Function - Bosch rexroth ctrlX SAFETY SafeMotion Applications Manual

Fig. 16: SafeMotion state machine
1) Set C0750 or C0720 or password to default value
2) Password assignment (P-0-3230.0.1)
This chapter describes the "Safe Motion state machine" and its interaction with
the "subdevice state machine". For a detailed description of the "subdevice
state machine", see "State machines" in the Functional Description of the firm-
ware.
7.5.2

Function

States
In the "Safe Motion state machine", the following states are distinguished:
● Initialization
● SMO not active
R911404905, Edition 02
→ In the "initialization" state, the safety technology is initialized and is in the
safe state "Safety Default".
→ In the "SMO not active" state, the safety technology of the drive is
not active and is in the safe state "Safety Default". The safety technology
waits for being activated by the assignment of a safety technology password
(P-0-3230.0.1). As an alternative, the safety technology can be activated by a
parameter image being loaded and the command "C8300" being executed. In
this state, only those safety technology errors are detected and signaled that
require the hardware or firmware to be replaced.
The "Safety Default" state is characterized by the following features:
– The output stage is locked.
– The drive does not signal safety.
– All local safe outputs have been set to "0".
– The brake output has been deactivated, i.e. an electrically releasing brake
is applied.
– The input signals (local input, Safety bus, ctrlX SAFETYlink) are not evalu-
ated
ctrlX SAFETY "SafeMotion"
SafeMotion state machine
Bosch Rexroth AG
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