Safety Function - Bosch rexroth ctrlX SAFETY SafeMotion Applications Manual

Features
The safety function "Safety zone acknowledge" has the following features:
● The safety function is intended for safety-relevant applications up to
● The safety level achieved for the safety function "Safe zone error (SZA)"
● The safety zone can consist of a maximum of 16 axes and the safety control
● To set up a safety zone, a safety control is always required which is con-
● Only axes of the ctrlX DRIVEplus drive group that have been equipped with
Parameters involved
The following parameters can be used in conjunction with the safety function
"Safety zone acknowledge":
● P‑0‑3266.0.1, SMO: Control word safety zone
● P‑0‑3266.0.2, SMO: Configuration of safety zone
● P‑0‑3321, SMO: Safe output signals, SAFETYLink
Diagnostic message involved
The following diagnostic messages can be generated in conjunction with the
safety function "Safety zone acknowledge":
● F7035 SAFETYlink error
9.7.2

Safety function

Using the function
To generate a safety zone via the ctrlX SAFETYlink, a safety control (zone
master e.g. ctrlX SAFETY (SAFEX-C.1*)) required. All axes that are included
in the safety zone (zone nodes) must be equipped with ab optional safety
technology module "M5".
The zone master provides safe inputs to select safety functions via the ctrlX
SAFETYlink to all zone nodes. The selection can be made individually for each
ctrlX SAFETYlink via discrete inputs (local inputs of the axis) or via the safety
bus.
The zone master of the safety zone cyclically generates the safety status of the
zones and can acknowledge it via the its outputs.
The zone master communicates with the zone nodes via ctrlX SAFETYlink. All
drives are connected in the ring and pass on the information, transmitted via
the ctrlX SAFETYlink (output XG43 → input XG42), to the next node.
A safety zone is set up by the wiring of thectrlX SAFETYlink; i.e. all drives wired
in the ctrlX SAFETYlink have to be configured as zone node or zone master and
have to inform the zone of their safety states.
It is not possible to loop the ctrlX SAFETYlink through axes that are not part of
the safety zone!
Axes within the safety zone with inactive safety technology or axes which have
not been configured as zone node, generate the error message F7035 when
receiving telegrams via the ctrlX SAFETYlink.
R911404905, Edition 02
Category 4, PL e according to EN ISO 13849-1 or up to SIL 3 according
to EN 62061.
depends on the safety level achieved in the zone nodes. The zone node
with the lowest safety level determines the safety level of the safe zone
acknowledgment.
(e.g. ctrlX SAFETY (SAFEX-C.1*)).
nected to the safety zone nodes via the ctrlX SAFETYlink.
the optional safety technology module "M5" can be included in the safety
zone.
ctrlX SAFETY "SafeMotion"
Safety zone acknowledge (SZA)
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Bosch Rexroth AG