Esr And Safety Integrated (828D) - Siemens SINUMERIK 840D sl Function Manual

6.3.12

ESR and Safety Integrated (828D)

No feedback signal of the safety stop reaction
Within the scope of SINUMERIK 828D, the safety stop reaction currently active in the drive is
not signaled back to the control. Therefore, in conjunction with Safety Integrated, only drive-
integrated ESR functions can be used.
The ESR reactions triggered from the drive can be determined on the control side using the
axis-specific system variable $AA_ESR_STAT (see Chapter "Feedback of the ESR status
[Page 389]") and additional ESR reactions can be triggered on a user-specific basis via
$AN_ESR_TRIGGER.
ESR reactions that are not influenced by safety reactions
In order that drive-integrated ESR reactions in conjunction with Safety Integrated are not
influenced by safety reactions as a result of STOP E, STOP F executed in parallel or
communication failure, then the appropriate delay times must be configured in the drive
regarding safety reactions and the corresponding safety trigger sources to trigger the drive-
integrated ESR reactions.
Delay times
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)
• p9580 (wait time after which the pulses are safely cancelled after bus failure)
• p9697 (delay time for the pulse suppression after bus failure)
Safety trigger sources
Using a BICO interconnection of drive parameter p0890 (BI: ESR trigger) ESR reactions can
also be triggered with the safety reactions STOP E, STOP F and communication failure:
Parameter
p0890[1]
p0890[2]
p0890[3]
References
For a detailed description of drive parameters, refer to:
• SINAMICS S120/S150 List Manual
A detailed description of BICO technology can be found in:
• SINAMICS S120 Function Manual; Fundamentals of Drive Technology, BICO Technology:
Interconnecting signals
Special Functions
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
BICO interconnection
with:
r9721[15]
r9723[1]
r9723[2]
6.3 ESR executed autonomously in the drive
Effect: Trigger ESR reactions for
Safety STOP E
Safety STOP F
Safety communication failure
R3: Extended stop and retract
397