Bosch rexroth ctrlX SAFETY SafeMotion - Page 39

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ctrlX SAFETY "SafeMotion"
Scaling system
Bosch Rexroth AG
R911404905,
Edition 02
There are no scaling parameters for times, 2 fixed scalings were defined:
− Time in milliseconds: Decimal places "0", unit "ms", display format "decimal,
unsigned", data length "4 bytes"
−
Time in seconds: Decimal places "3", unit "s", display format "decimal,
unsigned", data length "4 bytes"
Position scaling
The scaling type of the position data for "SafeMotion" can be set in
P-0-3222.0.1. The position values are set in "degrees" for rotary scaling and
in "mm" or "inch" for linear scaling. The data reference can be at the motor
shaft or at the load. The incremental scaling, as in the standard firmware, is not
supported.
Position scaling
With preferred scaling, the format is as follows:
● Rotary: 0.0001 degrees
●
Linear, metric: 0.0001 mm
●
Linear, inch: 0.000001 inch
With parameter scaling, the number of decimal places of the scaled position
values can be defined with the following parameters:
● translational scaling: "P‑0‑3222.0.2,
SMO: Transl. scaling exponent Position data"
●
rotary scaling: "P‑0‑3222.0.3, SMO: Rotational position resolution"
Velocity scaling
The scaling type of the velocity data for "SafeMotion" can be set in
P-0-3223.0.1. The velocity values are set in rpm, rev/s for rotary scaling and
in mm/min, mm/s, inch/min, inch/s for linear scaling. The data reference can be
at the motor shaft or at the load. The incremental scaling, as in the standard
firmware, is not supported.
Velocity scaling
With preferred scaling, the format is as follows:
●
Rotary: 0.0001 rpm or 0.000001 rev/s
● Linear, metric: 0.001 mm/min
● Linear, inch: 0.00001 inch/min
With parameter scaling, the number of decimal places of the scaled velocity
values can be defined by means of P‑0‑3224.0.2.
Acceleration scaling
The scaling type of the acceleration data for "SafeMotion" can be set in
P-0-3224.0.1. The acceleration values are set in rad/s
2
for rotary scaling, in
mm/s
2
, inch/s
2
for linear scaling and in s for "ramp time".
With the "ramp time" scaling type, the scaling can be defined by means of
“P-0-3224.0.3, SMO: Ramp reference velocity for acceleration data“.
The data reference can be at the motor shaft or at the load. The incremental
scaling, as in the standard firmware, is not supported.
Functional principle