Bosch rexroth ctrlX SAFETY SafeMotion Applications Manual page 200

ctrlX SAFETY "SafeMotion"
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First use
Changing the operating status
Fig. 95: Parameterizing the change in the operating status
Via the "Change in operating status" dialog, parameterize the transitions
between the operating states of SafeMotion (normal operation, Emer-
gency stop (SMES), special mode "Safe standstill (SMST)", special mode
"Safe motion (SMM)").
In the Transition to standstill section, configure whether the transition to the
new operating status is to be carried out in an "NC-controlled" way (i.e. the
control unit actively has to perform the transition of the axis) or in a "drive-con-
trolled" way (i.e. the drive performs the transition independent of the control
unit).
Drive-controlled transition processes can only be carried out to standstill.
Transitions to the special mode "Safe motion" are always NC-controlled, inde-
pendent of the configuration.
With drive-controlled transition configured, the dialogs of the standard firm-
ware, in which the axis reactions for the drive-controlled transition have been
configured, can be called via the "Error reaction drive" and "Drive Halt" links.
In the Transition to STO section, configure the transition processes (SMES,
SMST1) in which the STO safety function is active. It is possible to choose
between two transition types:
● SS1 time-prioritized: When the transition time is over, STO always becomes
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active; this is independent of whether the axis standstill was reached or not;
deceleration can be achieved up to SIL3.
R911404905, Edition 02