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● In the "Oscillation velocity window of SMD" field, a tolerance velocity can
● In the "SMD reaction time" field, a time can be parameterized by which
● In the "Velocity window of SMD" field, parameterize the velocity tolerance
● In the "SMD delay" field, configure the value of the monitored deceleration
● In the "Jerk" field, configure the jerk below which the axis cannot fall in the
If no encoder has been configured for SafeMotion or "torque disable" has been
configured as the error reaction, SMD is not active (grayed out) during the
error reaction.
The section Drive reaction when deceleration monitoring triggers displays the
settings made in the dialog for changing the operating status, since these set-
tings also take effect in the SMD-E error reaction. For any adjustments use the
dialog for changing the operating status.
Pertinent parameters
● P–0–3263.0.1, SMO: Configuration of stopping process
● P–0–3263.0.6, SMO: Error reaction F3 tolerance time
● P–0–3263.0.7, SMO: Error reaction F7 tolerance time
● P–0–3263.0.2, SMO: Oscillation velocity window of SMD-E
● P–0–3263.0.3, SMO: SMD-E reaction time
● P–0–3263.0.4, SMO: Velocity window SMD-E
● P–0–3263.0.5, SMO: SMD-E deceleration
● P–0–3263.0.8, SMO: SMD-E jerk
● P–0–0117, Activation of control unit reaction on error
● P-0-0119, Best possible deceleration
Afterwards, the settings that were made have to be verified.
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.
Support functions
Via the "Support functions" dialog, the following support functions of SafeMo-
tion can be activated and parameterized:
R911404905, Edition 02
be parameterized by which the velocity may increase after an error was trig-
gered, until the command value system has adjusted to the error reaction.
The field is only provided when values unequal 0 have been parameterized in
the "SMD reaction time" field.
the deceleration monitoring has to be delayed so that the command value
system can react to an error occurring. Enter the value "0" if the delay is not
required.
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 opera-
tion of the axis. The field can also be used to mask possible oscillation until
standstill has been reached.
below which the axis cannot fall in the case of an error reaction. The actual
deceleration of the axis during the error reaction should be greater.
case of an error reaction. The actual jerk value of the axis during the error
reaction should be greater.
The value parameterized in the "Jerk" field is also taken into account in the
deceleration monitoring of the safety functions SLE/SLP.
ctrlX SAFETY "SafeMotion"
First use
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