17
4.5.3
SS2, Safe Stop 2
Stop while remaining in stop position, axis remains
under power, power stage active. Then observation
of stop-position, status SOS (Safe Operating Stop).
If exceeding the position limit, STO will be triggered.
Shut-down of the output stage (stop category 2)
4.5.4
SLS, Safely Limited Speed
Observation of a safe speed. If Safety Limited Speed
(SLS) is exceeded, Safe Stop (SS2) while observing the
position window. If position window is exceeded as
well, then triggering STO, shut-down of the output
stage. Adjustment of speed during SLS time out has to
be specified by user.
Parameter:
Timeout SLS
Δ
t
2
Standard 300ms
Safely Limited Speed
v
max
Standard +-
50‘000 Inc/s
Timeout Stop
Δ
t
1
Standard 300ms
Position window
Δ
s
Standard +-2500 Inc
Parameter
Timeout Stop
Δt1
Standard 300ms
Position window
Δs
St-2500 Inc
Δ
s
Error reaction
v
t
0
Timeout
Stop
SOS
Safe Operating Stopp
Observation of standstill
position
STO
Safe Torque Off
Power stage
off
Δ
t
1
PSR BIT 18
SS2 PRIMED
PSR BIT 19
SS2 HIT
PSR BIT 20
SLS PRIMED
PSR BIT 21
SLS SPEED HIT
PSR BIT 22
SLS POSITION HIT
