Functional Enhancement:
Up to Safety Firmware Version 1.5, the slope of the monitoring curve for SS1/SS2 was always calculated based on the actual motor speed at the time the function was activated and the parameterized SS1/ SS2 stop time (0x2894:001).
Since a constant deceleration is typically used for motion control, the monitoring curve was too flat at starting speeds below the rated speed and was therefore unable to fully fulfill its function.
Safety Firmware V2.0 introduces a new mode in which the monitoring curve is calculated based on an adjustable deceleration rate.
Included in the following products:
i950 Extended Safety with Safety Firmware 2.0.1.13212
Application:
A new mode has been implemented for ramp monitoring in the "Safe Stop 1 (SS1)" and "Safe Stop 2 (SS2)" safety functions. Previously, parameter 0x2894:002 only allowed selection between "no monitoring" and "ramp monitoring enabled."
As of Safety Firmware 2.0.1.13212, 0x2894:002 has been expanded to include the "Ramp monitoring with constant deceleration" mode. To enable this, set 0x2894:12 , in which the deceleration is specified in rpm/s.
If the monitoring curve is exceeded, the STO stop function is activated immediately, causing the motor to coast to a stop and, if necessary, the mechanical brake to engage.
