Bosch rexroth ctrlX SAFETY SafeMotion Applications Manual page 37

Fig. 7: Mounting position of safe encoder, rotary motor
Velocity threshold for safe standstill
The velocity resolution of the "SafeMotion" depends on the resolution of the
measuring system or of the "measurement noise". Thus, the actual velocity
value never is constantly "0", not even in the case of encoder standstill,
but displays small velocities around the zero point ("encoder noise"). For
"Safe Motion" to safely detect the axis standstill, parameterize the velocity
threshold in "P-0-3255, SMO: Velocity threshold for Safe standstill, below
which the "SafeMotion" is to detect standstill (P‑0‑3256, bit 6="1").
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Notes on commissioning
It is recommended to configure and commission the encoder, which is evalu-
ated in "SafeMotion", in the functional part of the drive first. This ensures that
all functions necessary for the operation of the encoder (e.g. encoder supply
voltage, terminating resistors for the encoder signals, etc.) are activated.
Via the command "C8400 SMO: Apply encoder configuration command", the
settings of the encoder of interface XG20 / XG21 (or XG20.1 / XG21.1,
XG20.2 / XG21.2) can be applied from the standard firmware to "SafeMotion".
R911404905, Edition 02
The safely generated scaling-related actual position value is provided in
P-0-3257.
The safely generated scaling-related actual velocity value is provided in
P-0-3258.
The safely generated direction of motion is provided in P-0-3256, bit 11.
ctrlX SAFETY "SafeMotion"
Encoder evaluation
Bosch Rexroth AG
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