Configuring The Esr Via The Plc User Program; Esr And Safety Integrated (840D Sl) - Siemens SINUMERIK 840D sl Function Manual
Special functions
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- Function manual (2184 pages) ,
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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 powers-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 Objector drive unit or drive system
Control power-up (POWER ON)
If the drive-integrated 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:
/FB1/ Function Manual, Basic Functions, Mode Group, Channel, Program Operation, Reset
Response (K1)
Chapter: Eventcontrolled program calls
6.3.10
Configuring the ESR via the PLC user program
The configuring of the drive-integrated ESR functions "stop" and "retract" by writing to drive
parameters p0888, p0892 and p0893 can also be realized via the PLC user program.
Note
An alternative configuration of the ESR functions "stop" and "retract" via NC part programs
and PLC user programs is not supported. It is recommended that the function is only
parameterized from one component (NC or PLC).
6.3.11
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)
Special Functions
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
R3: Extended stop and retract
6.3 ESR executed autonomously in the drive
395
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