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ctrlX SAFETY "SafeMotion"
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Transition functions
Fig. 30: Monitoring function 1: "SS1, standstill-prioritized with drive-controlled
transition"
*1)
P‑0‑3255
P‑0‑3280.0.2 SMO: Max. Transition time normal oper. to safe standstill
P‑0‑3280.0.3 SMO: Max. Transition time between safe operating states
Monitoring function 2a: "SS1, standstill-prioritized with NC-controlled transi-
tion (with trend monitoring)"
When the monitoring function 2a [SS1, standstill-prioritized with NC-controlled
transition (with trend monitoring)] has been configured, the axis is deceler-
ated in an NC-controlled way when SS1 is selected. That is to say the higher-
level control unit decelerates the drive using the command value system and
removes drive enable at the end of the deceleration process.
To monitor the deceleration process, the
(SMD)
detects an exceeded velocity, the error "F7051 Safely-monitored deceleration
" is reported and the drive is set to standstill according to the parameterized
error reaction (P‑0‑3263.0.1) (see
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
the deceleration process is completed within the parameterized tran-
sition
completed within the parameterized transition time, the error "F7050
Maximum transition time exceeded" is signaled. The drive keeps being deceler-
ated in accordance with the parameterized error reaction (P-0-3263.0.1) (see
⮫ Error reaction and escalation
Bosch Rexroth AG
SMD executed on the basis of the actual velocity
SMO: Velocity threshold for Safe standstill
is called by the transition function "Safe stop 1 (SS1)". If the SMD
parallel
with
velocity
time
(P-0-3280.0.2
⮫ Safely-monitored deceleration
⮫ Error reaction and escalation
"⮫ limitation of the positioning
monitoring,
the
SMD
or
P-0-3280.0.3).
If
strategy).
strategy).
velocity", it is pos-
also
monitors
that
the
transition
is
not
R911404905, Edition 02
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