the NCK monitoring channel and the drive monitoring channel.

Unused SGE must be set to a defined state.

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Data descriptions

9.6 Interface signals

9.6.1

Interface signals for SINUMERIK 840D sl

Table 9-3

Interface signals for 840D sl

DB 31...

Signals from/to the drive

Byte

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

DBB 22

SG selection

Acknowl-

SBH dese-

SBH/SG de-

edgment,

lection

selection

communi-

cation fail-

ure

Bit 1

Bit 0

DBB 23

Test stop se-

Close brake

SE selection

Ratio selection

lection

Bit 2

Bit 1

Bit 0

SGE (signals to the drive)

DBB 32

Deselect

ext. STOP_E

ext. STOP_D

ext. STOP_C

ext. STOP_A

DBB 33

SG correction selection / override

Bit 3

Bit 2

Bit 1

Bit 0

DBB34

Reserved

Setpoint

limiting bit

limiting bit 0

DBB70

NCK Safety

Integrated

active

DBB 108

Axis safely

Communi-

Fault, data

Pulses can-

Communi-

SBH/SG ac-

referenced

cation fail-

transfer

celled sta-

cation fail-

tive

ure not ac-

tus

ure

knowl-

edged

DBB 109

SN4 -

SN4 +

SN3 -

SN3 +

SN2 -

SN2 +

SN1 -

SN1 +

Cam signals of the plus and minus cams

cam position

DBB 110

n < n_x

SG active

SBH active

Bit 1

Bit 0

DBB 111

STOP_E ac-

STOP_D ac-

STOP_C ac-

STOP_A/B

tive

active

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Data descriptions

9.6 Interface signals

DB 31...

Signals from/to the drive

DBB 112

Cam range for cam track 1

DBB 113

Cam range for cam track 2

DBB 114

Cam range for cam track 3

DBB 115

Cam range for cam track 4

DBB 116

DBB 117

Cam track 4

Cam track 3

Cam track 2

Cam track 1

DBB 118

Cam 8

Cam 7

Cam 6

Cam 5

Cam 4

Cam 3

Cam 2

Cam 1

Cam track 1

DBB 119

Cam 15

Cam 14

Cam 13

Cam 12

Cam 11

Cam 10

Cam 9

Cam track 2

DBB 120

Cam 8

Cam 7

Cam 6

Cam 5

Cam 4

Cam 3

Cam 2

Cam 1

Cam track 2

DBB 121

Cam 15

Cam 14

Cam 13

Cam 12

Cam 11

Cam 10

Cam 9

Cam track 3

DBB 122

Cam 8

Cam 7

Cam 6

Cam 5

Cam 4

Cam 3

Cam 2

Cam 1

Cam track 3

DBB 123

Cam 15

Cam 14

Cam 13

Cam 12

Cam 11

Cam 10

Cam 9

Cam track 4

DBB 124

Cam 8

Cam 7

Cam 6

Cam 5

Cam 4

Cam 3

Cam 2

Cam 1

Cam track 4

DBB 125

Cam 15

Cam 14

Cam 13

Cam 12

Cam 11

Cam 10

Cam 9

Note:

DB 31 / 32 / 33 ... contains the interface signals for axis/spindle 1 / 2 / 3 ...

9.6.2

Description of the interface signal

Description of the signals sent to the monitoring channel

The individual signals that are transferred to the monitoring channel are listed in the following.

SGE, SBH/SG deselection, SBH deselection

The SBH and SG functions are selected/deselected using these signals.

SGE

Meaning

SBH/SG deselection

SBH deselection

= 1

SBH and SG are deselected

= 0

SBH is selected

= 0

= 1

SG is selected

x: Signal state is optional

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Data descriptions

9.6 Interface signals

SGE SG selection, bits 1, 0

By combining these signals when the SG function is activated it is possible to select the speed

limit value for SG1, 2, 3 or 4.

SGE

Meaning

SG selection, bit 1

SG selection, bit 0

= 0

Speed limit value for SG1 is selected

= 0

= 1

Speed limit value for SG2 is selected

= 1

= 0

Speed limit value for SG3 is selected

= 1

Speed limit value for SG4 is selected

SGE gearbox ratio selection, bits 2, 1, 0

The combination of these signals determines the selected gearbox ratio 1, 2, ... ,8.

SGE gearbox ratio selection

Meaning

Bit 2

Bit 1

Bit 0

Gearbox stage 1 is selected

Gearbox stage 2 is selected

Gearbox stage 3 is selected

Gearbox stage 8 is selected

SGE SE selection

When this signal is appropriately activated, and the SE function is activated, either SE1 or SE2 is

selected.

0 signal: SE1 is selected

1 signal: SE2 is selected

SGE SG correction selection/override, bits 3, 2, 1, 0

16 overrides for the limit value of safely reduced speeds 2 and 4 can be defined using the SGEs.

This means that the limit values for SG2 and SG4 can be more finely graduated.

An override factor of between 1 and 100% can be assigned to the selected override using the

following machine data:

For 840D sl:

MD36932 $MA_SAFE_VELO_OVR_FACTOR[n]

For SINAMICS S120:

p9532[n]: SI Motion, override factor

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Data descriptions

9.6 Interface signals

SGE test stop selection

This signal is used to initiate the switch-off signal path test for the drive monitoring channel (see

Chapter "Switch-off signal paths (Page 103)").

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① Pulse cancellation is started by setting the signal (1 PLC cycle).

② After the test stop has been started, a timer runs. When the time in the timer has expired, the test

stop execution is checked using the SGA "status, pulses cancelled".

③ The system resets the signals.

Figure 9-1

Signal timing for SGE test stop selection

The test stop is also carried out at the same time in the NCK monitoring channel (see Chapter

"Testing the switch-off signal paths (Page 105)").

Test stop for external STOPs

See Chapter "Forced checking procedure of the external STOPs (Page 130)".

SGE deselect ext. STOP A

"Pulse cancellation" can be requested and executed using this SGE.

The safe functions currently active (SG/SBH/SN/SE) are not influenced by this SGE.

If one of the currently active limits is violated, an appropriate alarm is initiated. The associated

shutdown response cannot be activated because the pulses have already been cancelled. As

soon as the stop request is cancelled via the SGE "deselect ext. STOP A" any queued shutdown

responses become active.

If a stop request is active, SGA "STOP A/B is active" is set in the same way as it would be for an

internally triggered STOP A.

0 signal: "Pulse cancellation" is requested

1 signal: "Pulse cancellation" is not requested

SGE deselect ext. STOP C

This SGE requests "braking with n_set = 0" (braking along the OFF3 down ramp).

When this stopping type is initiated, the safe monitoring of the acceleration (SBR) is activated.

In addition, the timer set using MD36952/p9552: $MA_SAFE_STOP_SWITCH_TIME_C / "SI

Motion transition time STOP C to SBH" is started.

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Data descriptions

9.6 Interface signals

After this time has elapsed, the system automatically changes over to SBH.

If a stop request is active, SGA "STOP C is active" is set in the same way as it would be for an

internally triggered STOP C.

0 signal: "Braking with n_set = 0" is requested

1 signal: No request for "Braking with n_set = 0"

Note

Stopping with an external STOP A (pulse cancellation) has a higher priority and can interrupt an

external STOP C (braking along the OFF3 down ramp).

SGE deselect ext. STOP D

"Braking along a path" can be requested using this SGE.

When ext. STOP D is triggered, the timer set using MD36953/p9553

$MA_SAFE_STOP_SWITCH_TIME_D / "SI Motion transition time STOP D to SBH" is started.

After this time has elapsed, the system automatically changes over to SBH.

If a stop request is active, SGA "STOP D is active" is set in the same way as it would be for an

internally triggered STOP D.

0 signal: "Braking along a path" is requested

1 signal: No request for "Braking along a path"

Note

Stopping with an external STOP A (pulse cancellation) and/or external STOP C (braking along the

OFF3 down ramp) has a higher priority and can interrupt an external STOP D (braking along a

path).

SGE deselect ext. STOP E

This SGE can be used to request a stop via the function "extended stopping and retraction" (ESR).

When an external STOP E is initiated the timer set using MD36954:

$MA_SAFE_STOP_SWITCH_TIME_E / p9554: Timer set for "SI Motion transition time STOP E to

SBH" is started.

After this time has elapsed, the system automatically changes over to SBH.

If a stop request is active, SGA "STOP E is active" is set in the same way as it would be for an

internally triggered STOP E.

0 signal: "Stop/retraction" is requested

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Data descriptions

9.6 Interface signals

1 signal: "Stop/retract" is not requested

Note

Stopping with an external STOP A (pulse cancellation) and/or external STOP C (braking along the

OFF3 down ramp) and/or ext. STOP D (braking along a path) has/have a higher priority and can

interrupt an external STOP E.

STOP E only produces a different response than STOP D if the user has configured the ESR

function - extended stop and retract - and initiation of the ESR is programmed depending on

$VA_STOPSI or $A_STOPESI. If no ESR is active, the STOP E behaves like a STOP D. However, if the

ESR was incorrectly configured, there is a delay up to the time $MC_ESR_DELAY_TIME1 and

$MC_ESR_DELAY_TIME2 compared to STOP D until the braking operation is initiated.

After these times have expired, braking is initiated at the current limit.

Close SGE brake (only the drive)

Using this SGE, a mechanical brake, that is controlled from the drive brake control, is closed. It

is used to check brake closing while testing the mechanical brake system.

• If this SGE is set, the brake is closed.

• If this SGE is deleted, then the brake assumes the status of the drive brake control - i.e. it is

not forcibly opened (no positive opening).

Note

This SGE must be connected to the brake control using a BiCo interconnection in the drive

(p0858 to source r9719, bit 13). This connection is parameterized as standard.

"Selection of the velocity setpoint limit" control signals

MD36933 $MA_SAFE_DES_VELO_LIMIT contains 4 values:

The selection of one of these values is realized via the axis-specific PLC user interface

DB3x.DBX34.0...1.

Meaning of this interface:

Bit 0 "Setpoint limiting bit 0"

Bit 1 "Setpoint limiting bit 1"

Bit 0

Bit 1

Active setpoint limiting factor

= 0

SAFE_DES_VELO_LIMIT0

= 0

= 1

SAFE_DES_VELO_LIMIT1

= 1

= 0

SAFE_DES_VELO_LIMIT2

= 1

SAFE_DES_VELO_LIMIT3

"Axis is SI axis" status signal

DB3x.DBX70.4: "NCK Safety Integrated active"

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Data descriptions

9.6 Interface signals

Description of signals from the monitoring channel

The individual signals that are transferred from the monitoring channel are listed in the

following.

SGA SBH/SG active

This signal is used to signal the drive monitoring channel the status of the SBH and SG functions

as follows:

0 signal: SBH/SG is not active

1 signal: SBH/SG is active

SGA status, pulses are cancelled (drive only)

After the switch-off signal path test has been initiated using the SGE test stop selection or if a

limit value is violated with a resulting STOP A response, this signal is output to indicate that the

drive pulses have been internally cancelled.

For all axes, the signal is initialized with the value "1"; for non-SI axes, the signal permanently

stays at a value of "1" (see Chapter "Switch-off signal paths (Page 103)".

Note

To identify as to whether an SI axis is available, the axis-specific signal "NCK Safety Integrated

active" can be evaluated.

0 signal: Pulses are enabled

1 signal: Pulses have been cancelled

SGA axis safely referenced

This indicates as to whether the relevant axis/spindle has been safely referenced (see Chapter

"Axis states (Page 90)").

0 signal: Axis is not safely referenced

1 signal: Axis is safely referenced

SGA SN1+, SN1-, SN2+, SN2-, SN3+, SN3-, SN4+, SN4-

These signals are used to indicate which of the plus or minus cams of cam pair 1, 2, 3 or 4 is

"actuated".

0 signal:

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

1 signal:

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

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9.6 Interface signals

SGA Safe Cam Track

This signal displays whether the axis is located on a cam that is assigned to this cam track (this

only applies to the "Safe Cam Track" function).

0 signal:

The axis is not located on a cam of this cam track

1 signal:

The axis is located on a cam of this cam track

SGA Safe Cam range

These bits (4 bits per cam track) display in which cam range the axis is presently located (this is

only valid for the "Safe Cam Track" function).

SGA Safe Cam range bits

This signal displays at which cam the axis is presently located (this is only valid for the "Safe Cam

Track" function).

0 signal: The axis is not located at this cam

1 signal: The axis is located at this cam

SGA SBH active

The signal indicates the status of the Safe Operating Stop (SBH).

1 signal: SBH is active

0 signal: SBH is not active

SGA STOP A/B is active

This signal indicates that STOP A/B is active.

The signal must be used for the forced checking procedure for external STOPs.

0 signal: STOP A/B is not active

1 signal: STOP A/B is active

SGA STOP C is active

This signal indicates that STOP C is active.

The signal must be used for the forced checking procedure for external STOPs.

0 signal: STOP C is not active

1 signal: STOP C is active

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Data descriptions

9.6 Interface signals

SGA STOP D is active

This signal indicates that STOP D is active.

The signal must be used for the forced checking procedure for external STOPs.

0 signal: STOP D is not active

1 signal: STOP D is active

SGA STOP E is active

This signal indicates that STOP E is active.

The signal must be used for the forced checking procedure for external STOPs.

0 signal: STOP E is not active

1 signal: STOP E is active

SGA "n < n_x

This SGA indicates whether the absolute value of the actual speed is above or below a speed

specified in the machine data.

Q_[

6*$ Q Q_[

Figure 9-2

Signal n < nx, dependent on the speed characteristic

WARNING

Functions SBH, SG, SE, SN

A STOP F (displayed using Alarms 27001, 27101 and onwards or F01711) only results in a

subsequent STOP B/A response, if at least one of the safety-related functions SBH, SG, SE, SN

or n<n_x synchronization is active or selected. If only the function "n < n_x" is active, then a STOP

F does not result in a subsequent STOP B/A response.

This means that if "n<n_x" is used as a safety function, then at least one of the SBH, SG, SE, SN

functions must be active or selected (e.g. by selecting a high SG level).

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9.6 Interface signals

Note

If the axis/spindle runs at a speed n_x, then as a result of actual differences in the two monitoring

channels, the SGA "n < n_x" can have different states.

This must be taken into account in the safe processing of the SGA.

SG active, bits 0, 1

The SGA "SG active bits 1, 0" displays which safely reduced speed and therefore which speed limit

value is actively monitored. The SGAs are only updated if the function "SBH/SG" is enabled and

SG is active (SGE "SBH/SG deselection" = 0 and "SBH deselection" = 1).

SGA

Meaning

SG ac-

SBH/

SBH ac-

tive

SG ac-

tive

bit 1

bit 0

tive

= 0

SBH is active (safely reduced speed is not active)

= 0

Speed limit value for SG1 active

= 0

= 1

Speed limit value for SG2 active

= 1

= 0

Speed limit value for SG3 active

= 1

Speed limit value for SG4 active

= 0

Neither SBH nor SG is active

Note:

The state "SG active bits 1, 0" = "0" has different meanings. A clear interpretation can be obtained by additionally evaluating the

SGAs "SBH active" and "SBH/SG active".

Communication failure

For a sign-of-life error or CRC error, this signal is set to TRUE. The PLC-SPL remains functional in

so much that the drive monitoring channel is not required. SGE to the drive are not effective. The

SGA from the drive are frozen at the state before communications failed.

Response time of the PLC when the sign of life character from the drive fails: 3 s

Response time of the PLC for CRC errors from the drive: 1 PLC cycles

Ongoing behavior depends on the bit "Acknowledgment communication failure". The fault

situation can only be executed with POWER ON.

Fault, data transfer

This signal is used to diagnose the cause for the set signal "communication error".

1 signal: There is a CRC error

0 signal: There is no CRC error

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Data descriptions

9.6 Interface signals

Acknowledgment, communication failure

It is possible to acknowledge faults that are displayed via the "communication failure" bit using

the "acknowledgment communication failure" signal. This acknowledgment must be made in

the same OB1 cycle as when the "communication failure" signal occurred as 0/1 edge.

WARNING

Setting the acknowledgment

When setting the acknowledgment, the user assumes the responsibility of providing suitable

substitute values for the SGA of the drive, as these are no longer valid. The user must bring the

machine into a safe state.

If the acknowledgment is not made after an OB1 cycle, then the frozen SGA are changed over

from the drive to deleted SGA and the diagnostics bit "Communication failure was not

acknowledged" is set. If the acknowledgment is made within an OB1 cycle, the SGA of the drive

remain frozen and the diagnostics bit "Communication failure was not acknowledged" is not set.

There is no further response.

The fault situation can only be executed with POWER ON.

Communication failure was not acknowledged

Indicates whether a fault displayed using bit "Communication failure" was acknowledged using

the bit "Acknowledge communication failure":

0: Communication has not failed or a communication failure was acknowledged.

1: Communication has failed and this was not acknowledged.

9.6.3

PLC data block (DB18)

Parameterization part

DB18

Signals for safety SPL

Data block

Interface PLC → PLC

Byte

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

INSEP valid (valid bit)

DBB 0

8th input

7th input

6th input

5th input

4th input

3rd input

2nd input

1st input

byte

DBB1

OUTSEPValid (valid bit)

DBB 2

8th output

7th output

6th output

5th output

4th output

3rd output

2nd output

1st output

byte

DBB 3

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Data descriptions

9.6 Interface signals

DB18

Signals for safety SPL

INSEP_ADDR (address 1st input byte)

DBW4

INSEP_ADDR (address 2nd input byte)

DBW6

INSEP_ADDR (address 3rd input byte)

DBW8

INSEP_ADDR (address 4th input byte)

DBW10

INSEP_ADDR (address 5th input byte)

DBW12

INSEP_ADDR (address 6th input byte)

DBW14

INSEP_ADDR (address 7th input byte)

DBW16

INSEP_ADDR (address 8th input byte)

DBW18

OUTSEP_ADDR (address 1st output byte)

DBW20

OUTSEP_ADDR (address 2nd output byte)

DBW22

OUTSEP_ADDR (address 3rd output byte)

DBW24

OUTSEP_ADDR (address 4th output byte)

DBW26

OUTSEP_ADDR (address 5th output byte)

DBW28

OUTSEP_ADDR (address 6th output byte)

DBW30

OUTSEP_ADDR (address 7th output byte)

DBW32

OUTSEP_ADDR (address 8th output byte)

DBW34

DBB36

STOP_E

SPL_READY

DBB37

Note

DBB0-35 is not relevant for SINUMERIK 840D sl.

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Data descriptions

9.6 Interface signals

Data area/errors

DB18

Signals for safety SPL

Data block

PLC → NCK interface

Byte

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

Data area of the SPL inputs/outputs

SPL_DATA.INSEP[1 ...32]

DBB 38...41

SPL_DATA.INSEP[33 ...64]

DBB 42...45

SPL_DATA.OUTSEP[1 ...32]

DBB 46...49

SPL_DATA.OUTSEP[33 ...64]

DBB 50...53

Data area for user SPL

SPL_DATA.INSIP[1 ...32]

DBB 54...57

SPL_DATA.INSIP[33 ...64]

DBB 58...61

SPL_DATA.OUTSIP[1 ...32]

DBB 62...65

SPL_DATA.OUTSIP[33 ...64]

DBB 66...69

SPL_DATA.MARKERSIP[1 ...32]

DBB 70...73

SPL_DATA.MARKERSIP[33 ...64]

DBB 74...77

Signal level difference NCK PLC for diagnostics

SPL_DELTA.INSEP[1 ...32]

DBB 78...81

SPL_DELTA.INSEP[33 ...64]

DBD 82...85

SPL_DELTA.OUTSEP[1 ...32]

DBB 86

SPL_DELTA.OUTSEP[33 ...64]

DBB 90...93

SPL_DELTA.INSIP[1 ...32]

DBB 94...97

SPL_DELTA.INSIP[33 ...64]

DBB

98...101

SPL_DELTA.OUTSIP[1 ...32]

DBB

102...105

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Data descriptions

9.6 Interface signals

DB18

Signals for safety SPL

SPL_DELTA.OUTSIP[33 ...64]

DBB

106...109

SPL_DELTA.MARKERSIP[1 ...32]

DBB

110...113

SPL_DELTA.MARKERSIP[33 ...64]

DBB

114...117

DBB 118

CMDSI

DBB 119

NCK signals

System error,

CDC error

PROFIsafe

a STOP to

crosswise da-

"SPL protec-

communi-

the PLC.

ta comparison

tion status"

cation error

DBB 120

STATSI

Crosswise data comparison error initiated if the value is not equal to 0

DBB 124

LEVELSI

CDC stack level display

(diagnostics capability: How many SPL signals currently have different levels)

Additional data areas

DB18

Signals for safety SPL

Data block

PLC → NCK interface

Byte

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

Data area of the single-channel inputs/outputs

PLCSIOUT[1 ...8]

From NCK

DBB128

PLCSIOUT[9 ...16]

From NCK

DBB129

PLCSIOUT[17 ..24]

From NCK

DBB130

PLCSIOUT[25 ...32]

From NCK

DBB131

PLCSIIN[1 ...8]

to the NCK

DBB132

PLCSIIN[9 ...16]

to the NCK

DBB133

PLCSIIN[17 ...24]

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Data descriptions

9.6 Interface signals

DB18

Signals for safety SPL

to the NCK

DBB134

PLCSIIN[25 ...32]

to the NCK

DBB135

SPL status[1 ...16]

DBB136...

137

INSEP_PROFISAFE[1 ...8] PROFIsafe module(s) for

DBB138

8th input

7th input

6th input

5th input

4th input

3rd input

2nd input

1st input

byte

DBB139

OUTSEP_PROFISAFE[1 ...8] PROFIsafe module(s) for

DBB140

8th output

7th output

6th output

5th output

4th output

3rd output

2nd output

1st output

byte

DBB141

DBB142

DBB149

DBB150

DBB157

DBB158

DBB188

F_SENDDP (sender)

DB18

F_SENDDP 1...3

Data block

PLC → NCK interface

Byte

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

DBW190

FSDP[1].ERR_REAC

DBB192

FSDP[1].

SUBS_ON

ERROR

DBB193

DBB194

FSDP[1].DIAG

DBB196

FSDP[1].RETVAL14

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9.6 Interface signals

DB18

F_SENDDP 1...3

DBW198

FSDP[1].RETVAL15

DBW200

FSDP[2].ERR_REAC

DBB202

FSDP[2].

SUBS_ON

ERROR

DBB203

DBW204

FSDP[2].DIAG

DBW206

FSDP[2].RETVAL14

DBW208

FSDP[2].RETVAL15

DBW210

FSDP[3].ERR_REAC

DBB212

FSDP[3].

FSDP[23.

SUBS_ON

ERROR

DBB213

DBW214

FSDP[3].DIAG

DBW216

FSDP[3].RETVAL14

DBW218

FSDP[3].RETVAL15

DB18

F_SENDDP 4...16

Data block

PLC → NCK interface

Byte

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

DBW448

FSDP HF[4].ERR_REAC

DBB450

FSDP HF[4].

FSD HF[4].

SUBS_ON

ERROR

DBB451

DBB452

FSDP_HF[4].DIAG

DBB454

FSDP_HF[4].RETVAL14

DBW456

FSDP_HF[4].RETVAL15

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Data descriptions

9.6 Interface signals

DB18

F_SENDDP 4...16

DBW448

FSDP HF[5].ERR_REAC

DBB450

FSDP HF[5].

SUBS_ON

ERROR

DBB451

DBW452

FSDP_HF[5].DIAG

DBW454

FSDP_HF[5].RETVAL14

DBW456

FSDP_HF[5].RETVAL15

DBW568

FSDP_HF[16].ERR_REAC

DBB570

FSDP

HF[16].

SUBS_ON

ERROR

DBB571

DBW572

FSDP_HF[16].DIAG

DBW574

FSDP_HF[16].RETVAL14

DBW576

FSDP_HF[16].RETVAL15

F_RECVDP (receiver)

DB18

F_RECVDP 1...3

Data block

PLC → NCK interface

Byte

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

DBB220

FRDP[1].

SUBS[7]

SUBS[6]

SUBS[5]

SUBS[4]

SUBS[3]

SUBS[2]

SUBS[1]

SUBS[0]

DBB221

FRDP[1].

SUBS[15]

SUBS[14]

SUBS[13]

SUBS[12]

SUBS[11]

SUBS[10]

SUBS[9]

SUBS[8]

DBB222

FRDP[1].ERR_REAC

DBB224

FRDP[1].

ACK_REI

DBB225

FRDP[1].

SENDMODE

ACK_REQ

SUBS_ON

ERROR

DBW226

FRDP[1].DIAG

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