Bosch rexroth ctrlX SAFETY SafeMotion Applications Manual page 28

ctrlX SAFETY "SafeMotion"
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Performance
Fig. 1: SafeMotion: Time response and reaction times
(External component) Selection of a safety
1)
function or of a special mode
2) See ⮫ Transition functions
se ⮫ Safety functions
3)
See chapter ⮫ Error reaction and escalation
4)
strategy (in case of encoder errors with
EnDat–2.2 encoders or ACUROⓇlink encoder,
the error reaction time is increased by 2 ms)
Bosch Rexroth AG
Timeout of the safety bus communication
5)
(External component) Use the delay of the
6)
brake here, see manufacturer's specification
this value only applies to the transfer and
7)
processing in the optional safety module "M5"
R911404905, Edition 02