Bosch rexroth ctrlX SAFETY SafeMotion Applications Manual page 68

ctrlX SAFETY "SafeMotion"
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SafeMotion profiles
During the transition to SMMx (using the transition function "SMD"), 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.
Notes on application:
Observe the following points for handling the safety technology operating
states:
● If the enabling control is activated in normal operation, the reduction of the
● In the case of a direct change in the operating status from one special mode
Bosch Rexroth AG
command value input may take effect in the control unit. Switching to the
special mode internally activates the monitoring functions for Safe motion
after the end of the transition times.
"Safe motion" to another (e.g., from SMM2 to SMM5), the monitoring time
for the enabling control signal keeps running, because the enabling control
signal (EC) or the mode selection signal (MS) were not reset. If the moni-
toring time then is greater than the threshold parameterized in P‑0‑3290.x.6,
the error "F3142 Activation time of enabling control exceeded" is generated.
R911404905, Edition 02