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ctrlX SAFETY "SafeMotion"
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Transition functions
If the incorrect distance is smaller than the parameterized monitoring window
(P‑0‑3285.0.2, SMO: Monitoring window for Safe operating stop), the warning
"E3151 Safely-monitored deceleration exceeded" is generated; if the incorrect
distance is greater, the configuration-dependent, the error message F7051 or
F8351 is generated.
"Immediate switching" option
With the "immediate switching" option, the transition function SMD provides
the user with the possibility of time-optimized switching when selecting a
motion mode. As soon as the drive, due to the current system properties (para-
meterized monitoring function and monitoring limits, actual velocity), detects
that immediate switching to the selected motion mode is possible, it performs
immediate switching. This option can be separately enabled in the parameter
"P-0-3280.0.1, SMO: Configuration of operation mode transitions" for changing
between the motion modes and for changing from normal operation to a
motion mode.
Immediate switching occurs when the following conditions have been fulfilled:
● The actual velocity is within the velocity window of the selected safety func-
● the monitoring of the direction of motion of the active safety function and of
Fig. 46: Immediate switching within the motion modes
P‑0‑3290.x.2 SMO: Safely-limited speed for SMMx
P‑0‑3290.y.2 SMO: Safely-limited speed for SMMx
Bosch Rexroth AG
tion and
the selected safety function is identical or
the selected safety function is without monitoring of the direction of motion.
R911404905, Edition 02
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