SINAMICS Brake Test With Sinumerik 840D SL

Application description  01/2018
SINAMICS Brake Test with

SINUMERIK 840D sl
SINUMERIK Safety Integrated (with SPL)
https://support.industry.siemens.com/cs/ww/de/view/109477754
Warranty and liability
Warranty and liability
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Entry ID 109477754 01/2018 2

Warranty and liability ................................................................................................... 2
1 Introduction ........................................................................................................ 4
2 Task ..................................................................................................................... 5
2.1 Principle of operation of the brake test................................................. 5
2.2 Preconditions ........................................................................................ 5
3 Parameterizing the SIC/SCC in Step 7 HW ...................................................... 6
3.1 Creating telegram 701 .......................................................................... 6
3.2 Adapting the logical basis address ....................................................... 7
4 Parameterizing the NCK .................................................................................... 8
4.1 Example 1: - drive adaptation as axis in the NC ................................ 10
4.2 Example 2: - drive adaptation as axis in the NC ................................ 11
5 Drive parameterization .................................................................................... 12
6 Brake test sequence ........................................................................................ 17
7 Diagnostics options ........................................................................................ 21
8 PLC programming ........................................................................................... 23
8.1 Parameterization example for a motor brake ..................................... 24
8.2 Description of the PLC interface SIC and SCC .................................. 28
9 Alarms ............................................................................................................... 29
9.1 Setting of the SINAMICS alarm screen form...................................... 29

9.2 NCK alarm .......................................................................................... 30
9.3 SINAMICS alarms .............................................................................. 31
10 Supplementary conditions.............................................................................. 34
11 Contact............................................................. Fehler! Textmarke nicht definiert.
12 History.............................................................. Fehler! Textmarke nicht definiert.
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1 Introduction
1 Introduction
Axes and mechanical systems can drop due to gravity when the drives are
switched off. Dangerous motion can result for vertical axes or for rotary axes or
spindles with an asymmetrical weight distribution.
For this reason, a drive must also be safely held in position when switched off (no
current condition). This is usually implemented using a holding brake. The reliability
of this holding brake is an essential part of the protection function against falling
vertical axes.
Safe brake management
Safe brake test + Safe brake control

• Automatic test of the

• Plus and Minus (P/M)
holding torque
switching control
• The test torque is

• The control cables are
monitored
monitored
• The movement of the axes

• Force checking procedure
is monitored
Fig. 1-1 Overview of brake management
The "Safe Brake Control" function (SBC) is used to control holding brakes that
function according to the closed-circuit principle (e.g. motor holding brake).
The brake is controlled via a two-channel output of the SINAMICS Motor Module.
SBC (if configured) is always triggered together with STO.
The brake test checks whether the expected holding torque is still available. The
drive moves against the closed brake and applies the test torque – there should be
no axis movement if the test is successful. However, if an axis movement is
detected, it must be assumed that the brake holding torque is no longer sufficient
to hold the axis in position. In this case, the relevant axis must be traversed to a
safe position and the brake checked and repaired, if required.
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2 Task
2 Task
This application example describes configuring the SINAMICS brake test for safety
axes (Safety Integrated with SPL), which are directly assigned a SINUMERIK NCU.
2.1 Principle of operation of the brake test

During the test, the drive establishes a configurable test torque against the closed
brake and checks whether axis motion exceeds a parameterizable tolerance
window. In parallel, the system monitors as to whether the speed lies below 1% of
the configured maximum drive speed.
If the brake is operating correctly, axis motion and the speed remains within a
parameterizable tolerance.
If a higher level of axis motion is identified from the encoder actual values, then the
brake is not in a position to provide the holding torque. The brake must now be
serviced or replaced.
You can select two test sequences for each brake. Within these test sequences,
different holding torques can be parameterized, for example.
When selected, the function determines the actual load torque available, and takes
this into account when entering a test torque.
2.2 Preconditions
The following preconditions must be satisfied when using the function:
 SINUMERIK SW release 4.7 SP2 HF1

 The Safety Intgrated functions must be enabled for the individual axes.
 Safe Brake Control (SBC) must be enabled when testing a brake controlled
by SINAMICS (motor holding brake)
 External brakes are controlled from a safety-related output of the I/O or a
safety-related relay module
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3 Parameterizing the SIC/SCC in Step 7 HW

The signals relevant for SBT to perform the brake test are communicated between
the PLC and drive via the Safety Info Channel and the Safety Control Channel
(SIC/SCC). The signals (SIC/SCC) are made available to the PLC programming
engineer via the interfaces defined in DB31 - DB61.
3.1 Creating telegram 701
Proceed as follows to configure the SIC/SCC telegram for an axis with SINUMERIK
Safety Integrated functionality:
 Open the "DP slave properties" dialog.
 There, select the "Configuration" tab.
 Under "Option", select entry "SI motion monitoring + telegram 701" for the
required drive.
Fig. 3-1: Creating telegram 701
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3.2 Adapting the logical basis address

5800 is selected as the logical basis address for the 1st axis. The basis address is
increased by 16 for the additional axes.
These addresses are saved in machine data 13374 [0…30].
Fig. 3-2: Logical basis address (in the example, for the 2nd drive)
Fig. 3-3: Telegram 701 displayed as supplementary telegram 136
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4 Parameterizing the NCK

The use of SIC/SCC in operating mode SINUMERIK Safety Integrated (SPL) must
be enabled using MD10095 $MN_SAFE_MODE_MASK, bit 4. If this is not the
case, when activating the function using MD37950 $MA_SAFE_INFO_ENABLE, bit
0 alarm 27810: "Axis %1: Safety operating mode not consistent:
$MN_SAFE_MODE = %2; %3 = %4" is output with reference to this MD.
SIC/SCC is enabled for the axis involved using MD37950
$MA_SAFE_INFO_ENABLE, bit 0. If this machine data is not set, then the start of
the brake test is negatively acknowledged by the PLC user program.
Using MD13374 $MN_SAFE_INFO_DRIVE_LOGIC_ADDR, the logical basis
address for the SIC/SCC transfer, selected in the engineering system, must be set.
The use of logical basis addresses twice must be individually checked for each
axis. In the case of an error, Alarm 27811 "Axis %1: parameterizing error: MD
%2[%3] invalid" is output with reference to MD 37954
$MN_SAFE_INFO_DRIVE_LOGIC_ADDR.
The SIC/SCC module number is set using MD37954 $MA
SAFE_INFO_MODULE_NR
Fig. 4-1: Telegram configuration
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A check should be made as to whether machine data

 MD 37954 $MA SAFE_INFO_MODULE_NR,
 MD 36906 $MA SAFE_CTRLOUT_MODULE_NR and
 MD 30110 $MA_CTRLOUT_MODULE_NR,
have the same values; this ensures that the same servo DO is addressed for all
function components.
Note Bit 1 of machine data 37000 $MA_FIXED_STOP_MODE must be deactivated

(bit 1= 0), as otherwise alarm 27033 "Axis %1 parameterization of the
MD %2[%3]" invalid, error code %4" code 23 would be permanently active.
Bit 2: Selection of the positioning at the end of the brake test

Bit 2 = 0: Positioning at the current axis position
Bit 2 = 1: Positioning at the last programmed axis position
Abbildung 4-2
MD36968 $MA_SAFE_BRAKETEST_CONTROL, bit 2: Positioning response at

the end of the SINAMICS brake test
The positioning response at the end of the SINAMICS brake test is set so that the
brake is subject to a minimum load. By pressing against the brake, the axis moves
away from the last programmable position. To conclude the brake test, the current
axis position is used for the next path motions. (MD36968
$MA_SAFE_BRAKETEST_CONTROL bit 2 = 0). This results in an approach
motion to the last programmed axis position on the path.
By setting MD36968 $MA_SAFE_BRAKETEST_CONTROL bit 2 = 1, the current

axis position is not accepted. After the axis has been pressed against the brake,
the closed-loop position controller withdraws the axis to the last programmed
position.
By setting MD36968 $MA_SAFE_BRAKETEST_CONTROL bit 2 = 1, vertical axes

can be prevented from sagging as a result of a repeated brake test. It is also
possible to briefly exceed the software limit switch while pressing against the brake
without triggering an alarm.
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4.1 Example 1: - drive adaptation as axis in the NC

The second drive is defined in the NC as 1st axis (AX1)
(without adapting the slot addresses)
Assignment in the NC by not adapting the slot addresses

(MD 10393 [0….30] / MD 13050 [0….30]
Fig. 4-2: Assignment in the NC
Parameterizing the general data

MD10095 bit 4 = 1
MD13050[2] = 4140 (default value)
MD10393[2] = 6724 (default value)
MD13374[2] = 5816
Parameterizing axial data

MD30110[AX1] = 2
MD30220[AX1] = 2
MD36906[AX1] = 2
MD37000[AX1] Bit 1 = 0
MD37950[AX1] = 1
MD37954[AX1] = 2
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4.2 Example 2: - drive adaptation as axis in the NC

The second drive is defined in the NC as 1st axis (AX1)
(with adaptation of the slot addresses)
Assignment in the NC by adapting the slot addresses

(MD 10393 [0….30] / MD 13050 [0….30]
Fig. 4-3: Assignment in the NC
Parameterizing the general data

MD10095 bit 4 = 1
MD13050[0] = 4140
MD10393[0] = 6724
MD13374[0] = 5816
Parameterizing axial data

MD30110[AX1] = 1
MD30220[AX1] = 1
MD36906[AX1] = 1
MD37000[AX1] Bit 1 = 0
MD37950[AX1] = 1
MD37954[AX1] = 1
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5 Drive parameterization
Preconditions
 Speed control with encoder (p1300 = 21) must be configured as control

mode.
 When SBT is selected, the actual speed value must not exceed 1% of the
maximum speed (p1082).
 For the motor type, the following must apply p10204 = r0108.12
Note The parameters of this function can only be changed in the safety commissioning
mode p10=95
Enabling SIC/SCC
 P60122 = 701 or using the following screen form

Fig. 5-1: Telegram configuration
Note Currently, SINUMERIK is only supporting telegram 701
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Enabling the SBT function
 The Safe Brake Control (SBC) function should be enabled

o p9602 = 1 (enables SBC on the Control Unit)
o p9802 = 1 (enables SBC on the Motor Module)
 Enabling the safe brake test
o p10201.0 = 1
 Selecting SBT using SIC/SCC
o p10203 = 0
Note Axes with SINUMERIK Safety Integrated (SPL) only require this type of control.
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Parameter assignment for brake 1 and/or brake 2
 Brake type
p10202[0,1] SI Motion SBT brake selection
Index 0 designates the setting for brake 1

= 0 inhibit:
This must be set if one of the brakes is either not available or is not to be
tested.
= 1 test motor holding brake:

Here, in addition p1215 must be set to = 1
= 2 test external brake

Test torque ramp time
The time, in which the test torque to be established and later also
decreased to zero, is specified in p10208.

Note When testing an external brake, whose mechanical design exhibits backlash
(e.g. if there is a gearbox located between the motor and external brake), it can
make sense to extend the ramp time (p10208) when ramping up and ramping
down the test torque.
 The holding torque is defined in p10209

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You can parameterize 2 test sequences for each of the two brakes.
Using parameters p10210 and p10220, a factor is set for the individual test
sequences
which is multiplied by the value in p10209, to obtain the test torque for the
particular sequence. The permissible range of values extends from 0.3 up to 1.0.
Test torque = factor (p10210/p10220) * p10209
Each test sequence is characterized by the following setting values:
 Brake test sequence 1
p10210[0,1] test torque to be generated as a % of the brake holding torque
p10211[0,1] test duration in ms
p10212[0,1] position deviation in mm/degrees during the test
 Brake test sequence 2

p10220[0,1] test torque to be generated in % of the brake holding torque
p10221[0,1] test duration in ms

p10222[0,1] positional deviation to be tolerated in mm/degrees during the

test

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From software release 4.7 SP3 and higher, the brakes can be parameterized using
the following screen form:
Fig. 5-2: Commissioning and diagnostics screen

SBT status = r10242

SBT load torque = r10241
SBT test torque = 10240
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6 Brake test sequence
NOTICE The brake test must be carried out before carrying out the test stop. If the
brake test was not successful (i.e. the brake cannot hold the axis), then it is
not permissible that the test stop is carried out.
The brake may only be tested when the axis is in an absolutely safe
position.
Preconditions
 When testing the (motor) holding brake, that is controlled by SINAMICS,
SBC must also be configured and the brake configuration parameterized
just like the sequence control (p1215=1).
 When selecting the SBT function the pulses must be enabled and the brake
opened.
Testing a motor holding brake
The timing of the brake test from the perspective of the PLC user program is shown
in the following diagram.
PLC axis
AWP DB
Start brake test (DBx11.0)
Brake test active (DBx71.0)
Selection direction of rotation (DBx143.3)
Selection torque (DBx143.4)
Selection brake test (DBx143.0)
Brake test selected (DBx173.0)
Brake test ready (DBx173.5)
Brake test OK (DBx173.4)
Brake test stop (DBx143.1)
Time
Fig. 6-1: Sequence when testing a motor holding brake
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Testing an external brake
The timing of the brake test from the perspective of the PLC user program is shown
in the following diagram.
PLC axis
AWP DB
Start brake test(DBx11.0)
Selection direction of rotation (DBx143.3)
Selection torque (DBx143.4)
Selection brake test (DBx143.0)
Brake test selected (DBx173.0)
Brake 1/2 (DBx173.2)

Close brake(DBx173.6)
Brake closed (DBx143.5)
Open brake (DBx173.6)
Brake open (DBx143.5)
Brake test ready (DBx173.5)
Brake test OK (DBx173.4)
Time
Fig. 6-2: Sequence when testing an external brake
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Note If bit axisDBX11.0 48 is set for a traversing axis, then NCK outputs alarm 27830
"Axis %1: control not ready for the drive integrated safe brake test" and status
signal axisDB.DBX71.0 is not set.
After the user selects the brake test, the static hanging/suspended load is
determined in the drive. This is the reason that all brakes must be open and the
pulses enabled when the brake test is selected. The brake, the test sequence and
the test direction are then selected by the user. Only when the brake test is active
after the user has started the brake test/brake test sequence is the holding brake
closed, or there is a prompt to close the external brake. A maximum time of 11
seconds is allowed to elapse until the feedback signal "Brake closed" is output,
otherwise alarm 201784 is output and the brake test canceled.
The test torque (test torque +/- load torque for a vertical axis) is specified during
the SBT. When n = 0 is entered, the controller builds up an appropriate test torque
against the closed brake. The test torque is built up along a ramp. The ramp is
defined by the time of p10208. At the end of the test sequence, the brake is
opened or there is a prompt to open the brake. After deselection of the test
sequence (test sequence is switched off), another test sequence can be started,
e.g. with a different brake in a different direction, assuming that the brake test is
still selected. When the test sequence is active, the brake that is not being tested
must remain open. After deselecting SBT, the original speed setpoint again
becomes effective.
Fig. 6-3: Sequence of the brake test in the drive
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Direction of rotation when the brake is been tested
For a brake test, the motor should apply a force to the brake that is applied in
addition to the force due to weight. The direction in which the drive should establish
its force is specified from the PLC using bit axis-DB.DBX143.3 (1 negative/0
positive). The sign of the load torque before the brake test can be determined
using bit axis DB.DBX173.7 (1 negative/0 positive).
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7 Diagnostics options
The actual states and test progress can be monitored using a status words r10234
and r10242 and diagnostics parameter r10240.
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Englisch
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8 PLC programming
8 PLC programming
This application example is provided in a block in STL.
DBSI_SBT_X_axis
EN EN0
No. of tested Failure

AxisNr Error
axis arisen
Traversing Brake test

Direction auto Done
direction auto completed
User Traversing Direction Diag Value of diagnostics

interface direction
Close external
Selection brake Brake_1_2 CloseBrk
brake
Selectoion
Torque_1_2
toruqe Step Step counter
Start
BT_Start
brake test
Extenal brake
Brake_closed
closed
Quit Quittierung
Axis/spindle Activate brake

DB3x.DBB61.4 DB3x.DBX11.0
stands still test
Pulses
DB3x.DBB93.7 Select brake
released DB3x.DBX143.0
test
Brake test DB3x.DBB71.0
active DB3x.DBX143.1 Start brake
System test
interface Brake test
DB3x.DBB173.0
selected
DB3x.DBX143.2 Brake 1/2
Bake 1/2 DB3x.DBB173.2
Traversing
DB3x.DBX143.3
DB3x.DBB173.4 direction
Brake test ok
Brake test DB3x.DBX143.4 Torque 1/2

DB3x.DBB173.5
ready
Close Brake
DB3x.DBB173.6 DB3x.DBX143.5
brake closed
Fig. 8-1: Block structure
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8 PLC programming
8.1 Parameterization example for a motor brake
Network 3: Brake test Sinamics new
// Test axis 2
// Test motor brake
// Test sequence 1
// Start brake test
// max. time for step

// acknowledgement
// error bit
// brake test okay
// error step
// error
Fig. 8-2: Parameterization example for a motor brake
Input parameters:
Axis_NR: number of the axis to be tested
Brake_NR: brake to be tested (motor brake = 0/external brake = 1)
Direction_AUTO: specifies the direction for the brake test
= 0 specifies the direction
= 1 and direction = 0 = direction = DBax.DBX173.7
= 1 and direction = 1 = direction = DBax.DBX173.7 negated
Direction: direction specification manual brake test
Torque_1_2: torque selection (test sequence 1 = 0 / test sequence 2 = 1)
Start_BT: start of the brake test
Brake_closed: feedback signal external brake closed
Time1: time for brake test
Quit: acknowledgment error
Output parameters:
Error: error
Done: brake test OK
DiagnoseStep: actual step
DiagnoseError: error number
Close_Brake: request to close external brake
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8 PLC programming
Diagnostics
DiagnoseError:
0  no error has occurred

1  "STATE" not permissible (internal error)
2  incorrect axis number
3  start conditions not satisfied: Axis is not stationary
4  start conditions not satisfied: Pulses not enabled
9  brake test completed with error
10  time for step expired as no feedback signal received
DiagnoseStep
1  error in step 1 "axis selection"

2  error in step 2 "axis selection"
3  error in step 3 "brake selection"
4  error in step 4 "sequence selection"

5  error in step 5 "NCK selection"
6  error in step 6 "error in the SCC test selection"
7  error in step 7 "error in the SCC test start"
8  error in step 8 "error in the external brake selection"
9  error in step 9 "error in the brake test feedback signal"
10  error in step 10 "error in the brake test evaluation"
11  error in step 11 "error in the brake test deselection"
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8 PLC programming
SIC/SCC SBT Technologie BT Controler
Start brake test / edge
Selection direction of rotation Brake

Selection torque
Selection brake 1
Close Brake 1
BT active
Brake 1
Start BT
of the position offset < tolerance
Presetting test torque +/- load torque
Presetting direction of rotation

Monitoring
Presetting torque
Monitoring n<10% Nn
Build-up torque on n=0
Time monitoring for

act. test torque
1,5xP10208
act. test torque
Diagnostics test torque
The requested test torque is applied
Test period
End
Finished torque build-up
BT finished Build-up load torque
Brake
Open Brake 1
Brake 1
BT ok
BT inactive
BT finished
Fig. 8-3: Sequence diagram, motor brake
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8 PLC programming
SIC/SCC SBT Technologie BT
Start brake test / edge
Selection direction of rotation
Selection torque
Selection brake 2
BT active
Brake 2
Request Brake close
Brake closed
Start BT
of the position offset < tolerance
Presetting test torque +/- load torque

Presetting torque
Monitoring
Monitoring n<10% Nn
Build-up torque on n=0
act. test torque
Time monitoring for

act. test torque
1,5xP10208
Diagnostics test torque

The requested test torque is applied
Test period
End BT
Finished torque build-up
Build-up load torque

BT finished
Ext. Brake not requested
Brake open
Brake 2
BT ok
BT inactive
BT finished
Fig. 8-4: Sequence diagram, external brake
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8 PLC programming
8.2 Description of the PLC interface SIC and SCC
The SCC is the control channel for the brake test
Signals from PLC to Drive (SCC)
Fig. 8-5: Signals from the PLC to the drive (SCC)
The SIC is the feedback signal channel for the brake test
Signals from Drive to PLC (SIC)

Fig. 8-6: Signals from the drive to the PLC
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9 Alarms
9 Alarms
9.1 Setting of the SINAMICS alarm screen form
The bits for alarms (CU and Motor Module) must be set for the brake test in
general machine data MD 13150.
13150 SINAMICS_ALARM_MASK N04, N05

- Activate fault an warning buffer output for Sinamics DWORD Immediately
-
- - 0x0909 0 0x7FFFFFFF 7/2 M
Description: only for PROFIBUS/PROFINET, specifically SINAMICS

Relevant for SINAMICS diagnostics
Note: The effect of this MD can be hidden depending on the value
$MN_PROFIBUS_ALARM_ACCESS
Screen form to display fault and alarm buffers of SINAMICS – DOs
Bit set: Alarms of this DO group are output.
Bit not set: Alarms of this DO group are not output.
Bit value Hex. significance

0 0x1 output Control Unit fault
1 0x2 output communication object fault
2 0x4 output drive control fault
3 0x8 output line module fault
4 0x10 output terminal board fault
5 0x20 output terminal module fault
8 0x100 output Control Unit alarms
9 0x200 output communication object alarms
10 0x400 output drive control alarms
11 0x800 output line module alarms
12 0x1000 output terminal board alarms
13 0x2000 output terminal module alarms
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9 Alarms
9.2 NCK alarm
27830 axis %1: Control not ready for the "safe brake test" integrated in
the drive
Parameter %1: Axis name, spindle number
Explanation The request for the drive-integrated "safe brake test" via the
VDI interface has been rejected by the motion control system.
Response alarm is displayed
Remedy The alarm disappears if the conditions in the motion control
system for carrying out the drive-integrated "safe brake test" are
fulfilled, or the request for the drive-integrated "safe brake test"
is withdrawn.
Program Alarm display disappears when the cause of the alarm is
resolved.
continued No additional conditions required
Missing conditions:
 If, when the dbBT is selected via VDI, the interpolator or the axis is not
stopped, i.e. the axis is still moving or the exact stop is no (longer) applicable.
 If a new dbBT was requested and the previous dbBT was not exited in the
control system.
 If another axis in the channel is moving
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9 Alarms
9.3 SINAMICS alarms

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9 Alarms
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9 Alarms
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10 Supplementary conditions
10 Supplementary conditions
 Master-slave:
When using a master-slave configuration, a distinction must be made as to whether
it involves a temporary or a permanent coupling.
Before testing the brake mechanical system, a temporary coupling can be opened
so that the brakes can be individually tested.
For a permanent coupling, it must be decided on a case-for-case basis whether a
defective brake could result in mechanical damage.
The brake test should not be performed if mechanical damage could occur.
 Gantry group:
For a gantry group, it must be decided on a case-for-case basis whether a
defective brake could result in mechanical damage.
The brake test should not be performed if mechanical damage could occur.
 The "Safe Brake Test" (SBT) function is not available for SINAMICS HLA.
Entry ID 109477754 01/2018 34

SINAMICS Brake Test With Sinumerik 840D SL

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SINAMICS Brake Test With Sinumerik 840D SL

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Application description  01/2018

SINAMICS Brake Test with

Warranty and liability

body or health, guarantee for the quality of a product, fraudulent concealment of a

Any form of duplication or distribution of these Application Examples or excerpts

Entry ID 109477754 01/2018 2

9.1 Setting of the SINAMICS alarm screen form...................................... 29

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Safe brake management

Safe brake test + Safe brake control

• Automatic test of the

• The test torque is

• The movement of the axes

Fig. 1-1 Overview of brake management

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2.1 Principle of operation of the brake test

The following preconditions must be satisfied when using the function:

 SINUMERIK SW release 4.7 SP2 HF1

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3 Parameterizing the SIC/SCC in Step 7 HW

3.1 Creating telegram 701

Fig. 3-1: Creating telegram 701

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3.2 Adapting the logical basis address

Fig. 3-3: Telegram 701 displayed as supplementary telegram 136

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4 Parameterizing the NCK

Fig. 4-1: Telegram configuration

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A check should be made as to whether machine data

Note Bit 1 of machine data 37000 $MA_FIXED_STOP_MODE must be deactivated

Bit 2: Selection of the positioning at the end of the brake test

MD36968 $MA_SAFE_BRAKETEST_CONTROL, bit 2: Positioning response at

By setting MD36968 $MA_SAFE_BRAKETEST_CONTROL bit 2 = 1, the current

By setting MD36968 $MA_SAFE_BRAKETEST_CONTROL bit 2 = 1, vertical axes

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4.1 Example 1: - drive adaptation as axis in the NC

Assignment in the NC by not adapting the slot addresses

Fig. 4-2: Assignment in the NC

Parameterizing the general data

Parameterizing axial data

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4.2 Example 2: - drive adaptation as axis in the NC

Assignment in the NC by adapting the slot addresses

Fig. 4-3: Assignment in the NC

Parameterizing the general data

Parameterizing axial data

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 Speed control with encoder (p1300 = 21) must be configured as control

 P60122 = 701 or using the following screen form

Fig. 5-1: Telegram configuration

Note Currently, SINUMERIK is only supporting telegram 701

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Enabling the SBT function

 The Safe Brake Control (SBC) function should be enabled

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Parameter assignment for brake 1 and/or brake 2

p10202[0,1] SI Motion SBT brake selection

Index 0 designates the setting for brake 1

= 1 test motor holding brake:

= 2 test external brake

Test torque ramp time