Safety Integrated Extended Functions
6.9 Safe Acceleration Monitor (SBR)
Safety Integrated
Function Manual, 05/2010, A5E03264275A
103
Calculating the SBR tolerance of the ACTUAL speed:
● The following applies when parameterizing the SBR tolerance:
– The maximum speed increase after SS1 / SS2 is triggered is derived from the
effective acceleration (a) and the duration of the acceleration phase.
– The duration of the acceleration phase is equivalent to one monitoring clock cycle
(p9300/p9500) MC (delay from detecting an SS1 / SS2 until n
set
= 0):
● SBR tolerance:
Actual speed SBR = acceleration * acceleration duration
The following setup rule is derived thereof:
– At linear axes:
SBR tolerance [mm/min] = a [m/s
2
] * MC [s] * 1000 [mm/m] * 60 [s/min]
– At rotary axes:
SBR tolerance [rev/min] = a [rev/s
2
] * MC [s] * 60 [s/min]
● Recommendation:
The SBR tolerance value entered should be approx. 20 % higher than the calculated
value.
Responses
Speed limit violated (SBR):
● STOP A
● Safety message C01706/C30706
System errors:
● STOP F with subsequent STOP A
● Safety message C01711/C30711
Features
● Element of the SS1 (time and acceleration controlled) and SS2 functions
● Parameterizable, minimum shutdown speed to be monitored
Overview of important parameters
● p9346 SI Motion SSM velocity limit (Motor Module)
● p9546 SI Motion SSM (SGA n < nx) velocity limit n_x (CU)
● p9348 SI Motion SBR actual velocity tolerance (Motor Module)
● p9548 SI Motion SBR actual velocity tolerance (Control Unit)
● p9368 SI Motion SBR velocity limit (Motor Module)
● p9568 SI Motion SBR velocity limit (CU)
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