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ctrlX SAFETY "SafeMotion"
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Transition functions
Fig. 42: Transition function "Safely-monitored deceleration with ramp-based trend monitoring"
P‑0‑3255
SMO: Velocity threshold for Safe standstill
P‑0‑3290.x.2 SMO: Safely-limited speed
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
P‑0‑3280.0.4 SMO: Max. transition time normal oper. to safe motion
P‑0‑3280.0.9 SMO: SMD deceleration
The "Safely-monitored deceleration with ramp-based trend monitoring" is termi-
nated before the parameterized transition time is over, as soon as one of the
following conditions has been fulfilled:
−
−
−
−
Bosch Rexroth AG
The actual velocity is within the velocity window of the selected safety
function and drive enable has been removed.
In case of an NC-controlled transition, the control unit signals the end of
the transition process via the "NC-Ready" signal (P‑0‑3261.0.1).
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
previously 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.
An SMM safety function is selected from normal operation, when the option
"Immediate switching NO to motion mode" was configured in "P-0-3280.0.1,
SMO: Configuration of operation mode transitions" and this is possible due
to the system properties (selected velocity window and selected direction
of motion are complied with) (see
A different SMM safety function is selected from an active SMM
safety
function,
when
special
mode
"Safe
SMO: Configuration of operation mode transitions" and this is possible due
to the system properties (selected velocity window and selected direction
of motion are complied with) (see
⮫ "Immediate switching"
the
option
"Immediate
motion"
was
configured
⮫ "Immediate switching"
option).
switching"
within
in
"P-0-3280.0.1,
option).
R911404905, Edition 02
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