Bosch rexroth ctrlX SAFETY SafeMotion Applications Manual page 101

ctrlX SAFETY "SafeMotion"
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Transition functions
The currently active velocity monitoring limit of Safe Motion is displayed in
"P‑0‑3238, SMO: Active velocity threshold. With this parameter it is possible to
check in the control unit whether the velocity command values are within the
allowed limits.
With the auxiliary function "⮫ limitation of the positioning velocity", it is pos-
sible to monitor and, if necessary, limit the velocity command value effective in
the drive to the active velocity threshold (P‑0‑3238).
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. 36: Monitoring function 4(+2a): "SS1, time- and standstill-prioritized with
NC-controlled transition (with trend monitoring)"
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 4(+2b): "SS1, time- and standstill-prioritized with NC-con-
trolled transition (based on actual velocity)"
When the monitoring function 4(+2b) [SS1, time- and standstill-prioritized with
NC-controlled transition (based on actual velocity)] 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" is activated.
R911404905, Edition 02 Bosch Rexroth AG