Bosch rexroth ctrlX SAFETY SafeMotion Applications Manual page 117

In case of drive-controlled transition, the drive decouples from the
command value input of the control unit and is decelerated by the
standard firmware in accordance with the parameterization in "P-0-3263.0.1,
SMO: Configuration of stopping process" [F3 error reaction (bit 03)]. The drive-
controlled transition is only possible to standstill.
In the case of the transition function "Safely-monitored deceleration with ramp-
based trend monitoring", dual-channel monitoring is used to detect whether
the actual velocity is within the velocity envelope curve (P-0-3238). Using the
deceleration ramp (P-0-3280.0.9), the drive calculates the velocity envelope
curve in such a way that the drive is at any time able - within the scope
of the possible deceleration - to reach the parameterized velocity window
(P-0-3255 or P-0-3290.x.2) of the selected special mode until the transition
time (P-0-3280.0.2 or P-0-3280.0.3 or P-0-3280.0.4) is over. If this is not pos-
sible anymore, the error "F7051 Safely-monitored deceleration exceeded" or
"F8351 Safely-monitored deceleration " [only for F3 equal to F7 reaction
(P‑0‑3263.0.1)] is generated and the drive is set to standstill according to the
parameterized error reaction (P‑0‑3263.0.1) (see
tion
If the monitoring limit of the "Safe maximum velocity (SMS)" (P‑0‑3270.0.2) or
an active "Safely limited velocity (SLS)" (P‑0‑3290.x.2) is below the calculated
velocity intrinsic curve (P‑0‑3238), the intrinsic curve acts as monitoring limit.
When exceeding the monitoring limit, the safety function reports an error.
The currently active velocity monitoring limit of Safe Motion is displayed in
"P‑0‑3238, SMO: Active velocity threshold. With this parameter it is possible to
check in the control unit whether the velocity command values are within the
allowed limits.
With the auxiliary function
sible to monitor and, if necessary, limit the velocity command value effective in
the drive to the active velocity threshold (P‑0‑3238).
In parallel with velocity monitoring, the "SMD
the deceleration process is completed within the parameterized transition
time (P‑0‑3280.0.2 / P‑0‑3280.0.3 / P‑0‑3280.0.4). If the transition is not
completed within the parameterized transition time, the error "F7050 is
signaled and the safety function Safe torque off is activated" or "F8350
Maximum transition time exceeded" [only for F3 equal to F7 reaction
(P‑0‑3263.0.1)] is reported and the drive is set to standstill according to the
parameterized error reaction (P‑0‑3263.0.1) (see
tion
R911404905, Edition 02
strategy).
strategy).
ctrlX SAFETY "SafeMotion"
Transition functions
⮫ Error reaction and escala-
"⮫ limitation of the positioning
RampTrend
⮫ Error reaction and escala-
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velocity", it is pos-
" also monitors that
Bosch Rexroth AG