Bosch rexroth ctrlX SAFETY SafeMotion Applications Manual page 144

ctrlX SAFETY "SafeMotion"
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Safety bus communication
The "FSoE slave address" can be assigned once during commissioning (initial
commissioning or serial commissioning); it cannot be subsequently modified.
The FSoE address "0" (default value) is not permitted; permitted value range: 1
to 65535
Once the FSoE address has been assigned, it can only be modified by com-
pletely resetting the safety technology to its condition as supplied (command
C0750 or C0720). When this is done, all safety-related parameter settings of
the axis will get lost!
FSoE watchdog time
The FSoE watchdog time has to be configured in the FSoE master. The per-
mitted value range for ctrlX DRIVE is max. 2 ms up to max. 500 ms.
FSoE system states
Overview
The FSoE state machine of the drive is controlled by the master via the cyclic
FSoE data. The following system states have been defined:
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Furthermore, the FSoE system states are linked to the SafeMotion state
machine and to the communication state machine.
Since the FSoE data are transmitted with the cyclic command values / actual
values of EtherCAT, the FSoE connection is only running when the slave is in
the "Operational phase". In the EtherCAT phases "Init", "PreOp" and "SafeOp",
the FSoE connection is in the "Reset" state.
Switching to the state CM (configuration mode) of the SafeMotion sate
machine inevitably entails switching to the FSoE system state "Reset".
System state "Reset"
In the system state "Reset" the connection is reset and the outputs are set to
the "Fail Safe" state.
● The content "0" is supplied to the safety bus in accordance with the data
● Protocols from the SoE connection layer are processed.
System state "Session"
The session IDs are exchanged in the system state "Session".
● The content "0" is supplied to the safety bus in accordance with the data
● Protocols from the SoE connection layer are processed.
System state "Connection"
The connection IDs and the slave addresses are exchanged in the system state
"Connection".
● The content "0" is supplied to the safety bus in accordance with the data
● Protocols from the SoE connection layer are processed.
Bosch Rexroth AG
⮫ Reset
⮫ Session
⮫ Connection
⮫ Parameter
⮫ Data
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R911404905, Edition 02