Limitations for SMM R_02-07-000

Limitation

Remarks

Solved in SMM FW
Speed limitation for all safe encoders

Rotary encoders: a max. speed of 30,000rpm must not be exceeded.

Linear encoders: depending on the resolution, the following speed must not be exceeded:

  • 1nm res. / 8.38m/s
  • 5nm res. / 41.9m/s
  • 10nm res. / 83.8m/s
  

Hiperface-DSL EFx50 encoders are not supported.

The EFx50 encoder series is not supported and phased out by Sick.

Workaround: Use a more recent Hiperface-DSL encoder series.

 -
Do not use FSoE Status Word bit "Error acknowledge status".

The status Word bit "Error acknowledge status" is set to true when either an I/O failure is detected, the safe encoder is not configured or the safe speed is not available. In case of an I/O failure, FSoE will send "FailSafeData" anyway. Therefore, this bit doesn't serve any purpose in real applications.

Workaround: Check for I/O failures using the FSoE state instead of the Status Word.

 -
Position monitoring limits have to be less than half of the max. position with SOS/SLI/SDI.

When using position monitoring with functions that use relative position (SOS/SLI/SDI), the position limit parameters (upper and lower) have to be less than half of the max. position of the encoder.

Workaround: -

  
Position monitoring limits have to be less than half of the max. position with SLP/SCA and signed-range.

When using position monitoring with functions that use absolute position (SLP/SCA), the position limit parameters (upper and lower) have to be less than half of the max. position of the encoder when using a singed range. For an unsigned range, the position limit parameters have to be less than the max. position of the encoder.

Workaround: -

  
The deceleration ramp parameters for the safety functions SS1 (a_SS1), SS2 (a_SS2), SLS (a_SLS) and SSR (a_SSR) are using the defined velocity user unit per second instead of the defined acceleration user unit.

Example:
When the velocity user unit is rpm, the acceleration user unit is m/s² and a_SS1 is set to 1000, then the unit will be 1000 rpm/s instead of 1000 m/s².

Workaround: -

  
Reset the absolute position when a safe encoder is physically replaced by another safe encoder.

Reset the absolute position when:

  • the safe encoder is physically replaced by another one (with the same or different model) and
  • the application is using at least one of the SLP or SCA instances (the application then requires a valid absolute position to operate).
  
The Safe Parameters File upload function ((see "Parameters Viewer")) is broken and should not be used. Using this function will either put the AKD2G into safe state (SAFE.STATE) or return garbage data.