ctrlX SAFETY "SafeMotion"
Acceleration scaling
With preferred scaling, the format is as follows:
● Rotary: 0.001 rad/s
2
● Linear, metric: 0.001 mm/s
2
●
Linear, inch: 0.00001 inch/s
2
●
Ramp time, s: 0.001 s
With parameter scaling, the number of decimal places of the scaled accelera-
tion values can be defined by means of P‑0‑3224.0.2.
Jerk scaling
The jerk data scaling type for "SafeMotion" is derived from the acceleration
scaling. It does not have individual scaling parameters. The jerk scaling takes
the unit and the exponent of the acceleration scaling. The time unit changes
from s
2
to s
3
.
Jerk scaling
With preferred scaling, the format is as follows:
● Rotary: 0.001 rad/s
3
●
Linear, metric: 0.001 mm/s
3
●
Linear, inch: 0.00001 inch/s
3
Modulo scaling
For the position data format, it is possible to choose between two formats
using the respective bit of "P‑0‑3222.0.1, SMO: Scaling type Position data“.
● Absolute format
● Modulo format
Switching the format of the position data from the absolute to the modulo
format does not have any effect on the monitoring functions of "SafeMotion".
The switching only serves to display the position values in the same format as
in the standard firmware. For this purpose, the corresponding modulo value
can be entered in parameter P-0-3221.0.6.
To achieve the synchronization of the position feedback values of the standard
firmware and of "SafeMotion", the standard firmware has to be referenced to
the position feedback value of "Safe Motion" (P-0-3257). There is no automatic
adjustment!
Correct generation of position and velocity is only ensured up to the following
limit velocity:
limit velocity = overflow limit / 2.5 ms
The overflow limit depends on the position data scaling type:
● " absolute format " (P‑0‑3222.0.1, bit 7="0")
Overflow limit = 2 × P-0-3221.0.7, SMO: Maximum travel range"
Example:
P‑0‑3221.0.7="36000°" (default value) ⇒ the limit velocity is
4,800,000 rpm
● "modulo format" (P‑0‑3222.0.1, bit 7="1")
Overflow limit = "P‑0‑3221.0.6, SMO: Modulo value"
Example:
P-0-3221.0.6=360° (default value) ⇒ the limit velocity is
24,000 rpm
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