SLS safety sub-function with MOVISAFE® CS..A
The SLS safety sub-function monitors the actual speed for exceeding the parameterized limit speed. When the limit speed is exceeded, the parameterized fault response is triggered.
The speed filter allows for exceeding the limit speed "briefly" without triggering the fault response (see parameter Speed filter, index 8706.25).
Monitoring of the SLS limit speed or start of the transition ramp can be delayed using the Monitoring delay t2 parameter. The actual speed is monitored for exceeding the parameterized maximum speed during the monitoring delay.
The Ramp start at actual speed parameter defines whether the monitoring ramp begins at the maximum speed or the actual speed.
If the Ramp start at actual speed parameter (8706.18) is set to "Yes" and the Ramp monitoring parameter is parameterized to "linear", the monitoring of the linear speed ramp begins at the currently detected actual speed after the SLS safety sub-function is activated. The end speed of the speed ramp is the parameterized limit speed.
If the Ramp start at actual speed (8706.18) parameter is set to "Yes" and the Ramp monitoring parameter is set to "jerk-limited", monitoring of the jerk-limited speed ramp starts at the sum of the currently detected actual speed plus the parameterized offset speed after the SLS safety sub-function is activated. The end speed of the speed ramp is the parameterized limit speed.
If the Ramp start at actual speed (8706.18) parameter is parameterized to "No", the transition ramp begins at the lowest, previously monitored limit speed.
If no other SLS safety sub-function is activated, the parameterized maximum speed is used as the lowest, previously monitored limit speed.
The lowest, previously monitored limit speed is the lowest parameterized limit speed of all activated SLS instances that meet all the following conditions:
- The transition ramp is finished.
- Both effective directions are monitored, or the monitored effective direction is identical to the current speed.
- The limit speed or the speed filter have not been exceeded.
If the lowest monitored limit speed is lower than the parameterized limit speed of the last activated SLS, no transition ramp is calculated; rather, the limit speed is immediately monitored.
Use the Effective direction parameter to define the direction of rotation in which the SLS function is effective:
- Only in positive direction of rotation
- Only in negative direction of rotation
- In both directions of rotation
- The maximum speed must not be exceeded during movement against the effective direction.
If the Inverter control parameter is set to "Not active", the inverter is not controlled. If the Inverter control parameter is set to "Active with limiting", the following inverter values are limited to these values:
- Minimum value of the deceleration
- Maximum value of the parameterized jerk time
- Speed:
- Maximum limit speed – SLS distance to the limit speed
The limitation does not affect interpolating FCBs (e.g. FCB10).
