Siemens SINUMERIK 828D Function Manual page 85

Fault
If the clamping tolerance is exceeded, the following alarm appears:
26000 "Clamping monitoring"
The affected axis is stopped via the configured braking ramp in follow-up mode:
MD36610 $MA_AX_EMERGENCY_STOP_TIME
(Maximum time for braking ramp when an error occurs)
Automatic stopping for removal of the clamp
If a clamped axis must be traversed again in continuous-path mode, the NC stops the path motion for Look
Ahead at the start of the motion block of the clamped axis until the clamped axis can once again be traversed. If
the clamping is released before stopping, the path motion is not stopped.
Parameterization:
MD36052 $MA_STOP_ON_CLAMPING = 'H01' (Special function for clamped axis)
Note
The NC detects whether an axis is clamped based on the "servo enable" state of the axis:
DB31, ... DBX2.2 = 0: no servo enable ⇒ axis is clamped
DB31, ... DBX2.2 = 1: servo enable ⇒ axis is not clamped
Prerequisites for the PLC user program
• The axis is always removed from the clamp when a travel command is pending.
• The following is always valid for the axis:
DB31, ... DBX2.2 (servo enable) = 0: Axis is clamped.
DB31, ... DBX2.2 (servo enable) = 1: Axis is not clamped.
The following image shows an example of the interface signals and states upon releasing of the axis clamp:
Basic Functions
Function Manual, 09/2011, 6FC5397-0BP40-2BA0
A3: Axis Monitoring, Protection Zones
2.2 Axis monitoring
85