ctrlX SAFETY "SafeMotion"
Via the ⮫ IO mapper inputs, the activation signals can be wired to discrete
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
Safety status of the axis
Axis safe Axis not safe
Normal opera-
tion
Special mode transition process -
√
Otherwise -
√
Special opera-
tion
Transition process within special
mode
√
-
Transition process to normal oper-
ation
√
-
Otherwise
√
-
Error Transition process from special
mode
√
1)
-
Transition process from normal
operation
-
√
Otherwise √
1)
-
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 ⮫ Status dialogs in ctrlX DRIVE Engi-
neering).
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