Safety Bus Communication; Brief Description; Functional Principle - Bosch rexroth ctrlX SAFETY SafeMotion Applications Manual

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9.4

Safety bus communication

9.4.1

Brief description

Besides the discrete selection and acknowledgment, the integrated safety tech-
nology in the "Safe Motion" characteristic supports the selection and acknowl-
edgment of the safety functions via safe channels of master communication
(Safety bus communication). For this purpose, the standard protocol of the
respective master communication is extended by a safe protocol. Thus, safe
information can be transmitted to and from a safety master, besides the
standard communication.
Features
● The safety technology operating states of the active "Safe Motion" profile
● Direct selection (in parallel with the Safety bus communication) is possible.
● The following safe protocol is supported:
● Configurable connections are available in addition to the permanently prede-
Only one control word and one status word with signals defined by the config-
uration type can be transmitted via the Safety bus communication (see "Con-
sumer and producer connection configuration"). Other process data, such as
safe position feedback values, are not available.
The bus communication type has to be selected in the configuration
(P‑0‑3345).
9.4.2

Functional principle

To use the Safety bus communication, it must be activated during commis-
sioning (P-0-3345). The safe protocol for safe communication is determined
upon activation.
The Safety bus communication can only be activated/deactivated in the "SMO
configuration mode (CM)".
Establishing a connection is possible in the "Parameterization mode (PM)" and
in the "Operating mode (OM)".
The current status of the connection can be read via P‑0‑3342 (consumer con-
nection) and P-0-3343 (producer connection).
The Safety bus communication only supports one consumer connection and
one producer connection per drive. The active predefined configuration defines
which data are transmitted via these connections. The content and use of the
configurations are independent of the master communication and the safety
protocol via and with which the data are transmitted.
R911404905, Edition 02
⮫ FAQ about the ctrlX AUTOMATION
can be selected via the safety bus communication.
– FSoE FailSafe over EtherCAT (from AXS‑V‑0304)
fined configurations. Defined signals and generic control or status signals
can be configured in the configurable connections.
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Safety bus communication
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