Basic logic functions: Axis monitoring, protection zones (A3)
Function Manual, 11/2006, 6FC5397-0BP10-2BA0
3
Table of contents
1 Brief Description ........................................................................................................................................ 5
1.1 Axis monitoring functions ...............................................................................................................5
1.2 Protection zones ............................................................................................................................5
2 Detailed description ................................................................................................................................... 7
2.1 Axis monitoring...............................................................................................................................7
2.1.1 Contour monitoring ........................................................................................................................7
2.1.1.1 Contour error..................................................................................................................................7
2.1.1.2 Following Error Monitoring.............................................................................................................8
2.1.2 Positioning, zero speed and clamping monitoring .......................................................................10
2.1.2.1 Correlation between positioning, zero-speed and clamping monitoring......................................10
2.1.2.2 Positioning monitoring..................................................................................................................10
2.1.2.3 Zero speed monitoring.................................................................................................................12
2.1.2.4 Exact stop and standstill tolerance dependent on the parameter set..........................................13
2.1.2.5 Clamping monitoring ....................................................................................................................13
2.1.3 Speed-setpoint monitoring...........................................................................................................21
2.1.4 Actual velocity monitoring ............................................................................................................22
2.1.5 Measuring-system monitoring (systems with SIMODRIVE 611D)...............................................23
2.1.5.1 Encoder-limit-frequency monitoring .............................................................................................23
2.1.5.2 Zero mark monitoring...................................................................................................................24
2.1.5.3 Zero-mark monitoring for incremental encoders..........................................................................25
2.1.5.4 Zero-mark monitoring for absolute encoders...............................................................................26
2.1.5.5 Customized error reactions..........................................................................................................28
2.1.5.6 Monitoring of hardware faults.......................................................................................................30
2.1.6 Measuring-system monitoring (systems with PROFIBUS drives) ...............................................30
2.1.7 Limit switches-monitoring.............................................................................................................31
2.1.7.1 Hardware limit switches ...............................................................................................................31
2.1.7.2 Software limit switch ....................................................................................................................32
2.1.8 Monitoring of the working area limitation .....................................................................................34
2.1.8.1 General ........................................................................................................................................34
2.1.8.2 Working area limitation in BKS ....................................................................................................37
2.1.8.3 Working area limitation in WKS/ENS...........................................................................................39
2.2 Protection zones ..........................................................................................................................42
2.2.1 General ........................................................................................................................................42
2.2.2 Types of protection zone..............................................................................................................43
2.2.3 Definition via part program instruction .........................................................................................46
2.2.4 Definition via system variable ......................................................................................................49
2.2.5 Activation and deactivation of protection zones...........................................................................51
2.2.6 Protection-zone violation and temporary enabling of individual protection zones.......................55
2.2.7 Restrictions in protection zones...................................................................................................61
3 Supplementary conditions ....................................................................................................................... 63
3.1 Axis monitoring functions .............................................................................................................63
4 Examples................................................................................................................................................. 65
4.1 Axis monitoring.............................................................................................................................65
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