Bosch rexroth ctrlX SAFETY SafeMotion Applications Manual page 119

Transition function "Safely-monitored deceleration with time-based trend moni-
toring"
When the transition function Safely-monitored deceleration with time-based
trend monitoring (SMD
trolled transition of the axis is performed in accordance with the configuration
(P-0-3280.0.1).
In the case of NC-controlled transition, the higher-level control unit adjusts
the command value system for the drive in accordance with the monitoring
thresholds of the selected safety function.
In case of drive-controlled transition (only possible: transition to standstill),
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)].
In the case of the transition function "Safely-monitored deceleration with
time-based trend monitoring", dual-channel monitoring is used to detect
whether the actual velocity is within the velocity envelope curve (P-0-3238).
The drive determines the velocity envelope curve from the difference
of the active velocity limit during selection (P-0-3238) and the SMO
velocity limit of the target state and the transition time (P‑0‑3280.0.2 /
P‑0‑3280.0.3 / P‑0‑3280.0.4). The configuration can be set individually
for "SMD to standstill" (P-0-3280.0.1, bit 8) and "SMD to Safe motion"
(P-0-3280.0.1, bit 9). If the drive leaves the envelope curve during the
transition, 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
The configuration "Safely-monitored deceleration with time-based trend moni-
toring" also requires the "Safe maximum speed (SMS)" (P-0-3270.0.1) to be
configured.
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
TimeTrend
strategy).
strategy).
ctrlX SAFETY "SafeMotion"
Transition functions
) is selected, the NC-controlled or drive-con-
⮫ Error reaction and escala-
"⮫ limitation of the positioning
TimeTrend
⮫ Error reaction and escala-
119 / 302
velocity", it is pos-
also monitors that
Bosch Rexroth AG