Safe referencing

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Description

Safe referencing can only be executed with the MOVISAFE® CSA31A safety option.

The safe referencing of the safety option is independent of the referencing of the inverter. However, it must be ensured that the reference points of the safety option and of the inverter refer to the common machine zero.

WARNING

Risk of injury due to incorrect configuration of the reference position or the position of the reference cam as well as due to direct referencing at the incorrect position, as the safety sub-function can no longer be executed appropriately to the safety sub-function.
Risk of death or serious injuries.
  • Ensure that the absolute position matches the system position after referencing.

Only one referencing type (direct referencing or reference travel) can be executed for an encoder. The referencing type is defined in the corresponding parameter in the parameter group Encoder function.

When all encoders involved in the positioning are referenced successfully, the process value Absolute position (parameter group Diagnostics > MOVISAFE® CS.. > Process values) is formed. This process value is used in the safety sub-functions SLP and SCA as well as for calculating the safe position. The safe position (parameter Absolute position in the parameter group Diagnostics > MOVISAFE® CS.. > Encoder evaluation) must be within the application limits that are defined in the parameter group Encoder function for the position modes Absolute position with limited travel distance or Modulo absolute position.

INFORMATION

When an encoder involved in the positioning is reconfigured, this encoder still has to be newly referenced even if the safety option continues to display the encoder as referenced (status bit Referenced in the parameter group Diagnostics > MOVISAFE® CS.. > Encoder evaluation).

Referencing of the encoders with purely incremental evaluation is canceled in the following cases:

  • In the case of invalid process values
  • In the event of a system error
  • When restoring or downloading the parameterization
  • When switching the inverter off and on again

The referencing data set is stored both in the safety key and in the non-volatile memory of the safety option.

If safe referencing is canceled, no referencing data is stored. The relevant encoders remain unreferenced.