Bosch rexroth ctrlX SAFETY SafeMotion - Page 53

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ctrlX SAFETY "SafeMotion"
Diagnostic system
Bosch Rexroth AG
R911404905,
Edition 02
Configuration options
(P‑0‑3263.0.1)
Reaction times
Assumed scenarios
F3 reaction /
E83 reaction
F7 reaction
t
F3 reaction
t
F7 reaction
total
Return motion Velocity com-
mand value
reset with ramp
and filter
(emergency
stop)
t
P‑0‑3263.0.3
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
reaction time of
the F3 reaction, the
axis moves with the
velocity v
x
*1)
and
exceeds the deceler-
ation ramp.
⇒ 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
)
Velocity com-
mand value
reset with ramp
and filter
(quick stop)
Velocity com-
mand value
reset with ramp
and filter
(emergency
stop)
t
P‑0‑3263.0.3
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
reaction time of
the F3 reaction, the
axis moves with the
velocity v
x
*1)
and
exceeds the deceler-
ation ramp.
⇒ 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
)
Velocity com-
mand value
reset with ramp
and filter
(emergency
stop)
Velocity com-
mand value
reset with ramp
and filter
(emergency
stop)
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‑0‑3263.0.6
)
not applicable; F8 error
is signaled due to an F3
≙ F7 reaction
t
F3 reaction
For the F3 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
t
P‑0‑3263.0.3
+ v
x
*1)
/
a
P‑0‑3263.0.5
(maximum t
P‑0‑3263.0.7
)
t
F3 reaction
+
t
F7 reaction
At the end of the
reaction time of
the F3 reaction, the
axis moves with the
velocity v
x
*1)
and
exceeds the deceler-
ation ramp.
⇒ 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)
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‑0‑3263.0.6
)
not applicable; F8 error
is signaled due to F3 ≙
F7 reaction
t
F3 reaction
For the F3 reaction,
the axis needs the
entire parameterized
time and ramp until
standstill.
Functional principle