ctrlX SAFETY "SafeMotion"
Safety functions in special mode "Safe standstill"
Safety function
Configuration and selection
To use the safety function "Safe torque off", it has to be
configured during the commissioning of the safety technology for
the special mode "Safe standstill" via the parameter “P-0-3285.0.1,
SMO: Configuration safe standstill"; the standstill window has to be par-
ameterized in “P-0-3255, SMO: Velocity threshold for safe standstill". For
the special mode “EMERGENCY STOP", only the parameter “P-0-3255,
SMO: Velocity threshold for Safe standstill" needs to be parameterized.
The safety function "Safe torque off" is selected via the active Safe Motion
profile using the parameter “P-0-3264, SMO: Safety function selection".
Monitoring functions
When the safety function "Safe torque off" is active and drive enable is set, the
error "F2025 Drive not ready for control" is generated.
Furthermore, monitoring takes place so that the output stage is locked via two
channels. When an error in the output stage interlock is detected, the drive
generates the error “F8354 Error when checking interrupting circuits".
Fig. 22: Safety function "Safe torque off"
DANGER
Lethal injury and/or property damage caused by unin-
tended axis motion!
⇒ With the safety function "Safe torque off" activated,
the drive does not provide any torque/force; this has to
be taken into account, particularly for vertical axes.
Please comply with the safety instructions in section
"Notes on project planning".
In addition to the monitoring functions of safety technology with the safety
function "Safe torque off" activated, the standard firmware locks the execution
of the following commands:
●
"C1200 Command commutation offset setting; if the command is started,
the command error "C1217 Setting only possible in ‘A’ is generated.
●
"C3600 Command Motor data identification"; if the command is started, the
command error "C3612 Command execution impossible is generated.
Terminating the safety function
The function "Safe torque off" can only be terminated by deselecting the safety
function.
After the safety function was terminated, the working motion of the drive can
only be continued after drive enable has been set.
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