Bosch rexroth ctrlX SAFETY SafeMotion Applications Manual page 126

ctrlX SAFETY "SafeMotion"
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Transition functions
Fig. 45: Transition function "Safely-monitored deceleration in the case of F3/F7 errors (based on
actual velocity)"
P‑0‑3255 SMO: Velocity threshold for Safe
standstill
P‑0‑3263.0.2 SMO: Oscillation velocity window
of SMD-E
P‑0‑3263.0.3 SMO: SMD-E reaction time
P‑0‑3263.0.4 SMO: Velocity window SMD-E
● The velocity envelope curve consists of three steps and is generated as
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follows:
– Section 1: "Reaction time until the error reaction is initiated" (on the
drive side) for the duration of P-0-3263.0.3:
During the
SMO: SMD-E reaction time", the safety technology allows the drive 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 drive calculates the
start value of the velocity envelope curve from the current actual velocity
plus a tolerance (P-0-3263.0.2).
NOTE: This monitoring step is not required when the value "0" is parame-
terized in the parameter "P-0-3263.0.3, SMO: SMD reaction time".
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.
– Section 2: "Monitoring of the transition to the "Safe standstill error""
using the deceleration ramp (P‑0‑3263.0.5 and P‑0‑3263.0.8) until the
"velocity window of Safe standstill" (P-0-3255) has been reached:
P‑0‑3263.0.5 SMO: SMD-E deceleration
P‑0‑3263.0.6 SMO: Error reaction F3 tolerance
time
P‑0‑3263.0.7 SMO: Error reaction F7 tolerance
time
P‑0‑3263.0.8 SMO: SMD-E jerk
time parameterized in "P-0-3263.0.3,
R911404905, Edition 02