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Selecting the transition function
If the safety function "Safe torque off" (STO) has been configured, but
is not active, the transition function "Safe stop 1 (SS1)" can be acti-
vated via the active "Safe Motion" profile using the parameter "P‑0‑3264,
SMO: Safety function selection".
Transition to the safe state
Monitoring function 1: "SS1, standstill-prioritized with drive-controlled transi-
tion"
When the monitoring function 1 (SS1, standstill-prioritized with drive-con-
trolled transition) has been configured, the axis is decelerated in a drive-
controlled way when SS1 is selected. That is to say the drive makes itself
independent of the command value input of the control unit and is deceler-
ated by the standard firmware in accordance with the parameterization of
"P-0-3263.0.1, SMO: Configuration of stopping process" (bit 0‑3) set to stand-
still by the standard firmware. At the end of the deceleration process, drive
enable is removed.
To monitor the deceleration process, the
tion (SMD)
".
error
Safely-monitored
(P‑0‑3263.0.1)] is reported and the drive is set to standstill according to the
parameterized error reaction (P‑0‑3263.0.1) (see
tion
The currently active velocity monitoring limit of Safe Motion is displayed in
"P‑0‑3238, SMO: Active velocity threshold. With this parameter it is possible to
check in the control unit whether the velocity command values are within the
allowed limits.
With the auxiliary function
sible to monitor and, if necessary, limit the velocity command value effective in
the drive to the active velocity threshold (P‑0‑3238).
In parallel with velocity monitoring, the SMD also monitors that the decel-
eration process is completed within the parameterized transition time
(P-0-3280.0.2 or P-0-3280.0.3). If the transition is not completed within the
parameterized transition time, the error "F7050 is signaled and the safety func-
tion Safe torque off is activated" or "F8350 Maximum transition time exceeded"
[only for F3 equal to F7 reaction (P‑0‑3263.0.1)] is reported and the drive is set
to standstill according to the parameterized error reaction (P‑0‑3263.0.1) (see
⮫ Error reaction and escalation
⇒ The maximum time between the selection of the transition function
"Safe stop 1 (SS1)" and activating of the safety function Safe torque off (STO)
depends on the transition progress! The maximum time can be prolonged by
the time parameterized in P‑0‑3263.0.7 if an error occurs. In case of a config-
ured F7 error reaction ="Torque enable" (P‑0‑3263.0.1) or direct switching to
the F8 error reaction (F3 reaction=F7 reaction in P‑0‑3263.0.1), the time is not
prolonged.
If the SMD acknowledges the transition process without error, the transition
by the transition function SS1 is completed with the selection of the safety
function STO.
R911404905, Edition 02
is called by the transition function "Safe stop 1 (SS1)
If
the
SMD
detects
"F7051
Safely-monitored
deceleration
strategy).
ctrlX SAFETY "SafeMotion"
Transition functions
⮫ Safely-monitored decelera-
that
the
velocity
deceleration
"
[only
for
F3
⮫ Error reaction and escala-
"⮫ limitation of the positioning
strategy).
93 / 302
is
exceeded,
the
exceeded"
or
"F8351
equal
to
F7
reaction
velocity", it is pos-
Bosch Rexroth AG
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