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In the status word of "SafeMotion" (P-0-3231, SMO: Operating status), the
"safety technology error" status bit is set to "0" in the case of error. The safety
status of the axis is maintained during the transition process, i.e. depending
on the operating status (normal operation or special mode) of the axis at the
time the safety technology error occurs, safety is acknowledged or not during
the transition process. Safety is acknowledged once the transition is complete.
However, no safety is always acknowledged in the following cases:
Axis becomes "torque-free" during
the error reaction
Error in safety technology encoder
evaluation
Error in brake control
Error in local acknowledgment
output
Communication error, encoder
interface modules (F8035)
Communication error, onboard
encoder modules (F8036)
SMO: Internal communication
error (F8106)
Fatal system errors (F9xxx)
("SafeMotion" does not generate
any fatal system errors, but reacts
to fatal system errors of the
standard firmware.)
Configuring the error reaction
The
SMO: Configuration of standstill"). The error reactions configured in
P-0-3263.0.1 have to match the error reactions of the standard firmware
(see "P-0-0117, Activation of control unit reaction on error and "P-0-0119,
Best possible deceleration"). Differing configurations are detected by the tran-
sition command error "C8814 SMO: Configuration faulty. The following error
reactions can be configured:
R911404905, Edition 02
As long as the axis is "coasting", the safety status is set to "Axis
not safe". As soon as "SafeMotion" has detected axis standstill,
the safety status of the axis is permanently set to "Axis safe".
"Safe Motion" can no longer ensure dual-channel safety. A
coasting spindle, for example, cannot be detected.
The safety status is permanently set to "Axis not safe".
"Safe Motion" can no longer ensure dual-channel safety. The
brake possibly cannot be applied any more.
The safety status is permanently set to "Axis not safe".
The safety status is permanently set to "Axis not safe".
"SafeMotion" establishes the safe state Safety Default; this state
comprises:
● Output stage is locked (drive torque has been disabled)
● digital local outputs have been set to "0"
● Brake output is deactivated; electrically releasing brake is
applied!
The safety status is permanently set to "Axis not safe".
following
error
reactions
ctrlX SAFETY "SafeMotion"
Diagnostic system
can
be
configured
49 / 302
in
"P-0-3263.0.1,
Bosch Rexroth AG
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