Bosch rexroth ctrlX SAFETY SafeMotion Applications Manual page 62

ctrlX SAFETY "SafeMotion"
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SafeMotion profiles
Via the
selection signals of the drive and of the safety zone module or mapped to the
control signals of safe communication.
The state diagram below shows how the different safety technology operating
states are selected with the activation signals:
Fig. 18: State diagram
ES Emergency stop signal ("0" active)
MS Mode selection signal ("0" active)
EC Enabling control signal ("1" active)
A_SMMx SMMx signal ("1" active)
* Global monitoring functions active
Table 11: Safety status of the axis
Normal opera- Special mode transition process
tion
Otherwise
Special opera- Transition process within special
tion mode
Transition process to normal oper-
ation
Otherwise
Error Transition process from special
mode
Transition process from normal
operation
Otherwise
Legend:
1) In certain cases, safety cannot be acknowledged
In the Engineering software, the safety status of the axis is displayed in
the "SafeMotion" status dialog (see also
neering).
Bosch Rexroth AG
⮫ IO mapper inputs, the activation signals can be wired to discrete
Safety status of the axis
Axis safe Axis not safe
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√
√
√
1)
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√
1)
⮫ Status dialogs in ctrlX DRIVE Engi-
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√
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R911404905, Edition 02