ctrlX SAFETY "SafeMotion"
Fig. 42: Transition function "Safely-monitored deceleration with ramp-based trend monitoring"
P‑0‑3255 SMO: Velocity threshold for Safe standstill
P‑0‑3290.x.2 SMO: Safely-limited speed
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
P‑0‑3280.0.4 SMO: Max. transition time normal oper. to safe motion
P‑0‑3280.0.9 SMO: SMD deceleration
The "Safely-monitored deceleration with ramp-based trend monitoring" is termi-
nated before the parameterized transition time is over, as soon as one of the
following conditions has been fulfilled:
−
The actual velocity is within the velocity window of the selected safety
function and drive enable has been removed.
−
In case of an NC-controlled transition, the control unit signals the end of
the transition process via the “NC-Ready” signal (P‑0‑3261.0.1).
The “NC-Ready” signal is evaluated dynamically, i.e. in an edge-triggered
way. The safety technology detects a valid edge (0-1 transition), if the signal
previously had been "0” for at least 10 ms.
If the transition process is terminated ahead of time via the "NC-Ready"
signal, although the target velocity of the selected safety function has not
yet been reached, the error “F7052 Selected target velocity exceeded is
generated and the drive is decelerated.
−
An SMM safety function is selected from normal operation, when the option
"Immediate switching NO to motion mode" was configured in “P-0-3280.0.1,
SMO: Configuration of operation mode transitions" and this is possible due
to the system properties (selected velocity window and selected direction
of motion are complied with) (see ⮫ "Immediate switching" option).
− A different SMM safety function is selected from an active SMM
safety function, when the option "Immediate switching" within
special mode "Safe motion" was configured in “P-0-3280.0.1,
SMO: Configuration of operation mode transitions" and this is possible due
to the system properties (selected velocity window and selected direction
of motion are complied with) (see ⮫ "Immediate switching" option).
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