SS1-r (Safe Stop 1)
SS1-r description for drive option Functional Safety 3.
Description
SS1-r , when activated, monitors the controlled stop of the axis until the STO function can be activated. SS1 Instance 1 can be configured as the fault reaction for safety functions SS2, SSR, SDI, SLA, SAR, SLI, SLP and SLS.
During the process, the SS1-r function monitors the velocity. If the velocity stays in the range (n_Zero_SS1) within the time (t_L_SS1) STO activates in advance. In any case, STO activates as soon as the timer (t_SS1) elapsed.
Optionally, SS1-r can monitor the ramp of the controlled stop. The parameter a_SS1 defines the deceleration limit that the axis is not allowed to pass. The parameter t_D_SS1 is used to delay the start of the deceleration monitoring after the SS1 function activated.
Number of Instances
Three instances per axis.
Function Input / Output Variables
Inputs
- SS1 Activate can be triggered by
- FSoE,
- a fault reaction,
- I/O failure (instance 1 only) or
- safe digital inputs (must be mapped).
- STO Activate is triggered by SS1.
Outputs
- SS1 Active: logical status of the SS1 function
- STO Active: logical status of the STO function
Activation
To activate SS1-r, Velocity & Deceleration Monitoring must be enabled in the safety parameters. If not, SS1-t is used. The safety function can be mapped with WorkBench or by using FSoE to the safe digital inputs or other functions. If SS1_2 or SS1_3 is set to “Not Used”, the corresponding FSoE activation bit is ignored even if SAFEFIELDBUS.ACTIVATION is 1 (➜ # 1, SAFEPARAM.SAFEFIELDBUS.ACTIVATION). |
Activation by FSoE |
|
Activation by safe digital inputs |
|
Safety Properties
Refer to (➜ # 1, Safety Properties Overview).
Restart
Refer to (➜ # 1, SS1-t (Safe Stop 1)).
Timing
Note:
- SS1 is fully completed after activation until STO is activated, even if the request (SS1_Activate) is reset in between.
- See limitations for FSoE (➜ # 1, Limitations for SMM 1.04) (➜ # 1, Limitations for SMM2)
Related Parameters
Safety parameters
Name |
Variables |
Default |
Parameter |
---|---|---|---|
Function Activation |
- |
Inst. 1: 1 (Ready for activation) |
|
Safe Input |
- |
0 (Not used) |
|
FSoE |
- |
0 (Not used) |
|
Time To STO |
t_SS1 |
2 ms |
|
Velocity & Deceleration Monitoring |
- |
0 (Disabled) |
|
Velocity Zero Window |
n_Zero_SS1 |
1 |
|
Time For Velocity Zero |
t_L_SS1 |
1 ms |
|
Deceleration Limit |
a_SS1 |
0 |
|
Time Delay Deceleration Monitoring |
t_D_SS1 |
1 ms |
Diagnostic Parameters
Name |
Variables |
Default |
Parameter |
---|---|---|---|
Function Active Status |
- |
- |
|
Function Internal Status |
- |
- |
Device Parameters
Name |
Variables |
Default |
Parameter |
---|---|---|---|
Deceleration Mode |
- |
0 (Drive driven) |
|
Deceleration Ramp |
- |
9999.946 rpm/s |
State diagram
SS1-r is active when its internal state is in the composite state "Deceleration Monitoring" or "Delay Before Ramp Monitoring (1)".
Setup in WorkBench
Select the drive and open the Safety Parameterization view (➜ # 1, Parameters Editor).
|
If one dual input (e.g. SIN1/SIN2) activates SS1-r for both axis 1 and axis 2, then set the Activation parameter for both axes to the same input (e.g. Safe Dual Input 1).
Fault Reaction / Failure Message
If dual channel mode is selected, the AKD2G observes to see if the two inputs are in a different state for more than 100 ms. If the two inputs are in different states for more than 100 ms, an I/O failure activates SS1_1 and then the axis is switched off by STO. An I/O failure warning is displayed.
SS1 Instance 1 can be configured as the fault reaction for other safety functions. Functions which support this feature include: SS2, SSR, SDI, SLA, SAR, SLI, SLP and SLS.
Safety State / Status Signals
The signal AXIS#.SAFE.SS1_#.ACTIVE (➜ # 1, AXIS#.SAFE.SS1_#.ACTIVE) can be monitored by safe digital outputs with OSSD pulses (➜ # 1, OSSD). The status signal must be mapped to the safe digital output. Two outputs can be combined to a dual channel output. For parameter descriptions see (➜ # 1, Functional Safety Parameter Reference).