Bosch rexroth ctrlX SAFETY SafeMotion Applications Manual page 100

ctrlX SAFETY "SafeMotion"
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Transition functions
Fig. 35: Monitoring function 4: "SS1, time-prioritized with NC-controlled
transition"
P‑0‑3255
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 4(+2a): "SS1, time- and standstill-prioritized with NC-con-
trolled transition (with trend monitoring)"
When the monitoring function 4(+2a) [SS1, time- and standstill-prioritized with
NC-controlled transition (with trend monitoring)] has been configured, the axis
is decelerated in an NC-controlled way when SS1 is selected. That is to say the
higher-level control unit decelerates the drive using the command value system
and removes drive enable at the end of the deceleration process.
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.
In addition to the time monitoring of the transition function "Safe stop 1",
the
exceeded velocity, the error "F7051 Safely-monitored deceleration " is reported
and the drive is set to standstill according to the parameterized error reaction
(P‑0‑3263.0.1) (see
the error reaction, the running transition time monitoring is neither aborted
nor retriggered. When the transition time (P-0-3280.0.2 or P-0-3280.0.3) has
elapsed, the error "F8350 Maximum transition time exceeded" is additionally
signaled independently of the status of the error reaction, and the safety func-
tion "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.
Bosch Rexroth AG
SMO: Velocity threshold for Safe standstill
⮫ Safety monitored deceleration (SMD)
⮫ Error reaction and escalation
is called. If the SMD detects an
strategy). With the start of
R911404905, Edition 02