Braking Response For Stop B/C; Description Of Stop D - Siemens SINUMERIK 840D sl Function Manual

SGE deselect external STOP C
If a stop request is active, SGA "STOP C is active" is set in the same way as it would be for
an internally initiated STOP C.
MD36977 $MA_SAFE_EXT_STOP_INPUT[1] is used to define the selection/deselection of the
external braking request; in this case "deselect external STOP C" (braking along the current
limit or braking along the OFF3 ramp).
7.3.5

Braking response for STOP B/C

To support gentle braking behavior for STOP B/C, the braking operation can be initiated
completely in the drive (drive-based). The speed is ramped-down to zero along a ramp defined
by parameter p1135 (OFF3 ramp). On the NCK side, the speed setpoint is no longer influenced.
This behavior can be selected using machine data 36904
$MA_SAFE_ADD_FUNCTION_MASK, Bit 0 = 1.
The OFF3 ramp is activated via the drive monitoring channel. When STOP B/C becomes active
in this monitoring channel, then the OFF3 functionality is also activated. If there is a time offset
between activation of the STOP B/C in the NCK and drive monitoring channel, the velocity
setpoint for this time difference remains unchanged. By interchanging the stop responses
between NCK and drive monitoring channel, this time is a maximum of one monitoring clock
cycle.
Machine data M$MA_SAFE_ADD_FUNCTION_MASK, bit 0 is taken into account in the axis-
specific checksum $MA_SAFE_ACT_CHECKSUM[0].
A change to this MD becomes active after power on.
7.3.6

Description of STOP D

Action in the drive monitoring channel:
The drive monitoring channel requests a path stop or braking along the actual acceleration
characteristic. In parallel, the timer is started via parameter p9553 "Transition from STOP D
to SBH". The SBH function is automatically activated after the timer expires.
Action in the NCK monitoring channel:
Essentially the same as the drive, the NC monitoring channel requests a path stop or braking
along the acceleration characteristic. In parallel, the timer is started using MD36953
Safety Integrated
Function Manual, 12/2017, 6FC5397-4BP40-6BA1
Safety functions integrated in the system/drive
7.3 Safe Stops A-F
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