ctrlX SAFETY "SafeMotion"
erated by the standard firmware in accordance with the parameterization of
“P-0-3263.0.1, SMO: Configuration of stopping process" (bit 0-3). At the end of
the deceleration process, drive enable is removed.
The transition function "Safe stop 1 (SS1)" monitors that the deceleration
process is completed within the parameterized transition time (P-0-3280.0.2 or
P-0-3280.0.3). If the transition is not completed within the parameterized tran-
sition time, the error "F8350 Maximum transition time exceeded" is signaled
and the safety function "Safe torque off (STO)" is activated.
In addition to the time monitoring of the transition function
"Safe stop 1 (SS1)", the ⮫ Safety monitored deceleration (SMD)
is called. If the SMD detects that the velocity is exceeded,
the error “F7051 Safely-monitored deceleration exceeded“ or "F8351
Safely-monitored deceleration " [only for F3 equal to F7 reaction
(P‑0‑3263.0.1)] is reported and the drive is set to standstill according
to the parameterized error reaction (P‑0‑3263.0.1) (see ⮫ Error reaction
and escalation strategy). With the start of the error reaction, the running
transition time monitoring is neither aborted nor retriggered. When the
transition time (P-0-3280.0.2 or P-0-3280.0.3) is over, the error "F8350
Maximum transition time exceeded" is additionally signaled independently of
the status of the error reaction, and the safety function "Safe torque off (STO)"
is activated.
⇒ The maximum time between the selection of the transition function
"Safe stop 1 (SS1)" and activating of the safety function Safe torque off (STO)
does not depend on the transition progress! The maximum time span does is
not extended by an error.
The currently active velocity monitoring limit of Safe Motion is displayed in
“P‑0‑3238, SMO: Active velocity threshold. With this parameter it is possible to
check in the control unit whether the velocity command values are within the
allowed limits.
With the auxiliary function "⮫ limitation of the positioning velocity", it is pos-
sible to monitor and, if necessary, limit the velocity command value effective in
the drive to the active velocity threshold (P‑0‑3238).
If the drive has been decelerated without error within the parameterized
transition time (P-0-3280.0.2 or P-0-3280.0.3), the transition by the transi-
tion function SS1 is completed with the selection of the safety function
"Safe torque off (STO)".
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