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ctrlX SAFETY "SafeMotion"
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Diagnostic system
Configuration options
(P‑0‑3263.0.1)
F3 reaction /
F7 reaction
E83 reaction
Velocity com-
Velocity com-
mand value
mand value
reset with inac-
reset with inac-
tive SMO
tive SMO
encoder evalua-
encoder evalua-
tion
tion
*2)
*2)
Torque disable Torque disable Immediately
: v
= Depending on the initial state, use the following data
*1)
x
●
Normal operation with use of the safety function "Safe maximum speed" (SMS)
v
= P‑0‑3270.0.2
x
●
Normal operation without safety function "Safe maximum speed" (SMS)
v
= maximum occurring velocity + P‑0‑3263.0.2 + P‑0‑3263.0.4
x
●
Special mode "Safe motion" (SMMx)
v
= P‑0‑3290.x.2
x
: Inactive SMO encoder evaluation (P-0-3242.x.1 = "0"), velocity command value reset in accordance with setting in
*2)
parameter "P-0-3263.0.1, SMO: Configuration of standstill"
"SafeMotion" escalation strategy
With SafeMotion, the drive is decelerated in the case of error; for this purpose,
an escalation strategy is run. The escalation strategy is used to make sure that
the drive is decelerated in an optimum way and that wear of existing holding
brakes, as well as load of the mechanical system, are minimized. According to
the initial situation, deceleration in the case of error takes place on several
levels. Each of the levels is monitored via two channels.
Normally, the escalation strategy is not run completely. This means that
depending on the currently present error message and the resulting error reac-
tion, the drive jumps to the corresponding escalation level. This can be one of
the following levels:
● Escalation strategy, level 1: F3xxx/E83xx error reactions
● Escalation strategy, level 2: F7xxx error reaction
● Escalation strategy, level 3: F83xxx error reaction
During the levels 1 and 2 of the escalation strategy, the effectiveness of
each escalation level is monitored via the transition function "Safely-monitored
deceleration" (SMD-E). When the trend monitoring triggers, this means that
the drive has detected that the axis cannot be decelerated in the parameter-
ized time / the parameterized distance. The error reaction is taken to the next
higher escalation level until the axis has been decelerated.
The figure below shows the escalation strategy on its individual levels:
Bosch Rexroth AG
Reaction times
t
F3 reaction
t
t
P‑0‑3263.0.6
P‑0‑3263.0.7
Immediately
t
total
F7 reaction
t
+
F3 reaction
t
F7 reaction
=0
Assumed scenarios
At the end of the F3
reaction, the axis is
not yet torque-free.
⇒ F7 error
For the F7 reaction,
the axis needs the
entire parameterized
time.
The axis immediately
goes torque-free.
R911404905, Edition 02
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