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ctrlX SAFETY "SafeMotion"
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First use
● Based on actual velocity: The drive uses the actual velocity at selection as
In the section Drive reaction when deceleration monitoring triggers, select how
SafeMotion is to react to any violation of deceleration monitoring:
● The "Direct F7051/F8351" error reaction option immediately triggers the
● With "Warning E3151 with monitoring of incorrect distance", the warning
The settings in the section "Drive reaction when deceleration monitoring trig-
gers" take effect both when the operating status changes and in the case of
error reactions.
In the Max. transition times for transition ... section, configure the times
with which SafeMotion monitors the transitions between the operating states.
Within the times set here, the command value system of the drive must have
been adjusted to the new operating status.
Bosch Rexroth AG
start of deceleration monitoring is delayed, so that the command value
system can react to the selection. Enter the value "0" if the delay is not
required.
– The time in the "normal operation to Safe standstill" field takes effect
for all transition processes from normal operation to the special mode
"Safe standstill" (SMES, SMST1, SMST2).
– The time in the "normal operation to Safe motion" field takes effect
for all transition processes from normal operation to the special mode
"Safe motion" (SMMx, x=1...16). If no special mode "Safe motion" is used
in the axis, the value does not need to be adjusted.
– The time in the "between safe operation" field takes effect for all transi-
tion processes that start and end in the special mode.
the basis of the deceleration ramp and calculates the ramp. The following
parameters have to be configured:
– In the "Oscillation velocity window of SMD" field, a tolerance velocity can
be parameterized by which the velocity may increase after the selection,
until the command value system has adjusted to the transition. The field
is only provided when values unequal 0 have been parameterized in the
"SMD reaction time" field.
– In the "SMD delay time" field, a time can be parameterized by which the
deceleration monitoring has to be delayed so that the command value
system can react to the selection. Enter the value "0" if the delay is not
required.
– In the "Velocity window of SMD" field, parameterize the velocity tolerance
that at the start of the deceleration ramp is added to the current actual
velocity. The value has to be greater than the velocity noise during the
operation of the axis. The field can also be used to mask possible oscilla-
tion until the new target velocity has been reached.
– In the "SMD jerk" field, parameterize the jerk that is to be used to calcu-
late the deceleration ramp. This makes sense if the actual deceleration
shows jerk.
– In the "SMD delay" field, configure the value of the monitored decelera-
tion below which the axis cannot fall in the case of a transition. The
actual deceleration of the axis during the transition should be greater.
parameterized error reaction when the monitoring function is violated.
E3151 is generated when the monitoring function is violated, and monitoring
of the incorrect distance is activated. Parameterize the corresponding max-
imum incorrect distance via the "Monitoring window for Safe operating stop"
link.
R911404905, Edition 02
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