Bosch rexroth ctrlX SAFETY SafeMotion Applications Manual page 58

ctrlX SAFETY "SafeMotion"
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SafeMotion state machine
● Configuration mode (CM)
● Parameter mode (PM)
● Operating mode (OM)
Switching
The SafeMotion state machine is coupled to the subdevice state machine; i.e.
the SafeMotion state machine changes its state, if the subdevice state machine
changes its state. To change between the states of the state machine, use the
following commands:
Bosch Rexroth AG
Note: Even without active safety technology, it is possible to commission and
operate a drive with a SafeMotion safety option. For this purpose, activate
the "Functional commissioning" in the "SMO not active" state in parameter
"P-0-3201, SMO: Configuration of functional commissioning". Hereby, the
output stage and brake interlock are disabled by the safety technology.
DANGER! Danger to life, risk of injury, serious injury or property damage!
With functional enabling of the drive, the output stage and brake interlock
are disabled by inactive SafeMotion! There is no protection provided in the
danger zone. The safety has to be established by the commissioning engi-
neer.
→ In the "configuration mode (CM)" state, the safety technology of the drive
is active and in the configuration mode.
In this state, basic properties of safety technology can be configured and
verified [e.g., the display of parameters (scaling), the detection of the axis
motion (encoder evaluation), the interfaces for selection and acknowledg-
ment (local, ctrlX SAFETYlink)]. The safety technology is in the safe state
"Safety Default".
Note: All changes made to safety technology parameters have to be veri-
fied before switching to PM takes place. If the safety technology detects
unverified parameters, it acknowledges the transition command with the
command error "C1115".
→ In the "PM" state, the safety technology of the drive is active and in
the Safe Torque Off state. Furthermore, a selection evaluation takes place,
the encoder evaluation is active (but encoder errors are not output) and
the safety status signals "Axis safe" (if safety technology has detected axis
standstill and all safety technology parameters have been verified).
In "PM" it is possible to configure all the safety technology functions and
properties that are not part of the basic properties of safety technology (see
CM); this applies to the configuration of safety functions, the parameteriza-
tion of monitoring thresholds and the configuration of the error reaction.
Note: All changes made to safety technology parameters have to be veri-
fied before switching to OM takes place. If the safety technology detects
unverified parameters, it acknowledges the transition command with the
command error "C0213".
→ In state "OM", safety technology is active in the drive and the "State
Machine of the SafeMotion profile" is active. The configuration cannot be
changed in OM.
– State machine of the SafeMotion profile
→ When switching to "OM", the "State Machine of the SafeMotion profile"
is called. Depending on the active "Safe Motion profile", the selection is
evaluated, the safety functions are activated and safety is acknowledged
(see ⮫ Chapter 7.6 SafeMotion profiles on page 59).
R911404905, Edition 02