Bosch rexroth ctrlX SAFETY SafeMotion Applications Manual page 180

ctrlX SAFETY "SafeMotion"
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First use
Fig. 74: Applying encoder data from the standard firmware to SMO
After they were applied from the standard firmware, the SMO encoder parame-
ters have to be verified in the following dialogs.
It is recommended to use the same encoder settings in the standard firmware
and SafeMotion at the XG20 or XG21 interface [or for double axis devices at
the XG20.1 or XG21.1 interfaces (axis 1) and XG20.2 or XG21.2 (axis 2)]. Only
in this way is it possible to compare the command values and actual values of
both systems.
Afterwards, go to the next commissioning dialog using the "Next >>" button.
Basic encoder evaluation
Fig. 75: Basic settings of the SMO encoder
Bosch Rexroth AG R911404905, Edition 02