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9
Selection and acknowledgment
9.1
General information
"Selection" basically is the "activation" of safety functions that were parameter-
ized and configured during commissioning.
The firmware supports the selection of the following options:
● safe selection via ctrlX SAFETYlink in connection with the SAFEX-C.1x safety
● Dual-channel "discrete selection" via safe digital inputs of the optional safety
● safe selection via the "safety bus" The safe transfer protocol "FSoE FailSafe
The available safety functions are independent of the interface used.
The firmware supports the following options for safety-related feedback:
● Dual-channel "discrete acknowledgment" via the safe digital output of the
● Single-channel, non-safe acknowledgment via the digital outputs of the axis
● Single-channel, non-safe acknowledgment via the master communication of
● safe acknowledgment via the "safety bus". The safe transfer protocol "FSoE
● safe acknowledgement via ctrlX SAFETYlink in connection with the safety
9.2
Discrete selection and acknowledgment
9.2.1
Brief description
Besides the selection and acknowledgment via the safety bus communication,
the integrated safety technology in the "Safe Motion" characteristic supports
the discrete selection and acknowledgment via digital inputs and outputs. The
safe selection can only be made via two channels.
In the case of discrete selection and acknowledgment, make sure that the
wiring and the safety unit, which generates the selection, comply at least with
the safety level required for the application.
9.2.2
Functional principle
Definition
SafeMotion supports the following types of wiring and selection via digital
inputs:
Dual-channel selection
Dual-channel selection means that SafeMotion reads in the selection signals
via two digital inputs and from these two signals internally generates one safe
selection signal. The wiring between the sensor required for the selection and
the two digital inputs can be implemented as a "single-channel wiring" (with
fault exclusion for the discrete wiring) or as a "dual-channel wiring". The two
figures below illustrate the wiring types in schematic form.
R911404905, Edition 02
control
technology module
over EtherCat" (AXS-V-0304 and above) is available
optional safety technology module
the axis
FailSafe over EtherCat" (AXS-V-0304 and above) is available
control SAFEX-C.1x
ctrlX SAFETY "SafeMotion"
Discrete selection and acknowledgment
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Bosch Rexroth AG
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