Bosch rexroth ctrlX SAFETY SafeMotion Applications Manual page 92

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Transition functions
Table 14: Configurable variants of the transition function Safe stop 1 (SS1)
No. Monitoring Execution SS1 Operation
1 SS1, standstill- Standstill-pri-
prioritized with oritized (SS1–
drive-con- r)
trolled transi-
tion
2a SS1, standstill-
prioritized with
NC-controlled
transition
(with trend
monitoring)
2b SS1, standstill-
prioritized with
NC-controlled
transition
(based on
actual velocity)
3 SS1, time-pri- Time-priori-
oritized with tized (SS1–t)
drive-con-
trolled transi-
tion
3 SS1, time- and Time-
(+1) standstill-pri- standstill-pri-
oritized with oritized (SS1–t
drive-con- and SS1–r)
trolled transi-
tion
4 SS1, time-pri- Time-priori-
oritized with tized (SS1–t)
NC-controlled
transition
4 SS1, time- and Time-
(+2a) standstill-pri- standstill-pri-
oritized with oritized (SS1–t
NC-controlled and SS1–r)
transition
(with trend
monitoring)
4 SS1, time- and
(+2b standstill-pri-
) oritized with
NC-controlled
transition
(based on
actual velocity)
Legend:
*1) monitoring function of higher priority
Bosch Rexroth AG
mode transi-
tions to stand-
still
Drive-con-
trolled
NC-controlled
Drive-con-
trolled
&
*1)
NC-controlled
&
*1)
Execu- Depends on
tion SMD measuring
system used
Based on Yes
actual
velocity
Trend
moni-
toring
Based on
actual
velocity
- No
Based on Yes
actual
velocity
- No
Trend Yes
moni-
toring
Based on
actual
velocity
Maximum safety
level
Category 3, PL d
according to
EN ISO 13849-1 or
SIL 2 according to
EN 62061
Category 4, PL e
according to
EN ISO 13849-1
or up to SIL 3
according to
EN 62061
(The safety level
is determined by
the time-prioritized
monitoring.)
R911404905, Edition 02