ctrlX SAFETY "SafeMotion"
7.6.2 SafeMotion profile "Bosch Rexroth"
Brief description
The “Bosch Rexroth“ profile Safe Motion profile is a Bosch Rexroth-specific
profile. With this profile, the safety functions cannot be individually selected,
it is only possible to select different safety technology operating states. Within
the safety technology operating states the safety functions configured in these
states become active.
In the case of a change between the individual safety technology operating
states, a transition process is always started in which the command value
system can be adjusted to the new monitoring limits. With drive-controlled
transition, this is done automatically by the drive, and in the case of NC-con-
trolled transition it has to be done by the control unit.
Features
The "Bosch Rexroth" SafeMotion profile has the following features:
●
It is automatically activated with “SafeMotion“.
● All safety functions available in SafeMotion can be used in this profile.
● Safety technology operating states can be selected.
● Direct selection of individual safety functions is not possible.
● Selection and acknowledgment are possible in discrete form via hardware
inputs and via the safety bus.
●
Safety functions in normal operation cannot be selected and deselected, but
are always active in normal operation after configuration.
●
Safety functions for Safe standstill cannot be directly selected.
●
The safety functions for safe motion cannot be individually selected, but only
in groups.
● The safety level to be achieved depends on the safety functions used.
Parameters involved
The following parameters are used in conjunction with the
"Bosch Rexroth“ SafeMotion profile:
● P‑0‑3231, SMO: Operating state
● P‑0‑3237, SMO: Status word
●
P‑0‑3261, SMO: State machine control word
●
P‑0‑3261.0.1, SMO: State machine control word, functional
●
P‑0‑3262, SMO: SMO: Selected operating state
● P‑0‑3264, SMO: Safety function selection
●
P‑0‑3264.0.1, SMO: Safety function status
● P‑0‑3270.0.1, SMO: Configuration of global safety functions
●
P-0-3277.0.1, SMO: Configuration of normal operation
●
P‑0‑3285.0.1, SMO: Safe standstill configuration
●
P‑0‑3290.x.1, SMO: Configuration of safe motion
● P‑0‑3290.x.6, SMO: Maximum activation time of enabling control
Diagnostic messages involved
The following diagnostic messages can be generated in conjunction with the
SafeMotion profile "Bosch Rexroth" profile:
● A0301 Special mode safe motion 1 active
● A0302 Special mode safe motion 2 active
● ...
●
A0316 Special mode safe motion 16 active
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