ctrlX SAFETY "SafeMotion"
Transition function "Safely-monitored deceleration in the case of error (based
on actual velocity)"
When the transition function Safely-monitored deceleration in the case of error
(based on actual velocity) (SMD-E) is selected by a safety technology error
or a safety technology warning, the axis is decelerated in a drive-controlled
way; i.e. the drive makes itself independent of the command value input of the
control unit and is decelerated by the standard firmware in accordance with
the parameterization in “P-0-3263.0.1, SMO: Configuration of stopping process.
At the end of the deceleration process, drive enable is removed.
The “SMD-E” monitors via two channels to find out whether the actual velocity
is within the velocity envelope curve (P‑0‑3238). Using the deceleration ramp
(P-0-3263.0.5) with jerk limitation (P‑0‑3263.0.8), the drives generates the
velocity envelope curve. The drive calculates the start value of the velocity
envelope curve from the current actual velocity plus a tolerance (P-0-3263.0.2).
When the actual velocity leaves the velocity envelope curve (P-0-3238), one
of the following errors is signaled and the drive keeps being decelerated in
accordance with the parameterized error reaction (P-0-3263.0.1) (see ⮫ Error
reaction / escalation strategy):
●
"SMD‑E" in case of F3 error: “F7051
Safely-monitored deceleration exceeded“ or “F8351
Safely-monitored deceleration exceeded“ [only in case of F3 equal to F7
reaction (P‑0‑3263.0.1)]
NOTE: If the monitoring limit of the “Safe maximum velocity (SMS)"
(P‑0‑3270.0.2) or an active “Safely limited velocity (SLS)" (P‑0‑3290.x.2) is
below the calculated velocity envelope curve (P‑0‑3238), the envelope curve
acts as monitoring limit. When exceeding the monitoring limit, the safety
function reports an error.
● "SMD‑E" in case of F7 error: "F8351
Safely-monitored deceleration exceeded".
To compensate transient oscillation processes to standstill or to compensate
motions after the output stage was switched off, it is also possible to configure
that the axis moves by a parameterizable distance after the velocity envelope
curve (P-0-3238) has been exceeded. The warning E3151 is triggered during
this motion (see ⮫ Compensating transient oscillation processes).
In parallel with velocity monitoring, the “SMD-E" in case of F3 and F7 errors
also monitors that the transition process is completed within the parameter-
ized transition time (P-0-3263.0.6 or P-0-3263.0.7). If the transition is not com-
pleted within the parameterized transition time, one of the following errors
is signaled and the drive keeps being decelerated in accordance with the
parameterized error reaction (P-0-3263.0.1) (see ⮫ Error reaction / escalation
strategy):
●
"SMD‑E" in case of F3 error: “F7050 Maximum transition time exceeded“ or
“F8350 Maximum transition time exceeded“ [only in case of F3 equal to F7
reaction (P‑0‑3263.0.1)]
● "SMD‑E" in case of F7 error: “F8350 Maximum transition time exceeded“
For F3/F7 errors, the transition is monitored as follows:
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