Bosch rexroth ctrlX SAFETY SafeMotion Applications Manual page 96

ctrlX SAFETY "SafeMotion"
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Transition functions
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 before the
transition time is over, the error "F7050 Maximum transition time exceeded"
is signaled. The drive keeps being decelerated in accordance with the para-
meterized error reaction (P-0-3263.0.1) (see
strategy).
⇒ 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 "Safe torque off (STO)".
Fig. 32: Monitoring function 2b: "SS1, standstill-prioritized with NC-controlled
transition (based on actual velocity)"
*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
Bosch Rexroth AG
"⮫ limitation of the positioning
SMD executed on the basis of the actual velocity
SMO: Velocity threshold for Safe standstill
velocity", it is pos-
⮫ Error reaction and escalation
R911404905, Edition 02