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4.5.1 Introduction........................................................................................................................................ 21
4.5.2 Optional safety technology module "T0"............................................................................................ 21
4.5.3 Calculating the total PFH value of a safety zone............................................................................... 22
5 Functional principle of integrated safety technology.................................................... 23
5.1 Basic functions...................................................................................................................................... 23
5.1.1 Overview............................................................................................................................................ 23
5.1.2 Dynamization..................................................................................................................................... 24
6 Integrated safety function............................................................................................. 27
6.1 Overview of the safety function............................................................................................................. 27
6.1.1 General information........................................................................................................................... 27
6.2 Safety function in special mode "Safe standstill".................................................................................. 27
6.2.1 Safe Torque Off (STO)...................................................................................................................... 27
7 Examples of application............................................................................................... 31
7.1 Examples of application for ctrlX DRIVE.............................................................................................. 31
7.1.1 STO function in the case of selection via passive safety units ......................................................... 31
7.1.2 STO function in the case of selection via active safety units............................................................. 34
7.1.3 "Safe stop 1 (Emergency stop)" function with "T0" option................................................................. 36
7.1.4 Zone setup......................................................................................................................................... 37
8 Commissioning the safety technology......................................................................... 39
8.1 Safety instruction.................................................................................................................................. 39
8.2 Prerequisites for using integrated safety technology............................................................................ 39
8.2.1 General information........................................................................................................................... 39
8.2.2 Required drive firmware.................................................................................................................... 39
8.2.3 Required controller configuration....................................................................................................... 40
8.2.4 Required motors and measuring systems......................................................................................... 41
8.2.5 Required commissioning tools........................................................................................................... 41
8.3 Checks before initial commissioning..................................................................................................... 41
8.4 Commissioning procedure.................................................................................................................... 41
8.4.1 Overview............................................................................................................................................ 41
8.4.2 Commissioning steps ....................................................................................................................... 42
8.5 Requirements for the control unit.......................................................................................................... 44
9 Troubleshooting information........................................................................................ 45
9.1 Introduction........................................................................................................................................... 45
9.2 Diagnostic system................................................................................................................................. 45
9.2.1 General information........................................................................................................................... 45
9.3 Diagnostic messages of integrated safety technology.......................................................................... 46
9.3.1 Overview............................................................................................................................................ 46
9.3.2 Status information of integrated safety technology............................................................................ 46
9.3.3 Behavior in the case of non-fatal safety technology errors (F3xxx)................................................... 47
II
Table of Contents
ctrlX SAFETY "Safe Torque Off" Safety Option in ctrlX DRIVE
Bosch Rexroth AG R911383774_Edition 03
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