Bosch rexroth ctrlX SAFETY SafeMotion Applications Manual page 97

ctrlX SAFETY "SafeMotion"
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Transition functions
Monitoring function 3: "SS1, time-prioritized with drive-controlled transition"
When the monitoring function 3 (SS1, time-prioritized with drive-controlled
transition) has been configured, the axis is decelerated in a drive-controlled
way when SS1 is selected. That is to say the drive makes itself independent
of the command value input of the control unit and is decelerated by the
standard firmware in accordance with the parameterization of "P-0-3263.0.1,
SMO: Configuration of stopping process" (bit 0‑3) set to standstill by the
standard firmware. At the end of the deceleration process, drive enable is
removed.
The transition function "Safe stop 1 (SS1)" monitors that the deceleration
process is completed within the parameterized transition time (P-0-3280.0.2 or
P-0-3280.0.3). If the transition is not completed within the parameterized tran-
sition time, the error "F8350 Maximum transition time exceeded" is signaled
and the safety function "Safe torque off (STO)" is activated.
⇒ The maximum time between the selection of the transition function
"Safe stop 1 (SS1)" and activating of the safety function Safe torque off (STO)
does not depend on the transition progress! The maximum time span does is
not extended by an error.
If the drive has been decelerated without error within the parameterized
transition time (P-0-3280.0.2 or P-0-3280.0.3), the transition by the transi-
tion function SS1 is completed with the selection of the safety function
"Safe torque off (STO)".
Fig. 33: Monitoring function 3: "SS1, time-prioritized with drive-controlled
transition"
P‑0‑3255 SMO: Velocity threshold for Safe standstill
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
Monitoring function 3(+1): "SS1, time- and standstill-prioritized with drive-con-
trolled transition"
When the monitoring function 3(+1) (SS1, time-prioritized and prioritized with
drive-controlled transition) has been configured, the axis is decelerated in a
drive-controlled way when SS1 is selected. That is to say the drive makes
itself independent of the command value input of the control unit and is decel-
R911404905, Edition 02 Bosch Rexroth AG