Bosch rexroth ctrlX SAFETY SafeMotion Applications Manual page 204

ctrlX SAFETY "SafeMotion"
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First use
Fig. 96: Parameterizing the error reaction
In the Safety technology error reaction section, configure the SafeMotion error
reaction. The upper part displays the configured error reaction of the standard
firmware. Via the "Apply for SMO" button, the error reaction of the standard
firmware can be applied to Save Motion. If it is impossible to apply the
error reaction to SafeMotion due to invalid settings, the error reaction of the
standard firmware can be adjusted accordingly via the "Error reaction drive"
link.
The configuration of the error reactions in the standard firmware and of Safe-
Motion has to be identical!
The table shows the possible error reaction combinations for SafeMotion. As
an alternative to applying the error reaction of the standard firmware, the error
reaction can be configured using the table.
In the" Error reaction F3 tolerance time" field, configure the time in which the
F3 error reaction or E83 warning reaction has to be completed. The selected
time has to allow the axis to be decelerated by an F3 error reaction (or an E83
warning reaction) even in the worst case (e.g., maximum velocity and maximum
load).
In the "Error reaction F7 tolerance time" field, configure the time in which the
F7 error reaction has to be completed. The selected time has to allow the
axis to be decelerated by an F7 error reaction even in the worst case (e.g.,
maximum velocity and maximum load).
In the SMD during the error reaction section, configure the SMD safety function
for the error reaction. The SMD monitoring of the error reaction always takes
place "based on the actual velocity". Thus, the following parameters have to be
configured:
Bosch Rexroth AG R911404905, Edition 02