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ctrlX SAFETY "SafeMotion"
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Transition functions
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 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.
The "SMD
is within the velocity envelope curve (P-0-3238). Using the deceleration
ramp (P-0-3280.0.9) with jerk limitation (P‑0‑3280.0.10), the drives gener-
ates the velocity envelope curve. The drive calculates the start value of
the velocity envelope curve from the current actual velocity plus a tol-
erance (P‑0‑3280.0.8). If the actual velocity leaves the velocity envelope
curve (P‑0‑3238), the error "F7051 Safely-monitored deceleration" or "F8351
Safety limited deceleration 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
To compensate transient oscillation processes to standstill or to compensate
motions after the output stage was switched off, it is also possible to configure
that the axis moves by a parameterizable distance after the velocity envelope
curve (P-0-3238) has been exceeded. The warning E3151 is triggered during
this motion (see
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
Bosch Rexroth AG
" monitors via two channels whether the actual velocity
ActVel
strategy).
⮫ Compensating transient oscillation
strategy).
⮫ Error reaction and escala-
"⮫ limitation of the positioning
⮫ Error reaction and escala-
processes).
velocity", it is pos-
" also monitors that
ActVelo
R911404905, Edition 02
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