Bosch rexroth ctrlX SAFETY SafeMotion Applications Manual page 206

ctrlX SAFETY "SafeMotion"
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First use
● Limiting the positioning velocity
● Scaling setting validation check
● Command value monitoring in Safe operating stop (SOS)
The support functions affect the configuration and parameterization of
SafeMotion, and therefore do not need to be verified.
Fig. 97: Activating and parameterizing support functions of SafeMotion
Limiting the positioning velocity
To use the support function "Limiting the positioning velocity", activate the
function via the check box "Limitation of positioning velocity active". After-
wards, a scaling factor for the positioning velocity limit value (P-0-3218) can be
entered. The limit value for the positioning velocity results from the product of
the active velocity threshold of SafeMotion (P-0-3238) and the scaling factor.
The limit value for the positioning velocity is reduced by at least "P-0-3255,
SMO: Velocity threshold for Safe standstill as compared to the active velocity
threshold.
The scaling factor for the positioning velocity limit value can also be changed
during operation, without entering the SafeMotion password.
Pertinent parameters
● P‑0‑3218, SMO: Scaling factor for velocity limit value
● P‑0‑3219, SMO: Configuration of support functions
● P‑0‑3238, SMO: Active velocity threshold
Scaling setting validation check
For SafeMotion, the polarity for position, velocity, acceleration, force/torque is
set to an identical value.
Bosch Rexroth AG R911404905, Edition 02