ctrlX SAFETY "SafeMotion"
Transition to the safe state
Monitoring function 1: "SS2, standstill-prioritized with drive-controlled transi-
tion"
When the monitoring function 1 (SS2, standstill-prioritized with drive-con-
trolled transition) has been configured, the axis is decelerated in a drive-con-
trolled way when SS2 is selected. That is to say the drive makes itself inde-
pendent of the command value input of the control unit and is decelerated via
the "Drive Halt" function of the standard firmware (see also Functional Descrip-
tion of firmware "Drive Halt").
To monitor the standstill process, the transition function "Safe stop 2 (SS2)"
calls the ⮫ Transition function "Safely-monitored deceleration based on
actual velocity". If the SMD detects that the velocity is exceeded,
the error “F7051 Safely-monitored deceleration exceeded“ or "F8351
Safely-monitored deceleration " [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 escala-
tion strategy).
With the auxiliary function "⮫ limitation of the positioning velocity", it is pos-
sible to monitor and, if necessary, limit the velocity command value effective in
the drive to the active velocity threshold (P‑0‑3238).
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 "⮫ limitation of the positioning velocity", it is pos-
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 deceleration process is completed within the parameter-
ized transition time (P-0-3280.0.2 or P-0-3280.0.3). If the transi-
tion is not completed within the parameterized transition time,
the error “F7050 Maximum transition time exceeded" 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 escala-
tion strategy).
⇒ The maximum time between the selection of the transition function
"Safe stop 2 (SS2)" and reaching of the safe standstill ("SOS" in case of an
error-free transition or "STO" in case an error occurs) is dependent on the
transition! The maximum time can be prolonged by the time parameterized
in P‑0‑3263.0.7 if an error occurs. In case of a configured 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 "Safe stop 2 (SS2)" is completed with the selection of
the safety function "Safe operating stop (SOS)".
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