In the following we show to you how to properly set the parameters during commissioning of the SafeMotion (SMO) “speed package” functions.
Mind that you find complete sample parameter sets with all details and as well an Excel calculation sheet file to accompany you during commissioning for download at the end of the article .
Prerequisites
A connection to the ctrlX DRIVE has been successfully established and the device is successfully powered on. As well the engineering tool ctrlX DRIVE Engineering has been started. The commissioning steps for SafeMotion (SMO) have been already executed.
Also consider How to commission SafeMotion (SMO) with ctrlX DRIVE.
Sequence
As initial information the normally used set point values from the control should be known
- maximum speed
- maximum acceleration/deceleration
- maximum jerk
the safe speed used in operation should be clear as well.
In the Excel sheet, used for calculation of the right values, these values have to be entered in the following area (marked blue):
After entering these data automatically some suggestion values (marked pink) are shown:
The calculations are made based on the following equations:
- Standstill window is suggested to be the maximum speed divided by 100.
- The SMD reaction time (Trend monitoring Normal Operation --> SMES/SMST1/SMST2) and the
SMD reaction time (Trend monitoring Normal Operation --> SMM1) is suggested to be the maximum
acceleration divided by the maximum jerk. - The SMD reaction time (Trend monitoring SMM1 --> SMES/SMST1/SMST2) is suggested to be the
maximum acceleration divided by double the maximum jerk. - The monitoring decelaration is suggested to be 75% of the maximum acceleration/deceleration.
- The SMD-E reaction time is suggested to be the maximum acceleration divided by the maximum jerk.
- The monitoring F3/F7 decelaration is suggested to be 90% of the maximum acceleration/deceleration.
These values should be entered after re-thinking about the exact constellations of the control cycle time and/or the real mechanical conditions of the machine by the user (marked blue). Means some of the values might be entered differently.
Next to be entered values for non-safety and safety (SMO) parameters (marked blue) are calculated and should be entered accordingly in the menues of ctrlX DRIVE Engineering:
In the following these different values and menues are explained in detail.
1. Drive Halt and Standstill Settings
The values from Excel (marked blue)
have to be entered in here:
As Drive Halt acceleration the initially in Excel entered maximum acceleration/deceleration is used.
2. Velocity Limit Settings
The value from Excel (marked blue) 
has to be entered in here:
The equation is:
- 110% of maximum speed
3. Error reaction drive
The values from Excel (marked blue) 
and additionally the check box settings have to be entered in here:
The equations are:
- Maximum drive OFF delay time is 1,1 times the time needed for deceleration from maximum speed with maximum deceleration (taking into account the additional time needed for build up of acceleration and deceleration via maximum jerk) but minimum 500 ms.
- Drive Halt acceleration is equal to maximum acceleration/deceleration.
- Emergency stop deceleration is equal to 1,2 times the maximum acceleration/deceleration.
4. Velocity threshold for safe standstill
The value from Excel (marked blue) 
has to be entered in here:
The equation is:
- 150% of standstill window.
5. Safe maximum speed
The value from Excel (marked blue)
and additionally the check box settings have to be entered in here:
The equation is:
- 115% of maximum speed.
6. Safely limited speed
The value from Excel (marked blue) 
and additionally the check box settings have to be entered in here:
The equation is:
- 111,1% of safe speed used.
7. Change in operating status
The values from Excel (marked blue) 
and additionally the check box settings have to be entered in here:
The equations are based on:
- Max. transition time (Trend monitoring Normal Operation --> SMES/SMST1/SMST2) is the time needed for deceleration from safe maximum speed with monitored deceleration (taking into account the relevant SMD reaction time entered in Excel).
- Max. transition time (Trend monitoring Normal Operation --> SMM1) is the time needed for deceleration from safe maximum speed to safely limited speed with monitored deceleration (taking into account the relevant SMD reaction time entered in Excel).
- The SMD reaction time (Trend monitoring SMM1 --> SMES/SMST1/SMST2) is the time needed for deceleration from safe limited speed with monitored deceleration (taking into account the relevant SMD reaction time entered in Excel).
- The relevant SMD reaction time like already explained above.
8. SafeMotion error reaction
The values from Excel (marked blue) 
have to be entered in here:
The equations are based on:
- Error reaction F3 tolerance time is the time needed for deceleration from safe maximum speed with monitored F3/F7 error deceleration (taking into account the relevant SMD-E reaction time entered in Excel).
- Error reaction F7 tolerance time is the time needed for deceleration from safe maximum speed with monitored F3/F7 error deceleration (taking into account the relevant SMD-E reaction time entered in Excel).
Finally the proper reaction should be tested and behave like shown in the following.
Test of switchover from maximum speed to SMES
The behavior should look like this:
In orange the actual deceleration is shown (using the parameterized deceleration of 1000 mm/s2), in pink the monitored deceleration (as in here planned to be 750 mm/s2 the reaction is as foreseen).
Test of F3 Error reaction from maximum speed
The behavior should look like this triggered on F3 error:
In orange the actual deceleration is shown (using the parameterized F3 error Drive Halt deceleration of 1000 mm/s2), in pink the monitored deceleration (as in here planned to be 900 mm/s2 the reaction is as foreseen).
Test of F7 Error reaction from maximum speed
The behavior should look like this triggered on F7 error:
In orange the actual deceleration is shown (using the parameterized emergency stop error deceleration of 1200 mm/s2), in pink the monitored deceleration (as in here planned to be 900 mm/s2 the reaction is as foreseen).
Using different scaling or unit settings
If one is using a linear axis with different scaling or unit settings or a rotatory axis, other Excel sheet pages (marked green) have been created, which then should be used, see
For details how to enter the data into the menues of ctrlX DRIVE Engineering in these particular cases the Excel pages "...(detail)" have been created (marked blue). Here you see how to enter the data:
Using different scaling or unit settings
If one is using a linear axis with different scaling or unit settings or a rotatory axis, other Excel sheet pages (marked green) have been created, which then should be used, see
For details how to enter the data into the menues of ctrlX DRIVE Engineering in these particular cases the Excel pages "...(detail)" have been created (marked blue). Here you see how to enter the data:
Further things to observe
Please mind that if one is using the so called "NC controlled" transition to SMSTx, SMES one needs to switch off the drive enable signal from the control before the maximum transition time is elapsing, see below:
Mind: If using the prepared drive parameter files and if you want to change any parameter a password is required. In here always the password "Safety" is used (enter w/o the ").
Mind as well that in the prepared drive parameter files only one dynamized safe input is used for activiation of SMES function. Please adopt it to your use case if using
- Safe bus communication
- SAFETYlink
- or more safe inputs if using M8 option.
