Bosch rexroth ctrlX SAFETY SafeMotion Applications Manual page 194

ctrlX SAFETY "SafeMotion"
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First use
Pertinent parameters
● P–0–3335.0.1, SMO: Signal control of outputs discrete, IDN assignment
● P–0–3335.0.2, SMO: Signal control of outputs discrete, bit number
Afterwards, the settings that were made have to be verified.
With the parameter verification, it is necessary to check/verify whether the
parameterization active in the drive complies with the parameters intended or
configured for this axis.
The parameter verification is carried out in ctrlX DRIVE Engineeringvia the
bottom sections of the SafeMotion dialogs ("verification display").
Go to the next commissioning dialog by using the "Next >>" button.
Step 5: Parameterizing the safety functions
Global monitoring functions
Fig. 90: Parameterizing global monitoring functions
Global monitoring functions are always active in special mode and in normal
operation.
The dialog "Global monitoring functions" is only displayed when an encoder
was configured for the safety technology.
Safe maximum speed
In the dialog section "Activating the Safe maximum speed (SMS)", activate
the "Safe maximum speed" (SMS) and parameterize the corresponding velocity
threshold. (The velocity threshold can only be changed when the monitoring
function has been activated.)
In the input field "Standstill window for Safe direction", parameterize a position
range that SafeMotion is to tolerate as a position deviation. Set the value so
high that the encoder noise does not exceed the value and the mechanics
backlash is taken into account. If safety functions with position monitoring are
not used, the value does not need to be adjusted.
Safe speed monitor
In the dialog section "Safe speed monitor (SSM)", the Safe speed monitor
can be enabled and the corresponding monitoring thresholds of the velocity
window can be parameterized.
Bosch Rexroth AG R911404905, Edition 02