Bosch rexroth ctrlX SAFETY SafeMotion Applications Manual page 51

Reaction
Velocity command value
reset (emergency stop)
Torque disable
The error reactions of the error classes can be combined as follows:
F3xxx or E83xx
NC reaction on F3 errors
Return motion
Velocity command value reset
with ramp and filter (quick
stop)
Velocity command value reset
with ramp and filter (emergency
stop)
Velocity command value reset
(emergency stop)
R911404905, Edition 02
Drive behavior / deceleration
√ √ The drive is decelerated taking the torque limit value
(P-0-0109) into account.
With active SMO encoder evaluation (P-0-3242.x.1),
"SafeMotion" monitors the error reaction of the
standard drive using the safety function "SMD".
In case of an inactive SMO encoder evaluation
(P‑0‑3242.x.1), "SafeMotion" monitors that the reac-
tion is completed within the parameterized toler-
ance time for the error reaction (P-0-3263.0.6 or
P‑0‑3263.0.7).
√ √ The drive torque is disabled by the standard firmware
and the drive in this case is only decelerated by the
friction torque. The drive coasts to stop.
If brakes are available, they are controlled.
The safety technology activates the "STO" safety func-
tion and - if configured/available - the "SBC" safety
function.
ctrlX SAFETY "SafeMotion"
F7xxx
Velocity command value reset
with ramp and filter (emergency
stop)
Velocity command value reset
(emergency stop)
Torque disable
Velocity command value reset
with ramp and filter (emergency
stop)
Velocity command value reset
(emergency stop)
Velocity command value reset
with ramp and filter (emergency
stop)
Velocity command value reset
(emergency stop)
Velocity command value reset
with ramp and filter (emergency
stop)
Velocity command value reset
(emergency stop)
Velocity command value reset
(emergency stop)
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Diagnostic system
Reference to standard
parameters
P‑0‑0119, bit 3‑0="0"
P‑0‑0119, bit 7‑4="0"
P‑0‑0119, bit 3‑0="1"
P‑0‑0119, bit 7‑4="1"
F83xx
Torque disable
*1)
Bosch Rexroth AG