Siemens SINUMERIK 840D sl Function Manual page 26

Detailed description
2.1 NC/PLC interface signals
Note
The servo enable is canceled at the latest when the cutout time expires:
MD36610 $MA_AX_EMERGENCY_STOP_TIME
• The machine axis position control loop opens. Interface signal:
• As soon as the actual speed has reached the zero speed range, the drive servo enable is
• The position actual value of the machine axis continues to be acquired by the control.
• At the end of the braking operation, the machine axis is switched to follow-up mode,
Synchronizing the actual value (homing)
Once the servo enable has been set, the actual position of the machine axis does not need
to be synchronized again (homing) if the maximum permissible limit frequency of the
measuring system was not exceeded during the time in which the machine axis was not in
position-control mode.
20
An alarm is displayed:
Alarm: "21612 Servo enable reset during movement"
DB31, ... DBX61.5 = 0 (position controller active).
The time for the parameterized cut-off delay of the servo enable is started by the machine
data:
MD36620 $MA_SERVO_DISABLE_DELAY_TIME (switchoff delay servo enable)
canceled. Interface signal:
DB31, ... DBX61.6 = 0 (position controller active)
regardless of the corresponding NC/PLC interface signal. Zero-speed and clamping
monitoring are not effective. See the description above for the interface signal:
DB31, ... DBX1.4 (follow-up mode).
Basic logic functions: Various NC/PLC interface signals and functions (A2)
Function Manual, 11/2006, 6FC5397-0BP10-2BA0