Detailed Description
2.1 Motion monitoring functions
Axis Monitoring, Protection Zones (A3)
Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0
2-15
Speed setpoint monitoring delay
To prevent an error reaction from occurring in every speed limitation instance, a delay time
can be configured. Only if the speed limitation is required for longer than the configured time
does the corresponding error reaction occur.
MD36220 $MA_ CTRLOUT_LIMIT_TIME (Speed setpoint monitoring delay)
Effectivity
The speed setpoint monitoring is only active for closed-loop position-controlled axes and
cannot be deactivated.
Effect
Upon exceeding of the configured delay time, the following occurs:
• Alarm: "25060 Axis <
Axis identifier
> Speed setpoint monitoring"
• The affected axis is stopped via the configured braking ramp in follow-up mode:
MD36610 $MA_AX_EMERGENCY_STOP_TIME
(Time for braking ramp when an error occurs)
• If the axis/spindle is involved in interpolation with other axes/spindles, these are brought
to a standstill with rapid stop (set velocity = 0).
Note
Upon reaching the speed setpoint monitoring, the position feedback loop of the axis
becomes non-linear due to the limitation. Contour errors result if the axis is involved in
generating the contour.
2.1.8 Actual velocity monitoring
Function
The actual velocity monitoring monitors the current actual velocity of a machine axis for the
configured threshold:
MD36200 $MA_AX_VELO_LIMIT (velocity monitoring threshold)
As long as no error is present, the actual velocity of an axis/spindle never becomes greater
than the configured threshold because the threshold is entered approx. 5-10% larger than
the maximum traversing velocity.
Exceeding of the configured threshold of the velocity monitoring generally only occurs during
drive errors.
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