Teaser How To parameterize Speed Package of Safe Motion (SMO)

How to parameterize SafeMotion (SMO) speed package

Drives_Uwe
Community Moderator
Community Moderator

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):Excel sheet initial parameters to be entered from userExcel sheet initial parameters to be entered from user

After entering these data automatically some suggestion values (marked pink) are shown:

Excel sheet parameters suggested and to be entered from userExcel sheet parameters suggested and to be entered from user

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:

Excel sheet calculated parameters to be entered from userExcel sheet calculated parameters to be entered from user

In the following these different values and menues are explained in detail.

1. Drive Halt and Standstill Settings

The values from Excel (marked blue)
Standstill and Drive Halt settingsStandstill and Drive Halt settings

have to be entered in here:

Settings for Drive Halt and StandstillSettings for Drive Halt and Standstill

As Drive Halt acceleration the initially in Excel entered maximum acceleration/deceleration is used.

2. Velocity Limit Settings

The value from Excel (marked blue)
Velocity Limit settingsVelocity Limit settings

has to be entered in here:
Settings for Motion limit valuesSettings for Motion limit values

The equation is:

  • 110% of maximum speed
3. Error reaction drive

The values from Excel (marked blue)
Error reaction drive settingsError reaction drive settings

and additionally the check box settings have to be entered in here:
Settings for Error reaction driveSettings for Error reaction drive

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)
Velocity threshold for safe standstill settingsVelocity threshold for safe standstill settings

has to be entered in here:
Settings for standstill monitoringSettings for standstill monitoring
The equation is:

  • 150% of standstill window.
5. Safe maximum speed

The value from Excel (marked blue)
Safe maximum speed settingsSafe maximum speed settings

and additionally the check box settings have to be entered in here:
Settings for Global monitoring functionsSettings for Global monitoring functions

The equation is:

  • 115% of maximum speed.
6. Safely limited speed

The value from Excel (marked blue)
Safe limited speed settingsSafe limited speed settings

and additionally the check box settings have to be entered in here:
Settings for safe motion 1Settings for safe motion 1

The equation is:

  • 111,1% of safe speed used.
7. Change in operating status

The values from Excel (marked blue)
Change in operation status settingsChange in operation status settings

and additionally the check box settings have to be entered in here:
Settings for change in operating statusSettings for change in operating status
Settings for Monitoring of change in operating statusSettings for Monitoring of change in operating status

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)
SafeMotion error reaction settingsSafeMotion error reaction settings

have to be entered in here:
Settings for SafeMotion error reactionSettings for SafeMotion error reaction

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:
Switchover from maximum speed to SMESSwitchover from maximum speed to SMES

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:
F3 error reaction from maximum speedF3 error reaction from maximum speed

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:
F7 error reaction from maximum speedF7 error reaction from maximum speed

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

Explanation of Excel slidesExplanation of Excel slides

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:
Excel sheet detailsExcel sheet details

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, seeExplanation of Excel slidesExplanation of Excel slides

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:Excel sheet detailsExcel sheet details

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:NC controlled transition

Drives_Uwe_1-1729154448362.png

 

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 ").

Enter passwordEnter password

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.

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