Siemens Industry Online Support

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1 New features/modifications for SINUMERIK Safety Integrated software version 4.5 SINUMERIK 840D sl 01/2015 Siemens Industry Online Support Answers for industry.

2 Table of contents 1 Software version 4.5 SP Filtering n< n x Brake test for short travel distances Additional status signal NCK Ł PLC "Axis is SI-axis" Set velocity limit selection Extension to alarm no Alarm no Alarm no Alarm no Software version 4.5 SP Braking behavior for Stop B/C Software version 4.5 SP Reaction in case of an encoder error during 1-Encoder Safety Page 2

3 1 Software version 4.5 SP2 1.1 Filtering n< n x Filtering is realized using a PT1 filter with the filter time from for SINUMERIK 840D sl: MD $MA_SAFE_VELO_X_FILTER_TIME for SINAMICS S120: p9545 SI Motion SSM (SGA n < n x ) filter time (Control Unit) and is also performed in the two monitoring channels, NCK and drive. If filtering is not necessary due to low system vibration levels or is impractical, it can be deactivated by setting MD $MA_SAFE_VELO_X_FILTER_TIME to the value 0. MD $MA_SAFE_VELO_X_FILTER_TIME and the smoothed actual velocity value with the tolerance from MD $MA_SAFE_VELO_X_HYSTERESIS are subject to crosswise data comparison. The smoothed, safe actual value of the NCK is also available in the servo trace Note By parameterizing a filter time not equal to 0, the reaction time of the SGA n<n x increases according to the behavior of a PT1 filter. The maximum time delay of the SGA n<n x for a linear velocity increase/decrease corresponds to the filter time parameterized in MD Example: Filter time = 20 ms => The parameterized n x limit is reached with a max. delay of 20 ms. Accordingly the SGA n<nx is also set to delay. The maximum time delay of the SGA n<n x for an erratic velocity increase/decrease corresponds to three times the filter time parameterized in MD Example: Filter time = 20 ms => The parameterized n x limit is reached with a max. delay of 60 ms. Accordingly the SGA n<n x is also set to delay Page 3

4 1.2 Brake test for short travel distances By setting MD $MA_SAFEBRAKETEST_CONTROL Bit 1 time monitoring and endof-record monitoring are shut down when waiting for the outline limit and actual limit to be reached. The PLC can thereby determine the waiting time itself using the TV_FXSreached timer (deselection with VDI signal = 0) Machine data MD 36968: $MA_SAFE_BRAKETEST_CONTROL Description Bit 0 = 0: The MD 1192/p1532 drive is used as the average value of the torque limit. Bit 0 = 1: The measured torque at the instant in time that the brake test is selected is used as the average value of the torque limit. Bit 1 = 0: The torque limit value must be reached during the programed travel distance. Bit 1 = 1: The torque limit value must be reached during the programed time (TV_FXSreached parameterization FB11). 1.3 Additional status signal NCK Ł PLC "Axis is SI-axis" The following status signal is newly introduced in the axial PLC user interface: DB3x.DBX70.4 "NCK Safety Integrated active" Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 DBB 70 NCK Safety Integrated active Page 4

5 1.4 Set velocity limit selection MD 36933: SAFE_DES_VELO_LIMIT has been expanded to 4 values. The selection of one of these values is performed via the axial PLC user interface DB3x.DBX Meaning of this interface: Bit 0: "Setpoint limitation Bit 0" Bit 1: "Setpoint limitation Bit 1" Bit 0 Bit 1 Active setpoint limitation factor = 0 = 0 SAFE_DES_VELO_LIMIT[0] = 0 = 1 SAFE_DES_VELO_LIMIT[1] = 1 = 0 SAFE_DES_VELO_LIMIT[2] = 1 = 1 SAFE_DES_VELO_LIMIT[3] 1.5 Extension to alarm no Axis %1 parameterization of the MD %2[%3] not valid Because of the extensions of the n<n x function to filtering and hysteresis, the alarm notes are also expanded. Parameters Note %1 = axis number %2 = machine data identifier %3 = machine data index The parameterization of machine data %2 is incorrect. An additional indication is the field index of the machine data. If the machine data is a single item of machine data, a zero is specified as a field index. This alarm occurs in the following contexts: The velocity tolerance n<nx in $MA_SAFE_VELO_X_HYSTERESIS is smaller than the slip tolerance in $MA_SAFE_SLIP_VELO_TOL. An axial SGE/SGA addresses the SPL interface outside the scope enabled via the corresponding option. The total encoder resolution (combination of low and fine resolution in $MA_SAFE_ENC_RESOL and $MA_SAFE_PULSE_SHIFT) is not valid or exceeds the supported actual value format. Page 5

6 1.6 Alarm no Axis %1 value %2 in drive parameter %3 violates the limits of NCK MD %4 Parameters Notes %1 = axis number %2 = value in the drive parameter %3 = number of the drive parameter %4 = name of the NCK machine data Values that violate the permissible value range or internal limits for NCK machine data are supplied in a parameter from a Sinamics drive. If several drive parameters are specified, the combination of specified drive parameters is incorrect. In this case the result of the linking is displayed as a value The following causes are possible: r0469: Resolution of the absolution position for linear absolute encoder not valid or relationship between grid line and measuring step not binary. r0470: Number of valid bits of the redundant, rough position value incorrect. r0471: Number of fine resolution bits of the redundant, rough position value incorrect. r0472: Number of relevant bits of the redundant, rough position value incorrect or "0". r0470/0471/0472: Slide factor for rough-position bits in finely resolved actual value yields prohibited value (parameter values are not compatible). r0473: Number of safety-related measuring steps in position value POS1 not valid. r0474: A bit not recognized by the NCK is set. The alarm output in this position can be hidden using the MD $MN_SAFE_DIAGNOSIS_MASK, bit 3 = 1. r0475: Number of the highest-value bit of the redundant coarse-grained layer incorrect. r0979: Error in encoder format in acc. with PROFIdrive r9527: Encoder type not valid Page 6

7 1.7 Alarm no Axis %1 encoder evaluation error of the safe actual value Remedy For DRIVE-CLiQ encoders additional check of NCK-MDs $MA_SAFE_ENC_NUM_BITS and $MA_SAFE_ENC_CONF and drive parameter r047x For DRIVECLiQ linear encoders additional check of NCK-MDs $MA_SAFE_ENC_MEAS_STEPS_RESOL and $MA_SAFE_ENC_MEAS_STEPS_POS and the drive parameter r0469 / r Alarm no Axis %1 CRC error of the safe actual value Note When checking the data consistency of the safe actual value (CRC), an error was detected. Possible causes for the alarm being permanently present: The NCK monitoring channel for safe motion monitoring does not communicate with the monitoring channel of the assigned drive, but that of another axis. Error in the encoder parameterization Incorrect encoder evaluation type Remedy Check assignment of the drive via HW Config, $MA_SAFE_CTRLOUT_MODULE_NR, $MN_SAFE_DRIVE_LOGIC_ ADDRESS and p0978 for correctness. Check the encoder mounting Check the encoder parameterization Check the NCK_MD ($MA_SAFE_ENC_IS_LINEAR, $MA_SAFE_ENC_GRID_POINT_DIST, $MA_SAFE_ENC_RESOL) and the drive parameter field r0979 For DRIVE-CLiQ encoders: Check the NCK-MDs ($MA_SAFE_ENC_NUM_BITS, $MA_SAFE_ENC_CONF) and drive parameter r047x Page 7

8 For DRIVE-CLiQ linear encoders additional check of NCK- MD $MA_SAFE_ENC_MEAS_STEPS_RESOL and $MA_SAFE_ENC_MEAS_STEPS_POS and the drive parameter r0469 / r0473 Check whether the encoder evaluation was replaced (SMI, SMC, SME) Check whether the encoder evaluation type was exchanged (SMx, DRIVE-CLiQ encoder) Check the encoder ID in the MD $MA_SAFE_ENC_IDENT Replace the hardware Check compliance with the EMC Directive Page 8

9 Software version 4.5 SP3 2 Software version 4.5 SP3 2.1 Braking behavior for Stop B/C To support gentle braking behavior for STOP B/C, the braking operation can be initiated completely independently of the drive. The velocity setpoint for a ramp defined by parameter p1135 is thereby guided to zero (AUS3 ramp). In terms of the NCK the velocity setpoint is no longer affected. This behavior can be selected via the machine data $MA_SAFE_ADD_FUNCTION_MASK, Bit 0 = 1. Activation of the AUS3 ramp takes place via the drive monitoring channel. On activation of STOP B/C in this monitoring channel the AUS3 function is also activated. If there is a time offset between activation of the STOP B/C in the NCK and drive monitoring channel, the velocity setpoint for this time difference remains unchanged. By replacing the stop reactions between NCK and drive monitoring channels the maximum time amounts to one monitoring cycle. The machine data M$MA_SAFE_ADD_FUNCTION_MASK, Bit 0 is included in the axial checksum $MA_SAFE_ACT_CHECKSUM[0]. A change to this MD becomes active after POWER ON. Page 9

10 Software version 4.5 SP4 3 Software version 4.5 SP4 3.1 Reaction in case of an encoder error during 1-Encoder Safety With the SINUMERIK SW version 4.5 SP4 (SINAMICS SW version 4.5 HF 25) it is possible to parameterize the reaction for an encoder error during 1-Encoder Safety via the safety encoder parameter p9516 (SI Motion encoder configuration safe functions (Control Unit)/SI Mtn Geb_kfg CU). p9516; Bit 4 = 0 Ł immediate Stop A for encoder errors p9516; Bit 4 = 1 Ł The brake is applied with a Stop F Ł B Ł A The requirement for braking with a Stop F Ł B Ł A, is that the SINAMICS parameter p9560 and the SINUMERIK machine data are set to 0. Otherwise the actual value frozen by the encoder error can simulate downtime and therefore cause a premature switch from Stop B to Stop A. Braking during an encoder error takes place via the automatic switchover to encoderless operation. Requirement here is for encoderless operation to be put into operation for the corresponding drive. The default p9516 Bit 4 setting is "0". Page 10