Bosch rexroth ctrlX SAFETY SafeMotion Applications Manual page 42

ctrlX SAFETY "SafeMotion"
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Scaling system
Table 10: Encoder/scaling configuration of SafeMotion
Physical encoder type
(P‑0‑3242.x.1)
Rotary encoder
Linear encoders
When switching from configuration mode (CM) to parameterization mode (PM),
the encoder/scaling configuration is checked for admissibility. In case of an
inadmissible configuration, command error C8215 is generated.
Polarity
The polarity of the position, velocity and acceleration data can be adjusted with
P-0-3221.0.1. Depending on the mounting situation, this allows the appropriate
polarity of the respective data for the machine axis to be determined.
The polarity can only be set consistently for all scaling types (position, velocity,
acceleration).
Mechanical system
With the mechanics elements "load gear" and "feed constant", the mechanical
transfer elements between motor and the point where the load takes effect can
be represented in the drive.
Via the load gear, gear ratios or reduction ratios between the motor shaft
[P‑0‑3221.0.2 (input revolutions, motor-side)] and the load [(P‑0‑3221.0.3
(output revolutions, load-side)] can be represented.
If a linear load is driven by a rotary motor, the corresponding gear ratio has to
be written by the feed constant (mm/rev) (P‑0‑3221.0.4).
The parameter P-0-3221.0.7, defines the maximum mechanical travel distance
of the machine. Depending on P‑0‑3221.0.7, the internal resolution is set in
"SafeMotion", which influences the monitoring precision. To achieve the highest
possible precision, P‑0‑3221.0.7 should be set to the smallest possible value
for the application.
Bosch Rexroth AG
Mounting position Data reference
(P‑0‑3252.1.2) (position:
P‑0‑3222.0.1,
velocity:
P‑0‑3223.0.1,
acceleration:
P‑0‑3224.0.1)
mounted on motor at the motor shaft Rotary
side
at the load
mounted on load at the motor shaft Rotary
side
at the load
mounted on motor at the motor shaft Rotary
side
at the load
mounted on load at the motor shaft Rotary
side
at the load
Scaling type Configuration
(position:
P‑0‑3222.0.1,
velocity:
P‑0‑3223.0.1,
acceleration:
P‑0‑3224.0.1)
√
Linear -
√
Rotary
√
Linear
-
Linear -
√
Rotary
√
Linear
-
√
Linear
Rotary -
Linear -
-
Linear -
Rotary -
√
Linear
R911404905, Edition 02