Machine Operating Mode Setup Mode

Overview

The machine operating mode Setup Mode is activated when the guard is opened and the level at the inputs SETUPMODE_A and SETUPMODE_B is 1.

Take into account that the velocity of a movement in a multi-axis system can be greater than the velocities of the individual axes.

Conditions for Safety-Related Function SLS

With the safety-related function SLS, the safety module eSM monitors set speed limits. The following conditions must be met:

The safety module eSM is in the eSM operating state 6 (Operation Enabled).
The level at the safety-related inputs GUARD_A and GUARD_B is 0 (guard open).
The level at the safety-related inputs SETUPMODE_A and SETUPMODE_B is 1 (machine operating mode Setup Mode).
The level at the safety-related inputs SETUPENABLE_A and SETUPENABLE_B is 1 (enabling device).

Monitoring of the Speed Limits

For SLS independent of the direction of movement, a common speed limit is set that applies to both positive and negative direction of movement.

For SLS dependent on the direction of movement, parameter values are set for the speed limits in positive direction and in negative direction of movement. This function is available for safety modules eSM with firmware version ≥1.01.

	SLS: Independent of direction of movement	SLS: Dependent on direction of movement⁽¹⁾
Parameter eSM_FuncSwitches: Selection: SLS independent of or dependent on direction of movement	Bit 0 = "0"	Bit 0 = "1"
Parameter eSM_v_maxSetup:	Parameter value = Speed limit for positive and negative direction of movement	Parameter value = Speed limit for positive direction of movement (parameter value > 0)
Parameter eSM_SLSnegDirS:	Parameter value = "0"	Parameter value = Speed limit for movement in negative direction of movement (parameter value > 0)
(1) Prerequisite: Firmware version of safety module eSM ≥1.01

NOTE: The parameter value of eSM_v_maxAuto (speed limit in machine operating mode Automatic Mode) must be greater than the parameter values of eSM_v_maxSetup and eSM_SLSnegDirS.

Parameter name HMI menu HMI name	Description	Unit Minimum value Factory setting Maximum value	Data type R/W Persistent Expert	Parameter address via fieldbus
eSM_FuncSwitches	eSM switches for functions. None: No function DirectionDependentSLS: SLS dependent on direction of movement Reserved (Bit 1): Reserved (bit 1) Reserved (Bit 2): Reserved (bit 2) Reserved (Bit 3): Reserved (bit 3) Reserved (Bit 4): Reserved (bit 4) Reserved (Bit 5): Reserved (bit 5) Available as of firmware version safety module eSM ≥V01.01. Bit 0 = 0: SLS independent of direction of movement Bit 0 = 1: SLS dependent on direction of movement Bits 1 … 15: Reserved (must be set to 0) Type: Unsigned decimal - 2 bytes Write access via Sercos: CP2, CP3, CP4 Setting can only be modified if power stage is disabled.	- 0 0 63	UINT16 R/W per. -	-
eSM_v_maxSetup	eSM speed limit for machine operating mode Setup Mode. This value sets the speed limit for monitoring in machine operating mode Setup Mode. Firmware version safety module eSM ≥V01.01: Parameter eSM_FuncSwitches Bit 0 = 0: Value = Monitored speed limit for positive and negative directions of movement. Parameter eSM_FuncSwitches Bit 0 = 1: Value = Monitored speed limit for positive direction of movement. Type: Unsigned decimal - 2 bytes Write access via Sercos: CP2, CP3, CP4 Setting can only be modified if power stage is disabled.	RPM 0 0 8000	UINT16 R/W per. -	-
eSM_SLSnegDirS	eSM speed limit negative direction machine operating mode Setup Mode. Firmware version safety module eSM ≥V01.01. Parameter eSM_FuncSwitches Bit 0 = 1: Value = Monitored speed limit for negative direction of movement. Type: Unsigned decimal - 2 bytes Write access via Sercos: CP2, CP3, CP4 Setting can only be modified if power stage is disabled.	RPM 0 0 8000	UINT16 R/W per. -	-

Direction of Movement

Movements are made in positive or in negative directions.

In the case of a rotary motors, direction of movement is defined in accordance with IEC 61800-7-204: Positive direction is when the motor shaft rotates clockwise as you look at the end of the protruding motor shaft.

NOTE: Inverting the direction of movement via a parameter in the drive is not taken into account by the safety module eSM.

Response to Exceedance of Limit Value

If the monitored limit value is exceeded for the first time:

An error is detected
The safety module eSM requests a Quick Stop from the drive and monitors the Quick Stop ramp.
- If the Quick Stop is executed properly, the safety-related function SOS is triggered.
- If the Quick Stop is not executed properly, the safety-related function STO is triggered.

If the monitored limit value is exceeded again:

The safety-related function STO is triggered.

Parameter name HMI menu HMI name	Description	Unit Minimum value Factory setting Maximum value	Data type R/W Persistent Expert	Parameter address via fieldbus
eSM_dec_Qstop	eSM deceleration ramp for Quick Stop. Deceleration ramp for monitored Quick Stop. This value must be greater than 0. Value 0: eSM module is not configured Value >0: Deceleration ramp in RPM/s Type: Unsigned decimal - 4 bytes Write access via Sercos: CP2, CP3, CP4 Setting can only be modified if power stage is disabled.	RPM/s 0 0 32786009	UINT32 R/W per. -	-