Function modules
8.8 Basic positioner
Drive functions
516 Function Manual, 11/2017, 6SL3097-4AB00-0BP5
p2568
BI: EPOS STOP cam activation
p2569
p2570
r2684.0...15
CO/BO: EPOS status word 2
p2574
p2575
BI: EPOS jerk limitation activation
EPOS and safe setpoint velocity limitation
If safe speed monitoring (SLS) or the safe direction motion monitoring (SDI) is also to be
used at the same time as the EPOS positioning function, EPOS must be informed about the
activated monitoring limits. Otherwise these speed monitoring limits can be violated by the
EPOS setpoint input. By monitoring the limit value, if violated, the drive is stopped therefore
exiting the intended motion sequence. In this case, the relevant safety faults are output first,
and then the sequential faults created by EPOS.
Using parameter r9733, the safety functions offer EPOS setpoint limiting values, which when
taken into account, prevent the safety limit value being violated.
In order to prevent a safety limit violation by the EPOS setpoint specification, you must
transfer the setpoint limit value (r9733) as follows to the maximum speed setpoint of EPOS
(p2594):
● r9733[0] = p2594[1]
● r9733[1] = p2594[2]
In this regard you must set the delay time for SLS/SOS (p9551), so that the relevant safety
monitoring function only becomes active after the maximum required time for the speed to be
reduced below the limit. This required braking time is determined by the current speed, the
jerk limit in p2574 and the maximum delay in p2573.
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