Bosch rexroth ctrlX SAFETY SafeMotion Applications Manual page 185

The "Scaling and units " dialog is only displayed when an encoder was config-
ured for the safety technology.
In this dialog, set the scalings and units.
Position scaling
For the position data scaling type, set either linear or rotary scaling. Besides
the data reference and the processing format, set whether the data are avail-
able in preferred scaling or user-defined scaling (parameter scaling).
With preferred scaling, only the unit needs to be parameterized (exponent and
rotational position resolution are grayed out).
With rotary parameter scaling, only the rotational position resolution and the
unit take effect, the exponent is grayed out.
With linear user-defined scaling, the exponent and the unit can be input and
the rotational position resolution is only displayed.
Pertinent parameters
● P–0–3222.0.1, SMO: Position data scaling type
● P–0–3222.0.2, SMO: Transl. position data scaling exponent
● P–0–3222.0.3, SMO: Rotational position resolution
Velocity scaling
For the velocity scaling, all edit fields can be edited, except for the exponent
that can only be changed with user-defined scaling.
Pertinent parameters
● P–0–3223.0.1, SMO: Velocity data scaling type
● P–0–3223.0.2, SMO: Velocity data scaling exponent
Acceleration scaling
For the acceleration scaling, the "ramp time " scaling type can be set besides
the linear and rotary scaling types. Only when the ramp time has been set can
a value for the ramp reference velocity be input. All other edit fields can always
be selected, except for the exponent that can only be edited with user-defined
scaling.
Pertinent parameters
● P–0–3224.0.1, SMO: Acceleration data scaling type
● P–0–3224.0.2, SMO: Acceleration data scaling exponent
● P–0–3224.0.3, SMO: Ramp reference velocity for acceleration data
The following restrictions have to be observed for the parameter setting:
−
−
Afterwards, the settings that were made have to be verified. (If the SMO
encoder parameters were applied from the standard firmware using the com-
mand, they only need to be verified in this dialog.)
With the parameter verification, it is necessary to check/verify whether the
parameterization active in the drive complies with the parameters intended or
configured for this axis.
The parameter verification is carried out in ctrlX DRIVE Engineeringvia the
bottom sections of the SafeMotion dialogs ("verification display").
Go to the next commissioning dialog by using the "Next >>" button.
R911404905, Edition 02
Data reference at the motor shaft with load encoder: not permitted
The data reference (motor or load) has to be the same for SMO scaling
types position, velocity and acceleration
ctrlX SAFETY "SafeMotion"
First use
Bosch Rexroth AG
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