Fault response on limit value violation

• If the SLP limit position including the stopping distance is exceeded, the STO safety subfunction is activated without a brake application time as a fault response.
• If an SLP limit position is exceeded, the STO safety subfunction 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 subfunction 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 subfunction 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 subfunction 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.