Bosch rexroth ctrlX SAFETY SafeMotion Applications Manual page 181

The basic encoder properties are set in this dialog:
● In the "Encoder type" field, select the type of encoder, with regard to the
● Via the encoder property "Type of design", set whether the encoder used is
● In the "absolute position range", the maximum absolute evaluable travel
● In the fields "Phys. encoder resolution (analog)" / "Phys. encoder resolu-
● In the "zero offset" field, a zero offset of the encoder saved in the encoder
● In the "Rotational direction" field, set whether the rotational direction of
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, the settings that were made have to be verified. (If the SMO
encoder parameters were applied from the standard firmware using the com-
mand, they only need to be verified in this dialog.)
With the parameter verification, it is necessary to check/verify whether the
parameterization active in the drive complies with the parameters intended or
configured for this axis.
The parameter verification is carried out in ctrlX DRIVE Engineeringvia the
bottom sections of the SafeMotion dialogs ("verification display").
Go to the next commissioning dialog by using the "Next >>" button.
R911404905, Edition 02
signal shape and, if necessary, the communication interface (ACUROlink
etc.) (P–0–3242.x.1). If SMO is to be operated without encoder evaluation,
set the encoder type to "No encoder".
a rotary encoder or a linear encoder ((P–0–3242.x.2 ).
range of the encoder has to be entered (P–0–3242.x.9).
NOTE: In the data sheets of rotatory encoders, this range is referred to as
multiturn (MT) range/resolution and is specified in revolutions. In case of
linear encoders, this value is typically "0".
tion (digital)", enter the physical resolution of the encoder [P–0–3242.x.3,
SMO: Phys. encoder resolution (analog) lower 32 bits and P–0–3242.x.5,
SMO: Phys. encoder resolution (analog) upper 32 bits or P–0–3242.x.4,
SMO: Phys. encoder resolution (digital) lower 32 bits and P–0–3242.x.6,
SMO: Phys. encoder resolution (digital) upper 32 bits].
NOTE: Regarding the encoder resolution, it has to be differentiated between
"safe resolution" and "functional resolution". In this dialog, the functional
resolution has to be specified (see
tems).
memory can be specified (P–0–3242.x.10). If no zero offset is saved in the
encoder memory, enter "0" in the field.
the encoder is inverted or not with regard to the rotational direction of the
motor (P–0–3242.x.2).
ctrlX SAFETY "SafeMotion"
First use
⮫ Required motors and measuring sys-
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