Bosch rexroth ctrlX SAFETY SafeMotion

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ctrlX SAFETY "SafeMotion"

Decommissioning drive components

Bosch Rexroth AG

R911404905,

Edition 02

Main Page

Table of Contents3
About this Documentation7
Trademark Information9
Important Directions on Use11
Intended Use11
Introduction11
Areas of Use and Application11
Unintended Use12
Safety Instructions for Electric Drive and Control Systems13
Basic Information13
Using and Passing on the Safety Instructions13
Requirements for Safe Use13
Hazards Due to Incorrect Use14
Instructions with Regard to Specific Dangers14
Protection against Contact with Electrical Parts and Housings14
Protective Extra-Low Voltage as Protection against Electric Shock16
Protection against Dangerous Movements16
Protection against Electromagnetic and Magnetic Fields During Opera17
Tion and Mounting17
Protection against Contact with Hot Parts18
Protection During Handling and Mounting18
Battery Safety18
Protection against Pressurized Systems19
Explanation of Signal Words and the Safety Alert Symbol19
System Presentation21
Motivation and Objectives21
Overview21
Comparison with Conventional Safety Technology21
Product Presentation23
What Is "Integrated Safety Technology"Ctrlx DRIVE23
Integrated Safety Technology in Ctrlx DRIVE23
Characteristics of Ctrlx DRIVE23
Performance27
Time Response and Reaction Times27
Reaction Time of "Safe Zone Error" (SZE)29
Safety Characteristics of the Safety System29
Introduction29
Optional Safety Technology Module "M529
Calculating the PFH Component of an Axis30
Calculating the Total PFH Value of a Safety Zone31
Functional Principle33
Dynamization33
Brief Description33
Functional Principle of Dynamization in the Selection Signals33
Encoder Evaluation35
Scaling System38
Brief Description38
Functional Description38
Notes on Commissioning43
Diagnostic System43
Introduction43
Firmware Identifiers44
Status Messages44
Error Reaction and Escalation Strategy47
Safemotion State Machine56
Overview56
Function57
Safemotion Profiles59
Overview59
Safemotion Profile "Bosch Rexroth60
Safety Functions69
Global Safety Functions69
Safe Maximum Speed (SMS)69
Safe Speed Monitor (SSM)70
Safety Functions in Normal Operation71
Safe Direction (SDI)71
Safety Functions in Special Mode "Safe Standstill73
Safety Function "Safe Torque off (STO)73
Safe Operating Stop (SOS)75
Safe Brake Control (SBC)78
Safety Functions in Special Mode "Safe Motion Smmx81
Safely-Limited Speed (SLS)81
Safely-Monitored Transient Oscillation (SLS-LT)84
Safe Direction (SDI)86
Safely-Limited Increment (SLI)87
Transition Functions89
Safe Stop 1 (SS1)89
Safe Stop 2 (SS2)103
Safely-Monitored Deceleration (SMD)110
Additional and Auxiliary Functions129
Limiting the Positioning Velocity129
Selection and Acknowledgment131
General Information131
Discrete Selection and Acknowledgment131
Brief Description131
Functional Principle131
Ctrlx Safetylink132
Safety Bus Communication135
Brief Description135
Functional Principle135
Configuring the Consumer and Producer Connection136
Failsafe over Ethercat (Fsoe)143
IO Mapper Inputs145
Introduction145
I/O Mapper Block Types148
Signal Control of Outputs156
Safety Zone Acknowledge (SZA)156
Brief Description156
Safety Function157
Notes on Commissioning159
Safe Zone Error (SZE)159
Brief Description159
Safety Function160
Commissioning163
Risk Assessment163
First Use164
Safety Instruction164
Introduction165
Prerequisites for Using Integrated Safety Technology165
Commissioning Steps172
Serial Commissioning215
Axis Acceptance222
Machine Acceptance Test222
Overview222
Selection222
Global Monitoring Functions225
Monitoring Functions in Normal Operation226
Special Mode "EMERGENCY STOP" and Special Mode "Safe Stand227
Still227
Special Mode "Safe Motion231
Error Reaction236
Safety Zone238
Signal Control of Outputs241
Maintenance243
Repairing Safety-Relevant Components243
Replacing Drive Components243
Replacing the Motor243
Replacing the Optional Brake243
Replacing the Optional Encoder244
Replacing the Controller245
Replacing the Cables245
Firmware Replacement246
Decommissioning Drive Components249
Declaration of Conformity251
Project Planning253
Safemotion M5254
XG42, XG43, Safe Motion Safety Technology (Communication)254
XG44, Safemotion M5 Safety Technology255
XF21 P1, XF22 P2, Communication (RJ-45)256
Motor Connections257
XZ03, Hybrid Connection258
Motor Holding Brake)258
XD03, Motor Connection261
XG03, Motor Temperature Monitoring and Motor Holding Brake268
Encoder Connections272
XG20, Digital Motor Encoder Connection273
XG21, Multi-Encoder274
Specifying the Digital/Analog Inputs/Outputs275
Digital Inputs Type a (Standard)275
Digital Inputs (Safety Technology Safemotion)276
Digital Outputs (Standard)277
Digital Outputs (Safety Technology Safemotion)278
Diagnostic Display279
PF01 LED (Device State)279
Sercos/Ethercat/Profinet IO280
Diagnostic Display of Optional Safety Technology Modules "M5284
Ctrlx AUTOMATION Community287
What Is the Ctrlx AUTOMATION Community287
Application Examples of Ctrlx DRIVE with Safemotion287
Reference Documentations288
Service and Support291
Glossary293
Index297

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