Esr And Safety Integrated (840D Sl) - Siemens SINUMERIK 840D sl Function Manual

Block search with calculation in "Program test" (SERUPRO) mode
During SERUPRO, the functions ESRS(...) and ESRR( ... ) are executed immediately.
Reset behavior
The parameter values written using the functions ESRS(...) and ESRR(...) are
overwritten with the parameter values saved in the drive when the drive runs up or for a drive
warm restart.
Drive parameters can be saved from the HMI user interface or in the drive. From the HMI user
interface:
● Operating area "Commissioning" > "Machine data" > "Drive MD" > "Save/Reset" > "Save"
> "Drive object"or "drive unit" or " drive system"
Control power-up (POWER ON)
If the drive-autonomous ESR should already be active after the control has powered up
(POWER ON), then the programming and enable must be realized within one of the ASUBs
started from the PLC – or using the PROGEVENT mechanism.
References
For detailed information about event-controlled program calls, refer to:
Basic Functions Function Manual, Mode Group, Channel, Program Operation, Reset
Response (K1);
Chapter: Event-driven program calls
9.3.10

ESR and Safety Integrated (840D sl)

Delay times
In order that drive-integrated ESR reactions in conjunction with Safety Integrated are executed
before the safety reactions associated with STOP E, STOP F or communication failure, then
the corresponding delay times regarding safety reactions must be configured in the control
and in the drive.
Delay times are configured in the controller using the following machine data:
● MD36954 $MA_SAFE_STOP_SWITCH_TIME_E (transition time, STOP E to safe
standstill)
● MD36955 $MA_SAFE_STOP_SWITCH_TIME_F (transition time, STOP F to STOP B)
● MD36961 $MA_SAFE_VELO_STOP_MODE (stop response, safely-reduced speed)
● MD36963 $MA_SAFE_VELO_STOP_REACTION (stop response, safely-reduced speed)
● MD10089 $MN_SAFE_PULSE_DIS_TIME_BUSFAIL (wait time pulse cancellation when
the bus fails)
Delay times in the drive are configured using the following drive parameters:
● p9554 (transition time from STOP E to "Safe Operating Stop" (SOS))
● p9555 (transition time STOP F to STOP B)
Special functions
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
R3: Extended stop and retract
9.3 ESR executed autonomously in the drive
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