Siemens SINUMERIK 840D sl Function Manual page 104

Safety functions integrated in the system/drive
7.1 Safe standstill (SH)
Switch-off signal path of the monitoring channel, drive
The motion monitoring function in the CU signals the monitoring function integrated in the drive
in the CU that the pulses must be cancelled in the SI monitoring channel integrated in the drive.
● Drive (CU) SI, integrated in the drive
– The requirement to cancel the pulses is detected. Mechanisms then start that are also
– Initiating the pulse cancellation
– The timer routine is started to check the feedback. After the timer has expired (in the
– If p9602=1, then Safe Brake Control is executed.
Switch-off signal path of the monitoring channel, control
If the higher-level control with its motion monitoring identifies that it is necessary to cancel the
pulses, then the following sequence applies:
● NCK Motion Monitor
The control communicates to the Motor Modules the requirements to cancel the pulses.
● Drive (MM) SI, integrated in the drive
– If the drive-integrated monitoring function in the Motor Module identifies the requirement
– Initiating the pulse cancellation
– The timer routine is started to check the feedback. After the timer has expired (in the
– If p9802=1, then Safe Brake Control is executed.
– If the Motor Module detects that communications to the NCK have failed, then this is
Switch-off signal path via terminals
If the "STO/SS1/SBC selection via terminal" function is configured, then it must be taken into
account that when selecting functions STO/SS1 the higher-level motion control must respond
to this operating situation. It is especially important to observe the timing of the interaction
between the closed-loop operating control and the open-loop motion control.
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executed when STO is selected for the safety functions integrated in the drive:
next monitoring clock cycle integrated in the drive), using the feedback signal, it is
checked as to whether the pulses have been cancelled via this switch-off signal path.
to cancel the pulses, then the same mechanisms are started that are carried out for an
STO selection of the safety functions integrated in the drive and an STO is initiated:
next monitoring clock cycle integrated in the drive), using the feedback signal, it is
checked as to whether the pulses have been cancelled via this switch-off signal path.
identified by the safety functions integrated in the drive and an STO is initiated.
Function Manual, 12/2017, 6FC5397-4BP40-6BA1
Safety Integrated