Siemens SINUMERIK 840D sl Function Manual

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1. Changing-over from non-safe operation in SG/SBHThere is no delay (VELO_SWITCH_DELAY), so that this changeover must always beperformed at zero speed or below the enabled SG limit.2. Changing-over from SGx to SGyA) SGx > SGy (braking): A lower setpoint is entered as soon as changeover is detected inone of the two channels.B) SGx < SGy (accelerating): A higher setpoint is only entered if both channels havechanged-over.3. Changing-over from SG to SBH (braking)A lower setpoint (= 0) is entered as soon as the changeover has been detected in one ofthe two channels.4. Changing-over from SBH to SG (accelerating)A higher setpoint is only entered if both channels have changed-over.5. Changing-over from SBH/SG in the non-safe mode (accelerating)A higher setpoint is only entered if both channels have changed-over.● Effect of the function in the NCK interpolator:– Setpoint limiting is active in both the AUTO as well as in the JOG modes.– When changing-over while moving to higher safely reduced speeds, the position controlloop should be set so that it does not overshoot. This means that a sudden setpoint limitchange does not cause the monitoring to respond on the actual value side.– When transformation is active, safety setpoint limits, effective in the interpolator on anaxis-for-axis basis are reduced by the transformation itself depending on the actualposition.NoteThere are no restrictions for motion from synchronous actions.12.2 Setpoint switchoverThe "setpoint changeover" function allows several axes to use a common drive. In order todefine the axes that are to be involved in the setpoint changeover, the same drive setpointchannel is assigned a multiple number of times. To do this, MD30110$MA_CTRLOUT_MODULE_NR must be preassigned for each axis with the logical drivenumber.Interaction with other functions12.2 Setpoint switchoverSafety Integrated752 Function Manual, 12/2017, 6FC5397-4BP40-6BA1