ctrlX SAFETY "SafeMotion"
The SMD deceleration monitoring can be optionally activated (“With
deceleration monitoring in SIL2” check box); this does not increase the tran-
sition time, and considered as a whole the deceleration can still be achieved
up to SIL3.
● SS1 deceleration / standstill-prioritized: The SMD deceleration monitoring
is active. Through the escalation strategy, SafeMotion tries to reach axis
standstill even in the case of error which may cause the deceleration time to
be increased; deceleration can be achieved up to SIL2.
In the Transition to SMM section, select additional settings
for the transition to the special mode "Safe motion". In the
"Max. Tolerance time for differing selection SMM" field, enter the maximum
time during which the selection of SMMx (x=1...16) is allowed to be invalid
(e.g., multiple SMM mode selectors simultaneously activated) without an error
being generated. If no special mode "Safe motion" is used in the axis, the value
does not need to be adjusted.
When the “Immediate switching within SMM” check box is activated, the axis,
for transition processes from one SMM to another SMM, switches to the new
SMM before the transition time is over, as soon as all conditions (velocity,
direction of motion,..) have been fulfilled.
When the “Immediate switching NO to SMM” check box is activated, the axis,
for transition processes from normal operation (NO) to an SMM, switches to
the SMM before the transition time is over, as soon as all conditions (velocity,
direction of motion,..) have been fulfilled. When SafeMotion has been config-
ured without an encoder, the "Transition to SMM" section is not active (grayed
out).
In the Safely-monitored deceleration (SMD) section, configure the SMD safety
function. The SMD safety function allows transition processes to a special
mode to be monitored.
The SMD does not become active in the following cases:
●
If SafeMotion has been configured without an encoder. In this case, the
"Safely-monitored deceleration (SMD)" section is not active (grayed out).
●
In the case of transitions to standstill, when only "SS1 time-prioritized
(SIL3)" has been configured, without the option "With deceleration moni-
toring in SIL 2".
The type of SMD monitoring can be separately configured for transitions to
standstill (SMES, SMST1, SMST2) and to the safe motions (SMMx, x=1...16). It
is possible to choose between the following options:
●
With trend monitoring: The drive calculates the deceleration ramp in such a
way that at the end of the transition time it complies with the new velocity
window. The following fields have to be configured:
– In the "SMD delay" field, configure the value of the monitored decelera-
tion below which the axis cannot fall in the case of a transition. The
actual deceleration of the axis during the transition should be greater.
● Trend monitoring on time basis: The drive uses the velocity thresholds of
the active operating status and of the selected operating status as the basis
of the deceleration ramp and calculates the ramp. In the section Reaction
times for trend monitoring on time basis, parameterize times by which the
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