Table of Contents
Advertisement
The
SMO: Maximum activation time of enabling control defines the maximum
allowed time for activating the enabling control. The enabling control has to
be deactivated after the parameterized time is over. The time is effective when
the mode selector and an SMM mode selector have been activated in addition
to the enabling control.
When the transition has been completed, the safety function
velocity
safety functions have been configured, they become active, too.
Diagnostics
When the axis is in the special mode "Safe motion x" (SMMx), it acknowledges
this via the diagnostic status message "A03xx Special mode Safe motion xx
active" (1 to 16).
In the "operating mode" (OM) it is possible to identify whether a special mode
"Safe motion x" (SMMx) is active or not. Apart from the respective SMM bit
(P-0-3231, bit 3-18), the status of the following bits has to be evaluated:
● SMESStatus (P‑0‑3231, bit 1)
● SMSTStatus (P‑0‑3231, bit 2)
● SafetyError (P‑0‑3231, bit 25)
● SafetyStatus (P‑0‑3237, bit 0)
If all these bits (incl. SMMx) are set to "0", the drive is in normal operation.
If only "SafetyStatus"="1", SMMx is active.
If "SafetyStatus"="1" and if another bit is ="1", SMMx is not active.
In the "parameterization mode" (PM), SafeMotion only signals the following
states via the safety bus:
● Safety technology error [SafetyError (P‑0‑3231, bit 25)]
● Encoder standstill [EncoderStandstill (P‑0‑3256, bit 6)]
● Safety status [SafetyStatus (P‑0‑3237, bit 0)]
The safety status of the axis is only signaled if encoder standstill has been
reached and no safety technology error (preventing a safety acknowledgment)
is active and the mode selector (MS) or Emergency stop (SMES) has been
selected. That is to say in the "parameterization mode" it is not sensible to
evaluate the status bits for SMM, SMST and SMES, since SafeMotion does not
acknowledge such a selected state.
Using the parameter P-0-3262, it is possible to read out whether a selection for
the special mode "Safe motion" exists.
Using the status bits of P-0-3231, the safety technology signals whether a spe-
cial mode "Safe motion" is presently active or not.
R911404905, Edition 02
value
parameterized
Dangerous movements! Danger to life, risk of injury,
WARNING
serious injury or property damage by switching off the
monitoring of the activation time!
It is possible to do without the monitoring of the activa-
tion time, if it is not common practice to use an enabling
control in an industrial sector and if constant motion
does not represent any danger. The machine manufac-
turer is responsible for the monitoring of the activation
time and their risk analysis has to show their responsi-
bility. With "P‑0‑3290.x.6, SMO: Maximum activation time
of enabling control "="0, the time monitoring of the spe-
cial mode "Safe motion" is deactivated (x=1...16). Too
long monitoring times cause hazards, too.
(SLS)" is always executed in the special mode "Safe motion". If other
ctrlX SAFETY "SafeMotion"
SafeMotion profiles
in
"P‑0‑3290.x.6,
"⮫ Safely limited
Bosch Rexroth AG
67 / 302
Advertisement
Table of Contents
