Bosch rexroth ctrlX SAFETY SafeMotion Applications Manual page 123

Fig. 44: Transition function "Safely-monitored deceleration based on actual velocity"
P‑0‑3255 SMO: Velocity threshold for Safe
standstill
P‑0‑3290.x.2 SMO: Safely-limited speed
(x=1..16)
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
The velocity envelope curve consists of three steps and is generated as follows:
● Section 1: "Reaction time to change in selection" (drive-side or NC-side) for
● Section 2: "Monitoring of transition to the selected safety function" using
R911404905, Edition 02
the duration of P‑0‑3280.0.7:
For the duration of "P-0-3280.0.7, SMO: SMD reaction time, the safety tech-
nology gives the system (control unit and drive) the time to adjust the com-
mand 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). In this step, the drive calculates the velocity
envelope curve from the actual velocity at selection plus the tolerance of
parameter "P‑0‑3280.0.6, SMO: Oscillation velocity window of "SMD"
NOTE: This monitoring step is not required when the value "0" is parameter-
ized in parameter P-0-3280.0.7.
NOTE: 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 envelope curve (P‑0‑3238), the envelope curve
acts as monitoring limit. When exceeding the monitoring limit, the safety
function reports an error.
the deceleration ramp (P‑0‑3280.0.9 and P‑0‑3280.0.10) 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 velocity
envelope curve is generated by the drive by means of the deceleration ramp
(P‑0‑3280.0.9, SMO: SMD deceleration) and the jerk limit (P‑0‑3280.0.10,
ctrlX SAFETY "SafeMotion"
Transition functions
P‑0‑3280.0.4 SMO: Max. transition time normal
oper. to safe motion
P‑0‑3280.0.6 SMO: Oscillation velocity window
of SMD
P‑0‑3280.0.7 SMO: SMD reaction time
P‑0‑3280.0.8 SMO: Velocity window of SMD
P‑0‑3280.0.9 SMO: SMD deceleration
P‑0‑3280.0.10 SMO: SMD jerk
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Bosch Rexroth AG