Siemens SINUMERIK 840D sl Function Manual page 761

The following parameterization ensures that when the communication fails there is 200 ms for
an ESR - integrated in the drive - before the pulses are cancelled. The SG stages for personnel
protection are defined differently in the individual axes:
$MN_SAFE_PULSE_DIS_TIME_BUSFAIL= 0.2
; parameterization for the X axis (AX1):
; pulses are immediately cancelled in all SG stages, Stop D is initiated when an SG is exceeded
$MA_SAFE_VELO_STOP_MODE[AX1] = 3
; parameterization for the Y axis (AX2):
; pulses are not immediately cancelled in all SG stages, Stop D is initiated when an SG; is
exceeded
$MA_SAFE_VELO_STOP_MODE[AX2] = 13
; parameterization for the Z axis (AX3):
; pulses are immediately canceled in all SG stages, Stop D is initiated when an SG is exceeded;
in SG stages 1 and 2, Stop C in SG stages 3 and 4
$MA_SAFE_VELO_STOP_MODE[AX3] = 5 ; ⇒ $MA_SAFE_VELO_STOP_REACTION
becomes active
$MA_SAFE_VELO_STOP_REACTION[0, AX3] = 3 ; SG stage 1
$MA_SAFE_VELO_STOP_REACTION[1, AX3] = 3 ; SG stage 2
$MA_SAFE_VELO_STOP_REACTION[2, AX3] = 2 ; SG stage 3
$MA_SAFE_VELO_STOP_REACTION[3, AX3] = 2 ; SG level 4
; parameterization for the A axis (AX4):
; pulses are not immediately canceled in all SG stages, Stop D is initiated when an SG; is
exceeded in SG stages 1 and 2, Stop C in SG stages 3 and 4
$MA_SAFE_VELO_STOP_MODE[AX4] = 5 ; ⇒ $MA_SAFE_VELO_STOP_REACTION
becomes active
$MA_SAFE_VELO_STOP_REACTION[0, AX4] = 13 ; SG stage 1
$MA_SAFE_VELO_STOP_REACTION[1, AX4] = 13 ; SG stage 2
$MA_SAFE_VELO_STOP_REACTION[2, AX4] = 12 ; SG stage 3
$MA_SAFE_VELO_STOP_REACTION[3, AX4] = 12 ; SG stage 4
; parameterization for B axis (AX5):
; the pulses are only immediately cancelled in SG stages 1 and 3, Stop D is initiated when an
SG; is exceeded in all stages
Safety Integrated
Function Manual, 12/2017, 6FC5397-4BP40-6BA1
12.10 Response of Safety Integrated when the communication fails
Interaction with other functions
761