Siemens Sinumerik 840D sl Function Manual page 120

Safety functions integrated in the system/drive
6.2 Safe operating stop (SBH)
Timing when the limit value is exceeded
If the safe operating stop function is active, the timing response when the limit va-
lue is exceeded is as follows:
Shutdown
speed
Figure 6-4 Timing response when the limit value is exceeded for SBH
Table 6-2 Explanation of the figure
Time Explanation
t The position control clock cycle, defined by the following MDs:
1
for 840D sl:
MD10050 $MN_SYSCLOCK_CYCLE_TIME
MD10060 $MN_POSCTRL_SYSCLOCK_TIME_RATIO
t Monitoring clock cycle, defined by the following MDs:
2
for 840D sl:
MD10090 $MN_SAFETY_SYSCLOCK_TIME_RATIO
for SINAMICS S120:
r9500 SI Motion monitoring clock cycle (Control Unit)
t Time until the standstill tolerance value is exceeded
3
t Time until it has been detected that the standstill tolerance value has been exceeded
4
(typical 0.5 monitoring clock cycles, maximum 1 monitoring clock cycle + 1 position controller
clock cycle)
t Response time required to initiate the configured stop response
5
(typical 1.5 monitoring clock cycles, maximum 2 monitoring clock cycles + 1 position controller
clock cycle)
t Time until the stop response that was initiated starts
6
(typical 2 position controller clock cycles, maximum 2 position controller clock cycles)
t Time required to reach the shutdown speed for STOP B.
7
t Time required to stop the axis for a STOP B.
8
6-120
SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) - - 10.2015 Edition
d) Transition from STOP B to
n
STOP A (pulse cancellation)
Tolerance
exceeded b)
Fault a)
Standstill
= =
tolerance
t
t
3
t
4
t
5
c) Start of the stop response
STOP A
STOP B
d)
not to scale
t
1
2
t
6
t
7
t
8
t
9
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10/15
s
t