AxisSafetyStateFlags

Namespace

ZEquipment

This enumeration is a collection of safety features, which a drive may supported according to EN IEC 61800-5-2:2007. The enumeration is most notably used in the IAxisBase interface to return the actual safety-state of a drive (if a given safety feature is activated currently).

Fields

SafeStateOk = 2#0000_0000_0000_0000

No Safety State diagnosed, axis safe to use

SafeTorqueOff = 2#0000_0000_0000_0001

STO: The power supply to the motor is cut by the drive. If the motor is in motion it will spin down in an uncontrolled way. As soon as the power os cut the motor can not produce torque also not for braking.

SafeStop1 = 2#0000_0000_0000_0010

SS1: The power supply to the motor is cut by the drive. If the motor is in motion it spins down in a "controlled" way. This is achieved by activating the STO only after a fixed duration or by controlling the standstill of the motor in a given window.

SafeStop2 = 2#0000_0000_0000_0100

SS2: The motor is held in position by the drive with a given torque or force. If the motor is in motion it spins down in a controlled way and once 0 velocity is reached the drive will try to keep to motor in position. The position of the motor is monitored. If it moves out of the predefined positon-monitoring window the power is cut by the drive by activating the safe-torque off feature.

SafeOperatingStop = 2#0000_0000_0000_1000

SOS: The drive monitors if the current position of the motor is held. If the motor moves out of this position, the drive cuts the power to it by activing the safe-torque off feature.

SafeLimitedSpeed = 2#0000_0000_0001_0000

SLS: The drive monitors if the velocity of the motor is below a predefined maximum velocity and can trigger a predefined error reaction of the speed gets above this level.

SafeSpeedMonitor = 2#0000_0000_0010_0000

SSM: The drive monitors if the velocity of the motor is below a predefined minimum velocity and can trigger a predefined error reaction of the speed gets underneath this level.

SafeSpeedRange = 2#0000_0000_0100_0000

SSR: Combintation of SafeLimitedSpeed (SLS) and SafeSpeedMonitor (SSM).

SafeLimitedPosition = 2#0000_0000_1000_0000

SLP: If this safety feature is active, the drive monitors if the motor is not moving out of predefined limits.

SafePosition = 2#0000_0001_0000_0000

SP: If this safety featurs is active, the drive is submitting position data redunantly, which can be used by a safety control system.

SafeDirectionPositive = 2#0000_0010_0000_0000

SDI: If this safety feature is active the drive is only allowed to move in the positive direction (in a safe way).

SafeDirectionNegative = 2#0000_0100_0000_0000

SDI: If this safety feature is active the drive is only allowed to move in the negative direction (in a safe way).

SafeBrakeControl = 2#0000_1000_0000_0000

SBC: SafeBrakeControl is usually used together with the SafeBrakeTest (SBT). SBC is controlling one or more (external) to ensure that the load is not moving after a STO command. Usually SBC and SBT are cyclically enabled by the drive (if the feature is supported and activated) to ensure that the brake is still working as expected or if maintainance is required.

SafeBrakeTest = 2#0001_0000_0000_0000