Bosch rexroth ctrlX SAFETY SafeMotion Applications Manual page 179

ctrlX SAFETY "SafeMotion"
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First use
Pertinent parameters
● P–0–3235.0.2, SMO: Proposed axis identifier
● P–0–3235.0.3, C8500 SMO: Command Apply identification data
● P–0–3235.0.4, SMO: Axis identification: Control word
Afterwards, go to the next commissioning dialog using the "Next >>" button.
Step 4: Configuring the system behavior
Configuring the SMO encoder
Overview (SMO encoder evaluation)
The "Overview" dialog for the SMO encoder evaluation shows the states of the
connected encoder and of the encoder evaluation.
Fig. 73: "SMO encoder" overview
Via the "Apply encoder data from standard firmware to SMO..." button, the
encoder data of the encoder connected to the optional slot XG20 or XG21
[double-axis devices at the XG20.1 or XG21.1 interfaces (axis 1) and XG20.2
or XG21.2 (axis 2)], can be applied from the standard firmware to the SMO
parameters (C8400 SMO: Apply encoder configuration command). Prior to
automatically apply data, select to which interface the SMO encoder is con-
nected to. Subsequently, start applying the data with the "Apply encoder
data ..." button. Not all encoders are approved for "safe encoder evaluation".
Therefore, only the data of approved encoder types are applied. If the encoder
configuration cannot be applied, a command error (C8401, C8402) is gener-
ated.
R911404905, Edition 02 Bosch Rexroth AG