BECKHOFF AX5805 Installation - Manual (Page 86)

Product description
84 AX5805
3.6.5.15 Description of the SMA safety function
Figure 38: Description of the Safe Maximum Acceleration function (SMA)
The SMA function monitors the maximum acceleration, and is activated by setting the parameters
a_pos_max or a_neg_max to a value that is not equal to 0. If at any time either a_pos_max or a_neg_max is
not equal to 0 and one of the limits is exceeded, the Error Reaction Function SS1 or STO (as defined by
ErrorReaction_SMA) is executed.
Parameters for axis 1:
Index Name Description Unit Default value
0x66CA a_pos_max_SMA
32Bit Maximum positive acceleration Increments
per ms
2
0x0000
0x66CC a_neg_max_SMA
32Bit Maximum negative acceleration Increments
per ms
2
0x0000
0x66CD Error Reaction SMA Maximum time until the activation of
the SLS safety function -- 0x66400001
(STO)
Parameters for axis 2:
Index Name Description Unit Default value
0x6ECA a_pos_max_SMA
32Bit Maximum positive acceleration Increments
per ms
2
0x0000
0x6ECC a_neg_max_SMA
32Bit Maximum negative acceleration Increments
per ms
2
0x0000
0x6ECD Error Reaction SMA Maximum time until the activation of
the SMA safety function -- 0x66400001
(STO)
SMA
1
t
Acceleration
t
a_pos_max
Torque
on Motor
On
t
a_neg_max
activated by parameter