Bosch rexroth ctrlX SAFETY SafeMotion - Page 113

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ctrlX SAFETY "SafeMotion"
Transition functions
Bosch Rexroth AG
R911404905,
Edition 02
Safety technology
operation mode tran-
sition
Parameterization
(P‑0‑3280.0.1)
Reaction
Active
safety
function
Selected
safety
function
Bit 3 Bit 4 Bit 8 Bit 9 Monitoring
Error message when monitoring function is
violated
When time moni-
toring is triggered
When velocity is vio-
lated
1 x
SMD based on actual
velocity
SMMx NO x x x x
-
(no transition necessary, switching takes place directly)
Legend:
NO: Normal operation, safety functions for normal operation
SMMx: Motion modes (SMM1 – SMM16), safety functions for motion monitoring
x: not relevant
1): When configuring P‑0‑3280.0.1, bit 7=0 or P‑0‑3238 > (2 × P‑0‑3255) → F7051 after exceeding P‑0‑3238;
when configuring P‑0‑3280.0.1, bit 7=1 and P‑0‑3238 ≤ (2 × P‑0‑3255) → Warning E3151 after exceeding
P‑0‑3238 with monitoring of incorrect distance
Monitoring functions during drive-controlled safety technology operation mode transitions
Safety technology opera-
tion mode transition
Parameterization Reaction
active
Safety function
selected
Safety function
P‑0‑3280.0.1
P‑0‑3263.0.1
Monitoring
Error message when
SMD monitoring is violated
Bit 3
Bit 8
F3 reaction
(bit 3
‑0)
F7 reaction
(bit 7
‑4)
When time monitoring
is triggered
When velocity is vio-
lated
NO
STO (SS1),
SOS (SS2),
SBC
1 x
0 0
SMD based on actual
velocity
F8350 F8351 / E3151
1)
1 1 F8350 F8351 / E3151
1)
2 0 or 4
F7050 F7051 / E3151
1)
4
0
4 F8350 F8351 / E3151
1)
0
0
0
0
SMD with ramp-based
trend monitoring
F8350 F8351
1 F7050 F7051
1 1 F8350 F8351
2 0 or 4
F7050 F7051
4
0
4 F8350 F8351
1
0 0
SMD with time-based
trend monitoring
F8350 F8351
1 1 F8350 F8351
2 0 or 4
F7050 F7051
4
0
4 F8350 F8351
Safety functions