Bosch rexroth ctrlX SAFETY SafeMotion Applications Manual page 120

ctrlX SAFETY "SafeMotion"
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Transition functions
Fig. 43: Transition function "Safely-monitored deceleration with time-based trend monitoring"
P‑0‑3255 SMO: Velocity threshold for Safe
standstill
P‑0‑3270.0.2 SMO: Safe maximum velocity
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
The velocity envelope curve consists of two steps and is generated as follows:
● Section 1: "Reaction time to change in selection" (drive-side or NC-side) for
Bosch Rexroth AG
the duration of P‑0‑3280.0.11 / P‑0‑3280.0.12 / P‑0‑3280.0.13:
For the duration of the respective reaction time (P‑0‑3280.0.11 /
P‑0‑3280.0.12 / P‑0‑3280.0.13), the safety technology gives the system (con-
trol unit and drive) the time to adjust the command value input for the
transition process. In this space of time, monitoring takes place to find out
whether the actual velocity is within the velocity envelope curve (P‑0‑3238).
The velocity envelope curve is determined by the SMO velocity limit previ-
ously active:
– Normal operation: P‑0‑3270.0.2, SMO: Safe maximum velocity
– Special mode motion: P‑0‑3290.x.2, SMO: Safely-limited speed
– Special mode Safe standstill: P‑0‑3255, SMO: Velocity threshold for Safe
standstill
In accordance with the safety technology operation mode transition, dif-
ferent reaction times take effect:
– takes effect during transition from normal operation to Safe standstill
"P‑0‑3280.0.11, SMO: Reaction time, trend time, NO to standstill"
– takes effect during transition between two special modes "P‑0‑3280.0.12,
SMO: Reaction time, SMD trend time, between safe operation"
– takes effect during transition from normal operation to Safe motion
"P‑0‑3280.0.13, SMO: Delay time SMD trend time, NO to SMM operation"
P‑0‑3280.0.11 SMO: SMD reaction time, trend
time, NO to standstill
P‑0‑3280.0.12 SMO: SMD reaction time, trend
time, between safe operation
P‑0‑3280.0.13 SMO: SMD reaction time, trend
time, NO to SMM operation
P‑0‑3290.x.2 SMO: Safely-limited speed
R911404905, Edition 02