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ctrlX SAFETY "SafeMotion"
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Transition functions
● Section 3: "Monitoring the velocity window of the selected safety function"
The parameters involved can be used to adjust the monitoring function to dif-
ferent applications; primarily, this can be accomplished with P‑0‑3280.0.7 and
P‑0‑3280.0.9.
The "Safely-monitored deceleration based on actual velocity" is terminated
before the parameterized transition time is over, as soon as one of the fol-
lowing conditions has been fulfilled:
−
−
−
−
Bosch Rexroth AG
SMO: SMD jerk). The drive calculates the start value of the velocity enve-
lope curve from the current actual velocity, plus the tolerance defined by
"P-0-3280.0.8, SMO: Velocity window of SMD".
If a jerk greater than "0" has been set in "P-0-3280.0.10, SMO: SMD jerk, the
deceleration ramp for limiting the jerk is filtered via a PT1 element. The time
constant of the filter can be determined as follows:
T
= P‑0‑3280.0.9 / P‑0‑3280.0.10
PT1
NOTE: Via P-0-3280.0.8 and P-0-3280.0.10, the transient oscillation of the
velocity to the new target velocity is made possible.
NOTE: If the monitoring limit of the "Safe maximum velocity (SMS)"
(P‑0‑3270.0.2) or an active "Safely limited velocity (SLS)" (P‑0‑3290.x.2) is
below the calculated velocity envelope curve (P‑0‑3238), the envelope curve
acts as monitoring limit. When exceeding the monitoring limit, the safety
function reports an error.
until switching to the selected safety function takes place:
After the velocity envelope curve (P-0-3238) has reached the velocity
window of the selected safety function ("P-0-3255, SMO: Velocity threshold
for Safe standstill" or "P‑0‑3290.x.2, SMO: Safely-limited speed"), moni-
toring continues until switching that the actual velocity is smaller than the
velocity window.
NOTE: To compensate transient oscillation processes to standstill or to com-
pensate motions after the output stage was switched off, it is also possible
to configure that the axis moves by a parameterizable distance after the
velocity envelope curve (P-0-3238) has been exceeded. The warning E3151
is triggered during this motion (see
processes).
The actual velocity is within the velocity window of the selected safety
function and drive enable has been removed.
In case of an NC-controlled transition, the control unit signals the end of
the transition process via the "NC-Ready" signal (P‑0‑3261.0.1).
The "NC-Ready" signal is evaluated dynamically, i.e. in an edge-triggered
way. [The safety technology detects a valid edge (0-1 transition), if the
signal previously had been "0" for at least 10 ms.]
If the transition process is terminated ahead of time via the "NC-Ready"
signal, although the target velocity of the selected safety function has not
yet been reached, the error "F7052 Selected target velocity exceeded" is
generated and the drive is decelerated.
An SMM safety function is selected from normal operation, when the option
"Immediate switching NO to motion mode" was configured in "P-0-3280.0.1,
SMO: Configuration of operation mode transitions" and this is possible due
to the system properties (selected velocity window and selected direction
of motion are complied with) (see
An
SMM
safety
function
safety
function,
when
special
mode
"Safe
SMO: Configuration of operation mode transitions" and this is possible due
to the system properties (selected velocity window and selected direction
of motion are complied with) (see
⮫ Compensating transient oscillation
⮫ "Immediate switching"
is
selected
from
the
option
"Immediate
motion"
was
configured
⮫ "Immediate switching"
option).
an
active
SMM
switching"
within
in
"P-0-3280.0.1,
option).
R911404905, Edition 02
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