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ctrlX SAFETY "SafeMotion"
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Encoder evaluation
encoder type
The "encoder type" (P-0-3242.x.1) describes the type of encoder with regard to
the signal shape and, if necessary, the communication interface. "Safe Motion"
can evaluate the following encoder types:
● Digital encoders with ACURO®link interface (only rotary encoders, no linear
● Digital encoders with EnDat-2.2 interface (rotary encoders and linear
With "P-0-3242.x.1="0", the "safe encoder evaluation" can be deactivated. When
the safe encoder evaluation has been deactivated, only those safety functions
of "SafeMotion" are available that do not require safe encoder evaluation [e.g.
STO, SBC, SS1 (time-prioritized)].
Encoder properties
In order that "SafeMotion" can correctly evaluate the transmitted position and
velocity information of a safe encoder, the following encoder properties are
required in addition to the encoder type:
● Encoder type (P-0-3242.x.2)
● Rotational direction of the encoder (not inverted or inverted) (P‑0‑3242.x.2)
● Encoder resolution (P‑0‑3242.x.4 and P‑0‑3242.x.6) in increments per motor
● Absolute position range (P‑0‑3242.x.9) in revolution (rev) for rotary
● Zero offset (P‑0‑3242.x.10) in increments (incr)
Mounting position of the safe encoder
The "SafeMotion" supports the motor-side, as well as the load-side mounting
of the safe encoder. When choosing the mounting position, observe that the
encoder has to be mounted in such a way that dangerous movements can
be monitored. To correctly evaluate the safe encoder in "SafeMotion", the
mounting position of the encoder has to be configured via (P-0-3252.1.2).
According to the safety-related application, it is sometimes impossible to
connect the safe encoder directly. Therefore, the "SafeMotion" provides
the option to evaluate a safe encoder connected via a gearbox. The
gear ratio of the gearbox results from the relation between the encoder-
side gearbox input revolutions (P-0-3252.1.3) and the load- or motor-side
gearbox output revolutions (P-0-3252.1.4). With a gear ratio of 1:1, the gearbox
is switched off.
The wrong parameterization of the mounting position and of the encoder
gearbox causes incorrect position and velocity values. Make sure the physical
mounting position of the encoder has been parameterized correctly.
The figure below illustrates the possible mounting positions of the safe
encoder:
Bosch Rexroth AG
encoders) at the XG20 interface or in case of double-axis devices at the
XG20.1 (axis 1) and X20.2 (axis 2) interfaces.
encoders) at the XG21 interface or in case of double-axis devices at the
XG21.1 (axis 1) and X21.2 (axis 2) interfaces.
rotation (incr/incr/rev) for rotary encoders or in nano meters per increment
(nm/incr) for translatory encoders
encoders or millimeters (mm) for translatory encoders
Dangerous movements! Danger to life, grievous bodily
WARNING
harm or material damage by using a gear not intended
for the application!
The gear used to connect the safe encoder has to be
designed according to safety-technical aspects (mechan-
ical overload, ...).
R911404905, Edition 02
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