ctrlX SAFETY "SafeMotion"
F3xxx or E83xx F7xxx F83xx
Torque disable
*1)
Torque disable
*1)
*1)
: Brake is controlled, if available
NC reaction on F3 error
To avoid damage to the machine, it may be required that the master (e.g., NC)
retains control of the travel profile of the axes even in the case of error and
decelerates the machine axes in a coordinated way. For this case, the option
"NC reaction on F3 errors" can be activated. The master is informed of an error
via the drive status word (S-0-0135) so that the master can decelerate the
machine axes in a coordinated way and therefore avoid any damage.
For the "NC reaction on F3 error", it is recommended to configure the safety
function "Safe maximum speed".
The error reactions available in the functional drive "NC reaction on F4 error"
and "NC reaction on F6/F7 error" are not supported by "SafeMotion" and the
transition command error "C8814 SMO: configuration faulty" is reported.
Error reaction times of "SafeMotion"
The generally valid maximum time from the occurrence of a safety technology
error to the standstill of the axis or torque disable is calculated as follows:
"Error reaction F3 tolerance time" + "Error reaction F7 tolerance time" =
P‑0‑3263.0.6 + P‑0‑3263.0.7
The table below shows the exact calculations of the reaction times, depending
on the axis configuration:
Configuration options
(P‑0‑3263.0.1)
Reaction times
Assumed scenarios
F3 reaction /
E83 reaction
F7 reaction
t
F3 reaction
t
F7 reaction
total
NC reaction on
F3 errors
Velocity com-
mand value
reset with ramp
and filter
(emergency
stop)
t
P‑0‑3263.0.6
t
P‑0‑3263.0.3
+ v
x
*1)
/
a
P‑0‑3263.0.5
+ (3 ×
a
P‑0‑3263.0.5
/ j
P‑0‑3253.0.8
)
(maximum t
P‑0‑3263.0.7
)
t
F3 reaction
+
t
F7 reaction
At the end of the
F3 reaction, the
axis moves with the
velocity v
x
*1)
.
⇒ F7 error
For the F7 reaction,
the axis needs the
entire parameterized
time and ramp until
standstill.
Velocity com-
mand value
reset (emer-
gency stop)
t
P‑0‑3263.0.3
+ v
x
*1)
/
a
P‑0‑3263.0.5
(maximum t
P‑0‑3263.0.7
)
Torque disable Immediately t
F3 reaction
At the end of the F3
reaction, the axis is
not yet in standstill.
⇒ F7 error with
torque disable.
Velocity com-
mand value
reset with inac-
tive SMO
encoder evalua-
tion
*2)
t
P‑0‑3263.0.7
t
F3 reaction
+
t
F7 reaction
At the end of the F3
reaction, the axis is
not yet torque-free.
⇒ F7 error
For the F7 reaction,
the axis needs the
entire parameterized
time.
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