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ctrlX SAFETY "SafeMotion"
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SafeMotion state machine
Escalation strategy, level 3: F83xxx error reaction
Level 3 of the escalation strategy is activated under the following condition:
● The previous escalation levels were unsuccessful or
● F83xxx or F9xxx error generated by the drive
SafeMotion applies the brake (if available) and disables the torque of the drive.
Depending on the configuration, the type of monitoring of the escalation level
can differ:
−
−
−
If the same error reaction was configured for F3xxx errors and F7xxx errors, the
drive after the 1st escalation level is not switched to the 2nd escalation level
(F7xxx error reaction), but directly to the 3rd escalation level (F83xx error
reaction). This avoids unnecessarily long reaction times.
7.5
SafeMotion state machine
7.5.1
Overview
The safety technology state (e.g., special mode "Safe standstill", SMO config-
uration mode, safety technology error,...) represents a certain internal and
external behavior of the drive with "Safe Motion". The safety technology state
can be exited by defined events (e.g., drive commands, operation mode
switching). Corresponding state transitions are assigned to the events. The
state transitions and the interaction of the control and status bits are called
state machine.
The parameters used to parameterize/configure the safety technology func-
tions are write-protected with "P-0-3230.0.1, SMO: Password" and cannot be
changed by unauthorized persons.
The status of the safety technology password is contained in "P‑0‑3230,
SMO: Password level".
For drives with "SafeMotion", it is distinguished between:
● the "Subdevice state machine" (defines the device-specific states which
● the "SafeMotion state machine" (defines the safety technology-specific
Bosch Rexroth AG
F3xxx/E83xx error reaction as "NC error reaction on F3 errors": mere time
monitoring for effectiveness of escalation level is active
F3xxx/E83xx error reaction as "return motion": mere time monitoring for
effectiveness of escalation level is active
F3xxx/E83xx/F7xxx error reaction as "torque disable": no other escalation
monitoring function active
determine the behavior of the device) and
states which determine the behavior of safety technology)
R911404905, Edition 02
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