Bosch Rexroth IndraDrive Series Applications Manual page 93

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Commissioning the safety technology
Step 4: Activating / deactivating
the safety function
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Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16)
Fig. 8-3: IndraWorks "Configuration" dialog
● Switch the drive to the parameter mode (phase 2 or PM).
● Use the field "Reaction in special mode (...) when external drive enable
already set" to select which diagnostic message the drive is to output
when drive enable had been set when the special mode was selected.
In the case of installations for which it is impossible to ensure that
drive enable is removed before the special mode is selected (e.g.,
drive enable removed by opening the safety door), the "warning
E8027" should be parameterized for "Reaction in special mode
(...) when drive enable already set".
The corresponding parameter is "P-0-0101, Configuration STO/SBC".
● The "Diagnostic message output" field is used to limit the error output in
the operating mode (OM), after the initialization of the axis and before
drive enable is set for the first time.
When the L option is selected by external components which
output invalid selection states during initialization, "Limited
diagnostic message" should be parameterized.
The corresponding parameter is "P-0-0101, Configuration STO/SBC".
Before selecting the safety functions "Safe Torque Off" and "Safe
Brake Control" (L4 only), shut down the drive system by means of
the command value input and reset drive enable. There is no
drive-controlled stopping process!
The safety functions "Safe Torque Off" and "Safe Brake Control" are
automatically activated after the booting process. They cannot be
deactivated.
DOK-INDRV*-SI3-**VRS**-AP06-EN-P