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ctrlX SAFETY "SafeMotion"
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Additional and auxiliary functions
Parameters involved
The
"limiting the positioning velocity" function:
● P‑0‑3218, SMO: Scaling factor for velocity limit value
● P‑0‑3219, SMO: Configuration of support functions
● P‑0‑3221.0.1, SMO: Polarity
● P‑0‑3223.0.1, SMO: Velocity data scaling type
● P‑0‑3223.0.2, SMO: Velocity data scaling exponent
● P‑0‑3238, SMO: Active velocity threshold
● S‑0‑0038, Positive velocity limit value
● S‑0‑0039, Negative velocity limit value
● S‑0‑0043, Velocity polarity parameter
● S‑0‑0044, Velocity data scaling type
● S‑0‑0045, Velocity data scaling factor
● S‑0‑0046, Velocity data scaling exponent
● S‑0‑0091, Bipolar velocity limit value
Diagnostic messages involved
With active limitation of the positioning velocity, the warning "E2049
Positioning velocity >= limit value" is output.
Function
How to use the function
With the "limiting the positioning velocity" function, it is possible, for drives
equipped with the optional safety technology module "M5" to activate an addi-
tional velocity limit value for the initial velocity of the operation mode.
The function can be activated via P‑0‑3219, bit 0="1". It is only possible to
activate the function if the scaling of the standard firmware and of the safety
technology firmware is identical.
Scaling type: P‑0‑3223.0.1 = S‑0‑0044
Scaling factor: S‑0‑0045="1"
Scaling exponent: P‑0‑3223.0.2 = S‑0‑0046
Polarity: P‑0‑3221.0.1 = S‑0‑0043 (bit 0)
Monitoring functions
The limitation of the target velocity in the standard firmware is supposed
to prevent the monitoring functions of "Safe Motion" from triggering. For
this purpose, the active velocity threshold (P-0-3238) is read. The threshold
and the scaling factor for the velocity limit value are used for calculation
(P-0-3218: 0 .. 100%). The velocity limit value is determined as follows:
Velocity limit value = P‑0‑3238 × P‑0‑3218 / 100
Legend:
P‑0‑3218: SMO: Scaling factor for velocity limit value
P‑0‑3238: SMO: Active velocity threshold
With the "limiting the positioning velocity" function active, the velocity limit
value is furthermore reduced by at least the velocity threshold for safe stand-
still (P-0-3255) compared to the active velocity threshold.
In addition, the limitation to the bipolar velocity limit value (S-0-0091) or
S‑0‑0038/S‑0‑0039 is carried out.
With active limitation of the positioning velocity, the warning "E2049
Positioning velocity >= limit value" is output.
Bosch Rexroth AG
following
parameters
are
used
in
conjunction
with
the
R911404905, Edition 02
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