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● Section 2: "Monitoring of transition to the selected safety function" using
In the case of a transition between two safety functions, for which the velocity
limit of the selected safety function is smaller than the one of the active safety
function, the velocity limit of the active safety function remains active until
switching takes place.
The "Safely-monitored deceleration with time-based trend monitoring" is termi-
nated before the parameterized transition time is over, as soon as one of the
following conditions has been fulfilled:
−
−
−
−
Transition function "Safely-monitored deceleration based on actual velocity"
When the transition function "Safely-monitored deceleration based on actual
velocity" (SMD
of the axis is performed in accordance with the configuration (P-0-3280.0.1).
R911404905, Edition 02
NOTE: Monitoring step 1 is not required when the value "0" is parame-
terized in the respective reaction time (P‑0‑3280.0.11 / P‑0‑3280.0.12 /
P‑0‑3280.0.13).
deceleration ramp until the velocity window of the selected safety function
has been reached:
In step 2, monitoring via two channels takes place to find out whether the
actual velocity is within the velocity envelope curve (P-0-3238). The drive
determines the linear velocity envelope curve from the velocity difference
between the active and the selected safety function and the ramp time
(max. transition time
- Delay time
1)
The maximum transition time is specified by one of the following values:
1)
P‑0‑3280.0.2, SMO: Max. Transition time normal oper. to safe standstill or
P‑0‑3280.0.3, SMO: Max. Transition time between safe operating states or
P‑0‑3280.0.4, SMO: Max. Transition time normal oper. to safe motion
The delay is specified by one of the following values: P‑0‑3280.0.11, SMO:
2)
Delay time SMD trend time, NO to standstill or P‑0‑3280.0.12, SMO: Delay
time SMD trend time, between safe operation or P‑0‑3280.0.13, SMO: SMD
reaction time, trend time, NO to SMM operation
The start value of deceleration monitoring is the monitoring limit of the
active safety function.
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
An
SMM
safety
function
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
) is selected, the drive-controlled or NC-controlled transition
ActVel
ctrlX SAFETY "SafeMotion"
Transition functions
).
2)
⮫ "Immediate switching"
is
selected
from
the
option
"Immediate
motion"
was
configured
⮫ "Immediate switching"
121 / 302
option).
an
active
SMM
switching"
within
in
"P-0-3280.0.1,
option).
Bosch Rexroth AG
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