Fault response during limit value violation

• If the SLP limit position including the stopping distance is exceeded, the STO safety sub-function is activated without a brake application time as a fault response.
• If an SLP limit position is exceeded, the STO safety sub-function is selected, which means that the drive can no longer deliver torque. A gravity-loaded axis will crash without further action.
• When an SLP limit position is exceeded, all safe outputs parameterized to SBC are additionally disabled. Brakes connected to these outputs will be applied. A gravity-loaded axis can sag during the brake application time.
• Without ramp monitoring, the SLP function does not select the STO safety sub-function until the position limit is exceeded. Since the braking system still requires brake application time before deceleration starts, a sufficiently large safety area must still be provided beyond the position limits.
• With ramp monitoring, the SLP function selects the STO safety sub-function before the position limit is exceeded. For the system to come to a stop before the position limit, the braking system must result in a higher deceleration than with monitored deceleration. The resulting brake application time must be taken into account.
• In the event of a fault (all faults of the system, inputs, sensors), the STO safety sub-function is activated. If a gravity-loaded axis is at an SLP limit position without the brake applied, the gravity-loaded axis will sag for the brake application time and exceed the SLP limit position.