Bosch rexroth ctrlX SAFETY SafeMotion - Page 186

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ctrlX SAFETY "SafeMotion"
First use
Bosch Rexroth AG
R911404905,
Edition 02
Setting the mechanical system
Fig. 80: Parameterizing the mechanical properties of the axis
The "Setting the mechanical system " dialog is only displayed when an encoder
was configured for the safety technology.
The mechanical properties of the axis are set in this dialog:
● In the "Maximum travel range" (P–0–3221.0.7) field, parameterize
the maximum possible travel range of the axis. According to the
"Position data processing format" that has been set, modulo format or
absolute format (see scaling dialog), the input is a unipolar value (modulo
format) or bipolar value (absolute format).
●
In the "Feed constant" (P–0–3221.0.4) field, specify the distance traveled by
the axis when the gear output shaft or motor shaft makes one revolution.
The field is only active with linear axes driven by a rotary motor.
●
In the "Input revolutions of load gearbox" (P–0–3221.0.2) and
"Output revolutions of load gearbox" (P–0–3221.0.3) fields, parameterize a
gearbox present between motor and load. For this purpose, enter the gear
ratio by using the number of integral motor revolutions (input revolutions)
and the corresponding number of integral gear output revolutions (output
revolutions). If no encoder gearbox is used, set both values to "1".
The field is only active with a rotary motor.
●
In the "Modulo value" (P–0–3221.0.6) field, specify at which numerical value
the position data overflow to 0 in the modulo mode. The entered value has
to be smaller than the value entered in "Maximum travel range".
The field is only active, when the "Position data processing format “ has
been set to modulo format (see scaling dialog).
● In the "Polarity (position, velocity, acceleration)" (P–0–3221.0.1) dialog sec-
tion, set the appropriate polarity for the machine axis depending on the
mounting situation.
– This applies to rotatory motors: Clockwise rotation of motor output shaft
(with view to the motor output shaft) causes positive velocity feedback
value (positive polarity).
– This applies to linear motors: Motion of primary part in the direction of
the cable connection side causes positive velocity feedback value (posi-
tive polarity).