Bosch rexroth ctrlX SAFETY SafeMotion Applications Manual page 66

ctrlX SAFETY "SafeMotion"
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SafeMotion profiles
Switching from "SMES" to "SMST1" is carried out directly; i.e. the transition
function "Safe stop 1" (SS1) is not activated.
When the transition has been completed, in the special mode "Safe standstill"
(SMST), the safety function "Safe torque off" (STO) or "Safe operating stop
" (SOS) is always executed. If configured, the safety function Safe brake control
(SBC) becomes additionally active in "SMST1".
Diagnostics
When the axis is in the special mode "Safe standstill 1" (SMST1),
it
Special mode Safe standstill active with SOS", and in the active special mode
"Safe standstill 2" (SMST2), the axis acknowledges this with the diagnostic
status message "A0322 Special mode Safe standstill active with SOS".
Using P‑0‑3262 , it is possible to read out whether a selection for Safe standstill
exists.
Using a status bit in P‑0‑3231, the safety technology signals whether Safe
standstill is active or not.
During the transition (with transition function "SS1" or "SS2") to SMST, 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, it is possible to read out whether the axis is in a transition to a
new special mode or not.
Special mode "Safe motion" (SMM)
In the "Bosch Rexroth" SafeMotion profile, the special mode SafeMotion (SMM)
consists of 16 individual safety technology operating states (SMM1 to SMM16).
They can be independently configured and parameterized. During the commis-
sioning of "SafeMotion", it is possible to configure in P-0-3290.x.1 for the
respective special mode "Safe motion" (SMMx) whether it may be selected and
which safety functions are to become active in the special mode.
Safety functions
In the special mode "Safe motion" (SMM1 to SMM16), the following safety
functions are active, depending on the configuration:
●
● Optional:
● Optional:
● Optional:
Selection
A specific special mode "Safe motion" (SMMx) can be selected via the simul-
taneous selection of the mode selection signal (MS), the enabling control
signal (EC) and an SMMx signal (A_SMMx). This selection only becomes
active, unless a simultaneous selection is present for the special mode
"EMERGENCY STOP" (emergency stop signal). It is not allowed to simultane-
ously select multiple special modes "Safe motion". In case of simultaneous
selection of several special modes "Safe motion", a plausibility error is reported
in the selection with F3141.
In the case of selection, the drive is not directly switched to the SMMx, but the
transition function
Monitoring the activation time of enabling control:
Bosch Rexroth AG
acknowledges this
⮫ Safely-limited speed (SLS)
⮫ Safely-monitored transient oscillation (SLS-LT)
⮫ Safe direction (SDI)
⮫ Safely-limited increment (SLI)
⮫ Safely-monitored deceleration (SMD)
via the diagnostic status message "A0321
is activated.
R911404905, Edition 02