Bosch rexroth ctrlX SAFETY SafeMotion Applications Manual page 65

●
● Optional:
Selection
The special mode "EMERGENCY STOP" is selected via the emergency stop
signal (ES). This selection is independent of the selection of the mode selec-
tion signal (MS), the SMM signals (A_SMMx) and the enabling control signal
(EC). That is to say the emergency stop signal always has the highest priority.
In the case of selection, the drive is not directly switched to the special mode
"EMERGENCY STOP" (SMES), but the transition function
(SS1) is activated first. When the transition has been completed, the safety
function
"EMERGENCY STOP". If configured, the safety function
(SBC)
Diagnostics
When the axis is in the special mode "EMERGENCY STOP", it acknowledges this
via the diagnostic status message "A0320 EMERGENCY STOP active".
Using P-0-3262 it is possible to read out whether a selection for EMERGENCY
STOP exists.
Using a status bit in P-0-3231, the safety technology signals whether the special
mode "EMERGENCY STOP" is active or not.
During the transition (with transition function "SS1") to the special mode
"EMERGENCY STOP", the axis still acknowledges the last active operating
status via the diagnostic status message, because the monitoring functions of
the operating status remain active during the transition. Using P-0-3231, bit 26,
it is possible to read out whether the axis is in a transition to a new special
mode or not.
Special mode "Safe standstill" (SMST)
In the "Bosch Rexroth" SafeMotion profile, the safety technology operating
status special mode Safe standstill (SMST) is available in two characteris-
tics: "SMST1" and "SMST2". When "SafeMotion" is commissioned, the stand-
still safety function to become active in special mode can be configured in
P‑0‑3285.0.1. It is possible to configure either Safe torque off (STO) or Safe
operating stop (SOS).
Safety functions
In the special mode "Safe standstill" (SMST), the following safety functions are
active, depending on the configuration:
● SMST1:
● SMST1: optional
● SMST2:
Selection
The special mode "Safe standstill" can be selected using the mode selection
signal (MS). This selection only becomes active unless a simultaneous selection
is present for the special mode "Emergency stop" (emergency stop signal) or
the special mode "Safe motion" [operation mode selection signal (MS) and
enabling control signal (EC) and an SMM signal (A_SMMx)].
In the case of selection, the drive is not directly switched to "SMST1" or
"SMST2", but the transition function
configured, or the transition function
ured, is activated.
R911404905, Edition 02
⮫ Safe torque off (STO)
⮫ Safe brake control (SBC)
⮫ Safe torque off (STO)
becomes additionally active.
⮫ Safe torque off (STO)
⮫ Safe brake control (SBC)
⮫ Safe operating stop (SOS)
ctrlX SAFETY "SafeMotion"
SafeMotion profiles
⮫ Safe stop 1 (SS1)
is always executed in the special mode
⮫ Safe brake control
⮫ Safe stop 1 (SS1)
⮫ Safe stop 2 (SS2) with "SMST2" config-
65 / 302
(SS1) with SMST1
Bosch Rexroth AG