Bosch rexroth ctrlX SAFETY SafeMotion Applications Manual page 90

ctrlX SAFETY "SafeMotion"
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Transition functions
After the deceleration process has been completed, the safety function
"Safe torque off (STO)" is activated and the energy supply to the motor is safely
interrupted. The motor cannot generate any torque/any force and therefore no
dangerous movements.
The transition to standstill by the transition function "Safe stop 1 (SS1)" can be
performed in different ways:
● "Drive-controlled", i.e. the drive is decelerated by the standard firmware, and
● "NC-controlled", i.e. the higher-level control unit decelerates the drive via the
Both the drive-controlled and the NC-controlled transition can be executed in a
"time-prioritized" or in a "standstill-prioritized" way.
The time-prioritized transition has the following features:
● The functionality is independent of the measuring system used and attains
● STO function is activated in standstill with drive enable removed, but at the
● To monitor the deceleration process, the deceleration monitoring is active
The standstill-prioritized transition has the following features:
● The functionality depends on the measuring system used and can attain
● STO function is activated in standstill with drive enable removed.
● The deceleration process is always monitored, with regard to the max-
Features
The function has the following features:
● Corresponds to stop category 1 according to EN 60204-1.
● The energy supply to the motor is safely interrupted.
● The transition function can be used in drive systems equipped with the
● The transition can be performed in a "drive-controlled" way or in an "NC-con-
● At the end of the transition, the safety function "Safe torque off" is activated.
● The duration of the transition is monitored (cf. "P‑0‑3280.0.2" or
● The deceleration can be optionally monitored during the transition using the
Bosch Rexroth AG
the safety technology monitors the deceleration process or
command value system, and the safety technology monitors the deceleration
process
the safety level Category 4, PL e according to ISO 13849-1 or SIL 3
according to IEC 62061.
latest after the parameterized delay is over. Even an error reaction running in
parallel does not have an influence on this behavior.
[safety function Safely-monitored deceleration (SMD) with safety level
Category 3, PL d according to EN ISO 13849-1 or SIL 2 according to
EN 62061].
the safety level Category 3, PL d according to EN ISO 13849-1 or SIL 2
according to EN 62061.
imum transition time, by the deceleration monitoring [safety function
"Safely-monitored deceleration (SMD)"] with integrated monitoring. If the
maximum transition time is exceeded, the STO function is not necessarily
activated. This is done within the scope of the parameterized error reaction
(P-0-3263.0.1).
optional safety technology module "Mx".
trolled" way.
"P‑0‑3280.0.3"). When the monitoring function is triggered, this causes an
error reaction (F7050 / F8350) which decelerates the drive system.
safety function "Safely-monitored deceleration (SMD)". When the monitoring
function is triggered, this causes an error reaction (F7051 / F8351) which
decelerates the drive system.
R911404905, Edition 02