Bosch rexroth ctrlX SAFETY SafeMotion Applications Manual page 171

● "Encoder wiring ‑ ctrlX DRIVE": The EnDat–2.2 encoder has to be directly
The velocity of the EnDat–2.2 encoder is recorded at an interval of 1 ms with
a tolerance of ±3 %. The resulting tolerance of the actual value for the velocity
has to be taken into account for the risk assessment at the machine!
Important instructions regarding inadequate connections of encoder shaft and
motor shaft or encoder housing and motor housing
If it cannot be excluded that the connection of encoder shaft and motor shaft
or encoder housing and motor housing or the fixing device of the reading head
accidentally loosens or breaks, take the following remaining risks into consider-
ation:
● Combination "rotary or linear encoder with synchronous motor": Possible
● "Optional load-side encoder" or combination "rotary encoder with asynchro-
Brakes
Using the "Safe brake control (SBC)" function, a motor holding brake can be
switched off safely. The following requirements have to be met for using the
safety function:
● ctrlX DRIVEplus
When the Safe brake control is used, the brake connected to the controller has
to comply with the following requirements:
R911404905, Edition 02
Other encoder-specific parameters such as the maximum number of revolu-
tions/cycles have to be complied with (see EN 61800–5–3).
connected to the respective interface [XG21 (or XG21.1 and XG21.2 for
double-axis devices]; mere plug-in connectors are allowed. Branches to
other evaluation devices, a third-party supply, interconnecting active units
or switching between encoders are not allowed.
Lethal injury and/or property damage caused by varia-
DANGER
tions in the position detection
If an EnDat-2.2 encoder is used as safety technology
encoder, the Safe position resolution of the encoder
may be lower than the actual encoder resolution. This
may lead to an undetected positional variation between
detected and actual position with all safety functions of
the safe position. This must be considered in the risk
assessment of the machine.
incorrect orientation of the commutation can cause positive feedback of
the current control loop. In this case, the velocity can inadmissibly increase
before the monitoring function triggers.
nous motor": The encoder can move with the shaft by an angle limited by the
connection cable which causes an angle offset. This can result in dangerous
movements.
Loosening of the material measure (e.g., encoder shaft breakage) should
not cause any allowed signals; if this error cannot be excluded, take the
following remaining risk into consideration: The motor shaft may move at
maximum slip speed.
– Brake has to be connected to XZ03 or
– brake has to be connected to XG03
ctrlX SAFETY "SafeMotion"
First use
Bosch Rexroth AG
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