Bosch rexroth ctrlX SAFETY SafeMotion Applications Manual page 109

ctrlX SAFETY "SafeMotion"
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Transition functions
⇒ The maximum time between the selection of the transition function
"Safe stop 2 (SS2)" and reaching of the safe standstill ("SOS" in case of an
error-free transition or "STO" in case an error occurs) is dependent on the
transition! The maximum time can be prolonged by the time parameterized
in P‑0‑3263.0.7 if an error occurs. In case of a configured F7 error reaction
="Torque enable" (P‑0‑3263.0.1) or direct switching to the F8 error reaction (F3
reaction=F7 reaction in P‑0‑3263.0.1), the time is not prolonged.
When the SMD signals motor standstill (actual velocity < P-0-3255) and the
transition time (P-0-3280.0.2 or P-0-3280.0.3) is over, the transition by the
transition function "Safe stop 2 (SS2)" is completed with the selection of the
safety function "Safe operating stop (SOS)".
Via the "NC-Ready" signal in "P‑0‑3261.0.1,
SMO: Control word state machine, functional", the control can signal the end
of the transition process of safety technology. The SMD safety function will
then immediately terminate the transition and not wait for the transition time
to expire (P‑0‑3280.0.2 or P‑0‑3280.0.3 or P‑0‑3280.0.4).
The "NC-Ready" signal is evaluated dynamically, i.e. in an edge-triggered way.
The safety technology detects a valid edge (0-1 transition), if the signal previ-
ously had been "0" for at least 10 ms.
If the transition process is terminated ahead of time via the "NC-Ready" signal,
although the target velocity of the selected safety function has not yet been
reached, the error "F7052 Selected target velocity exceeded" is generated and
the drive is decelerated.
Fig. 41: Monitoring function 2b: "SS2, standstill-prioritized with NC-controlled
transition (based on actual velocity)"
P‑0‑3255 SMO: Velocity threshold for Safe standstill
P‑0‑3280.0.2 SMO: Max. Transition time normal oper. to safe standstill
P‑0‑3280.0.3 SMO: Max. Transition time between safe operating states
Deselecting the safety function
An active transition function "Safe stop 2 (SS2)" becomes inactive under the
following conditions:
R911404905, Edition 02 Bosch Rexroth AG