Festo CAMC-G-S3 Manual page 44

2 Product description of safety module CAMC-G-S3
Term/abbreviation
Position of sensor 1/2
Analysis
Gear
Acceleration Comparator
Position 1/2 Comparator +
Speed 1/2 Comparator
ACTUAL_ACC.
ACTUAL_SPEED
SPEED = 0
ACTUAL_POSITION
POSITION + SPEED VALID
[5x-x] xxx_ERR
Tab. 2.9 Legend for Fig. 2.5
Description:
– The block position Sensor Evaluation exists twice in each microcontroller, separately for position
encoder 1 and position encoder 2.
– The position information of encoder 1 and encoder 2 is first standardised to 2³². Then, a gear ratio is
taken into account, which can be used to map a counting direction switch.
– Thus the block supplies a standardised position and uses it to calculate the current speed and the
acceleration.
– The data of position encoder 1 are used to monitor the status variables.
– The acceleration is monitored and checked for plausibility - this can be parameterised.
– Each microcontroller carries out a continuous comparison of the position values and speed values
of encoder 1 with those of encoder 2.
– The tolerances for this encoder comparison can be parameterised.
– In addition, each microcontroller performs a cross-comparison to compare its own position and
speed data with that of the other microcontroller. Limit values can be parameterised for this.
– The microcontroller will generate various error messages if deviations or limit value violations are
detected.
Please note
The factory settings of the parameters for encoder analysis are adapted to the resolu­
tion of the position encoders and to the electronic analysis unit in the safety module.
They should only be changed when required, as they influence the reaction time of the
safety module when dangerous movements are detected or during error detection. They
are so-called "Expert parameters".
44
Explanation
Analysis of position encoder 1/2
Analysis
Gear units
Comparison of acceleration 1/2
Comparison of position 1/2 and
comparison of speed 1/2
Internal signal: Current acceleration
Internal signal: Current speed
Internal signal: Speed = 0
Internal signal: Current position
Internal signal: Position and speed valid
Internal error signal, error 5x-x
Festo – GDCP-CAMC-G-S3-EN – 1406NH – English