Application Manual

ctrlX SAFETY
"SafeMotion" (CAN Parameters)
ctrlX DRIVEplus
– Original version –

R911426737– Edition 01
Copyright
© Bosch Rexroth AG 2024
All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the
event of applications for industrial property rights.

Disclaimer
The data specified above only serve to describe the product. As our products are constantly being further devel-
oped, no statements concerning a certain condition or suitability for a certain application can be derived from our
information. The information given does not release the user from the obligation of own judgment and verification.
It must be remembered that our products are subject to a natural process of wear and aging.

DOK-XDRV**-SI-MX***C**-AP01-EN-P DC-AE (SvAn, ThKl, ReBa); DC/ESW-FA1 (BaBo)

fcad424563e48c420a347e886a227850, 1, en_US
 ctrlX SAFETY "SafeMotion" (CAN Parameters) 3 / 420

Table of contents
1 About this documentation 10
2 Trademark information 10
3 Important directions on use 11
3.1 Intended use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.1.2 Areas of use and application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.2 Unintended use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
4 Safety instructions for electric drive and control systems 12
4.1 Basic information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
4.1.1 Using and passing on the safety instructions . . . . . . . . . . . . . . . . . . 12
4.1.2 Requirements for safe use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
4.1.3 Hazards due to incorrect use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
4.2 Instructions with regard to specific dangers . . . . . . . . . . . . . . . . . . . . . . . . . . 14
4.2.1 Protection against contact with electrical parts and housings . . . . . 14
4.2.2 Protective extra-low voltage as protection against electric shock . . 15
4.2.3 Protection against dangerous movements . . . . . . . . . . . . . . . . . . . . 16
4.2.4 Protection against electromagnetic and magnetic fields during opera-
tion and mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
4.2.5 Protection against contact with hot parts . . . . . . . . . . . . . . . . . . . . . 17
4.2.6 Protection during handling and mounting . . . . . . . . . . . . . . . . . . . . . 18
4.2.7 Battery safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
4.2.8 Protection against pressurized systems . . . . . . . . . . . . . . . . . . . . . . 18
4.2.9 Explanation of signal words and the safety alert symbol . . . . . . . . . 19
5 System presentation 19
5.1 Motivation and objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
5.1.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
5.1.2 Comparison with conventional safety technology . . . . . . . . . . . . . . . 20
6 Product presentation 20
6.1 What is "integrated safety technology" ctrlX DRIVE? . . . . . . . . . . . . . . . . . . . . 20
6.2 Integrated safety technology in ctrlX DRIVE . . . . . . . . . . . . . . . . . . . . . . . . . . 21
6.2.1 Characteristics of ctrlX DRIVE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
6.3 Supported safety functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
6.4 SafeMotion function packages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
6.5 Performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
6.5.1 Time response and reaction times . . . . . . . . . . . . . . . . . . . . . . . . . . 30
6.5.2 Reaction time of “Safe zone error” (SZE) . . . . . . . . . . . . . . . . . . . . . 31
6.6 Safety characteristics of the safety system . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
6.6.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
6.6.2 Optional safety technology modules "SafeMotion" . . . . . . . . . . . . . 32
6.6.3 Calculating the PFH component of an axis . . . . . . . . . . . . . . . . . . . . 33
6.6.4 Calculating the total PFH value of a safety zone . . . . . . . . . . . . . . . . 34
7 Functional principle 35
7.1 Dynamization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
7.1.1 Brief description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
7.1.2 Functional principle of dynamization in the selection signals . . . . . . 35

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7.2 Encoder evaluation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

7.3 Scaling system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
7.3.1 Brief description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
7.3.2 Functional description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
7.3.3 Notes on commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
7.4 Diagnostic system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
7.4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
7.4.2 Firmware identifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
7.4.3 Status messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
7.4.4 Error reaction and escalation strategy . . . . . . . . . . . . . . . . . . . . . . . 52
7.5 SafeMotion state machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
7.5.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
7.5.2 Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
7.6 SafeMotion profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
7.6.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
7.6.2 SafeMotion profile "Bosch Rexroth" . . . . . . . . . . . . . . . . . . . . . . . . . 65
Brief description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
General information . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Safety technology operating states . . . . . . . . . . . . . . . . 66
Global safety functions . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Normal operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Special mode "EMERGENCY STOP" (SMES) . . . . . . . . . 70
Special mode "Safe standstill" (SMST) . . . . . . . . . . . . . 71
Special mode "Safe motion" (SMM) . . . . . . . . . . . . . . . . 72
Notes on application: . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
8 Safety functions 74
8.1 Global safety functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
8.1.1 Safe maximum speed (SMS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
8.1.2 Safe speed monitor (SSM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
8.1.3 Safely-limited end position (SLE) . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Brief description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Safety function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
8.2 Safety functions in normal operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
8.2.1 Safe direction (SDI) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
8.2.2 Safely-limited end position (SLE) . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
8.3 Safety functions in special mode "Safe standstill" . . . . . . . . . . . . . . . . . . . . . 84
8.3.1 Safety function "Safe torque off (STO)" . . . . . . . . . . . . . . . . . . . . . . 84
Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
Safety function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
Notes on project planning . . . . . . . . . . . . . . . . . . . . . . . 86
8.3.2 Safe operating stop (SOS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Safety function description . . . . . . . . . . . . . . . . . . . . . . 87
Notes on project planning for “SOS” . . . . . . . . . . . . . . . 89
8.3.3 Safe brake control (SBC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89

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8.4 Safety functions in special mode “Safe motion SMMx” . . . . . . . . . . . . . . . . . 93

8.4.1 Safely-limited speed (SLS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Safety function description . . . . . . . . . . . . . . . . . . . . . . 93
Notes on project planning for "SLS" . . . . . . . . . . . . . . . . 94
8.4.2 Safely-monitored transient oscillation (SLS-LT) . . . . . . . . . . . . . . . . 95
8.4.3 Safe direction (SDI) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
8.4.4 Safely-limited increment (SLI) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Brief description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Safety function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
8.4.5 Safely-limited position (SLP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Brief description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Safety function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
8.4.6 Safely-monitored position (SMP) . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
Brief description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
Safety function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
8.5 Transition functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
8.5.1 Safe stop 1 (SS1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
Brief description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
Transition function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
8.5.2 Safe stop 2 (SS2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
Brief description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
Transition function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
8.5.3 Safely-monitored deceleration (SMD) . . . . . . . . . . . . . . . . . . . . . . . 152
Brief description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
Transition function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
8.6 Additional and auxiliary functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
8.6.1 Safe parking axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
Brief description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
Auxiliary function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
8.6.2 Limiting the positioning velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
Brief description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
8.6.3 Safe homing procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
Brief description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
Functional description . . . . . . . . . . . . . . . . . . . . . . . . . . 181
Notes on commissioning . . . . . . . . . . . . . . . . . . . . . . . . 185
9 Selection and acknowledgment 193
9.1 General information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193
9.2 Discrete selection and acknowledgment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194
9.2.1 Brief description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194
9.2.2 Functional principle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194
9.3 ctrlX SAFETYlink . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195
9.4 Safety bus communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
9.4.1 Brief description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
9.4.2 Functional principle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198

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9.4.3 Configuring the consumer and producer connection . . . . . . . . . . . . 199

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
Configuring the consumer connection . . . . . . . . . . . . . . 200
Configuring the producer connection . . . . . . . . . . . . . . 202
Profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207
9.4.4 FailSafe over EtherCAT (FSoE) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207
Brief description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207
Functional principle . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208
FSoE system states . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208
9.4.5 PROFIsafe . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210
Brief description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210
Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211
PROFIsafe state machine . . . . . . . . . . . . . . . . . . . . . . . . 214
9.5 IO mapper inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214
9.5.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214
9.5.2 I/O mapper block types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
“Inactive” . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
"Safe connector" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
"Safe inversion" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219
“Safe constant selection” . . . . . . . . . . . . . . . . . . . . . . . 220
"Binary-to-bit decoder" . . . . . . . . . . . . . . . . . . . . . . . . . 220
"Safe OR" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221
"Safe AND with protection against restart" . . . . . . . . . . 221
"Safe AND" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224
"Safe AND with ES bypass and protection against restart"
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224
9.6 Signal control of outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227
9.7 Safety zone acknowledge (SZA) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228
9.7.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228
9.7.2 Safety zone acknowledge (SZA) on the basis of ctrlX SAFETYlink
(optional safety technology module "M5") . . . . . . . . . . . . . . . . . . . . 228
Brief description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228
Safety function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229
Notes on commissioning . . . . . . . . . . . . . . . . . . . . . . . . 230
9.7.3 Safety zone acknowledge (SZA) on the basis of 24V signals (optional
safety technology module "M8") . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231
Brief description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231
Safety function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232
Notes on commissioning . . . . . . . . . . . . . . . . . . . . . . . . 234
9.8 Safe zone error (SZE) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234
9.8.1 Brief description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234
9.8.2 Safety function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235
10 Commissioning 238
10.1 Risk assessment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238
10.2 Initial commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239
10.2.1 Safety instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239
10.2.2 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240

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10.2.3 Prerequisites for using integrated safety technology . . . . . . . . . . . . 240

General information . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240
Required drive firmware . . . . . . . . . . . . . . . . . . . . . . . . . 240
Required controller configuration . . . . . . . . . . . . . . . . . 241
Required motors and measuring systems . . . . . . . . . . . 241
Brakes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259
Required commissioning tools . . . . . . . . . . . . . . . . . . . . 260
10.2.4 Commissioning steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260
Step 0: Condition as supplied . . . . . . . . . . . . . . . . . . . . 261
Step 1: Connecting and wiring the inputs and outputs . 263
Step 2: Activating SafeMotion . . . . . . . . . . . . . . . . . . . . 263
Step 3: Entering the SMO axis identifier . . . . . . . . . . . . 265
Step 4: Configuring the system behavior . . . . . . . . . . . . 267
Step 5: Parameterizing the safety functions . . . . . . . . . . 283
Step 6: Validating the axis . . . . . . . . . . . . . . . . . . . . . . . 299
Step 7: Acceptance test of the machine . . . . . . . . . . . . . 304
SafeMotion report . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 304
10.3 Serial commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 304
10.4 Axis acceptance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311
10.5 Machine acceptance test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311
10.5.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311
10.5.2 Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312
10.5.3 Global monitoring functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 315
10.5.4 Monitoring functions in normal operation . . . . . . . . . . . . . . . . . . . . . 316
10.5.5 Special mode "EMERGENCY STOP" and special mode "Safe stand-
still" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 317
10.5.6 Special mode "Safe motion" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321
10.5.7 Error reaction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 327
10.5.8 Safety zone . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 328
10.5.9 Signal control of outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 330
11 Maintenance 331
11.1 Repairing safety-relevant components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331
11.2 Replacing drive components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331
11.2.1 Replacing the motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331
11.2.2 Replacing the optional brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 332
11.2.3 Replacing the optional encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . 333
11.2.4 Replacing the controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 333
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 333
How to proceed when replacing a controller . . . . . . . . . 335
11.2.5 Replacing the cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 337
11.2.6 Firmware replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338
General information . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338
Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339
Additional information and details . . . . . . . . . . . . . . . . . 341
11.3 Decommissioning drive components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 342
12 Declarations of conformity 342

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13 Project planning 363

13.1 SafeMotion M5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 364
13.1.1 XG42, XG43, Safe Motion safety technology (communication) . . . . 364
13.1.2 XG44, SafeMotion M5 safety technology . . . . . . . . . . . . . . . . . . . . . 365
13.2 SafeMotion M8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 366
13.2.1 XG45, SafeMotion M8 safety technology . . . . . . . . . . . . . . . . . . . . . 366
13.3 XF21 P1, XF22 P2, communication (RJ-45) . . . . . . . . . . . . . . . . . . . . . . . . . . 367
13.4 Motor connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 368
13.4.1 XZ03, hybrid connection (motor, motor temperature monitoring and
motor holding brake) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 369
13.4.2 XD03, motor connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 372
Important information . . . . . . . . . . . . . . . . . . . . . . . . . . 372
Motor connection: Overview . . . . . . . . . . . . . . . . . . . . . 373
XD03, motor connection (16 mm²) . . . . . . . . . . . . . . . . 374
XD03, motor connection (35 mm²) . . . . . . . . . . . . . . . . 375
XD03, motor connection (50 mm²) . . . . . . . . . . . . . . . . 377
XD03, motor connection (120 mm²) . . . . . . . . . . . . . . . 378
XD03, motor connection (2×70 mm²) . . . . . . . . . . . . . . 379
13.4.3 XG03, motor temperature monitoring and motor holding brake . . . 380
Important information . . . . . . . . . . . . . . . . . . . . . . . . . . 380
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 381
XG03 (2.5 mm2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 382
XG03 (1.5 mm2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 383
XZ03 (1.5 mm2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 384
13.5 Encoder connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 384
13.5.1 XG20, digital motor encoder connection . . . . . . . . . . . . . . . . . . . . . 385
13.5.2 XG21, XG22, multi-encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 386
13.6 Specifying the digital/analog inputs/outputs . . . . . . . . . . . . . . . . . . . . . . . . . 387
13.6.1 Digital inputs (standard), XG31 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 387
13.6.2 Digital outputs (standard), XG31 . . . . . . . . . . . . . . . . . . . . . . . . . . . 388
13.6.3 SafeMotion (M5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 389
Digital inputs, XG44 . . . . . . . . . . . . . . . . . . . . . . . . . . . 389
Digital outputs, XG44 . . . . . . . . . . . . . . . . . . . . . . . . . . 389
13.6.4 SafeMotion (M8) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 391
Digital inputs, XG45 . . . . . . . . . . . . . . . . . . . . . . . . . . . 391
Digital outputs, XG45 . . . . . . . . . . . . . . . . . . . . . . . . . . 391
Push-pull operation, XG45 output pair 3.1/3.2 . . . . . . . 393
13.7 Diagnostic display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .394
13.7.1 PF01 LED (Device State) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 394
13.7.2 Sercos/EtherCAT/PROFINET IO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 395
Display elements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 395
Port LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 395
Diagnostic LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 397
13.7.3 Diagnostic display of optional safety technology module "SafeMo-
tion" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 399
FSoE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 399
PROFIsafe . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 400

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14 ctrlX AUTOMATION Community 401

14.1 What is the ctrlX AUTOMATION Community? . . . . . . . . . . . . . . . . . . . . . . . . . 401
14.2 Application examples of ctrlX DRIVE with SafeMotion . . . . . . . . . . . . . . . . . . 401
15 Documentations 403
15.1 Drive systems, system components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 403
15.2 Firmware/Runtime . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 403
15.3 Functional safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 405
15.4 Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 405
15.5 Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 406
16 Service and support 407
17 Glossary 409
18 Index 413

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1 About this documentation

With "SafeMotion" in ctrlX DRIVE, universally parameterizable safety functions
for safe motion or standstill monitoring are provided.
● The purpose of this document is to get familiar with the "SafeMotion" safety
functions in the ctrlX DRIVE product line.
● The safety function characteristics, as well as information on the wiring,
commissioning, the correct and safe operation, as well as debugging can be
found here.
● The contents are intended for users configuring, commissioning and oper-
ating functionally safe products.

Editions of this documentation

Edition Release date Comment
01 2024‑08‑06 First edition for CAN parameters
Edition for AXS-V-0504

Feedback on this documentation

Your experience is an important part of the product and documentation
improvement process.
In case of any errors or if you want to suggest changes to this documentation,
please do not hesitate to contact us.
Please send your feedback to ⮫ [email protected].

2 Trademark information
Sercos® is registered trademark of ⮫ Sercos International e.V.

EtherCAT® is a registered trademark and patented technology licensed by

the Beckhoff Automation GmbH, Germany.
Safety over EtherCAT® is registered trademark and patented technology,
licensed by Beckhoff Automation GmbH, Germany.
EtherNet/IP™ is a trademark under license of ⮫ Open DeviceNet Vendor
Association, Inc.
Ethernet POWERLINK is a real-time capable field bus based on Ethernet.
Originally designed by B&R and released in 2001, Ethernet POWERLINK
has been specified and enhanced since 2003 by the ⮫ Ethernet
POWERLINK Standardization Group (EPSG) user organization. The pro-
tocol specification is open and in the public domain.

PROFINET® (Process Field Network) is the open Industrial Ethernet

standard of ⮫ Profibus & Profinet International (PI) for automation.

PROFIsafe® is the protocol for transmitting safety-relevant signals via PRO-

FINET®.

PROFINET® and PROFIsafe® are registered trademarks of

PROFIBUS Nutzerorganisation e. V.

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 ctrlX SAFETY "SafeMotion" (CAN Parameters) 11 / 420
Intended use

CIP Safety™ is a trademark under license of ⮫ Open DeviceNet Vendor

Association, Inc.

TwinCAT® is a registered and licensed trademark of Beckhoff Automation

GmbH, Germany
HIPERFACE® is a registered trademark of SICK-STEGMANN GmbH

Important directions on use

EnDat® is a registered trademark of Dr. Johannes Heidenhain GmbH
ACURO®link is registered trademark of Hengstler GmbH

BiSS is registered trademark of iC-Haus GmbH

3 Important directions on use

3.1 Intended use
3.1.1 Introduction
The products of Rexroth are developed and manufactured to the state-of-the-
art. Prior to delivery, the products are checked for their fail-safe state.
Personal injury and property damage due to incorrect
WARNING use of the products!
The products have been designed for use in an industrial
environment and may only be used as intended. If the
products are not used as intended, this may lead to sit-
uations resulting in property damage and personal injury.
Damages resulting from unintended use
NOTICE
The user shall solely bear the risks for damages arising of
unintended use of the products; Rexroth as manufacturer
shall not assume any warranty, liability or compensation
for damages.
Before using Rexroth products, make sure that all the prerequisites for an
intended use of the products are satisfied:
● Anyone that in any way, shape or form uses our products must have read
and understood the relevant safety instructions and the intended use.
● Do not change the original state of the hardware products, i.e., do not make
any structural modifications. Software products must not be decompiled
and their source codes must not be modified.
● Damaged or defective products must not be installed or commissioned.
● It has to be ensured that the products are installed according to the provi-
sions specified in the documentation.

3.1.2 Areas of use and application

Drive controllers by Rexroth are designed to control electric motors and mon-
itor their operation. Controlling and monitoring the Drive controllers may
require additional sensors and actuators.

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Basic information

The Drive controllers may only be used with the accessories and attachments
specified in this documentation. Components that are not expressly mentioned
may neither be attached nor connected. The same applies to cables and lines.
Operation is only allowed in the specified configurations and combinations of
the components using the software and firmware as specified in the relevant
functional descriptions.
Drive controllers have to be programmed before commissioning to ensure that
the motor executes the functions specific to the application.
Drive controllers of the ctrlX DRIVE series have been developed for use in
single-axis and multi-axis drive and control tasks.
Device types with different drive power and interfaces are available for using
the Drive controllers in specific applications.
Typical applications include, for example:
● Handling and assembly systems
● Packaging and food machines
● Printing and paper converting machines
● Machine tools
Drive controllers may only be operated under the assembly and installation
conditions specified in this documentation, in the specified position of normal
use and under the specified ambient conditions (temperature, degree of pro-
tection, humidity, EMC, etc.).

3.2 Unintended use

"Unintended use" refers to using the Drive controllers outside of the operating
conditions, technical data and specifications described in this documentation.
● Drive controllers must not be used if they are exposed to operating condi-
tions that do not meet the specified ambient conditions. This includes, for
example, operation under water, under extreme temperature fluctuations or
extreme maximum temperatures.
● Furthermore, Drive controllers may not be used in applications that have not
been expressly authorized by Rexroth. Please refer to the specifications in
the general safety instructions!
Components of the ctrlX DRIVE drive system are products of category 3 (with
limited availability) according to IEC 61800-3. This category comprises EMC
limit values for conducted and radiated emission. To comply with this category
(limit values), use appropriate measures to suppress inteferences in the drive
system (e.g., mains filters, shielding measures).
These components are not intended for use in a public low voltage system for
residential areas. If these components are operating in such a network, high
frequency interferences are to be expected. Additional measures for interfer-
ence suppression can be required.

4 Safety instructions for electric drive and

control systems
4.1 Basic information
4.1.1 Using and passing on the safety instructions
Do not install and operate any components of the electric drive and control
system before carefully reading all provided documents. These safety instruc-
tions and all other user instructions have to be read prior to working with these
components. If you do not have the user documentation for the components,

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Basic information

contact our Rexroth sales representative. Request the immediate delivery of

these documents to the person or persons in charge of the safe operation of
the components.
In the case of vending, rental and/or distribution of the components in any
other form, include these safety instructions in the national language of the
user.
Improper use of these components, failure to follow the safety instructions
in this document or tampering with the product, including disabling of safety
devices, could result in property damage, personal injury, electric shock or

Safety instructions for electric

even death.

drive and control systems

4.1.2 Requirements for safe use
Prior to initial commissioning of the components of the electric drive and con-
trol system, read the following instructions to avoid personal injury and/or
property damage. You must comply with these safety instructions.
● In the case of damage due to non-compliance with the safety instructions,
Rexroth shall not assume any liability.
● Prior to commissioning, read the operating, maintenance and safety instruc-
tions. If you are not able to sufficiently understand the language used in the
application documentation, please contact and inform your vendor.
● Appropriate and professional transport, storage, assembly and installation,
as well as thorough operation and maintenance, are the basis of correct and
safe operation of the component.
● Only qualified personnel may use components of the electric drive and con-
trol system or work in its close proximity.
● Only use accessories and spare parts approved by Rexroth.
● Comply with the safety instructions and regulations of the country in which
the components of the electric drive and control system are operated.
● Only use components of the electric drive and control system as intended.
Please refer to chapter Intended use.
● The ambient and operating conditions specified in this application docu-
mentation have to be complied with.
● Applications for functional safety are only allowed if they are explicitly
and unambiguously specified in the application documentation "Integrated
Safety Technology". If this is not the case, these applications are excluded.
Functional safety includes parts of the overall safety in which measures of
risk reduction for personal safety depend on electric, electronic or program-
mable controls.
● The specifications contained in the application documentation regarding the
use of the provided components are only application examples and recom-
mendations.
● For their individual application, the machine manufacturer and the system
installer have to
– verify the applicability of the provided components and the specifications
made for their use in this application documentation,
– synchronize the applicability with the safety regulations and standards
applicable for their application and to execute the required measures,
modifications and additions.
● Commissioning of the provided components is prohibited until is has been
established that the machine or the system in which the components are
installed corresponds to the country-specific provisions, safety regulations
and standards of the application.
● Operation is only allowed when complying with the national EMC regulations
for the relevant application.

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14 / 420 ctrlX SAFETY "SafeMotion" (CAN Parameters)
Instructions with regard to specific dangers

● For information about EMC-compliant installation, refer to the section on

EMC in the relevant application documentation.
● The system or machine manufacturer is responsible for compliance with the
limit values specified in the national regulations.
● The technical data, connection and installation conditions of the compo-
nents are contained in the relevant application documentations and must be
complied with.
● Country-specific laws and regulations must be observed.

4.1.3 Hazards due to incorrect use

● High electrical voltage and high operating current! Danger to life or serious
personal injury due to electric shock!
● High electrical voltage due to incorrect connection! Danger to life or per-
sonal injury due to electric shock!
● Dangerous movements! Danger to life, serious personal injury or property
damage due to unintended motor movements!
● Health hazard for persons with heart pacemakers, metal implants and
hearing aids in proximity to electric drive systems!
● Risk of burns by hot housing surfaces!
● Risk of injury by improper handling! Personal injury by crushing, shearing,
cutting, hitting!
● Risk of injury by improper handling of batteries!
● Risk of injury by improper handling of pressurized lines!

4.2 Instructions with regard to specific dangers

4.2.1 Protection against contact with electrical parts and housings
This section concerns components of the electric drive and control system with
voltages of more than 50 volts.
Contact with parts conducting voltages above 50 volts can cause personal
danger and electric shock. When operating components of the electric drive
and control system, it is unavoidable that some parts of these components
conduct dangerous voltage.
High electrical voltage! Danger to life, risk of injury by electric shock or serious
personal injury!
● Only qualified persons are allowed to operate, maintain and/or repair the
components of the electric drive and control system.
● Follow the general installation and safety regulations when working on
power installations.
● Before switching on, the equipment grounding conductor must have been
permanently connected to all electrical components in accordance with the
connection diagram.
● Even for short measurements or tests, operation is only allowed with the
equipment grounding conductor permanently connected to the specified
points of the components.
● Before accessing electrical parts with voltage potentials higher than 50 V,
you must disconnect electrical components from the mains or from the
power supply unit. Protect the electrical component against restart.
● Observe the following aspects in the case of electrical components:
Prior to touching an electrical component, always wait for 30 minutes after
switching off power in order for live capacitors to discharge. Before begin-
ning to work, measure the electrical voltage of live parts to make sure that
the equipment is safe to touch.

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Instructions with regard to specific dangers

● Install the provided covers and safety devices for protection against contact
prior to switch-on.
● Do not touch any electrical connection points of the components while
power is turned on.
● Do not connect or disconnect live parts.
● Under certain conditions, electric drive systems can be operated at mains
protected by AC/DC sensitive residual-current-operated circuit breakers
(RCDs/RCMs).
● Secure built-in devices from penetrating foreign objects and water, as well

Safety instructions for electric

as from direct contact, by providing an external housing, for example a con-

drive and control systems

trol cabinet.
High housing voltage and high leakage current! Danger to life, risk of injury by
electric shock!
● Prior to switching on and commissioning, ground or connect the electric
drive and control system components to the equipment grounding con-
ductor at the grounding points.
● Connect the equipment grounding conductor of the electric drive and con-
trol system components permanently to the main power supply at all times.
The leakage current is greater than 3.5 mA.
● Establish an equipment grounding connection with a minimum cross section
according to the table below. With an outer conductor cross section smaller
10 mm2 (8 AWG), the alternative connection of two equipment grounding
conductors is allowed, each having the same cross section as the outer
conductors.

Table 1: Minimum cross section of equipment grounding connection

Cross section of outer con- Minimum cross section of equipment grounding conductor
ductor Leakage current ≥ 3.5 mA
1 equipment grounding con- 2 equipment grounding conduc-
ductor tors
1.5 mm2 (16 AWG) 10 mm (8 AWG)
2 2 × 1.5 mm2 (16 AWG)
2.5 mm2 (14 AWG) 2 × 2.5 mm2 (14 AWG)
4 mm2 (12 AWG) 2 × 4 mm2 (12 AWG)
6 mm2 (10 AWG) 2 × 6 mm2 (10 AWG)
10 mm2 (8 AWG) -
16 mm2 (6 AWG) 16 mm2 (6 AWG) -
25 mm2 (4 AWG) -
35 mm2 (2 AWG) -
50 mm2 (1/0 AWG) 25 mm2 (4 AWG) -
70 mm2 (2/0 AWG) 35 mm2 (2 AWG) -

4.2.2 Protective extra-low voltage as protection against electric shock

Protective extra-low voltage is used to connect devices with basic insulation at
extra-low voltage circuits.
At components of an electric drive and control system provided by Rexroth,
all connections and terminals with voltages up to 50 volts are PELV (Protec-
tive Extra-Low Voltage) systems. It is allowed to connect devices equipped with
basic insulation, such as programming devices, PCs, notebooks, display units,
to these connections.

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16 / 420 ctrlX SAFETY "SafeMotion" (CAN Parameters)
Instructions with regard to specific dangers

Danger to life, risk of injury by electric shock! High electrical voltage due to
incorrect connection! If extra-low voltage circuits of devices containing voltages
and circuits of more than 50 volts (e.g., the mains connection) are connected
to Rexroth products, the connected extra-low voltage circuits must comply with
the requirements for Protective Extra Low Voltage - PELV.

4.2.3 Protection against dangerous movements

Dangerous movements can be caused by incorrect control of connected
motors. In the following, the different reasons are listed:
● Improper or wrong wiring or cable connection
● Operating errors
● Incorrect parameter input prior to commissioning
● Malfunction of sensors and encoders
● Defective components
● Errors in the software or firmware
These errors can occur immediately after switch-on or after an undefined time
of operation.
As far as possible, the monitoring functions in the components of the elec-
tric drive and control system rule out malfunction in the connected drives.
Regarding personal safety, in particular the danger of personal injury and/or
property damage, this alone cannot be relied upon to ensure complete safety.
Until the implemented monitoring functions are active, it must be assumed in
any case that faulty drive movements will occur. The faulty movements depend
on the type of control and the operating state.
Dangerous movements! Danger to life, risk of injury, serious injury or property
damage!
Prepare a risk assessment for the system or machine, with their specific condi-
tions, in which the components of the electric drive and control system are
installed.
As specified in the risk assessment, the user has to provide monitoring func-
tions and higher-level measures in the system for personal safety. The safety
regulations applicable to the system or machine have to be included. Unin-
tended machine movements or other malfunctions are possible if safety devices
are disabled, bypassed or not activated.
To avoid accidents, personal injury and/or property damage:
● Keep free and clear of the machine’s range of motion and moving machine
parts. Prevent personnel from accidentally entering the machine’s range of
motion by using, for example:
– Safety fences
– Safety guards
– Protective covering
– Light barriers
● Make sure the safety fences and protective coverings are strong enough to
resist maximum possible kinetic energy.
● Mount emergency stop switches in the immediate reach of the operator.
Before commissioning, verify that the emergency stop equipment works. Do
not operate the machine if the emergency stop switch is not working.
● Prevent unintended start-up. Isolate the drive power connection by means of
OFF switches/OFF buttons or use a safe starting lockout.
● Make sure that the drives are brought to safe standstill before accessing or
entering the danger zone.

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Instructions with regard to specific dangers

● Additionally secure vertical axes against falling or dropping after switching

off the motor power by, for example,
– mechanically securing the vertical axis,
– adding an external braking/arrester/clamping mechanism or
– ensuring sufficient counterweight for the axis.
● The standard equipment motor holding brake or an external holding brake
controlled by the drive controller is not sufficient to guarantee personal
safety!
● De-energize the components of the electric drive and control system using

Safety instructions for electric

the master switch, and make sure they cannot be switched back on in the

drive and control systems

case of:
– Maintenance and repairs
– Cleaning work
– Long service interruptions
● Avoid operating high-frequency, remote control and radio equipment in
close proximity to components of the electric drive and control system and
their supply leads. If the use of these devices cannot be avoided, check
the machine or installation, at initial commissioning of the electric drive
and control system, for possible malfunctions when operating such high-fre-
quency, remote control and radio equipment in its possible positions of
normal use. It might possibly be necessary to perform a special electromag-
netic compatibility (EMC) test.

4.2.4 Protection against electromagnetic and magnetic fields during

operation and mounting
Electromagnetic and magnetic fields!
Health hazard for persons with active implantable medical devices (AIMD) such
as pacemakers or passive metallic implants.
● Hazards for the above-mentioned groups of persons by electromagnetic and
magnetic fields in the immediate vicinity of drive controllers and the associ-
ated current-carrying conductors.
● Access to these areas can pose an increased risk to the above-mentioned
groups of persons. They should seek advice from their attending doctor.
● If overcome by possible effects on above-mentioned persons during opera-
tion of drive controllers and accessories, remove the exposed persons from
the vicinity of conductors and devices.

4.2.5 Protection against contact with hot parts

● Do not touch hot surfaces of, for example, braking resistors, heat sinks,
supply units and drive controllers, motors, windings and laminated cores!
● According to the operating conditions, temperatures of the surfaces can be
higher than 60 °C (140 °F) during or after operation.
● After having switched them off, allow the motors to cool down long enough
before touching them. Cooling down may require up to 140 minutes! The
time required for cooling down is approximately five times the thermal time
constant specified in the technical data.
● After switching off chokes, supply units and drive controllers, wait 15
minutes to allow them to cool down before touching them.
● Wear safety gloves or do not work at hot surfaces.
● For certain applications, and in accordance with the respective safety regu-
lations, the manufacturer of the machine or system must take measures to
avoid injuries caused by burns in the final application. Possible measures:
warnings at the machine or system, guards (shieldings or barriers) or safety
instructions in the application documentation.

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Instructions with regard to specific dangers

4.2.6 Protection during handling and mounting

Risk of injury by improper handling! Personal injury by crushing, shearing, cut-
ting, hitting!
● Comply with the relevant statutory regulations of accident prevention.
● Use suitable mounting and transport equipment.
● Avoid jamming and crushing by appropriate measures.
● Always use suitable tools. Use special tools if specified.
● Use lifting equipment and tools in the correct manner.
● Use suitable protective equipment (hard hat, safety goggles, safety shoes,
safety gloves, for example).
● Do not stand under hanging loads.
● Immediately clean up any spilled liquids from the floor due to the risk of
falling!

4.2.7 Battery safety

Batteries consist of active chemicals in a solid housing. Therefore, improper
handling can cause injury or property damage. Risk of injury by improper han-
dling!
● Do not attempt to reactivate low batteries by heating or other methods (risk
of explosion and cauterization).
● Do not attempt to recharge the batteries since this may cause leakage or
explosion.
● Do not throw batteries into open flames.
● Do not disassemble any batteries.
● When replacing the battery/batteries, do not damage the electrical parts
installed in the devices.
● Only use the battery types specified for the product.
Environmental protection and disposal! The batteries contained in the product
are considered dangerous goods during land, air, and sea transport (risk of
explosion) in the sense of the legal regulations. Dispose of used batteries sepa-
rately from other waste. Comply with the national regulations of your country.

4.2.8 Protection against pressurized systems

According to the information given in the Project Planning Manuals, motors and
components cooled with liquids and compressed air can be partially supplied
with externally fed, pressurized media, such as compressed air, hydraulics oil,
cooling liquids and cooling lubricants. Improper handling of the connected
supply systems, supply lines or connections can cause injuries or property
damage.
Risk of injury by improper handling of pressurized lines!
● Do not attempt to disconnect, open or cut pressurized lines (risk of explo-
sion).
● Comply with the respective manufacturer's operating instructions.
● Before dismounting lines, relieve pressure and empty medium.
● Use suitable protective equipment (safety goggles, safety shoes, safety
gloves, for example).
● Immediately clean up any spilled liquids from the floor due to the risk of
falling!
Environmental protection and disposal! The agents (e.g., fluids) used to
operate the product might not be environmentally friendly. Dispose of agents
harmful to the environment separately from other waste. Comply with the
national regulations of your country.

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Motivation and objectives

4.2.9 Explanation of signal words and the safety alert symbol

The safety instructions in the available application documentation contain
specific signal words (DANGER, WARNING, CAUTION, NOTICE) and, where
required, a safety alert symbol (in accordance with ANSI Z535.6-2023).
The signal word is intended to draw the reader's attention to the safety instruc-
tion and describes the hazard severity.
The safety alert symbol (a triangle with an exclamation point), which precedes
the signal words DANGER, WARNING and CAUTION, is used to alert the reader
to personal injury hazards.
Non-compliance with this safety instruction will result in
DANGER

System presentation
death or serious personal injury.
Non-compliance with this safety instruction can result in
WARNING death or serious personal injury.
Non-compliance with this safety instruction can result in
CAUTION moderate or minor personal injury.
Non-compliance with this safety instruction can result in
NOTICE property damage.

5 System presentation
5.1 Motivation and objectives
5.1.1 Overview
The operational safety of machines and installations depends largely upon the
extent of dangerous movements generated by the machine.

In normal mode (also referred to as production mode or automatic mode),

protective devices prevent human access to danger points. These protective
devices also prevent parts/material from being ejected.

In the special mode (also called manual mode or setting-up mode), it is often
necessary for individuals to access danger zones when the entire installation
has not been de-energized. In these situations, machine operators must be
protected by internal mechanisms in the drive and the control unit.

The integrated Rexroth safety technology provides the user with the require-
ments, on the control unit and drive side, for implementing functions of per-
sonal and machine protection with a minimum of planning and installation
work. Compared to conventional safety technology, the integrated safety tech-
nology considerably increases the functionality and availability of machines.
Integrated safety technology is characterized by the following features:
● Complies with valid standards
● More system performance
● Less system costs
● Easy understanding of complex subjects
● Improved diagnostics
● Simplified certification
● Easy commissioning
● Independent of control units

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What is "integrated safety technology" ctrlX DRIVE?

5.1.2 Comparison with conventional safety technology

A drive and control system with integrated safety technology differs from sys-
tems with conventional safety technology by the fact that the safety functions
are directly integrated in the intelligent drives in the form hardware and soft-
ware. This increases the functionality in all operation modes with a maximum of
safety (short reaction times).

For drive and control systems with integrated safety technology, the following
components of the conventional safety technology are not needed:
● Motor standstill monitor to monitor the safe stop
● Speed monitor to monitor the safely reduced velocities
● Power contactors between controllers and motors
● Limit switches or position cams for detection of range

Using the integrated safety technology increases the available personnel and
machine safety, because the total reaction time of the system in the case of
an error event, for example, is considerably reduced with regard to comparable
systems with conventional safety technology.
The following options are available to select and acknowledge the safety tech-
nology functions provided with the firmware and an optional safety technology
module "SafeMotion":
● Selection and acknowledgment via the safety bus; i.e. without additional
hardware. As safety bus, "FailSafe of over EtherCAT" and "PROFIsafe for
master communication via PROFINET" are supported.
● Selection and acknowledgment via the safety control ctrlX SAFETY in con-
nection with ctrlX SAFETYlink (only with optional safety technology module
"M5").
● Selection and acknowledgement via discrete wiring on the basis of 24V sig-
nals.
The wiring layout has to be redundant or via a safe wiring with fault exclusion.
The wiring type essentially depends on the safety level to be achieved.

6 Product presentation
6.1 What is "integrated safety technology" ctrlX DRIVE?
The drive controllers of the ctrlX DRIVE product line are equipped with the
optional safety technology module "M5" or "M8".
In the paragraphs below, the wording "optional safety technology module "Safe-
Motion" is used in most cases, meaning all characteristics of the optional safety
technology module.
Using an optional safety technology module "SafeMotion", ctrlX DRIVE is
equipped with integrated safety technology which provides the user with uni-
versally parameterizable safe motion monitoring or standstill monitoring.
The encoder-dependent safety functions are applicable up to EN ISO 13849–
1 Category 3, PL d and EN 61800–5–2 / EN 61508 SIL 2. The encoder-inde-
pendent safety functions are applicable for personal protection at machines up
to EN ISO 13849–1 Category 4, PL e and EN 61800–5–2 / EN 61508 SIL 3.
Using the optional expansion packages "SafeMotion Speed", "SafeMotion Posi-
tion" and "SafeMotion SIL3+", the encoder-dependent safety functions are also
applicable for personal protection at machines according to EN 61800–5–2 /
EN 61508 SIL 3.

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Integrated safety technology in ctrlX DRIVE

Selecting the functions

The safety functions can be selected as follows:
● Selection via the safety bus; i.e. without additional hardware. As safety bus,
"FailSafe of over EtherCAT" and "PROFIsafe for master communication via
PROFINET" are supported.
● Selection via the safety control ctrlX SAFETY in connection with ctrlX SAFE-
TYlink (only with optional safety technology module "M5").
● Selection via discrete wiring on the basis of 24V signals.

Certification

Product presentation
The safety technology was certified by TÜV Rheinland ®.
An NRTL list by TÜV Rheinland of North America is in preparation.
A UKCA certification is in preparation.
Certificates are available on "⮫ Certipedia", the certificates database of
TÜV Rheinland ®.

Requirements that can be realized

The integrated safety technology is independent of the type of master commu-
nication, the higher-level control unit and the supply modules. It is available as
a functionally safe characteristic of the standard drive system. The following
requirements can be implemented in the machine or in the installation:
● Measures in accordance with ISO 12100-2, if accessing the danger zone is
required, for example, for equipping, teaching or material withdrawal.
● Requirements for safety-related parts of control systems according to
EN ISO 13849‑1 Category 4, PL e and EN 61800–5–2 / EN 61508 SIL 3, as
required in EN 1010‑1 (printing and paper converting machines), EN 12415
(turning machines) and EN 12417 (machining centres).
● Control functions in the case of error in accordance with EN 60204‑1
("homogeneous redundancy").

6.2 Integrated safety technology in ctrlX DRIVE

6.2.1 Characteristics of ctrlX DRIVE
The type code shows the different characteristics of ctrlX DRIVE.
The position 10 of the type code show whether your device has been equipped
with a safety technology optional module.
The position 20 of the type code show whether your device has been equipped
with a SafeMotion function package.
The optional safety technology modules "M5" and "M8" are supported in ctrlX
DRIVEplus devices, generation 2.
The optional safety technology module "M5" is supported by the firmware AXS-
V-0304.6 and above.
The optional safety technology module "M8" is supported by the firmware AXS-
V-0502 and above.
In the following, type codes of the device variants are listed. The complete type
codes are contained in the project planning manual of ctrlX DRIVE.

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Integrated safety technology in ctrlX DRIVE

Table 2: XCD type code

1 2 3 4
Short type designation 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0
Example: X C D 2 - W2 3 2 3 A R A - 0 1 N E T T 0 E C N N - S 0 3 R S N 1 N N N P 0 N N

Product:
1: X = ctrlX DRIVE
2: C = Feeding converter
3: D = Double-axis
4: 2 = Generation 2; 1 = Generation 1
… …
Control section:
01 = ctrlX DRIVE
02 = ctrlX DRIVEplus
… …
Hardware option 1 - Safety:
T0 = Safe Torque Off (STO)
M5 = SafeMotion (M5)
M8 = SafeMotion (M8)
Hardware option 2:
EC = Multi-encoder interface
NN = Not equipped
… …
Runtime version:
02 = Version 02 (XCD1)
03 = Version 03 (XCD2)
04 = Version 04 (XCD2)
05 = Version 05 (XCD2)
06 = Version 06 (XCD2)
Runtime release:
RS = Standard (current release)
… …
Scope of functions, SafeMotion:
0 = Option 1 ≠ SafeMotion
3 = SafeMotion Speed
5 = SafeMotion Position

Table 3: XCS type code

1 2 3 4
Short type designation 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0
Example: X C S 2 - W0 1 0 0 A B N - 0 1 N E T T 0 E C N N - S 0 3 R S N 1 N N N N 0 N N

Product:
1: X = ctrlX DRIVE
2: C = Feeding converter
3: S = Single-axis
4: 2 = Generation 2; 1 = Generation 1

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Integrated safety technology in ctrlX DRIVE

1 2 3 4
Short type designation 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0
Example: X C S 2 - W0 1 0 0 A B N - 0 1 N E T T 0 E C N N - S 0 3 R S N 1 N N N N 0 N N

… …
Control section:
01 = ctrlX DRIVE
02 = ctrlX DRIVEplus
… …

Product presentation
Hardware option 1 - Safety:
T0 = Safe Torque Off (STO)
M5 = SafeMotion (M5)
M8 = SafeMotion (M8)
Hardware option 2:
EC = Multi-encoder interface
NN = Not equipped
… …
Runtime version:
02 = Version 02 (XCS1)
03 = Version 03 (XCS2)
04 = Version 04 (XCS2)
05 = Version 05 (XCS2)
06 = Version 06 (XCS2)
Runtime release:
RS = Current release
… …
Scope of functions, SafeMotion:
0 = Hardware option 1 ≠ SafeMotion
3 = SafeMotion Speed
5 = SafeMotion Position

Table 4: XMD type code

1 2 3 4
Short type designation 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0
Example: X MD 2 - W2 3 2 3 A N A - 0 1 N E T T 0 E C N N - S 0 3 R S N 1 N N N N 0 N N

Product:
1: X = ctrlX DRIVE
2: M = Inverter
3: D = Double-axis
4: 2 = Generation 2; 1 = Generation 1
… …
Control section:
01 = ctrlX DRIVE
02 = ctrlX DRIVEplus
… …

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Integrated safety technology in ctrlX DRIVE

1 2 3 4
Short type designation 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0
Example: X MD 2 - W2 3 2 3 A N A - 0 1 N E T T 0 E C N N - S 0 3 R S N 1 N N N N 0 N N

Hardware option 1 - Safety:

T0 = Safe Torque Off (STO)
M5 = SafeMotion (M5)
M8 = SafeMotion (M8)
Hardware option 2:
EC = Multi-encoder interface
NN = Not equipped
… …
Runtime version:
02 = Version 02 (XMD1)
03 = Version 03 (XMD2)
04 = Version 04 (XMD2)
05 = Version 05 (XMD2)
06 = Version 06 (XMD2)
Runtime release:
RS = Standard (current release)
… …
Scope of functions, SafeMotion:
0 = Hardware option 1 ≠ SafeMotion
3 = SafeMotion Speed
5 = SafeMotion Position

Table 5: XMS type code

1 2 3 4
Short type designation 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0
Example: X M S 2 - W0 1 0 0 A N B - 0 1 N E T T 0 E C N N - S 0 3 R S N 1 N N N P 0 N N

Product:
1: X = ctrlX DRIVE
2: M = Inverter
3: S = Single-axis
4: 2 = Generation 2; 1 = Generation 1
… …
Control section:
01 = ctrlX DRIVE
02 = ctrlX DRIVEplus
… …
Hardware option 1 - Safety:
T0 = Safe Torque Off (STO)
M5 = SafeMotion (M5)
M8 = SafeMotion (M8)

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Integrated safety technology in ctrlX DRIVE

1 2 3 4
Short type designation 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0
Example: X M S 2 - W0 1 0 0 A N B - 0 1 N E T T 0 E C N N - S 0 3 R S N 1 N N N P 0 N N

Hardware option 2:
EC = Multi-encoder interface
NN = Not equipped
… …
Runtime version:

Product presentation
02 = Version 02 (XMS1)
03 = Version 03 (XMS2)
04 = Version 04 (XMS2)
05 = Version 05 (XMS2)
06 = Version 06 (XMS2)
Runtime release:
RS = Standard (current release)
… …
Scope of functions, SafeMotion:
0 = Option 1 ≠ SafeMotion
3 = SafeMotion Speed
5 = SafeMotion Position

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SafeMotion function packages

6.3 Supported safety functions

Table 6: Dependency on safety functions and on the availability with the optional safety technology
modules
Safety function Short designation Optional safety tech-
nology modules
M5 M8
Safe torque off STO
Safe brake control SBC
Safe stop 1 SS1-t
SS1-r
Safe stop 2 SS2-t
SS2-r
Safe operating stop SOS
Safely-monitored deceleration SMD-r
SMD-E-r
Safely-limited speed SLS √
Safely-monitored transient oscillation SLS-LT √
Safe direction SDI
Safely-limited increment SLI
Safe maximum speed SMS
Safe speed monitor SSM
Safe homing procedure*2 -
Safely-limited position*2 SLP
Safely-monitored position*2 SMP
Safely-limited end position*2 SLE
Safety zone acknowledgment*1 SZA
-
Safe zone error*1 SZE
Safety zone acknowledgment*2 (on the basis of local SZA - √
I/Os)
Legend:
t: time-monitored
r: deceleration-monitored
*1: The safety technology function can only be used in conjunction with the compact safety controller of type
SAFEX-C.12 or SAFEX-C.15.
*2: Available with AXS–V–0504 and above

6.4 SafeMotion function packages

The functional scope of "SafeMotion" is defined by the SafeMotion function
package used. The following SafeMotion function packages are available:
● SafeMotion Position
● SafeMotion Speed (AXS–V–0316 and above)
In the firmware versions up to inclusively AXS-V-0314 only the SafeMotion
function package "SafeMotion Position" is available. The SafeMotion function
package "SafeMotion Position" is automatically licensed and active in the firm-
ware versions up to inclusively AXS-V-0314.

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SafeMotion function packages

From the AXS-V-0316, you can select between the SafeMotion function pack-
ages specified above. Starting from AXS-V-0316, a SafeMotion function package
must be licensed; the SafeMotion function package "SafeMotion Position" is
no longer automatically licensed and active starting from firmware version AXS-
V-0316.
With the license for the SafeMotion function package "SafeMotion position",
only the SafeMotion function package "SafeMotion Speed" can optionally be
activated in the axis, if its range of functions is sufficient for the application.
The contents of the SafeMotion function packages can be accessed ⮫ here. The
SafeMotion function package "SafeMotion Position" also contains the scope of
functions of the SafeMotion function package "SafeMotion Speed". Only one

Product presentation
SafeMotion function package can be activated at a time.
The safety functions belonging to the individual SafeMotion function packages
are always available in the "Safe Motion" and active depending on their param-
eterization. By activating/deactivating a SafeMotion function package, only the
parameterization options of the contained functions are enabled or switched
off in the Engineering software. That is to say by deselecting a SafeMotion
function package, the corresponding safety functions are not deactivated, they
still take effect, if parameterized!
The desired scope of "SafeMotion" functions should preferably be defined
when the firmware is ordered. This guarantees that the required SafeMotion
function packages have been activated when the firmware is delivered. In indi-
vidual cases, it is possible to enable options subsequently (additional licensing)
or to reduce the activated scope of functions.
Function packages ordered ex works for "Safe Motion" are contained in
"0x2B62:04, Application data default: Factory default values". They will remain
active upon loading of the default values of "SafeMotion".
Non-licensed functional packages cannot be used. Enabling function packages
which are not part of the originally ordered scope of functions requires addi-
tional licensing that is not free of charge! If a non-licensed function is used, any
guarantee on the part of Rexroth will expire.
For the evaluation of firmware functions that are not licensed, it is however
not possible to enable them temporarily. During the operation with not licensed
firmware functions, the warning E2160 is repetitively displayed once per hour
for 60 seconds.
Via the engineering software, a function package can be subsequently licensed.
The “Activate firmware functions" dialog is opened. The dialog can be called in
the function tree of the axis via the context menu of the axis. There a license
can be loaded into the drive.

Table 7: Dependency on safety functions and on the availability with the function packages
Function
package
SafeMotion Position
SafeMotion Speed

Safety function Short designation

Safe torque off STO √

The energy supply to the drive is interrupted in a safe way. The drive √
cannot generate any torque/force and, as a consequence, it cannot
generate any dangerous motions, either.

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SafeMotion function packages

Function
package

SafeMotion Position
SafeMotion Speed
Safety function Short designation

Safe brake control SBC √

With the safety function "Safe brake control", the connected brake is
switched off safely (dual-channel).
Safe stop 1 SS1-t √
When the transition function "Safe stop 1" is activated, the drive is SS1-r_TimeTrend √
stopped in a safely monitored way. After the deceleration process SS1-r_RampTrend -
has been completed, the safety function “Safe torque off (STO)“ is
SS1-r_ActVel -
activated and the energy supply to the motor is safely interrupted.
The motor cannot generate any torque/any force and therefore no dan-
gerous movements.
Safe stop 2 SS2-t √
When the transition function "Safe stop 2" is activated, the drive is SS2-r_TimeTrend √
stopped in a safely monitored way. After the deceleration process has SS2-r_RampTrend -
been completed, the safety function "Safe operating stop” is activated
SS2-r_ActVel -
and it is safely prevented that the motor deviates from the stopping
position by more than a specified absolute value.
Safe operating stop SOS √
With the safety function "Safe operating stop", the drive is in con-
trolled standstill, i.e. all control functions between the electronic con-
trol unit and the drive are maintained. The dual-channel monitoring
prevents the drive from carrying out dangerous movements due to
errors although the energy supply is not interrupted.
Safely-monitored deceleration SMD-r_TimeTrend √
Given a change in the operating status (SMD) or in the case of an SMD-r_RampTrend -
error reaction (SMD-E), the safety function "Safely-monitored deceler- SMD-r_ActVel -
ation" monitors via two channels whether the actual velocity of the
SMD-E-r_TimeTrend √
drive is within a parameterized velocity envelope curve.
SMD-E-r_ActVel -
Safely-monitored position*2 SMP -
The safety function "Safely-monitored position" monitors whether or
not the parameterized position range is exceeded in positive or nega-
tive direction.
Safely-limited position*2 SLP -
The safety function "Safely-limited position" monitors via two channels
that the drive can be decelerated within the parameterized position √
limits with the current velocity and the parameterized minimum delay.
Safely-limited end position*2 SLE -
The safety function "Safely-limited end position" monitors via two
channels that the drive can be decelerated within the parameterized
end position limit value with the current velocity and the parameter-
ized minimum delay.

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SafeMotion function packages

Function
package

SafeMotion Position
SafeMotion Speed
Safety function Short designation

Safely-limited speed SLS √

Product presentation
The safety function "Safely-limited speed" monitors via two channels
that the drive does not exceed a previously defined limitation of the
velocity window.
Safely-monitored transient oscillation SLS-LT -
Using a velocity window and a tolerance time, the safety function
"Safely-monitored transient oscillation" monitors the transient oscilla-
tion with regard to a "Safely-limited speed".
Safe direction SDI -
The safety function "Safe direction" ensures by dual-channel moni-
toring that motion is only possible in one direction.
Safely-limited increment SLI -
The safety function "Safely-limited increment" monitors via two chan-
nels that the drive moves only within the maximum increment.
Safe maximum speed SMS √
With the safety function "Safe maximum speed", dual-channel mon-
itoring prevents the drive from exceeding the preset velocity limit
value.
Safe speed monitor SSM -
The safety function "Safe speed monitor" monitors via two channels
whether or not the axis is within a defined velocity range. The result is
provided via status words.
Safety zone acknowledgment*1 SZA -
By means of a "Safety zone acknowledge" and a safety control, the
safety of a safety zone can be monitored by an acknowledgment
master and acknowledge the safety to a higher-level control unit. It
is also possible for the acknowledgment master of the safety zone to
directly control a safety door locking device connected to the safety
zone module.
Safe zone error*1 SZE - -
The "Safe zone error" function is a subfunction of the safety function
"Safety zone acknowledge". The "Safe zone error" function allows
locally present safety technology errors to be signaled by the zone
nodes to all zone nodes via a safe output and to trigger individual
error reactions. It is also possible for the acknowledgment master of
a safety zone to signal zone errors via the safe communication to the
higher-level control unit.
Special mode "Safe motion" SMM √1 √ 16
Safe homing procedure*2 - - √
With the auxiliary function "Safe homing procedure", another homing
event is expected at a separate position after the functional homing
procedure. The second homing event is used to validate the functional
homing procedure.

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Performance

Function
package

SafeMotion Position
SafeMotion Speed
Safety function Short designation

Legend:
t: time-monitored
r: deceleration-monitored
TimeTrend: with time-based trend monitoring
RampTrend: with ramp-based trend monitoring
ActVel: based on actual velocity
*1: The safety technology function can only be used in conjunction with the compact safety controller of type
SAFEX-C.12 or SAFEX-C.15.
*2: Available with AXS–V–0504 and above

SafeMotion function package activation

"SafeMotion" function packages must be activated over the "Firmware functions
access enable" dialog. Any change in the SafeMotion function package selection
is only effective after a reboot/restart of the axis.

Notes on commissioning
To commission multiple axes with different firmware options, we recommend
creating a basic parameter set with the SafeMotion function package "SafeMo-
tion Speed" and to transmit it to the axis. Afterwards, the SafeMotion function
packages required for the axes can be activated.

6.5 Performance
6.5.1 Time response and reaction times
The time response of "SafeMotion" is represented in the following figure. The
figure can be used to determine the hardware-dependent and configuration-
dependent total reaction time for individual applications.

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Performance

Product presentation
Fig. 1: SafeMotion: Time response and reaction times
1) (External component) Selection of a safety function or of a special mode
2) See ⮫ Transition functions
3) se ⮫ Safety functions
4) See ⮫ Error reaction and escalation strategy (in case of encoder errors, the error reaction time is

increased by 2 ms)
5) Timeout of the safety bus communication
6) (External component) Use the delay of the brake here, see manufacturer's specification

6.5.2 Reaction time of “Safe zone error” (SZE)

The reaction time of the zone nodes to errors signaled via SZE can be deter-
mined from the figure below:

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Safety characteristics of the safety system

Fig. 2: SafeMotion: Reaction time of “Safe zone error” (SZE)

1) see ⮫ Error reaction and escalation strategy
2) (External component) Use the delay of the brake here, see manufacturer's specification

6.6 Safety characteristics of the safety system

6.6.1 Introduction
For using the optional safety technology modules "SafeMotion", the ctrlX
DRIVEplus drive systems have been certified according to IEC 61508,
IEC EN 61800‑5‑2 and EN ISO 13849‑1.
The risk assessment and risk reduction of a machine require evaluating the
safety functions of the individual components. The interaction of the com-
ponents has to be taken into account, too. Therefor, it is necessary to
determine the total PFH value for the machine or the machine part (e.g.,
a safety zone). The total PFH value allows assessing whether the required
"Safety Integrity Levels" (SIL) or "Performance Levels" (PL) have been complied
with. The paragraph below describes for the optional safety technology mod-
ules "Safe Motion" how the PFH value can be determined for a drive system and
how additional components have to be integrated.

6.6.2 Optional safety technology modules "SafeMotion"

Drives equipped with an optional safety technology module "SafeMotion"
comply with the following "Safety Integrity Level" (SIL) or Performance Level
(PL):
● SIL3 according to EN 61508 and IEC 61800‑5‑2
– for all safety functions working independently of the measuring system
– for all safety functions working dependently on the measuring system, in
conjunction with the function package "SafeMotion SIL3+"
● SIL2 according to EN 61508 and IEC 61800‑5‑2
– for all safety functions
● Category 4, PL e according to EN ISO 13849‑1
– for all safety functions working independently of the measuring system
– for all safety functions working dependently on the measuring system, in
conjunction with the function package "SafeMotion SIL3+"
● Category 3, PL d according to EN ISO 13849‑1
– for all safety functions

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Safety characteristics of the safety system

Depending on the axis safety functions used and the device range used, there
are the following safety characteristics:
Designation ctrlX DRIVEplus
PFHSafeMotion option (no SBC
1×10-9 1/h
function) 1), 2)

PFHSBC function, brake 11), 2) 1×10-9 1/h

PFHEC option 1), 2) 2×10-9 1/h
Mission Time 175,200 h (20 years)
MTTFd/channel1) > 90 years
DCavg > 95 %

Product presentation
Legend:
1): The specified safety characteristics refer to an average ambient tempera-
ture of 40 °C (see also Ambient and operating conditions in the Project Plan-
ning Manuals).
2): PFH value of an axis with SafeMotion, additional components not taken into
account (e.g., encoder, brake, safety control). For determining the actual PFH
value, see ⮫ Calculating the PFH component of an axis.

"Mission Time" and "Proof Test” interval

− The "Mission Time" of all components used has to be observed and com-
plied with. After the "Mission Time" of a component has elapsed, the com-
ponent has to be discarded or replaced. It is not allowed to continue oper-
ating the component!
The drive system ctrlX DRIVE does not monitor or log the "Mission Time".
− After the component was discarded ("Mission Time" has elapsed), it has to
be ensured that the component cannot be reused (e.g., by disabling it).
− If a component (with valid "Mission Time") is decommissioned, the "Mis-
sion Time" has to be recorded and continued when the component is com-
missioned again.
− The "Proof Test" has not been specified for ctrlX DRIVEplus. Therefore, the
"Mission Time" cannot be reset by a "Proof Test".

6.6.3 Calculating the PFH component of an axis

To determine the required total PFH value of an axis, the PFH values of the
individual components relevant to the safety function and of the required third-
party components have to be used for calculation. The figure below illustrates
all the components relevant to the calculation:

Fig. 3: SafeMotion: Determining the PFH for an axis

1) Third-party component
To calculate the PFH value of an axis, a valid PFH value has to be available for
all components which have an influence on the safety function (if necessary,
procure the PFH value from the component manufacturer).
Table 8: SafeMotion: Formula to calculate PFH for an axis
PFHaxis = PFHSafeMotion option + PFHEC option + PFHencoder + PFHSBC function, brake 1 + PFHbrake 1

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Safety characteristics of the safety system

The following conditions/restrictions apply to the general use of the formula for
PFH calculation for an axis:
Table 9: Variable description to calculate PFH for an axis
Variable Value Description
PFHSafeMotion option See ⮫ Optional safety tech- This value is independent of the safety functions
nology module "SafeMotion" used and thereby independent of the safety level
to be attained.
PFHEC option See ⮫ Optional safety tech- Enter "0" for this variable, if no EnDat–2.2
nology module "SafeMotion" encoder, 1VSS encoder or HIPERFACE encoder is
configured, see ⮫ Chapter Required motors and
measuring systems on page 241
1)PFHencoder See manufacturer's specifica- Use the value of the encoder connected to XG20
tion (when using Rexroth or XG21, if safety functions requiring an encoder
motors, see ⮫ Chapter are used. Otherwise, enter “0” for this variable.
Required motors and meas-
uring systems on page 241)
PFHSBC function, brake 1 See ⮫ Optional safety tech- Enter “0” for this variable if the safety function
nology module "SafeMotion" “SBC” is not used for brake 1.
31) PFHbrake 1 See manufacturer's specifica- Use the value of the connected brake, if the
tion (when using Rexroth safety function “SBC” is used.
motors, see ⮫ Chapter If the safety function “SBC” is not used, enter “0”
Required motors and meas- for this variable.
uring systems on page 241)
Legend:
1): PFH=(1-DC)/MTTFD
2): CCF factor: 1%
3): PFH=λD

6.6.4 Calculating the total PFH value of a safety zone

To determine the required total PFH value of an axis or a safety zone, the
PFH values of the individual axes and of the required third-party components
have to be used for calculation. The figure below illustrates all the components
relevant to the calculation:

Fig. 4: SafeMotion: Determining the PFH for a safety zone

1) Third-party component
To calculate the PFH value of a safety zone, a valid PFH value has to be available
for all components which have an influence on the safety function (if necessary,
procure the PFH value from the component manufacturer).
Table 10: SafeMotion: Formula to calculate PFH for a safety zone
PFHsafety zone = PFHselection_discrete + PFHaxis_1 + PFHaxis_2 +…+ PFHaxis_n
The following conditions/restrictions apply to the general use of the formula for
PFH calculation for a safety zone:

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Dynamization

Table 11: Variable description to calculate PFH for a safety zone

Variable Value Description
PFHselection_discrete See manufacturer's specifica- Enter the sum of the individual PFH values of the
tion switches or safety devices involved in the selec-
tion. No distinction is made as to which safety
functions are selected in the drive.
PFHsafety control See manufacturer's specifica- PFH value of the safety control.
tion
PFHaxis_x See ⮫ Calculating the PFH This value depends on the parameterized safety
component of an axis functions and has to be calculated for each axis
of the safety zone.

Functional principle
Legend:
1): PFH=(1-DC)/MTTFD®

7 Functional principle
7.1 Dynamization
7.1.1 Brief description
The dynamization is to detect static error states in safety-relevant circuits, e.g.
end stage switch-off, brake control, local output as well as in the external
wiring.
Dynamization takes place automatically in the background without having an
effect on the safety function or the standard drive functions. It is not necessary
to configure the dynamization in the drive.

7.1.2 Functional principle of dynamization in the selection signals

Depending on the required safety integrity level and the number of selection
channels, fields have to be excluded from external wiring or have to be shown
in case discrete selection is used.
If errors caused by dynamization of the selection signals, so-called dynamiza-
tion pulses, have to be detected, this has to be realized in connection with the
optional safety technology modules by the selecting safety unit.
The discrete selection of safety functions at the local input configured as "safe
input", is realized via an N/C-N/C combination in case of dual-channel selection.
Two or a "0” signal at the inputs indicates a selection of the safety functions,
a dynamization of the external selection channels can only take place in dese-
lected state.

Dynamization in the case of selection via an active safety unit

An active safety unit is a safety switching device which selects the safe function
via OSSD outputs. The active safety unit tests its outputs on its own.
"OSSD" (Output Signal Switching Device) is the part of a safe selection unit
which has been connected to the machine control and which changed to the
OFF state, if the safe selection unit triggers during the intended operation.
When the safety functions are selected via an active safety unit, the dynamiza-
tion pulses of the OSSD outputs of the active safety unit are evaluated and
monitored.
The active safety unit must detect the following errors via its OSSD outputs:
● Short circuit of one or both selection signals with 24 V
● Short circuit between the selection signals

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Dynamization

An evaluation of the dynamization pulses on the optional safety technology

module does not take place. The dynamization pulses are filtered out by the
optional safety technology module. The maximum length of the dynamization
pulse can be configured (refer to ⮫ Signal control of inputs).
The figure below schematically illustrates the interconnection of an active
safety unit and multiple drives with an optional safety technology module:

Fig. 5: Dynamization in the case of selection via an active safety unit

When choosing the safety unit, the maximum current consumption of the selec-
tion inputs of all drives of a safety zone has to be taken into account.

Dynamization in the case of selection via passive safety units

A passive safety unit is a safety relay in which the safe function is selected via
dry contacts.
To select the safety function via a passive safety unit, dynamized selection
signals which have to be monitored are required to detect errors in the wiring.
The dynamization pulses can be generated by an active safety unit. The dynami-
zation outputs of the active safety unit allow the isolated selection contacts of
the passive safety unit to be supplied.
When the safety functions are selected via a passive safety unit, the active
safety unit checks the wiring of the selection.
Due to the corresponding configuration, the local output on the safety tech-
nology option modules can also be used as dynamization output. The local
output on the optional safety technology module allow the isolated selection
contacts of the passive safety unit to be supplied. Wiring of the selection is
monitored by the optional safety technology module or by the active safety unit
by evaluating the dynamization pulses at the output.

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Encoder evaluation

The figure below schematically illustrates the interconnection of a passive

safety unit and multiple drives with an optional safety technology module:

Functional principle
Fig. 6: Dynamization in the case of selection via a passive safety unit
The inputs of the optional safety technology module do not require any dynami-
zation pulses for internal detection of errors (fault exclusion). Thus, an annual
nonrecurring selection is required to ensure an error-free function of the selec-
tion.
If external passive safety units are used for dual-channel selection of more
than one input pair, make sure that short circuit between two lines with the
same dynamization source can be excluded by a safe wiring according to
EN ISO 13849–2:2013, table D.4.

7.2 Encoder evaluation

The "safe encoder evaluation" evaluates the connected encoder system and
provides its results (velocity feedback value and position feedback value) to the
safety functions.
For "SafeMotion“, the evaluation of a safe encoder at the XG20 or XG21 inter-
face or for double-axis devices at the XG20.1 or XG21.1 interfaces (axis 1) and
XG20.2 or XG21.2 (axis 2).
For use with the "SafeMotion“, the save encoders have to comply with the
requirements specified in ⮫ Required motors and measuring systems.

Overview on encoder evaluation

The encoder evaluation depends on the operating status:

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Encoder evaluation

● In the "operating mode" (OM), the encoder evaluation is active and signals
errors.
● In the “parameterization mode" (PM), the encoder evaluation is active and
does not signal any errors.
● In the "configuration mode" (CM), the encoder evaluation is not active and
does not signal any errors.
The parameter "0x310E:01, SMO encoder function: Evaluation status" displays
the current status of the encoder evaluation, encoder errors, encoder warning,
etc.

Encoder type
"0x3100:09, SMO encoder config.: Phys. encoder type" describes the type of
encoder with regard to the signal shape and, if necessary, the communication
interface. "Safe Motion" can evaluate the following encoder types:
● ACURO®link encoders (rotary encoders only, no linear encoders) at the
XG20 interface or in the case of double-axis devices at the XG20.1 (axis
1) and X20.2 (axis 2) interfaces.
● EnDat-2.2 encoders (rotary encoders and linear encoders) at the XG21 inter-
face or in the case of double-axis devices at the XG21.1 (axis 1) and X21.2
(axis 2) interfaces.
● EnDat 2.1 encoders (rotary encoders and linear encoders) at the XG21 inter-
face or in the case of double-axis devices at the XG21.1 (axis 1) and X21.2
(axis 2) interfaces (AXS–V–0404 and above).
● Sin/cos encoders (1Vpp) (rotary encoders and linear encoders) at the XG21
interface or in the case of double-axis devices at the XG21.1 (axis 1) and
X21.2 (axis 2) interfaces.
● Resolver encoders (rotary encoders only, no linear encoders) at the XG21
interface or in the case of double-axis devices at the XG21.1 (axis 1) and
X21.2 (axis 2) interfaces (AXS–V–0404 and above).
● HIPERFACE encoders (rotary encoders and linear encoders) at the XG21
interface or in the case of double-axis devices at the XG21.1 (axis 1) and
X21.2 (axis 2) interfaces.
● ctrlX SENSEmotor encoders (rotary encoders only, no linear encoders) at
the XG20 interface or in the case of double-axis devices at the XG20.1 (axis
1) and X20.2 (axis 2) interfaces (AXS–V–0504 and above).
With 0x3100:09="0", the "safe encoder evaluation" can be deactivated. When
the safe encoder evaluation has been deactivated, only those safety functions
of "SafeMotion" are available that do not require safe encoder evaluation [e.g.
STO, SBC, SS1 (time-prioritized)].

Encoder properties
In order that "SafeMotion" can correctly evaluate the transmitted position and
velocity information of a safe encoder, the following encoder properties are
required in addition to the encoder type:
● Type of construction of the encoder (0x3100:08)
● Rotational direction of the encoder (not inverted or inverted) (0x3100:08)
● Encoder resolution (0x3100:03 and 0x3100:04) in increments per motor
rotation (incr/rev) for rotary encoders or in nano meters per increment (nm/
incr) for linear encoders
● Absolute position range (0x3100:07) in revolutions (rev) for rotary encoders
or millimeters (mm) for linear encoders
● Zero point shifting (0x3108:03) in increments (incr)

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Encoder evaluation

Mounting position of the safe encoder

The "SafeMotion" supports the motor-side, as well as the load-side mounting
of the safe encoder. When choosing the mounting position, observe that the
encoder has to be mounted in such a way that dangerous movements can
be monitored. To correctly evaluate the safe encoder in "SafeMotion", the
mounting position of the encoder has to be configured (0x3106:01).
According to the safety-related application, it is sometimes impossible
to connect the safe encoder directly. Therefore, "SafeMotion" provides
the option to evaluate a safe encoder connected via a gearbox. The
gear ratio of the gearbox results from the relation between the encoder-
side gearbox input revolutions (0x3106:02) and the load- or motor-side

Functional principle
gearbox output revolutions (0x3106:03). With a gear ratio of 1:1, the gearbox is
switched off.
Dangerous movements! Danger to life, grievous bodily
WARNING harm or material damage by using a gear not intended
for the application!
The gear used to connect the safe encoder has to be
designed according to safety-technical aspects (mechan-
ical overload, ...).
The wrong parameterization of the mounting position and of the encoder
gearbox causes incorrect position and velocity values. Make sure the physical
mounting position of the encoder has been parameterized correctly.
The figure below illustrates the possible mounting positions of the safe
encoder:

Fig. 7: Mounting position of safe encoder, rotary motor

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Encoder evaluation

Velocity threshold for safe standstill

The velocity resolution of the "SafeMotion" depends on the resolution of
the measuring system or of the "measurement noise". Thus, the actual
velocity value never is constantly "0", not even in the case of encoder stand-
still, but displays small velocities around the zero point ("encoder noise").
For "SafeMotion" to safely detect axis standstill, parameterize the velocity
threshold in "0x310E:04, SMO encoder function: Velocity threshold" below
which "SafeMotion" is to detect standstill (0x310E:01, bit 6="1").
− The safely generated scaling-related actual position value is provided in
0x310E:02.
− The safely generated scaling-related actual velocity value is provided in
0x310E:03.
− The safely generated direction of motion is provided in 0x310E:01, bit 11.

Notes on commissioning
It is recommended to configure and commission the encoder, which is evalu-
ated in “SafeMotion“, in the functional part of the drive first. This ensures that
all functions necessary for the operation of the encoder (e.g. encoder supply
voltage, terminating resistors for the encoder signals, etc.) are activated.
Via the command "C8400 SMO: Apply encoder configuration command", the
settings of the encoder of interface XG20 / XG21 (or XG20.1 / XG21.1,
XG20.2 / XG21.2) can be applied from the standard firmware to "SafeMotion".
Not all encoders are approved for "safe encoder evaluation". Therefore, only the
data of approved encoder types are applied. The command "C8400" can only
be executed in the configuration mode (CM) if the safety technology password
(0x3018:02) has been set.
After the encoder configuration has been successfully applied, the SMO
encoder parameters have to be verified.
If the encoder configuration cannot be applied, command errors C840x is gen-
erated depending on the error cause.
The parameterization of the safe encoder evaluation is subject to a fixed order,
because there are dependencies between the parameters:
● First of all, the encoder has to be parameterized in the standard firmware in
order to activate the power supply at the encoder interface.
● Subsequently, the physical data of the safe encoder have to be parameter-
ized:
– 0x3100:09, SMO encoder config.: Phys. encoder type and
0x3100:08, SMO encoder config.: Properties or
0x3100:05, SMO encoder config.: Resolution (analog), lower 32 bit and
0x3100:06, SMO encoder config.: Resolution (analog), upper 32 bit
– 0x3100:03, SMO encoder config.: Resolution (digital), lower 32 bit,
0x3100:04, SMO encoder config.: Resolution (digital), upper 32 bit
– 0x3100:07, SMO encoder config.: Phys. absolute position range,
0x3108:03, SMO encoder properties: Zero point offset
NOTE: The "encoder property" determines the unit of the "encoder resolu-
tion".
● Finally, the encoder mechanics has to be defined:
– 0x3106:01, SMO encoder mounting properties: Mounting position
– 0x3106:02, SMO encoder mounting properties: Gearbox input revolutions
– 0x3106:03, SMO encoder mounting properties: Gearbox output revolu-
tions
The complete function is only achieved by parameterizing the entire mechanics
and the scaling.

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Scaling system

7.3 Scaling system

7.3.1 Brief description
Scaling defines the input format of a parameter; i.e. the relation between the
input value and the physical unit is established.

An operating data (numerical value) can only be evaluated as a physical value,

when the numerical value is connected to a physical unit and the position of
the decimal point (decimal places). The data thereby is "scaled" in a qualitative
and quantitative way.

Functional principle
For "SafeMotion" there are independent scaling and mechanics parameters that
can be selected independently of the scaling parameters of the standard firm-
ware. These independent safety technology scaling parameters are processed,
stored and verified in accordance with the requirements on safety-related sys-
tems.

For example, for applications with switchable gearboxes and load-side scaling
of the standard drive, it might be useful to select differing scaling settings for
"SafeMotion". In this case, "SafeMotion" can be configured with "data reference
to motor shaft"; it is then independent of the gearbox and the scaling of the
standard drive.

7.3.2 Functional description

The scaling of "SafeMotion" is independent of the standard scaling of the drive;
the scaling settings can be different.

There are two options for setting the scaling:

● Preferred scaling: Predefined settings for "unit", "time unit" and "exponent".
● Parameter scaling: Settings to be defined by the user for "unit", "time unit"
and "exponent".
"Unit" and "time unit" are physical values. The "exponent" defines the number
of decimal places of the scaled values.
There are no scaling parameters for times, 2 fixed scalings were defined:
− Time in milliseconds: Decimal places "0", unit "ms", display format "decimal,
unsigned", data length "4 bytes"
− Time in seconds: Decimal places "3", unit "s", display format "decimal,
unsigned", data length "4 bytes"

Position scaling
The scaling type of the position data for "SafeMotion" can be set in "0x3022:01,
SMO position scaling: Type". The position values are set in "degrees" for rotary
scaling and in "mm" or "inch" for linear scaling. The data reference can be at
the motor shaft or at the load. The incremental scaling, as in the standard
firmware, is not supported.

Position scaling
With preferred scaling, the format is as follows:
● Rotary: 0.0001 degrees
● Linear, metric: 0.0001 mm
● Linear, inch: 0.000001 inch

With parameter scaling, the number of decimal places of the scaled position
values can be defined with the following parameters:

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Scaling system

● Linear scaling: "0x3022:02, SMO position scaling: Exponent"

● Rotary scaling: "0x3022:03, SMO position scaling: Resolution"

Velocity scaling
The scaling type of the velocity data for "SafeMotion" can be set in "0x3024:01,
SMO velocity scaling: Type". The velocity values are set in rpm, rev/s for rotary
scaling and in mm/min, mm/s, inch/min, inch/s for linear scaling. The data
reference can be at the motor shaft or at the load. The incremental scaling, as
in the standard firmware, is not supported.

Velocity scaling
With preferred scaling, the format is as follows:
● Rotary: 0.0001 rpm or 0.000001 rev/s
● Linear, metric: 0.001 mm/min
● Linear, inch: 0.00001 inch/min

With parameter scaling, the number of decimal places of the scaled velocity
values can be defined by means of "0x3024:02, SMO velocity scaling: Expo-
nent".

Acceleration scaling
The scaling type of the acceleration data for "SafeMotion" can be set in
"0x3026:01, SMO acceleration scaling: Type". The acceleration values are set
in rad/s2 for rotary scaling, in mm/s2, inch/s2 for linear scaling and in s for
"ramp time".
With the "ramp time" scaling type, the scaling can be defined by means of
"0x3026:03, SMO acceleration scaling: Ramp reference velocity".
The data reference can be at the motor shaft or at the load. The incremental
scaling, as in the standard firmware, is not supported.

Acceleration scaling
With preferred scaling, the format is as follows:
● Rotary: 0.001 rad/s2
● Linear, metric: 0.001 mm/s2
● Linear, inch: 0.00001 inch/s2
● Ramp time, s: 0.001 s

With parameter scaling, the number of decimal places of the scaled accelera-
tion values can be defined by means of "0x3026:02, SMO acceleration scaling:
Exponent".

Jerk scaling
The jerk data scaling type for "SafeMotion" is derived from the acceleration
scaling. It does not have individual scaling parameters. The jerk scaling takes
the unit and the exponent of the acceleration scaling. The time unit changes
from s2 to s3.

Jerk scaling
With preferred scaling, the format is as follows:
● Rotary: 0.001 rad/s3
● Linear, metric: 0.001 mm/s3
● Linear, inch: 0.00001 inch/s3

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Scaling system

Modulo scaling
For the position data format, it is possible to choose between two formats
using the respective bit of "0x3022:01, SMO position scaling: Type":
● Absolute format
● Modulo format
Switching the format of the position data from the absolute to the modulo
format does not have any effect on the monitoring functions of "SafeMotion".
The switching only serves to display the position values in the same format as
in the standard firmware. For this purpose, the corresponding modulo value
can be entered in "0x3020:05, SMO axis mechanics: Modulo value".

Functional principle
To achieve the synchronization of the position feedback values of the standard
firmware and of "SafeMotion", the standard firmware has to be referenced to
the position feedback value of "SafeMotion" ("0x310E:02, SMO encoder func-
tion: Position"). There is no automatic adjustment!
Correct generation of position and velocity is only ensured up to the following
limit velocity:
limit velocity = overflow limit / 2.5 ms
The overflow limit depends on the position data scaling type:
● "Absolute format" ("0x3022:01, SMO position scaling: Type", bit 7="0")
Overflow limit = 2 × "0x3020:06, SMO axis mechanics: Max. travel range"
Example: "0x3020:06"="36000°" (default value) ⇒ the limit velocity is
4,800,000 rpm
● "Modulo format" ("0x3022:01, SMO position scaling: Type", bit 7="1")
Overflow limit = "0x3020:05, SMO axis mechanics: Modulo value"
Example: "0x3020:05"="360°" (default value) ⇒ the limit velocity is
24,000 rpm

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Scaling system

When the limit velocity is exceeded, "0x310E:03,

WARNING SMO encoder function: Velocity" and "0x310E:02, SMO
encoder function: Position" are incorrectly calculated.
The position is already generated incorrectly the first
time the limit velocity is exceeded!
Check whether the limit velocity is exceeded in your
application:
− The limit velocity cannot be reached due to the
mechanical design (motor speed, gearbox, …):
→ There is no need for action
− The limit velocity can be reached, but is not used in
the application:
− The safety function "Safe maximum speed" (SMS)
is not active:
→ Activate the safety function
"Safe maximum speed" (SMS) and set
"0x3156:02, SMO global functions: Safe max.
speed" to the limit velocity.
− The safety function "Safe maximum speed" (SMS)
is already active:
→ Compare the limit of "0x3156:02, SMO global
functions: Safe max. speed" currently set to the
limit velocity and, if necessary, reduce the Safe
maximum speed.
− The limit velocity is exceeded by the application:
→ Increase the limit velocity by increasing the over-
flow limit; with modulo format, increase "0x3020:05,
SMO axis mechanics: Modulo value" from 360° to
720°, for example.
‑ AND ‑
→ Activate the safety function "Safe maximum speed"
(SMS) and set "0x3156:02, SMO global functions:
Safe max. speed" to the limit velocity.
An error reaction is triggered when the limit velocity is exceeded (F7059)

Data reference
The data reference of position, velocity, acceleration and torque/force specifies
whether the data refer to the motor shaft or to the load.
The data reference (motor shaft or load) has to be the same for SMO scaling
types position, velocity and acceleration.
With percentage-based scaling in the functional part and absolute scaling in
SafeMotion for torque/force, the data reference also has to be the same.
The scaling defines in which format (unit) the data are displayed. Not all setting
variants for scaling and data reference are supported. The setting of the data
reference is restricted by the encoder used and its mounting position, as well
as the desired data representation:

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Scaling system

Table 12: Encoder/scaling configuration of SafeMotion

Physical encoder type Mounting position Data reference Scaling type Configuration
("0x3100:09") ("0x3106:01") (Position: (Position:
"0x3022:01", "0x3022:01",
"Velocity: "Velocity:
0x3024:01", 0x3024:01",
"Acceleration: "Acceleration:
0x3026:01") 0x3026:01")
Rotary encoder mounted on motor at the motor shaft Rotary √
side Linear -

Functional principle
at the load Rotary √
Linear √
mounted on load at the motor shaft Rotary -
side Linear -
at the load Rotary √
Linear √
Linear encoders mounted on motor at the motor shaft Rotary -
side Linear √
at the load Rotary -
Linear -
mounted on load at the motor shaft Rotary -
side Linear -
at the load Rotary -
Linear √
When switching from configuration mode (CM) to parameterization mode (PM),
the encoder/scaling configuration is checked for admissibility. In case of an
inadmissible configuration, command error C8215 is generated.

Polarity
The polarity of the position, velocity and acceleration data can be adjusted
with "0x3020:01, SMO axis mechanics: Polarity". Depending on the mounting
situation, this allows the appropriate polarity of the respective data for the
machine axis to be determined.
The polarity can only be set consistently for all scaling types (position, velocity,
acceleration).

Mechanical system
With the mechanics elements "load gear" and "feed constant", the mechanical
transfer elements between motor and the point where the load takes effect can
be represented in the drive.
Via the load gear, gear ratios or reduction ratios between the motor shaft
["0x3020:02, SMO axis mechanics: Input revolutions of load gearbox"] and the
load ["0x3020:03, SMO axis mechanics: Output revolutions of load gearbox"]
can be represented.
If a linear load is driven by a rotary motor, the corresponding gear ratio has to
be written by the feed constant (mm/rev) ("0x3020:04, SMO axis mechanics:
Feed constant").
The parameter "0x3020:06, SMO axis mechanics: Max. travel range" defines
the maximum mechanical travel distance of the machine. Depending on
"0x3020:06, SMO axis mechanics: Max. travel range", the internal resolution is

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set in "SafeMotion", which influences the monitoring precision. To achieve the

highest possible precision, "0x3020:06, SMO axis mechanics: Max. travel range"
should be set to the smallest possible value for the application.
During the commissioning procedure, the user has to check that the mechan-
ical elements have been correctly parameterized. The wrong parameterization
causes incorrect position and velocity values.

7.3.3 Notes on commissioning

Automatically applying the scaling
Since the scaling of "SafeMotion" and of the standard drive are to be consis-
tent, the standard scaling parameters can be applied from the drive to "SafeMo-
tion" to simplify the commissioning procedure.
To apply the standard scaling parameters to the scaling parameters of "SafeMo-
tion", start the command C8000 ("0x302A:01, SMO scaling function: C8000
Command apply scaling config.").
Requirements for applying the scaling
● The standard scaling parameters to be applied have to be valid (data status),
otherwise the procedure for applying the standard scaling parameters to
the scaling parameters of "SafeMotion" is aborted and the command error
C8001 is generated.
● The drive has to be in the configuration mode (CM) and the safety tech-
nology password must have been set ("0x3018:02, SMO password: Entry"),
otherwise the procedure for applying the standard scaling parameters to
the scaling parameters of "SafeMotion" is aborted and the command error
C8002 is generated.

Plausibility check when exiting the configuration

The command "C1100 Activate parameterization mode procedure command"
controls the switching of the subdevice state machine to the
parameterization mode (PM). With the SMO command "C8200
SMO: Command Exit configuration mode" linked to this switching process, the
Safe Motion state machine also goes to the PM state.
For the scaling, a validation check comparing the scaling types is performed,
otherwise switching is aborted and the command error C8214 is generated.

7.4 Diagnostic system

7.4.1 Introduction
The general diagnostic system of ctrlX DRIVE is explained in detail in the firm-
ware application manual.
The following parameters are used in conjunction with the diagnostic system:
● 0x2B80:01, Diagnostic message: Text
● 0x1002:00, Diagnostic message: Manufacturer status register
● 0x2B80:05, Diagnostic message: Detailed number
● 0x2B84:0A, Diagnostic trace: Main diagnostics
● 0x2B84:0B, Diagnostic trace: System time
● 0x2B84:0C, Diagnostic trace: Detailed diagnostics

Axis or device configuration

A drive controller consists of multiple components (power section, control
section, firmware,...). Each of them has its own identifier in the form of a
parameter.

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Diagnostic system

Identifiers useful for the purpose of diagnostics and service are stored in the
following parameters:
● 0x1008:00, Electronic type plate DEVICE: Manufacturer device name
● 0x2AE1:04, Electronic type plate CTRL: Manufacturer device name
● 0x2AE2:04, Electronic type plate MOTOR: Manufacturer device name
● 0x2AD2:01, Motor identification: Type
● 0x2B66:01, Application: Type
● 0x2A92:09, Control section data: Type
● 0x100A:00, Electronic type plate DEVICE: Manufacturer software version
● 0x3008:01, SMO identification software: Manufacturer version

Functional principle
7.4.2 Firmware identifiers
The parameter "0x3008:01, SMO identification software: Manufacturer version"
contains the version of the safety technology firmware.
Via the parameter "0x100A:00, Electronic type plate DEVICE: Manufacturer soft-
ware version", the version of the standard firmware can be read.

7.4.3 Status messages

"SafeMotion" status parameters
"Safe Motion" provides multiple parameters to the standard firmware via which
the states of "Safe Motion" can be read. With these status parameters, the
individual status signals can be freely programmed to existing real-time bits of
the master communication or hardware I/Os or I/O extensions.
These pieces of status information are not allowed for the safety-relevant evalu-
ation!
● "0x3082:04, SMO state machine: Operating status": Provides binary status
signals for online monitoring of the "safety technology operating status" of
"SafeMotion".
● "0x3082:05, SMO state machine: Status word": Provides binary status sig-
nals for online monitoring of the "safety technology state" of "SafeMotion".
● "0x3156:04, SMO global functions: Velocity threshold": Displays the cur-
rently active monitoring limit of the velocity.
● "0x3082:01, SMO state machine: Control word, safety": Provides binary con-
trol signals for displaying the selected safety functions via digital hardware
inputs (local safe inputs), ctrlX SAFETYlink or via a Safety bus communica-
tion of the drive.
● "0x3082:03, SMO state machine: Selected operating status": Makes available
binary status signals for displaying the selected safety technology operating
status.

Status dialogs in ctrlX DRIVE Engineering

For diagnostic purposes, the "SafeMotion" state can be displayed via the cor-
responding diagnostic dialogs in ctrlX DRIVE Engineering. The dialogs can be
called in the function tree of the axis under the "SafeMotion" main branch and
the "Diagnostics" child node. The following dialogs are available:
● "SafeMotion" shows information on the status and diagnostic messages of
"SafeMotion"

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Fig. 8: "SafeMotion" status dialog

● "Safety bus communication" shows information on the status and diagnostic
messages of Safety bus communication

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Diagnostic system

Functional principle
Fig. 9: "Safety bus communication" status dialog
● "Inputs and outputs" shows information on the status of the input and
output signals of the local interface

Fig. 10: "Inputs and outputs" status dialog

● "Encoder" shows information on the status of the safe encoder evaluation

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Fig. 11: "Encoder" status dialog

● "Safe brake control" shows information on the status of the safe brake con-
trol

Fig. 12: "Safe brake control" status dialog

● "IO mapper inputs" shows information on the status of the IO mapper inputs

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Functional principle
Fig. 13: "IO mapper inputs" status dialog
● "Safety zone" shows information on the status of the safety zone and ctrlX
SAFETYlink

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Fig. 14: "Safety zone" status dialog

7.4.4 Error reaction and escalation strategy

"SafeMotion“ has two operating states, normal operation and special mode.
In both operating states, an error or a warning is generated if a monitoring
function is triggered.

The error messages of "SafeMotion" can be divided into the following classes:
Diagnostic message Error class
number
F3xxx Non-fatal safety technology error
F7xxx Safety technology error
F83xx Fatal safety technology error

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Diagnostic system

The warning messages of "SafeMotion" can be divided into the following

classes:
Diagnostic message Warning class
number
E3xxx Safety technology warnings without drive reaction
E83xx Safety technology warnings with drive reaction, config-
urable

Warning messages of the "E83xx" class produce the same reactions and moni-
toring functions in the drive as the errors of the “F3xxx" class. Therefore, all
error reactions of the "F3xxx errors" described in this documentation also apply

Functional principle
to the "E83xx warnings".

Behavior in the error state

If an error state is detected, "SafeMotion" generates an error or a warning and
triggers the drive reaction configured for the error or warning class (0x315E:01,
SMO error reaction: Configuration stopping process).
It is the objective of the error reaction to stop the axis. This stopping process
is monitored by "SafeMotion". If the error reaction does not occur as expected,
an error of the next higher error class is generated, in extreme cases causing
torque disable (see ⮫ Escalation strategy of SafeMotion).
After an error reaction has been completed, the safety function
"Safe Torque Off" (STO) is active. If it has been configured, the safety function
SBC becomes active with STO; i.e. the connected brakes have been safely
switched off.

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In the status word of "SafeMotion" (0x3082:04, SMO state machine: Operating

status), the "safety technology error" status bit is set to "0" in the case of error.
The safety status of the axis is maintained during the transition process, i.e.
depending on the operating status (normal operation or special mode) of the
axis at the time the safety technology error occurs, safety is acknowledged or
not during the transition process. Safety is acknowledged once the transition is
complete. However, no safety is always acknowledged in the following cases:
Axis becomes "torque-free" during As long as the axis is "coasting", the safety status is set to "Axis
the error reaction not safe". As soon as "SafeMotion" has detected axis standstill,
the safety status of the axis is permanently set to "Axis safe".
Error in safety technology encoder "Safe Motion“ can no longer ensure dual-channel safety. A
evaluation coasting spindle, for example, cannot be detected.
The safety status is permanently set to "Axis not safe".
Error in brake control "Safe Motion“ can no longer ensure dual-channel safety. The
brake possibly cannot be applied any more.
The safety status is permanently set to "Axis not safe".
Error in local acknowledgment The safety status is permanently set to "Axis not safe".
output
Communication error, encoder "SafeMotion“ establishes the safe state Safety Default; this state
interface modules (F8035) comprises:
Communication error, onboard ● Output stage is locked (drive torque has been disabled)
encoder modules (F8036) ● digital local outputs have been set to "0"
SMO: Internal communication ● Brake output is deactivated; electrically releasing brake is
error (F8106) applied!
Fatal system errors (F9xxx) The safety status is permanently set to "Axis not safe".
("SafeMotion" does not generate
any fatal system errors, but reacts
to fatal system errors of the
standard firmware.)

Configuring the error reaction

For the individual error classes of safety technology, the following error reac-
tions can be configured in "0x315E:01, SMO error reaction: Configuration stop-
ping process". The error reactions configured in 0x315E:01 have to match the
error reactions of the standard firmware (see "0x2872:01, Externally controlled
error reaction: Configuration" and "0x2870:01, Axis shutdown: Best possible
shutdown"). Differing configurations are detected by the transition command
error "C8814 SMO: Incorrect configuration". The following error reactions can
be configured:

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(0x315E:01, bit 3-0, bit 16)

(0x315E:01, bit 7-4)

F3xxx / E83xx

F7xxx
Reference to standard
Reaction Drive behavior / deceleration
parameters

NC reaction on F3 √ - The error reaction is executed by the NC, i.e. NC 0x2872:01, bit 0="1"
errors decelerates the drive. "SafeMotion" monitors that the

Functional principle
reaction is completed within the parameterized toler-
ance time for the error reaction (0x315E:02).
The monitoring functions and monitoring thresholds
from the last safety technology operating status
remain active.
Return motion √ - The drive is moved and decelerated by selecting 0x2870:01, bit 3‑0="3"
a relative process block (0x2874:01 to 0x2874:04).
"SafeMotion" monitors that the reaction is completed
within the parameterized tolerance time for the error
reaction (0x315E:02).
The monitoring functions and monitoring thresholds
from the last safety technology operating status
remain active.
Velocity command value √ - The drive is decelerated by the standard firmware 0x2870:01, bit 3‑0="2"
reset with ramp and using velocity command value reset with ramp
filter (quick stop) (0x2808:02) and filter (0x284A:01).
With active SMO encoder evaluation (0x3100:09),
"SafeMotion" monitors the error reaction of the
standard drive using the safety function "SMD".
In the case of inactive SMO encoder evaluation
(0x3100:09), "SafeMotion" monitors that the reaction
is completed within the parameterized tolerance time
for the error reaction (0x315E:02).
Velocity command value √ √ The drive is decelerated by the standard firmware 0x2870:01, bit 3‑0="4"
reset with ramp and using velocity command value reset with ramp 0x2870:01, bit 7‑4="4"
filter (emergency stop) (0x2870:06) and filter (0x284A:01).
With active SMO encoder evaluation (0x3100:09),
"SafeMotion" monitors the error reaction of the
standard drive using the safety function "SMD".
In the case of inactive SMO encoder evaluation
(0x3100:09), "SafeMotion" monitors that the reaction
is completed within the parameterized tolerance time
for the error reaction (0x315E:02 or 0x315E:03).
Velocity command value √ √ The drive is decelerated taking the torque limit value 0x2870:01, bit 3‑0="0"
reset (emergency stop) into account (0x230C:02). 0x2870:01, bit 7‑4="0"
With active SMO encoder evaluation (0x3100:09),
"SafeMotion" monitors the error reaction of the
standard drive using the safety function "SMD".
In the case of inactive SMO encoder evaluation
(0x3100:09), "SafeMotion" monitors that the reaction
is completed within the parameterized tolerance time
for the error reaction (0x315E:02 or 0x315E:03).

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(0x315E:01, bit 3-0, bit 16)

(0x315E:01, bit 7-4)

F3xxx / E83xx

F7xxx
Reference to standard
Reaction Drive behavior / deceleration
parameters

Torque disable √ √ The drive torque is disabled by the standard firmware 0x2870:01, bit 3‑0="1"
and the drive in this case is only decelerated by the 0x2870:01, bit 7‑4="1"
friction torque. The drive coasts to stop.
If brakes are available, they are controlled.
The safety technology activates the "STO" safety func-
tion and - if configured/available - the "SBC" safety
function.

The error reactions of the error classes can be combined as follows:

F3xxx or E83xx F7xxx F83xx
Velocity command value reset
with ramp and filter (emergency
stop)
NC reaction on F3 error
Velocity command value reset
(emergency stop)
Torque disable
Velocity command value reset
with ramp and filter (emergency
Return motion stop)
Velocity command value reset
(emergency stop)
Velocity command value reset
Torque disable*1)
Velocity command value reset with ramp and filter (emergency
with ramp and filter (quick stop)
stop) Velocity command value reset
(emergency stop)
Velocity command value reset
Velocity command value reset with ramp and filter (emergency
with ramp and filter (emergency stop)
stop) Velocity command value reset
(emergency stop)
Velocity command value reset Velocity command value reset
(emergency stop) (emergency stop)
Torque disable*1) Torque disable*1)
*1): Brake is controlled, if available

NC reaction on F3 error
To avoid damage to the machine, it may be required that the master (e.g., NC)
retains control of the travel profile of the axes even in the case of error and
decelerates the machine axes in a coordinated way. For this case, the option
"NC reaction on F3 errors" can be activated. The master is informed of an error
via "0x2892:02, Servodrive profile: Status word" so that the master can decel-
erate the machine axes in a coordinated way and therefore avoid any damage.
For the "NC reaction on F3 error", it is recommended to configure the safety
function "Safe maximum speed".

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The error reactions available in the functional drive "NC reaction on F4 error"
and "NC reaction on F6/F7 error" are not supported by "SafeMotion" and the
transition command error "C8814 SMO: configuration faulty" is reported.

Error reaction times of "SafeMotion"

The generally valid maximum time from the occurrence of a safety technology
error to the standstill of the axis or torque disable is calculated as follows:
"Error reaction F3 tolerance time" + "Error reaction F7 tolerance time" =
0x315E:02 + 0x315E:03
The table below shows the exact calculations of the reaction times, depending
on the axis configuration:

Functional principle
Configuration options Assumed scenarios
Reaction times
(0x315E:01)
F3 reaction / F7 reaction
tF3 reaction tF7 reaction total
E83 reaction
NC reaction on Velocity com- t0x315E:02 t0x315F:02 + vx *1) / tF3 reaction + At the end of the
F3 error mand value a0x315F:04 + (3 × tF7 reaction F3 reaction, the
reset with ramp a0x315F:04 / j0x315F:05) axis moves with the
and filter (maximum t0x315E:03) velocity vx*1).
(emergency ⇒ F7 error
stop)
For the F7 reaction,
Velocity com- t0x315F:02 + vx *1) / the axis needs the
mand value a0x315F:04 entire parameterized
reset (emer- (maximum t0x315E:03) time and ramp until
gency stop) standstill.
Torque disable Immediately tF3 reaction At the end of the F3
reaction, the axis is
not yet in standstill.
⇒ F7 error with
torque disable.
Velocity com- t0x315E:03 tF3 reaction + At the end of the F3
mand value tF7 reaction reaction, the axis is
reset with inac- not yet torque-free.
tive SMO ⇒ F7 error
encoder evalua-
For the F7 reaction,
tion*2)
the axis needs the
entire parameterized
time.
Return motion Velocity com- t0x315F:02 t0x315F:02 + vx *1) / tF3 reaction + At the end of the
mand value a0x315F:04 + (3 × tF7 reaction reaction time of
reset with ramp a0x315F:04 / j0x315F:05) the F3 reaction, the
and filter (maximum t0x315E:03) axis moves with the
(emergency velocity vx*1) and
stop) exceeds the deceler-
Velocity com- t0x315F:02 + vx *1) / ation ramp.
mand value a0x315F:04 ⇒ F7 error
reset (emer- (maximum t0x315E:03) For the F7 reaction,
gency stop) the axis needs the
entire parameterized
time and ramp until
standstill.

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Configuration options Assumed scenarios

Reaction times
(0x315E:01)
F3 reaction / F7 reaction
tF3 reaction tF7 reaction total
E83 reaction
Velocity com- Velocity com- t0x315F:02 t0x315F:02 + vx *1) / tF3 reaction + At the end of the
mand value mand value a0x315F:04 + (3 × tF7 reaction reaction time of
reset with ramp reset with ramp a0x315F:04 / j0x315F:05) the F3 reaction, the
and filter and filter (maximum t0x315E:03) axis moves with the
(quick stop) (emergency velocity vx*1) and
stop) exceeds the deceler-
Velocity com- t0x315F:02 + vx *1) / ation ramp.
mand value a0x315F:04 ⇒ F7 error
reset (emer- (maximum t0x315E:03) For the F7 reaction,
gency stop) the axis needs the
entire parameterized
time and ramp until
standstill.
Velocity com- Velocity com- t0x315F:02 + not applicable; F8 error tF3 reaction For the F3 reaction,
mand value mand value vx *1) / a0x315F:04 + is signaled due to an F3 the axis needs the
reset with ramp reset with ramp ≙ F7 reaction entire parameterized
(3 × a0x315F:04 / j0x315F:05)
and filter and filter time and ramp until
(emergency (emergency (maximum t0x315E:02) standstill.
stop) stop)
Velocity com- t0x315F:02 t0x315F:02 + vx *1) / tF3 reaction + At the end of the
mand value a0x315F:04 tF7 reaction reaction time of
reset (emer- (maximum t0x315E:03) the F3 reaction, the
gency stop) axis moves with the
velocity vx*1) and
exceeds the deceler-
ation ramp.
⇒ F7 error
For the F7 reaction,
the axis needs the
entire parameterized
time and ramp until
standstill.
Velocity com- Velocity com- t0x315F:02 + not applicable; F8 error tF3 reaction For the F3 reaction,
mand value mand value vx *1) / a0x315F:04 is signaled due to an F3 the axis needs the
reset (emer- reset (emer- ≙ F7 reaction entire parameterized
(maximum t0x315E:02)
gency stop) gency stop) time and ramp until
standstill.
Velocity com- Velocity com- t0x315E:02 t0x315E:03 tF3 reaction + At the end of the F3
mand value mand value tF7 reaction reaction, the axis is
reset with inac- reset with inac- not yet torque-free.
tive SMO tive SMO ⇒ F7 error
encoder evalua- encoder evalua-
For the F7 reaction,
tion*2) tion*2)
the axis needs the
entire parameterized
time.
Torque disable Torque disable Immediately Immediately =0 The axis immediately
goes torque-free.

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Configuration options Assumed scenarios

Reaction times
(0x315E:01)
F3 reaction / F7 reaction
tF3 reaction tF7 reaction total
E83 reaction
*1): vx= Depending on the initial state, use the following data
● Normal operation with use of safety function "Safe maximum speed" (SMS)
vx = 0x3156:02
● Normal operation without safety function "Safe maximum speed" (SMS)
vx = maximum occurring velocity + 0x315F:01 + 0x315F:03
● Special mode "Safe motion" (SMMx)

Functional principle
v1 = 0x3160:01 to v16 = 0x316F:01
*2):
Inactive SMO encoder evaluation (0x3100:09 = "0"), velocity command value reset in accordance with setting in param-
eter "0x315E:01, SMO error reaction: Configuration stopping process"

"SafeMotion“ escalation strategy

With SafeMotion, the drive is decelerated in the case of error; for this purpose,
an escalation strategy is run. The escalation strategy is used to make sure that
the drive is decelerated in an optimum way and that wear of existing holding
brakes, as well as load of the mechanical system, are minimized. According to
the initial situation, deceleration in the case of error takes place on several
levels. Each of the levels is monitored via two channels.
Normally, the escalation strategy is not run completely. This means that
depending on the currently present error message and the resulting error reac-
tion, the drive jumps to the corresponding escalation level. This can be one of
the following levels:
● Escalation strategy, level 1: F3xxx/E83xx error reactions
● Escalation strategy, level 2: F7xxx error reaction
● Escalation strategy, level 3: F83xxx error reaction
During the levels 1 and 2 of the escalation strategy, the effectiveness of
each escalation level is monitored via the transition function "Safely-monitored
deceleration" (SMD-E). When the trend monitoring triggers, this means that
the drive has detected that the axis cannot be decelerated in the parameter-
ized time / the parameterized distance. The error reaction is taken to the next
higher escalation level until the axis has been decelerated.
The figure below shows the escalation strategy on its individual levels:

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Fig. 15: "SafeMotion“ escalation strategy

Escalation strategy, level 1: F3xxx/E83xx error reactions
Level 1 of the escalation strategy is activated under the following conditions:
● F2xxx, F3xxx, F4xxx error or E83xx warning generated by the drive
The drive is decelerated with the error reaction parameterized in 0x315E:01,
bits 3-0 and bit 16. The deceleration process is monitored with the transition
function "Safely-monitored deceleration" (SMD-E). If deceleration is not suc-
cessful, i.e. the SMD-E monitoring triggers, the error F7051 is generated and
the drive is switched to level 2 of the escalation strategy.
Escalation strategy, level 2: F7xxx error reaction
Level 2 of the escalation strategy is activated under the following conditions:
● The previous escalation level was unsuccessful or
● F6xxx or F7xxx error generated by the drive
The drive is decelerated with the error reaction parameterized in 0x315E:01,
bits 7-4. The deceleration process is monitored with the transition function
"Safely-monitored deceleration" (SMD-E). If deceleration is not successful, i.e.
the SMD-E monitoring triggers, the error F8351 is generated and the drive is
switched to level 3 of the escalation strategy.

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SafeMotion state machine

Escalation strategy, level 3: F83xxx error reaction

Level 3 of the escalation strategy is activated under the following condition:
● The previous escalation levels were unsuccessful or
● F83xxx or F9xxx error generated by the drive
SafeMotion applies the brake (if available) and disables the torque of the drive.
Depending on the configuration, the type of monitoring of the escalation level
can differ:
− F3xxx/E83xx error reaction as "NC error reaction on F3 errors": mere time
monitoring for effectiveness of escalation level is active
− F3xxx/E83xx error reaction as "return motion": mere time monitoring for

Functional principle
effectiveness of escalation level is active
− F3xxx/E83xx/F7xxx error reaction as "torque disable": no other escalation
monitoring function active
If the same error reaction was configured for F3xxx errors and F7xxx errors, the
drive after the 1st escalation level is not switched to the 2nd escalation level
(F7xxx error reaction), but directly to the 3rd escalation level (F83xx error
reaction). This avoids unnecessarily long reaction times.

7.5 SafeMotion state machine

7.5.1 Overview
The safety technology state (e.g., special mode "Safe standstill", safety tech-
nology error,...) represents a certain internal and external behavior of the drive
with "Safe Motion". The safety technology state can be exited by defined events
(e.g., drive commands, operation mode switching). Corresponding state transi-
tions are assigned to the events. The state transitions and the interaction of the
control and status bits are called "state machine".
The parameters used to parameterize/configure the safety technology functions
are write-protected with "0x3018:02, SMO password: Entry" after safety tech-
nology has been activated, and thus cannot be changed by unauthorized per-
sons.
The status of the safety technology password is contained in "0x3018:01, SMO
password: Level".
For drives with "SafeMotion", it is distinguished between the following "state
machines":
● "Subdevice state machine": (defines the device-specific states which deter-
mine the behavior of the device)
● "SafeMotion state machine": (defines the safety technology-specific states
which determine the behavior of safety technology)

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SafeMotion state machine

Fig. 16: SafeMotion state machine

1) Set C0750 or C0720 or password to default value
2) Password assignment (0x3018:02)
The following chapter describes the "Safe Motion state machine" and its inter-
action with the "subdevice state machine". For a detailed description of the
“subdevice state machine", see “State machines" in the Functional Description
of the firmware.

7.5.2 Function
States
In the "Safe Motion state machine", the following states are distinguished:
● Initialization
→ In the "initialization" state, the safety technology is initialized and is in the
safe state "Safety Default".
● SMO not active
→ In the "SMO not active" state, the safety technology of the drive is
not active and is in the safe state "Safety Default". The safety technology
waits for being activated by the assignment of a safety technology password
(0x3018:02). As an alternative, the safety technology can be activated by a
parameter image being loaded and the command "C8300" being executed. In
this state, only those safety technology errors are detected and signaled that
require the hardware or firmware to be replaced.
The "Safety Default" state is characterized by the following features:
– The output stage is locked.
– The drive does not signal safety.
– All local safe outputs have been set to "0".
– The brake output has been deactivated, i.e. an electrically releasing brake
is applied.
– The input signals (local input, Safety bus, ctrlX SAFETYlink) are not evalu-
ated.

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SafeMotion state machine

Note: Even without active safety technology, it is possible to commission

and operate a drive with a SafeMotion safety option. For this purpose, acti-
vate the "Functional commissioning" in the "SMO not active" state in param-
eter "0x3010:04, SMO configuration: Functional commissioning". Hereby, the
output stage and brake interlock are disabled by the safety technology.
DANGER! Danger to life, risk of injury, serious injury or property damage!
With functional enabling of the drive, the output stage and brake interlock
are disabled by inactive SafeMotion! There is no protection provided in the
danger zone. The safety has to be established by the commissioning engi-
neer.
● Configuration mode (CM)

Functional principle
→ In the "configuration mode (CM)" state, the safety technology of the drive
is active and in the configuration mode.
In this state, basic properties of safety technology can be configured and
verified [e.g., the display of parameters (scaling), the detection of the axis
motion (encoder evaluation), the interfaces for selection and acknowledg-
ment (local, ctrlX SAFETYlink, safe bus communication)].
The safety technology is in the safe state "Safety Default".
Note: All changes made to safety technology parameters have to be veri-
fied before switching to PM takes place. If the safety technology detects
unverified parameters, it acknowledges the transition command with the
command error "C1115".
● Parameterization mode (PM)
→ In the "PM" state, the safety technology of the drive is active and in
the Safe Torque Off state. Furthermore, a selection evaluation takes place,
the encoder evaluation is active (but encoder errors are not output) and
the safety status signals "Axis safe" (if safety technology has detected axis
standstill and all safety technology parameters have been verified).
In "PM" it is possible to configure all the safety technology functions and
properties that are not part of the basic properties of safety technology (see
CM); this applies to the configuration of safety functions, the parameteriza-
tion of monitoring thresholds and the configuration of the error reaction.
Note: All changes made to safety technology parameters have to be veri-
fied before switching to OM takes place. If the safety technology detects
unverified parameters, it acknowledges the transition command with the
command error "C0213".
● Operating mode (OM)
→ In state "OM", safety technology is active in the drive and the "State
Machine of the SafeMotion profile" is active. The configuration cannot be
changed in "OM".
– State machine of the SafeMotion profile
→ When switching to "OM", the "State Machine of the SafeMotion profile"
is called. Depending on the active "Safe Motion profile", the selection is
evaluated, the safety functions are activated and safety is acknowledged
(see ⮫ Chapter 7.6 SafeMotion profiles on page 64).

Switching
The "SafeMotion state machine" is coupled to the "subdevice state machine";
i.e. the "SafeMotion state machine" changes its state, if the "subdevice state
machine" changes its state. To change between the states of the state machine,
use the following commands:

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● Switching OM→PM: Is triggered by the corresponding

switching of the "Subdevice state machine" (command "C1100
Activate parameterization mode procedure command")
● Switching PM→OM: Is triggered by the corresponding
switching of the "Subdevice state machine" (command "C0200
Activate the operating mode command ")
● Switching OM→PM: Is triggered by the corresponding
switching of the "Subdevice state machine" (command "C0400
Activate configuration mode procedure command ")
● Switching CM→OM: Is triggered by the corresponding
switching of the "Subdevice state machine" (command "C0200
Activate the operating mode command ")
● Switching PM→CM: Is triggered by the corresponding
switching of the "Subdevice state machine" (command "C0400
Activate configuration mode procedure command ")
● Switching CM→PM: Is triggered by the corresponding
switching of the "Subdevice state machine" (command "C1100
Activate parameterization mode procedure command")
● Switching PM→SMO not active: Deactivating Safe Motion via command
("C0720" or "C0750 Load defaults procedure command (factory settings)")
or changing the safety technology password (0x3018:02) to the default value
"INDRASAVE"
● Switching CM→SMO not active: Deactivating Safe Motion via command
("C0720" or "C0750 Load defaults procedure command (factory settings)")
or changing the safety technology password (0x3018:02) to the default value
"INDRASAVE"
● Switching SMO not active→CM: By activating a parameter image via com-
mand "C8300 SMO: Command Activate parameter image" (see ⮫ Chapter
11.2 Replacing drive components on page 331 and ⮫ Chapter 10.3 Serial
commissioning on page 304) or by assigning the safety technology password
(0x3018:02)
● Switching Initialization→SMO not active: Automatically when the drive is
booted up, if no safety technology password (0x3018:02) has been assigned
yet
● Switching Initialization→CM: Automatically when the drive is booted up, if a
safety technology password (0x3018:02) has already been assigned

7.6 SafeMotion profiles

7.6.1 Overview
The integrated safety technology in the “Safe Motion“ characteristic supports
different Safe Motion profiles. The individual profiles differ with regard to the
number of available safety functions and the type of selection and acknowledg-
ment. Thus, the safety functions can be independently selected and deselected
in some profiles, but in other profiles they cannot. This chapter describes the
supported profiles with their profile-specific properties.
Only the “Bosch Rexroth“ Safe Motion profile is available. It is automatically
activated with “Safe Motion“.

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SafeMotion profiles

7.6.2 SafeMotion profile "Bosch Rexroth"

Brief description
The "Bosch Rexroth" SafeMotion 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

Functional principle
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:
● 0x3082:04, SMO state machine: Operating status
● 0x3082:05, SMO state machine: Status word
● 0x3082:01, SMO state machine: Control word, safety
● 0x3082:02, SMO state machine: Control word, functional
● 0x3082:03, SMO state machine: Selected operating status
● 0x3157:01, SMO function selection: Control word 1
● 0x3157:03, SMO function selection: Status word 1
● 0x3156:01, SMO global functions: Configuration
● 0x3159:01, SMO normal operation: Configuration
● 0x3155:01, SMO safe standstill: Configuration
● 0x3140:01, SMO special mode 1: Configuration... 0x314F:01, SMO special
mode 16: Configuration
● 0x3140:02, SMO special mode 1: Max. activation time enabling control...
0x314F:02, SMO special mode 16: Max. activation time enabling control

Diagnostic messages involved

The following diagnostic messages can be generated in conjunction with the
"Bosch Rexroth" SafeMotion profile:
● A0301 Special mode safe motion 1 active
● A0302 Special mode safe motion 2 active

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● ...
● A0316 Special mode safe motion 16 active
● A0320 EMERGENCY STOP active
● A0321 Special mode Safe standstill active with STO
● A0322 Special mode Safe standstill active with SOS
● C0256 Configuration error safety technology
● F3141 Operating status selection validation error
● F3142 Activation time of enabling control exceeded

General information
In the "Bosch Rexroth" SafeMotion profile, the individual safety functions
cannot be directly selected. The figure below shows the parameters involved
and the basic function in conjunction with the "Bosch Rexroth" SafeMotion
profile:

Fig. 17: Control and status parameters with active "Bosch Rexroth" SafeMotion profile

Safety technology operating states

In the "Bosch Rexroth" SafeMotion profile, the individual safety functions
cannot be directly selected. The safety functions are combined to form safety
technology operating states. There are the following safety technology oper-
ating states:
● Normal operation (NO)
● Special mode "Safe motion" (SMM1 to SMM16)
● Special mode "Safe standstill" (SMST1 and SMST2)
● Special mode "EMERGENCY STOP" (SMES)
The safety technology operating states are selected using activation signals
(0x3082:01). There are four types of activation signals:
● Mode selection signal
● Enabling control signal
● SMM signals
● Emergency stop signal

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SafeMotion profiles

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:

Functional principle
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

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Safety status of the axis

Safety status of the axis

Axis safe Axis not safe
Normal opera- Special mode transition process - √
tion Otherwise - √
Special mode Transition process within special
√ -
mode
Transition process to normal oper-
√ -
ation
Otherwise √ -
Error Transition process from special
√1) -
mode
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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SafeMotion profiles

Prioritizing the selection

The safety technology evaluates and prioritizes the selection of the safety tech-
nology operating states via the activation signals (0x3082:01). As the result
of the prioritization (0x3082:03), one safety technology operating status is acti-
vated at a time (0x3082:04). The table below shows the prioritization for the
different selection combinations of the activation devices:
Table 13: Prioritization of the selection of safety technology operating states in Bosch Rexroth
SafeMotion profile
Activation signals Selected safety technology oper-
Emergency stop Mode selection Enabling con- SMMx signal ating status
signal (ES) signal (MS) trol signal (EC) (A_SMM1..

Functional principle
(selected ≙ "0" (selected ≙ "0" (selected ≙ "1" A_SMM16)
= active) = active) = active)
selected selected selected selected Special mode "EMERGENCY
selected selected selected - STOP" (SMES)
selected selected - selected
selected selected - -
selected - selected selected
selected - selected -
selected - - selected
selected - - -
- selected selected selected1) Special mode "Safe motion x"
(SMM1..SMM16)
- selected selected - Invalid selection 2),
last operating status is main-
tained
- selected - selected Special mode "Safe standstill x"
- selected - - (SMST1 or SMST2)
- - selected selected Normal operation
- - selected -
- - - selected
- - - -
Legend:
1) Only one SMM signal may be selected at a time to select a special mode Safe motion.
2) One SMM signal has to be selected to select a special mode Safe motion.

Global safety functions

In the "Bosch Rexroth" SafeMotion profile, there are safety functions that are
not activated via an operating status. These safety functions are called “global
safety functions”. They are always active in the operating mode (OM) after
they have been configured. When "SafeMotion" is commissioned, the parameter
0x3156:01 is used to configure the global safety functions which are to be
active.

Safety functions
The following safety functions can be configured in the “global safety func-
tions” group:
● Optional: ⮫ Safe maximum speed (SMS)
● Optional: ⮫ Safe speed monitor (SSM)

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Selection
The safety functions of the “global safety functions” group cannot be selected
or deselected by activation signals. If they have been configured, they are
always active when the axis is in the operating mode (OM). The safety func-
tions take effect independently of the active safety technology operating status
(0x3082:04).

Diagnostics
There are no diagnostic status messages for the safety functions of “global
safety functions” group. The status (active / not active) of the individual safety
functions can be read using 0x3157:03.

Normal operation
The safety technology operating state “normal operation” corresponds to
normal operation of the drive, e.g. as a servo positioning axis. In normal
operation (also referred to as "production mode" or "automatic mode“), protec-
tive equipment prevents human access to danger points and keeps parts/mate-
rial from being ejected. When "SafeMotion" is commissioned, the parameter
0x3159:01 is used to configure the safety functions which are to be active in
normal operation.

Safety functions
The following safety functions can be configured for normal operation (NO):
● Optional: ⮫ Safe direction (SDI)

Selection
The normal operation is always selected when the activation signals emergency
stop signal (ES) and mode selection signal (MS) are not activated. When safety
technology detects a valid selection of the normal operation, switching to
normal operation takes place directly; there is no transition.

Diagnostics
There is no diagnostic status message for the safety technology operating
status “normal operation”.
Via 0x3082:03 it is possible to read out whether a selection for normal opera-
tion exists.
Using a status bit in 0x3082:04, the safety technology signals whether normal
operation is active or not.

Special mode "EMERGENCY STOP" (SMES)

In the "Bosch Rexroth" SafeMotion profile, the special mode
"EMERGENCY STOP" (SMES) is the safety technology operating status of
the highest priority. That is to say, if the special mode "EMERGENCY STOP"
is selected at an axis, the axis always goes to the special mode
"EMERGENCY STOP". This transition is independent of whether another valid
selection for a special mode has been made or whether the axis already is in a
special mode.

Typically, the special mode "EMERGENCY STOP" is used to implement the

EMERGENCY STOP function of a machine.

Safety functions
In the special mode "EMERGENCY STOP" (SMES), the following safety func-
tions are active:

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● ⮫ Safe torque off (STO)

● Optional: ⮫ Safe brake control (SBC)

Selection
The special mode "EMERGENCY STOP" is selected via the emergency stop
signal (ES). This selection is independent of the selection of the mode selec-
tion signal (MS), the SMM signals (A_SMMx) and the enabling control signal
(EC). That is to say the emergency stop signal always has the highest priority.
In the case of selection, the drive is not directly switched to the special mode
"EMERGENCY STOP" (SMES), but the transition function ⮫ Safe stop 1 (SS1)
(SS1) is activated first. When the transition has been completed, the safety

Functional principle
function ⮫ Safe torque off (STO) is always executed in the special mode
"EMERGENCY STOP". If configured, the safety function ⮫ Safe brake control
(SBC) becomes additionally active.

Diagnostics
When the axis is in the special mode "EMERGENCY STOP", it acknowledges this
via the diagnostic status message "A0320 EMERGENCY STOP active".
Using 0x3082:03 it is possible to read out whether a selection for EMERGENCY
STOP exists.
Via a status bit in 0x3082:04, the safety technology signals whether the special
mode "EMERGENCY STOP" is active or not.
During the transition (with transition function "SS1") to the special mode
"EMERGENCY STOP", the axis still acknowledges the last active operating
status via the diagnostic status message, because the monitoring functions of
the operating status remain active during the transition. Via 0x3082:04, bit 26,
it is possible to read out whether or not the axis is in a transition to a new
special mode.

Special mode "Safe standstill" (SMST)

In the "Bosch Rexroth" SafeMotion profile, the safety technology operating
status special mode "Safe standstill" (SMST) is available in two characteris-
tics: "SMST1" and "SMST2". When "SafeMotion" is commissioned, the stand-
still safety function to become active in special mode can be configured in
0x3155:01. It is possible to configure either Safe torque off (STO) or Safe
operating stop (SOS).

Safety functions
In the special mode “Safe standstill” (SMST), the following safety functions are
active, depending on the configuration:
● SMST1: ⮫ Safe torque off (STO)
● SMST1: optional ⮫ Safe brake control (SBC)
● SMST2: ⮫ Safe operating stop (SOS)

Selection
The special mode “Safe standstill“ can be selected using the mode selection
signal (MS). This selection only becomes active unless a simultaneous selection
is present for the special mode “Emergency stop“ (emergency stop signal) or
the special mode “Safe motion“ [operation mode selection signal (MS) and
enabling control signal (EC) and an SMM signal (A_SMMx)].
In the case of selection, the drive is not directly switched to "SMST1" or
"SMST2", but the transition function ⮫ Safe stop 1 (SS1) (SS1) with SMST1
configured, or the transition function ⮫ Safe stop 2 (SS2) with “SMST2” config-
ured, is activated.

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Switching from "SMES" to "SMST1" is carried out directly; i.e. the transition
function “Safe stop 1“ (SS1) is not activated.
When the transition has been completed, in the special mode "Safe standstill"
(SMST), the safety function "Safe torque off" (STO) or "Safe operating stop
" (SOS) is always executed. If configured, the safety function Safe brake control
(SBC) becomes additionally active in “SMST1”.

Diagnostics
When the axis is in the special mode “Safe standstill 1” (SMST1),
it acknowledges this via the diagnostic status message “A0321
Special mode Safe standstill active with SOS“, and in the active special mode
“Safe standstill 2” (SMST2), the axis acknowledges this with the diagnostic
status message "A0322 Special mode Safe standstill active with SOS".
Via 0x3082:03, it is possible to read out whether a selection for Safe standstill
exists.
Via a status bit in 0x3082:04, the safety technology signals whether Safe stand-
still is active or not.
During the transition (with transition function "SS1" or "SS2") to SMST, the
axis still acknowledges the last active operating status via the diagnostic status
message, because the monitoring functions of the operating status remain
active during the transition.
Via 0x3082:04, it is possible to read out whether or not the axis is in a transi-
tion to a new special mode.

Special mode "Safe motion" (SMM)

In the "Bosch Rexroth" SafeMotion profile, the special mode "SafeMo-
tion" (SMM) consists of 16 individual safety technology operating states
(SMM1 to SMM16). They can be independently configured and parame-
terized. When "SafeMotion" is commissioned, it is possible to configure
in 0x3140:01...0x314F:01 for the respective special mode "Safe motion"
(SMM1...SMM16) whether it may be selected and which safety functions are
to become active in the special mode.

Safety functions
In the special mode "Safe motion" (SMM1 to SMM16), the following safety
functions are active, depending on the configuration:
● ⮫ Safely-limited speed (SLS)
● Optional: ⮫ Safely-monitored transient oscillation (SLS-LT)
● Optional: ⮫ Safe direction (SDI)
● Optional: ⮫ Safely-limited increment (SLI)

Selection
A specific special mode "Safe motion" (SMMx) can be selected via the simul-
taneous selection of the mode selection signal (MS), the enabling control
signal (EC) and an SMMx signal (A_SMMx). This selection only becomes
active, unless a simultaneous selection is present for the special mode
"EMERGENCY STOP“ (emergency stop signal). It is not allowed to simultane-
ously select multiple special modes "Safe motion". In the case of simultaneous
selection of multiple special modes "Safe motion", a validation error is reported
in the selection with F3141.
In the case of selection, the drive is not directly switched to the SMMx, but the
transition function ⮫ Safely-monitored deceleration (SMD) is activated.
Monitoring the activation time of enabling control:

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The value parameterized in "0x3140:02, SMO special mode 1: Max. activation

time enabling control"..."0x314F:02, SMO special mode 16: Max. activation
time enabling control" defines the maximum allowed time for activating the
enabling control. The enabling control has to be deactivated after the parame-
terized time is over. The time is effective when the mode selector and an SMM
mode selector have been activated in addition to the enabling control.
Dangerous movements! Danger to life, risk of injury,
WARNING serious injury or property damage by switching off the
monitoring of the activation time!
It is possible to do without the monitoring of the activa-
tion time, if it is not common practice to use an enabling

Functional principle
control in an industrial sector and if constant motion
does not represent any danger. The machine manufac-
turer is responsible for the monitoring of the activation
time and their risk analysis has to show their responsi-
bility. With "0x3140:02, SMO special mode 1: Max. acti-
vation time enabling control"..."0x314F:02, SMO special
mode 16: Max. activation time enabling control"="0", the
time monitoring of the special mode "Safe motion" is
deactivated. Too long monitoring times cause hazards,
too.
When the transition has been completed, the safety function "⮫ Safely limited
velocity (SLS)" is always executed in the special mode "Safe motion". If other
safety functions have been configured, they become active, too.

Diagnostics
When the axis is in the special mode "Safe motion x" (SMMx), it acknowledges
this via the diagnostic status message "A03xx Special mode Safe motion xx
active" (1 to 16).
In the "operating mode" (OM) it is possible to identify whether a special mode
"Safe motion x" (SMMx) is active or not. Apart from the respective SMM bit
(0x3082:04, bit 3-18), the states of the following bits also have to be evaluated:
● SMES status: 0x3082:04, bit 1)
● SMST status: 0x3082:04, bit 2)
● Safety technology error (SafetyError): 0x3082:04, bit 25)
● Safety status (SafetyStatus): 0x3082:05, bit 0)
If all these bits (incl. SMMx) are set to "0", the drive is in normal operation.
If only "SafetyStatus"="1", SMMx is active.
If "SafetyStatus"="1" and if another bit is ="1", SMMx is not active.
In the “parameterization mode" (PM), SafeMotion only signals the following
states via the safety bus:
● Safety technology error (SafetyError): 0x3082:04, bit 25
● Encoder standstill (EncoderStandstill): 0x310E:01, bit 6
● Safety status (SafetyStatus): 0x3082:05, bit 0
The safety status of the axis is only signaled if encoder standstill has been
reached and no safety technology error (preventing a safety acknowledgment)
is active and the mode selector (MS) or Emergency stop (SMES) has been
selected. That is to say in the "parameterization mode" it does not make sense
to evaluate the status bits for SMM, SMST and SMES, since SafeMotion will not
acknowledge such a selected state.
Via "0x3082:03, SMO state machine: Selected operating status", it is possible
to read out whether or not a selection for the special mode "Safe motion"
exists.

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Via the status bits of "0x3082:04, SMO state machine: Operating status", the
safety technology signals whether a special mode "Safe motion" is presently
active or not.
During the transition to SMMx (using the transition function "SMD"), the axis
still acknowledges the last active operating status via the diagnostic status
message, because the monitoring functions of the operating status remain
active during the transition.
Via "0x3082:04, SMO state machine: Operating status", it is possible to read
out whether or not the axis is in a transition to a new special mode.

Notes on application:
Observe the following points for handling the safety technology operating
states:
● If the enabling control is activated in normal operation, the reduction of the
command value input may take effect in the control unit. Switching to the
special mode internally activates the monitoring functions for Safe motion
after the end of the transition times.
● In the case of a direct change in the operating status from one special
mode “Safe motion“ to another (e.g., from SMM2 to SMM5), the monitoring
time for the enabling control signal keeps running, because the enabling
control signal (EC) or the mode selection signal (MS) were not reset. If
the monitoring time then is greater than the threshold parameterized in
0x3140:02...0x314F:02, the error "F3142 Activation time of enabling control
exceeded" is generated.
● Before a safety function with safe absolute position monitoring is selected,
the "Safe homing procedure" has to be carried out.
The Safe homing procedure requires an input at the optional safety tech-
nology module.

8 Safety functions
8.1 Global safety functions
8.1.1 Safe maximum speed (SMS)
With the safety function "Safe maximum speed", dual-channel monitoring pre-
vents the drive from exceeding the preset velocity limit value (0x3156:02).
It is possible to check in the control whether the velocity command values are
within the allowed limits (0x3156:04).

Features
The safety function “Safe maximum speed“ has the following features:
● Required optional safety technology module: The safety function can be
used in drive systems equipped with the optional safety technology module
"SafeMotion.
● Required function package: The safety function can be used in drive systems
in which the function package "SafeMotion Speed" or "SafeMotion Position"
has been activated and licensed.
● Maximum safety level:
The safety function is intended for safety-relevant applications up to Cat-
egory 3, PL d according to EN ISO 13849‑1 or SIL 2 EN 61800–5–2 /
EN 61508.

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In conjunction with a suitable measuring system and the function package

"SafeMotion SIL3+", the safety level Category 4, PL e according to
EN ISO 13849‑1 or SIL 3 according to EN 61800–5–2 / EN 61508 can be
achieved.
● Selecting the function: The safety function is always active in normal opera-
tion and special mode if the function was configured during commissioning
of the safety technology in the global safety functions (0x3156:01).
● Monitoring function: Dual-channel monitoring prevents the drive from
exceeding the preset velocity threshold - the safe maximum speed
(0x3156:02).
When a monitoring function is triggered, this causes an error reaction which
decelerates the drive system. The corresponding error message is F7020.

Safety functions
● Status displays:
The status parameter (0x3157:03, bit 23) shows whether the safety function
has been activated.
The currently active velocity monitoring limit of SafeMotion is displayed in
the active velocity threshold (0x3156:04). With 0x3156:04, it is possible to
check in the control whether the velocity command values are within the
allowed limits.
With the auxiliary function "Limiting the positioning velocity", it is possible to
monitor and, if necessary, limit the velocity command value effective in the
drive to the active velocity threshold (0x3156:04).

Fig. 19: |V_act|<0x3156:02

8.1.2 Safe speed monitor (SSM)

The safety function “Safe speed monitor“ monitors via two channels whether
or not the axis is within a defined velocity range. The result of this monitoring
function can be made available to a higher-level control via the status words.

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Features
The safety function “Safe speed monitor“ has the following features:
● Required optional safety technology module: The safety function can be
used in drive systems equipped with the optional safety technology module
"SafeMotion".
● Required function package: The safety function can be used in drive systems
in which the function package "SafeMotion Speed" or SafeMotion Position"
has been activated and licensed.
● Maximum safety level:
The safety function is intended for safety-relevant applications up to Cat-
egory 3, PL d according to EN ISO 13849‑1 or SIL 2 EN 61800–5–2 /
EN 61508.
In conjunction with a suitable measuring system and the function package
"SafeMotion SIL3+" the safety level Category 4, PL e according to
EN ISO 13849‑1 or SIL 3 according to EN 61800–5–2 / EN 61508 can be
achieved.
● Selecting the function: The safety function is always active in normal opera-
tion and special mode if the function was configured during commissioning
of the safety technology in the global safety functions (0x3156:01).
● Monitoring function: SafeMotion safely monitors if the axis is within a
defined velocity window ("0x3158:01, SMO safe speed monitor: Lower
threshold", "0x3158:02, SMO safe speed monitor: Upper threshold").
Both velocity thresholds are bipolar, i.e. the parameterized threshold values
are active in both directions (positive and negative velocity).
● Status displays:
The status parameter (0x3157:03, bit 5) shows whether the safety function
has been activated.
It is possible to check in the control if the actual velocity is within the
defined velocity window (0x3082:05, bit 5).
● To prevent bit flickering at an axis velocity close to or equal to the moni-
toring thresholds, an adjustable hysteresis (0x310E:04) is taken into account
before 0x3082:05, bit 5 is set during the transition of the velocity from
outside the velocity window to inside the velocity window.

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Safety functions
Fig. 20: Safety function “Safe speed monitor”
0x3082:05, bit 5 Status bit "Safe speed monitor active / inactive"
0x310E:04 Velocity threshold for safe standstill
0x3158:01 lower velocity window threshold
0x3158:02 upper velocity window threshold

8.1.3 Safely-limited end position (SLE)

Brief description
The safety function "Safely-limited end position (SLE)" is one of the safe abso-
lute position monitoring functions.
It can be configured either as a global safety function (takes effect in
normal operation and special mode) or for normal operation only. Another
absolute position monitoring function "⮫ Chapter 8.4.5 Safely-limited position
(SLP) on page 101" or "⮫ Chapter 8.4.6 Safely-monitored position (SMP)
on page 106" can be active in parallel.
Table 14: Overview of "Safe absolute position monitoring functions"
Special mode
Normal operation
SMES SMST1/SMST2 SMM1…SMM16
SLE
⮫ SMP
SLE
⮫ SLP
In the case of the safety function "Safely-limited end position (SLE)", dual-
channel monitoring prevents the drive from leaving a position range. The posi-
tion range has to be set by a positive and a negative end position limit value.

Features
The safety function "Safely-limited end position (SLE)" has the following fea-
tures:

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● The safety function can be used with the firmware AXS–V–0504 and above
in drive systems equipped with the optional safety technology module "Safe-
Motion"
AND
with the firmware option (FWS) "SafeMotion Position".
● Is currently suited for safety-relevant applications up to SIL3 according
to EN 61800–5–2 / EN 61508 and Category 4, PL e according to
EN ISO 13849–1.
Note: The auxiliary safety technology function "Safe homing procedure" is
used to determine the safe absolute position, and is the prerequisite for the
safety function "Safely-limited end position (SLE)". "Safe homing procedure"
currently is only suited for safety-relevant applications up to SIL2 according
to EN 61800–5–2 / EN 61508 and Category 3, PL d according to
EN ISO 13849–1 and thus limits the possible SLE SIL level to SIL 2.
● It can be parameterized either as a global safety function (normal operation
and special mode) or for normal operation only.
● Monitors the maximum allowed velocity at which the drive can still be
stopped within the parameterized position limits ("0x3150:01, SMO safe end
position: Positive limit value" and "0x3150:02, SMO safe end position: Nega-
tive limit value“), taking a parameterized deceleration and, where applicable,
a jerk into account.
● When a monitoring function is triggered, this causes an error reaction
which decelerates the drive system. The corresponding error messages
are "F7023 SLE: Safe position limit value, positive exceeded" and "F7024
SLE: Safe position limit value, negative exceeded".
● The state of the safety function "Safely-limited end position (SLE)"
(active/not active) is displayed in "0x3157:03, SMO function selection:
Status word 1", bit 25.

Parameters involved
The following parameters are used in conjunction with the safety function
"Safely-limited end position (SLE)":
● 0x31B0:05, SMO safe homing: Maximum velocity
● 0x3020:05, SMO axis mechanics: Modulo value
● 0x3020:06, SMO axis mechanics: Max. travel range
● 0x3156:04, SMO global functions: Velocity threshold
● 0x3156:05, SMO global functions: Position limit value, positive
● 0x3156:06, SMO global functions: Position limit value, negative
● 0x31B0:01, SMO safe homing: Configuration
● 0x310E:02, SMO encoder function: Position
● 0x310E:03, SMO encoder function: Velocity
● 0x315E:01, SMO error reaction: Configuration stopping process
● 0x315F:02, SMO safely-monitored decel. error: Reaction time
● 0x315F:04, SMO safely-monitored decel. error: Deceleration
● 0x315F:05, SMO safely-monitored decel. error: Jerk
● 0x3157:01, SMO function selection: Control word 1
● 0x3157:03, SMO function selection: Status word 1
● 0x3157:05, SMO function selection: Diagnostics
● 0x3156:01, SMO global functions: Configuration
● 0x3156:03, SMO global functions: Standstill window for safe direction
● 0x3150:01, SMO safe end position: Positive limit value
● 0x3150:02, SMO safe end position: Negative limit value
● 0x3159:01, SMO normal operation: Configuration

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Diagnostic messages involved

The following diagnostic messages can be generated in conjunction with the
safety function:
● C8814 SMO: Incorrect configuration
● F7009 Homing velocity exceeded
● F7023 SLE: Safe position limit value, positive exceeded
● F7024 SLE: Safe position limit value, negative exceeded

Safety function
Configuration and selection
Using the safety function "Safely-limited end position" is only allowed if the

Safety functions
Safe homing procedure has been activated in "0x31B0:01, SMO safe homing:
Configuration" (bit 0="1").
The safety function "Safely-limited end position (SLE)" can be alternatively acti-
vated:
● as a monitoring function for normal operation only: "0x3159:01, SMO normal
operation: Configuration", bit 2="1"
● or as a global monitoring function in normal operation and in special mode:
"0x3156:01, SMO global functions: Configuration", bit 2="1"
If the "Safely-limited end position (SLE)" has been parameterized in such a
way that it is active in normal operation and globally, the drive generates the
transition command error "C8814 SMO: Incorrect configuration".
The position limits for the safety function "Safely-limited end position (SLE)"
have to be parameterized in "0x3150:01, SMO safe end position: Positive limit
value" and "0x3150:02, SMO safe end position: Negative limit value". With abso-
lute scaling, the position limits to be monitored have to be within "0x3020:06,
SMO axis mechanics: Max. travel range". With modulo scaling, the position
limits to be monitored have to be within "0x3020:05, SMO axis mechanics:
Modulo value".
In addition, make sure to comply with the minimum distances to the position
limits of the axis.
Lethal injury / property damage caused by operating the
DANGER drive with incorrect position limit values parameteriza-
tion, since the safe end positions (positive / negative)
may be exceeded!
Check the required minimum distances of the parameter-
ized position limits "0x3150:01, SMO safe end position:
Positive limit value" and "0x3150:02, SMO safe end posi-
tion: Negative limit value".
Table 15: Minimum distances to the position limits of the axis, with modulo scaling, example of
special mode "Safe motion 1"
0x3020:05 ‑ 0x3150:01 + 0x3150:02 > 2 ms × maximum travel velocity of drive
Legend:
0x3020:05, SMO axis mechanics: Modulo value
0x3150:01, SMO safe end position: Positive limit value
0x3150:02, SMO safe end position: Negative limit value

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Table 16: Minimum distances to the position limits of the axis, with absolute scaling, example of
special mode "Safe motion 1"
(2 × 0x3020:06) ‑ 0x3150:01 + 0x3150:02 > 2 ms × maximum travel velocity of drive
Legend:
0x3020:06, SMO axis mechanics: Max. travel range
0x3150:01, SMO safe end position: Positive limit value
0x3150:02, SMO safe end position: Negative limit value
"0x315F:04, SMO safely-monitored decel. error: Deceleration" and "0x315F:05,
SMO safely-monitored decel. error: Jerk" define the envelope curve of SMD-E
deceleration monitoring.
Taking into account the error reaction time (0x315F:02, SMO safely-monitored
decel. error: Reaction time), "0x315F:04" can be parameterized with the same
deceleration as in "0x2870:06, Axis shutdown: Emergency stop deceleration",
and "0x315F:05" can be parameterized with the jerk limit value parameterized
in "0x284A:01, Jerk limitation: Value". The correct parameterization ensures
that the drive can come to standstill before exceeding the position limit.
If the safety function "Safely-limited end position (SLE)" is used, the
"torque disable" error reaction is not allowed for F7 errors.
If the safety function "Safely-limited end position (SLE)" is used, monitoring
the error reaction with the safety function "Safely-monitored deceleration with
time-based trend monitoring (SMD-E-r_TimeTrend)" is not allowed.
The safety function "Safely-limited end position (SLE)" is selected with the
selection of the safety technology operating status for which the safety function
was parameterized.
The position limits are only monitored by the safety function
"Safely-limited end position" after the "Safe homing procedure" was carried
out.
Lethal injury / property damage caused by operating the
DANGER drive without reference, as the safe positions (positive /
negative) can be exceeded!
As long as the drive has not been safely homed, make
sure by further measures to prevent hazards caused by
overrunning the end positions.
The status (active/inactive) returned by the safety function
"Safely-limited end position (SLE)" is displayed in "0x3157:03, SMO function
selection: Status word 1", bit 25.
If the safety function has been selected, "0x3157:05, SMO function selection:
Diagnostics" displays whether or not the position feedback value (0x310E:02)
is within the positive (bit 0)/negative (bit 1) position limit.
If the safety function has not been selected or if safe reference is missing, bit 0
and bit 1 are set to "0" (actual position outside of position limits).

Monitoring functions
The safety function "Safely-limited end position (SLE)" monitors that the drive
can be decelerated within the parameterized position limits with the current
actual velocity and the parameterized braking ability.
For this purpose, the safety function in a direction-dependent way determines
the braking distance available to the position limit. On the basis of the parame-
terized deceleration (0x315F:04, SMO safely-monitored decel. error: Decelera-
tion), the jerk (0x315F:05, SMO safely-monitored decel. error: Jerk) and the
reaction time (0x315F:02, SMO safely-monitored decel. error: Reaction time),
it calculates the maximum allowed velocity limit with which the drive can still
come to standstill within the parameterized position limits.

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If the actual velocity (0x310E:03, SMO encoder function: Velocity)

is greater than the maximum allowed velocity, the error "F7023
SLE: Safe position limit value, positive exceeded" or "F7024
SLE: Safe position limit value, negative exceeded" is generated in a direction-
dependent way, and the drive is decelerated in accordance with the reaction
parameterized for F7 errors.
"0x315F:04, SMO safely-monitored decel. error: Deceleration" and "0x315F:05,
SMO safely-monitored decel. error: Jerk" define the envelope curve of SMD-E
deceleration monitoring and should be set in such a way that they correspond
to the parameterization of the best possible deceleration of the drive in the
case of F7 error. The correct parameterization ensures that the drive can come
to standstill before exceeding the position limit.

Safety functions
The maximum allowed velocity limit of the active safety function is displayed
as an absolute value in "0x3156:04, SMO global functions: Velocity threshold",
provided that no other safety function (e.g., SMS, SLS, SLS-LT) reduces the
value in 0x3156:04 even more.

Fig. 21: Decelerating the drive if maximum allowed velocity exceeded

In addition to the safety function "Safely-limited end position (SLE)", other
absolute position monitoring functions "⮫ Safely-limited position (SLP)" or
"⮫ Safely-monitored position (SMP)" can be active in the operation modes of
the special mode "Safe motion". The currently monitored active position limits
are made available via "0x3156:05, SMO global functions: Position limit value,
positive" and "0x3156:06, SMO global functions: Position limit value, negative".
The drive must have been safely homed for the safety function
"Safely-limited end position". If Safe reference is not available, the position
range is not monitored and the drive may be moved with no more than the
velocity parameterized in 0x31B0:05. If this velocity threshold is exceeded, the
drive generates the error F7009 and is decelerated.

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Lethal injury / property damage caused by operating the

DANGER drive without reference, as the safe positions (positive /
negative) can be exceeded!
As long as the drive has not been safely homed, make
sure by further measures to prevent hazards caused by
overrunning the end positions.

Return motion to allowed position range

When the axis is outside of the allowed position range, the error
"F7023 SLE: Safe position limit value, positive exceeded" or "F7024
SLE: Safe position limit value, negative exceeded" is generated.
The error can be reset by the command "0x2B87:02, Class 1 diagnostics:
C0500 Reset command". The drive can then be moved.
As long as the actual position of the drive (0x310E:02) is outside of the
allowed position range, dual-channel monitoring makes sure that the drive only
moves in the direction of the allowed position range with a velocity lower than
"0x31B0:05, SMO safe homing: Maximum velocity". If the velocity threshold
is exceeded, the corresponding position limit value error is generated again.
Movements in the opposite direction are allowed within the tolerance window
defined in "0x3156:03, SMO global functions: Standstill window for safe direc-
tion". Movements beyond will cause the error F7023 or F7024 again.

8.2 Safety functions in normal operation

8.2.1 Safe direction (SDI)
The safety function “Safe direction“ ensures that motion is only possible in one
direction.

Features
The safety function “Safe direction“ has the following features:
● Required optional safety technology module: The safety function can be
used in drive systems equipped with the optional safety technology module
"SafeMotion".
● Required function package: The safety function can be used in drive systems
in which the function package "SafeMotion Position" has been activated and
licensed.
● Maximum safety level:
The safety function is intended for safety-relevant applications up to
Category 3, PL d according to EN ISO 13849-1 or up to SIL 2 according
to EN 61800–5–2 / EN 61508.
In conjunction with a suitable measuring system and the function package
"SafeMotion SIL3+", the safety level Category 4, PL e according to
EN ISO 13849‑1 or SIL 3 according to EN 61800–5–2 / EN 61508 can be
achieved.
● Notes on parameterization:
The safe direction (released direction of motion) has to be individually para-
meterized for normal operation and special mode. A tolerated motion in the
non-released direction of motion can be specified by the standstill window
(0x3156:03).
The safety function is active in normal operation, if it has been parameter-
ized for this mode (0x3159:01).
and / or

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Safety functions in normal operation

The safety function is active upon selection of the special mode

"Safe motion SMMx" ("x"=1-16 for SMM1-SMM16), if it has been parameter-
ized for this mode (0x3140:01...0x314F:01).
● Selection:
The safety functions are selected via the active "SafeMotion" profile
(0x3157:01).
For example, the 16 different Safe motions (SMM) with the corresponding
directions can be selected via the SMMx signals 1 to 16 (A_SMMx, x=1..16)
in the SafeMotion profile "Bosch Rexroth".
● Status display: The status parameter (0x3157:03, bit 6: safe direction of
motion positive / bit 7: safe direction of motion negative) shows whether the
safety function has been activated.

Safety functions
● Monitoring function: When the monitoring for the direction of motion is
triggered, this causes an error reaction which decelerates the drive system
(F7031).
● The safety function can be combined with the other safety functions of the
special mode "Safe motion".

Fig. 22: Example of "Safe direction (negative) in normal operation"

1) Switching to the monitoring of the direction of motion. When the drive

moves in the non-enabled direction of motion, the traveled distance has to

be smaller than 0x3156:03.

8.2.2 Safely-limited end position (SLE)

The safety function "Safely-limited end position (SLE)" is one of the safe abso-
lute position monitoring functions.
It can be configured either as a global safety function (takes effect in
normal operation and special mode) or for normal operation only. Another
absolute position monitoring function "⮫ Chapter 8.4.5 Safely-limited position
(SLP) on page 101" or "⮫ Chapter 8.4.6 Safely-monitored position (SMP)
on page 106" can be active in parallel.
Table 17: Overview of "Safe absolute position monitoring functions"
Special mode
Normal operation
SMES SMST1/SMST2 SMM1…SMM16
SLE

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⮫ SMP
SLE
⮫ SLP
In the case of the safety function "Safely-limited end position (SLE)", dual-
channel monitoring prevents the drive from leaving a position range. The posi-
tion range has to be set by a positive and a negative end position limit value.
See ⮫ Safely-limited end position (SLE)

8.3 Safety functions in special mode "Safe standstill"

8.3.1 Safety function "Safe torque off (STO)"
Features
The energy supply to the motor is safely interrupted with the safety function
"Safe Torque Off". The motor cannot generate any torque/any force and there-
fore no dangerous movements.
Before directly selecting the safety function "Safe torque off ", the drive system
has to be decelerated via the command value input; drive-controlled decelera-
tion is not carried out!
In the case of indirect selection via the transition function "Safe stop 1 (SS1)",
the drive system is decelerated in accordance with the configuration of the
transition function. Afterwards, switching to "Safe torque off" (STO) takes
place.

Features
The safety function "Safe Torque Off" (STO) has the following features:
● Is suited for safety-relevant applications up to SIL 3 according to
EN 61800–5–2 / EN 61508.
● Is suited for safety-relevant applications up to Category 4, PL e according to
ISO 13849‑1.
● Corresponds to stop category 0 according to EN 602041.
● The safety function works independently of a measuring system.
● The safety function "Safe torque off" is automatically activated at the end of
the transition function "Safe stop 1 (SS1)"
● The energy supply to the motor is safely interrupted via two channels.
● The safety function "Safe torque off" is selected via the active "Safe Motion"
profile using the parameter "0x3157:01, SMO function selection: Control
word 1".
● The state of safety function "Safe torque off" is displayed via parameter
"0x3157:03, SMO function selection: Status word 1".
● When the safety function "Safe torque off" is active and drive enable is set,
the error "F2025 Drive not ready for control" is generated.

Parameters involved
The following parameters are used in conjunction with the safety function "Safe
Torque Off":
● 0x310E:04, SMO encoder function: Velocity threshold
● 0x3157:01, SMO function selection: Control word 1
● 0x3157:03, SMO function selection: Status word 1
● 0x3155:01, SMO safe standstill: Configuration

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Safety functions in special mode "Safe standstill"

Diagnostic messages involved

The following diagnostic messages may be generated in conjunction with the
safety function "Safe Torque Off":
● A0321 Special mode Safe standstill active with STO
● F2025 Drive not ready for control
● F8354 Error when checking interrupting circuits
With the safety function "Safe torque off" activated, the display of the drive
controller panel shows "SMST1".

Safety function
Configuration and selection

Safety functions
To use the safety function "Safe torque off", it has to be configured during
the commissioning of safety technology for the special mode "Safe standstill"
via the parameter "0x3155:01, SMO safe standstill: Configuration"; the stand-
still window has to be parameterized in "0x310E:04, SMO encoder function:
Velocity threshold".
For the special mode "EMERGENCY STOP", only the parameter "0x310E:04,
SMO encoder function: Velocity threshold" needs to be parameterized.
The safety function "Safe torque off" is selected via the active Safe Motion
profile using the parameter "0x3157:01, SMO function selection: Control word
1".

Monitoring functions
When the safety function "Safe torque off" is active and drive enable is set, the
error "F2025 Drive not ready for control" is generated.
Furthermore, monitoring takes place so that the output stage is locked via two
channels. When an error in the output stage interlock is detected, the drive
generates the error “F8354 Error when checking interrupting circuits".

Fig. 23: Safety function "Safe torque off"

Lethal injury and/or property damage caused by unin-
DANGER tended axis motion!
⇒ With the safety function "Safe torque off" activated,
the drive does not provide any torque/force; this has to
be taken into account, particularly for vertical axes.
Please comply with the safety instructions in section
"Notes on project planning".
In addition to the monitoring functions of safety technology with the safety
function "Safe torque off" activated, the standard firmware locks the execution
of the following commands:

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● "C1200 Command commutation offset setting; if the command is started,

the command error "C1217 Setting only possible in 'Ab' is generated.
● "C3600 Command Motor data identification"; if the command is started, the
command error "C3612 Command execution impossible is generated.

Terminating the safety function

The function "Safe torque off" can only be terminated by deselecting the safety
function.
After the safety function was terminated, the working motion of the drive can
only be continued after drive enable has been set.

Notes on project planning

When configuring the safety function "Safe Torque Off", it is absolutely neces-
sary to comply with the following safety instructions:
High electrical voltage! Danger to life, risk of injury by
WARNING electric shock or serious personal injury!
During the time a safety function is active, power is not
removed from the motor; de-energize the drive before
working on the motor.
Lethal injury and/or property damage caused by unin-
WARNING tended axis motion!
⇒ If external force influences are to be expected with
the safety function "Safe torque off", e.g. in the case of
a vertical axis, this motion has to be safely prevented by
additional measures, e.g. a mechanical brake or a coun-
terweight. For such axes, Bosch Rexroth recommends
using the Safe braking and holding system.
Injury and/or property damage caused by deviation from
WARNING standstill position!
⇒ Even if power section control has been safely locked,
momentary axis motion, depending on the number of
poles of the motor, can be triggered, when two errors
are occurring simultaneously in the power section with
the voltage DC bus being active:
− breakdown of a power semiconductor and
− breakdown of another semiconductor
In this case, two of six semiconductors are affected in
such a way that the motor shaft is aligning.
Synchronous motor, for example: In the case of a syn-
chronous motor with 6 pole pairs, the motion can be a
maximum of 30 degrees. For a directly driven ball screw,
e.g. 20 mm per revolution, this corresponds to a one-
time maximum linear motion of 1.67 mm.
When an asynchronous motor is used, the short circuits
in two separate circuits of the power section have almost
no effect, because the exciter field breaks down when
the inverter is shut down and has completely died down
after approx. 1 s.

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Safety functions in special mode "Safe standstill"

8.3.2 Safe operating stop (SOS)

Safety function description
When the safety function "Safe operating stop (SOS)" is active, the drive is
in controlled standstill, i.e. all control functions between the electronic con-
trol and the drive are maintained. The dual-channel monitoring of the actual
position or the travel distance prevents the drive from carrying out dangerous
movements due to errors although the energy supply is not interrupted.
When the safety function “Safe operating stop (SOS)“ has been selected, the
control unit can reset drive enable and set it again. The monitoring of the
standstill position always remains active.
Lethal injury and/or property damage caused by unin-

Safety functions
DANGER tended axis motion!
⇒ Please comply with the safety instructions in section
“Notes on project planning”.

Features
The safety function “Safe operating stop (SOS)“ has the following features:
● The safety function can be used in drive systems equipped with the optional
safety technology module "SafeMotion".
In addition, the function package "SafeMotion Speed" or "SafeMotion Posi-
tion" is required.
● The safety function is intended for safety-relevant applications up to
Category 3, PL d according to EN ISO 13849-1 or SIL 2 according to
EN 61800–5–2 / EN 61508.
In conjunction with a suitable measuring system and the function package
"SafeMotion SIL3+", the safety level Category 4, PL e according to
EN ISO 13849‑1 or SIL 3 according to EN 61800–5–2 / EN 61508 can be
achieved.
● The safety function can only be used if it has been configured during com-
missioning (0x3155:01).
● The energy supply to the motor is not interrupted.
● The controlled operation at standstill is monitored using a monitoring
window for the safe operating stop (0x3155:02).
Monitoring the actual position
● If the monitoring window for the safe operating stop is left, an error reaction
is triggered (F7030), setting the drive to standstill.
● If the velocity threshold for safe standstill (0x310E:04) is fallen below
during the transition to the safe state, standstill monitoring becomes active
(0x3155:02) and the axis must have come to standstill. Thus, ensure that the
velocity threshold for safe standstill (0x310E:04) is sufficiently small.

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Fig. 24: Safety function “Safe operating stop“ with monitoring of the actual
position
Command value monitoring
● With the safety function activated, the standard firmware monitors, in addi-
tion to the monitoring functions of the safety technology, that there are no
velocity command values preset for the drive (0x60FF:00) that are greater
than the standstill window (0x2212:01). If larger velocity command values
are specified, an error reaction is triggered (F6200), setting the drive system
to standstill.

Fig. 25: Safety function “Safe operating stop“ with monitoring of the command
values
● Safety function selection:
Direct selection: The safety function can be directly selected via the active
"SafeMotion" profile (0x3157:01).
NOTE: Before the safety function is directly selected, the drive system has to
be decelerated via the command value input; drive-controlled deceleration is
not carried out!
Indirect selection: The safety function is automatically activated at the end
of the transition function “Safe stop 2 (SS2)“.
● Terminating the safety function:
The function “Safe operating stop is deselected by selecting the safety func-
tion “Safe torque off (STO)“ or by deselecting the safety function.
After terminating the safe operating stop, e.g. by deselecting the safety func-
tion and executing the start command, the working motion of the drive can
be immediately continued at the point of interruption.
● The status parameter (0x3157:03, bit 3) shows whether the safety function
has been activated.

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Notes on project planning for “SOS”

When using the safety function "Safe operating stop", it is absolutely necessary
to comply with the following safety instructions:

Lethal injury and/or property damage caused by unin-

DANGER tended axis motion!
⇒ When the drive, with the safety function
"Safe operating stop" activated, is in the uncontrolled
state and external force influences are to be expected,
any possible motion must be safely prevented by addi-
tional measures, e.g., by using a mechanical brake.

Safety functions
Lethal injury and/or property damage caused by unin-
DANGER tended axis motion!
⇒ If external force influences are to be expected with
the safety function "Safe operating stop", e.g. in case of
a vertical axis, this motion must be safely prevented by
additional measures, e.g. a mechanical brake or counter-
weight. For such axes, Bosch Rexroth recommends using
the Safe braking and holding system.

Injury and/or property damage caused by deviation from

WARNING standstill position!
⇒ When using the safety function "Safe operating stop",
error situations (e.g. mains failure, controller defect) can
occur in which the drive controller can no longer keep
the axis in position. In this case, the axis must be kept in
position by additional measures (e.g. mechanical brake).
In the time between the occurrence of the error and the
triggering of the "additional holding device", axis motion
can occur. This has to be taken into account for the risk
assessment of the installation.
For such axes, Bosch Rexroth recommends using the
safe braking and holding system.

Make sure that the value parameterized in "0x310E:04, SMO encoder func-
tion: Velocity threshold" is sufficiently small, because during transition to the
safe state, standstill monitoring (0x3155:02, SMO safe standstill: Monitoring
window safe operational stop) becomes active immediately after the velocity
has fallen below this value, and the drive then must have come to standstill.

8.3.3 Safe brake control (SBC)

The safety function "Safe brake control (SBC)" safely (via two channels)
switches off an inductive load (e.g., self-applying holding brake). This allows
motions to be inhibited in a safety-relevant way.
The safety function "Safe brake control" only checks the
WARNING control of the inductive load, but not the holding or
brake function! Uncontrolled axis motion due to insuffi-
cient holding or brake function! The risk analysis has to
show whether the holding or brake function has to be
cyclically checked. If this is the case, the machine manu-
facturer has to develop functions to check the holding or
brake function.

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To simplify the terminology, "brakes" is always used in the following para-

graphs. Other inductive loads can be used, too. Restrictions will be pointed
out.
The safety function is intended for safety-relevant applications up to
Category 4, PL e according to EN ISO 13849-1 or up to SIL 3 according to
EN 61800–5–2 / EN 61508.
The safety function works independently of a measuring system.

Required optional safety technology module

The safety function can be used in ctrlX DRIVE systems equipped with an
optional safety technology module "SafeMotion".

Configuration
To use the safety function "Safe brake control", it has to be configured when
safety technology is commissioned (0x315C:02).
Furthermore, it is possible to configure whether it is allowed to manually
release the brake during the active safety function "Safe brake control"
(0x315C:02).
With the safety function "Safe brake control" configured, the brake controlled
by SBC is only controlled by the safety technology, i.e. the standard firmware
cannot directly control the brake anymore. This requires internal communica-
tion between the standard firmware and the safety technology. Therefore, a
delay can occur between the request for brake control by the standard firm-
ware and the execution by safety technology. This delay takes effect in addi-
tion to the times defined in "0x2804:01, Axis delay time: On" and "0x2804:02,
Axis delay time: Off" (see also Application Manual of firmware "Motor holding
brake").
The brake is switched off if the maximum braking time of the drive (0x2870:05)
is exceeded. Coasting after the maximum braking time is not supported
(0x2032:01, bit 1="0").

Selection
The safety function "Safe brake control" is implicitly selected when the special
mode "Safe standstill 1" (SMST1) and the special mode "Emergency stop"
(SMES) are selected at the end of the transition function SS1.
If configured, the safety function "Safe brake control" is automatically activated
at the end of the transition function "Safe stop 1 (SS1)".
With the safety function "Safe brake control" configured, the brake is only
controlled by the safety technology, i.e. the standard firmware cannot directly
control the brake any more.

Monitoring functions
The status parameter (0x3157:03, bit 0) shows whether the safety function has
been activated.
The brake control status is displayed via the status word of the safe braking
and holding function (0x315C:01).
With the safety function "Safe brake control" activated, the panel shows
"SMST1" or "SMES” as the safe brake control is only activated in conjunc-
tion with the special mode "Safe standstill 1" (SMST1) or the special mode
"Emergency stopv (SMES).
If the safety function vSafe brake control" is active, the brakes controlled via
SBC are switched off via two channels. If an error in the brake switch-off is
detected, the drive generates the error F8353 .

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Safety functions in special mode "Safe standstill"

Using the brake current, monitoring shows whether the brakes controlled via
SBC are available. If the drive detects that no brake has been connected, the
drive generates the error F8353 .
In addition to the safety technology monitoring functions with
"Safe brake control" configured, the standard firmware monitors the following:
Only an electrically releasing brake may have been configured (0x2032:01).
Otherwise, switching to the operating mode (OM) is prevented; the command
error C0256 is generated.

Manually controlling (releasing) the brake

The brake can be controlled (released) with the command "C2000
Command Release motor holding brake", if the command was enabled in

Safety functions
"0x2032:01, Brake control: Configuration".
If the safety function "Safe brake control" (SBC) is active (SMST1, SMES, error
state), the following conditions have to be additionally fulfilled:
● The functionality was enabled (0x315C:02).
● With safety technology encoder evaluation activated, axis standstill is safely
detected (0x310E:01).
● The drive acknowledges safety (0x3082:05).
To control (release) the brake, the following actions have to be taken:
● The "release holding system" control signal (0x315C:03) has to be set via a
safe input or the safety bus.
● The command (C2000) to release the motor holding brake has to be started
to control (to release) the brakes.
Lethal injury and/or property damage caused by unin-
WARNING tended axis motion!
⇒ If the brake is manually controlled via the
"release holding brake" control signal, the drive is no
longer able to counteract external force influences. In
this state, the safety technology does not carry out any
monitoring function!
If external force influences are to be expected, e.g. in
the case of a vertical axis, this motion has to be safely
prevented by additional measures, e.g. a counterweight.

Terminating the safety function

The "Safe brake control" function can only be terminated indirectly by dese-
lecting the special mode "Safe standstill 1" (SMST1) / "Emergency stop"
(SMES).

Brake requirements
See the Application Manual of the firmware on how to commission the motor
holding brake.
When using the safety function "Safe brake control“ (SBC), the brakes have to
meet the following requirements:
● Control:
The brake has to be designed so that the holding torque of the brake takes
effect in the de-energized state (e.g., electrically releasing holding brake).

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Only self-holding (electrically releasing) brakes are supported (0x2032:01,

bit 0="0").
● Electrical connections:
– The electrical connections of the brake should not have ground reference.
– Since a disturbance or a failure of the supply voltage can result in brake
failure, the power supply of the brakes should be independent and pro-
tected against overvoltage and interruptions (UPS).
– The brake current in the activated state has to be between 0.1 A and
the maximum output current of the brake connection (see "⮫ Table 18
Maximum allowed output current for holding brake according to device
and connection on page 92")
– When selecting the brake, it has to be taken into account that the control
current is monitored for a fixed minimum value.
● Mechanics:
– Both friction surface brakes and form-fitting brakes are allowed as
holding brakes.
– The static holding torque of the brake has to be dimensioned so that
the maximum load due to weight of the axis can be safely held (see Divi-
sion Information Sheet No. 005 of the German Social Accident Insurance
(DGUV) "Gravity-loaded axes - Vertical axes" and C-standards).
– In addition to the static holding torque of the brake, the required dynamic
braking torque of the brake has to be considered. The dynamic braking
torque of the brake has a direct influence on the behavior of the axis in
the case of error and needs to be taken into account in the risk analysis.
– When selecting the brakes, it has to be taken into account that the con-
trol outputs are tested during operation. For this purpose, the outputs
are switched off for a short time (≤1 ms) and the brake is controlled. If
a very fast acting brake is used, it cannot be excluded that the brake is
temporarily released or applied.
● Reliability:
The brake has to be approved for the maximum and minimum ambient tem-
peratures.
For the application case, the stipulated C-standard applies to the design and
sizing of the brakes.
High electrical voltage! Danger to life, risk of injury by
WARNING electric shock or serious personal injury!
During the time a safety function is active, power is not
removed from the motor; de-energize the drive before
working on the motor.
Table 18: Maximum allowed output current for holding brake according to
device and connection
Connection1) maximum allowed output current
XG03 2A
XZ03 1A
1)Connection depends on the device type and the current rating. For details

refer to the configuration of the device.

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Safety functions in special mode “Safe motion SMMx”

8.4 Safety functions in special mode “Safe motion SMMx”

8.4.1 Safely-limited speed (SLS)
Safety function description
In the case of the safety function "Safely-limited speed", dual-channel mon-
itoring prevents the drive from exceeding the preset velocity thresholds
["0x3160:01, SMO safely-limited speed 1: Velocity"..."0x316F:01, SMO safely-
limited speed 16: Velocity"].
Lethal injury and/or property damage caused by unin-
DANGER tended axis motion or by deviation from the standstill
position!

Safety functions
Please comply with the safety instructions in the chapter
"Project planning instructions".

Features
The safety function "Safely-limited speed" has the following features:
● Required optional safety technology module: The safety function can be
used in drive systems equipped with the optional safety technology module
"SafeMotion".
● Required function package: The safety function can be used in drive systems
in which the function package "SafeMotion Position" or "SafeMotion Speed"
has been activated and licensed.
● Maximum safety level:
The safety function is intended for safety-relevant applications up to
Category 3, PL d according to EN ISO 13849-1 or up to SIL 2 according
to EN 61800–5–2 / EN 61508.
In conjunction with a suitable measuring system and the function package
"SafeMotion SIL3+", the safety level Category 4, PL e according to
EN ISO 13849‑1 or SIL 3 according to EN 61800–5–2 / EN 61508 can be
achieved.
● Notes on parameterization:
The safety function is active upon selection of the special mode
"Safe motion SMMx" ("x"=1-16 for SMM1-SMM16), if it has been parameter-
ized for this mode (0x3140:01...0x314F:01).
For commissioning, the velocity thresholds have to be parameterized
(0x3160:01...0x316F:01).
The velocity thresholds are password-protected after activation of the safety
technology (0x3018:02) and cannot be changed by unauthorized persons.
(0x3018:01 contains the status of the safety technology password).
● Selection:
The safety functions are selected via the active "SafeMotion" profile
(0x3157:01).
For example, the 16 different Safe motions (SMM) with the corresponding
directions can be selected via the SMMx signals 1 to 16 (A_SMMx, x=1..16)
in the SafeMotion profile "Bosch Rexroth".
● Status display:
The status parameter (0x3157:03, bit 4) shows whether the safety function
has been activated.
The currently active velocity monitoring limit of SafeMotion is displayed in
the active velocity threshold (0x3156:04). With 0x3156:04, it is possible to
check in the control whether the velocity command values are within the
allowed limits.
● Monitoring function:

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Dual-channel monitoring for exceeding the velocity thresholds

(0x3160:01...0x316F:01).
When the monitoring function is triggered, this causes an error reaction
which decelerates the drive system (F7013).
With the auxiliary function "Limiting the positioning velocity", it is possible to
monitor and, if necessary, limit the velocity command value effective in the
drive to the active velocity threshold (0x3156:04).

Fig. 26: Safely-limited speed

F7013: Velocity threshold exceeded
0x3160:01...0x316F:01: Velocity thresholds

Notes on project planning for "SLS"

When using the safety function "Safely-limited speed", it is absolutely necessary
to observe the following safety instructions:

Lethal injury and/or property damage caused by unin-

DANGER tended axis motion!
⇒ If external force influences are to be expected with
the safety function "Safely-limited speed", e.g. in the
case of a vertical axis, this motion has to be safely pre-
vented by additional measures, e.g. a mechanical brake
or a counterweight.

Injury and/or property damage caused by deviation from

WARNING standstill position!
⇒ When using the safely-limited speed for axes with
external force influences, error situations (e.g. mains
failure, controller defect) can occur in which the drive
controller can no longer keep the axis in position. In
this case, the axis must be kept in position by additional
measures (e.g. mechanical brake). In the time between
the occurrence of the error and the triggering of the
"additional holding device", axis motion can occur. This
has to be taken into account for the risk assessment of
the installation.
For such axes, Bosch Rexroth recommends using the
safe braking and holding system.

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Values for "Safely-limited speed"

In accordance with the Machinery Directive 2006/42/EC, the manufacturer of
the machine must carry out a risk assessment. On the basis of the risk assess-
ment, the values for limited speeds must be determined.
The following list contains guide values for different types of machines (excerpt
from standards and working papers on safety measures for special mode). The
abbreviation "SLS" means "Safely-limited speed", the abbreviation "SLI" means
"Safely-limited increment".
Machining centers
● Axes: SLS=2 m/min + hold-to-run control
● Spindle: SLS=nn rpm + hold-to-run control + enabling control (choose nn in

Safety functions
such a way that standstill is reached after 2 revolutions)
Automatic lathes
● Axes: SLS=2 m/min + hold-to-run control, SLI=6 mm + hold-to-run control
● Spindle: SLS=50 rpm (1 rps) + hold-to-run control + enabling control
Drilling and milling machines
● Axes: SLS=2 m/min + hold-to-run control
● Spindle: SLS=nn rpm + hold-to-run control + enabling control (choose nn in
such a way that standstill is reached after 2 revolutions)
Robots
● SLS=15 m/min + hold-to-run control
Automated manufacturing systems
● SLS=2 m/min (15 m/min) + hold-to-run control + emergency stop
Printing and paper converting machines
● General: SLI=25 mm+ hold-to-run control – or - SLS=5 m/min (max. 10 m/
min) + hold-to-run control
● "In particular": SLI=75 mm+ hold-to-run control – or - SLS=5 m/min (max.
10 m/min) + hold-to-run control

8.4.2 Safely-monitored transient oscillation (SLS-LT)

To take transient oscillation processes into account, the safety function
"Safely monitored transient oscillation (SLS-LT)" is available, a variant of the
safety function "Safely limited speed (SLS)".
In the case of the safety function
"Safely-monitored transient oscillation (SLS-LT)", dual-channel monitoring
prevents the drive from exceeding the preset velocity limit value
(0x3160:02...0x316F:02) for more than a preset time (0x3160:03...0x316F:03).
Dangerous movements! Danger to life, risk of injury,
WARNING serious injury or property damage, because the moni-
toring function is switched off with a delay!
When using the safety function "Safely-monitored tran-
sient oscillation", it must be taken into account that
exceeding the parameterized "Safely-limited speed"
(0x3160:02...0x316F:02) might be recognized as a reg-
ular "transient oscillation" in the case of error. In
this case, the error reaction is only triggered when
the "Safely-reduced speed" (0x3160:01...0x316F:01) has
been exceeded. This must be taken into account in the
risk analysis of the machine.

Features
The “Safely-monitored transient oscillation“ has the following features:

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● Required optional safety technology module: The safety function can be

used in drive systems equipped with the optional safety technology module
"SafeMotion".
● Required function package: The safety function can be used in drive systems
in which the function package "SafeMotion Position" has been activated and
licensed.
● Maximum safety level:
The safety function is intended for safety-relevant applications up to
Category 3, PL d according to EN ISO 13849-1 or up to SIL 2 according
to EN 61800–5–2 / EN 61508.
In conjunction with a suitable measuring system and the function package
"SafeMotion SIL3+", the safety level Category 4, PL e according to
EN ISO 13849‑1 or SIL 3 according to EN 61800–5–2 / EN 61508 can be
achieved.
● Notes on parameterization:
The safety function is active upon selection of the special mode
"Safe motion SMMx" (with "x"=1-16 for SMM1-SMM16), if it has been
parameterized for this mode ("0x3140:01, SMO special mode 1: Configura-
tion"..."0x314F:01, SMO special mode 16: Configuration").
During commissioning, parameterize the following:
– the velocity threshold(s) [0x3160:01...0x316F:01],
– the safely reduced speed(s) (0x3160:02...0x316F:02) and
– the tolerance time(s) for oscillation of the safely reduced speed(s)
(0x3160:03...0x316F:03)
The safely reduced speed (0x3160:02...0x316F:02) has to be smaller
than the velocity threshold parameterized in the selected special mode
(0x3160:01...0x316F:01).
The parameterizations are password-protected after activation of the safety
technology (0x3018:02) and cannot be changed by unauthorized persons.
(0x3018:01 contains the status of the safety technology password).
● Selection:
The safety functions are selected via the active "SafeMotion" profile
(0x3157:01).
For example, the 16 different Safe motions (SMM) with the corresponding
directions can be selected via the SMMx signals 1 to 16 (A_SMMx, x=1..16)
in the SafeMotion profile "Bosch Rexroth".
● Status display:
The status parameter (0x3157:03, bit 6) shows whether the safety function
has been activated.
The currently active velocity monitoring limit of SafeMotion is displayed in
the active velocity threshold (0x3156:04). With 0x3156:04, it is possible to
check in the control whether the velocity command values are within the
allowed limits.
● Monitoring function:
Dual-channel monitoring for exceeding the velocity thresholds
(0x3160:01...0x316F:01) (SLS); when the monitoring function is triggered, this
causes an error reaction which decelerates the drive system (F7013).

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Safety functions
Fig. 27: Safely-monitored transient oscillation; velocity threshold is exceeded→F7013
Legend:
F7013 Velocity threshold was exceeded
0x3160:01, SMO safely-limited speed 1: Velocity...0x316F:01, SMO safely-limited speed 16: Velocity
0x3160:03, SMO safely-limited speed 1: Tolerance time for overshooting...0x316F:03, SMO safely-limited speed 16: Toler-
ance time for overshooting
0x3160:02, SMO safely-limited speed 1: Reduced velocity...0x316F:02, SMO safely-limited speed 16: Reduced velocity

If the drive exceeds a preset velocity limit value (0x3160:02...0x316F:02) for

more than a preset time (0x3160:03...0x316F:03), the drive switches off with
the error message "F7014 Timeout safely-monitored transient oscillation".
With the auxiliary function "Limiting the positioning velocity", it is possible to
monitor and, if necessary, limit the velocity command value effective in the
drive to the active velocity threshold (0x3156:04).

8.4.3 Safe direction (SDI)

The safety function “Safe direction“ ensures that motion is only possible in one
direction.

Features
The safety function “Safe direction“ has the following features:
● Required optional safety technology module: The safety function can be
used in drive systems equipped with the optional safety technology module
"SafeMotion".
● Required function package: The safety function can be used in drive systems
in which the function package "SafeMotion Position" has been activated and
licensed.
● Maximum safety level:
The safety function is intended for safety-relevant applications up to
Category 3, PL d according to EN ISO 13849-1 or up to SIL 2 according
to EN 61800–5–2 / EN 61508.

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In conjunction with a suitable measuring system and the function package

"SafeMotion SIL3+", the safety level Category 4, PL e according to
EN ISO 13849‑1 or SIL 3 according to EN 61800–5–2 / EN 61508 can be
achieved.
● Notes on parameterization:
The safe direction (released direction of motion) has to be individually para-
meterized for normal operation and special mode. A tolerated motion in the
non-released direction of motion can be specified by the standstill window
(0x3156:03).
The safety function is active in normal operation, if it has been parameter-
ized for this mode (0x3159:01).
and / or
The safety function is active upon selection of the special mode
"Safe motion SMMx" ("x"=1-16 for SMM1-SMM16), if it has been parameter-
ized for this mode (0x3140:01...0x314F:01).
● Selection:
The safety functions are selected via the active "SafeMotion" profile
(0x3157:01).
For example, the 16 different Safe motions (SMM) with the corresponding
directions can be selected via the SMMx signals 1 to 16 (A_SMMx, x=1..16)
in the SafeMotion profile "Bosch Rexroth".
● Status display: The status parameter (0x3157:03, bit 6: safe direction of
motion positive / bit 7: safe direction of motion negative) shows whether the
safety function has been activated.
● Monitoring function: When the monitoring for the direction of motion is
triggered, this causes an error reaction which decelerates the drive system
(F7031).
● The safety function can be combined with the other safety functions of the
special mode "Safe motion".

Fig. 28: Example of "Safe direction (negative) in normal operation"

1) Switching to the monitoring of the direction of motion. When the drive

moves in the non-enabled direction of motion, the traveled distance has to

be smaller than 0x3156:03.

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Safety functions in special mode “Safe motion SMMx”

8.4.4 Safely-limited increment (SLI)

Brief description
In the case of the safety function "Safely-limited increment", dual-channel mon-
itoring prevents the drive from moving by more than one maximum increment
(0x3170:01...0x317F:01). Within the position window (maximum increment) it
is possible to move in both directions.

To define a new position window it is necessary to exit the safety function

"Safely-limited increment" and select it again. This can be done by changing to
a different motion mode (SMM1 - SMM16) or by temporarily deselecting the
active motion mode.

Safety functions
Features
The safety function "Safely-limited increment" has the following features:
● Is intended for safety-relevant applications up to Category 3, PL d according
to EN ISO 13849‑1 or up to SIL 2 according to EN 61800–5–2 / EN 61508.
● The safety function can be used in drive systems equipped with the optional
safety technology module "SafeMotion".
● The safety function can be used in drive systems in which the function
package "SafeMotion Position" has been activated and licensed.
● Dual-channel monitoring of the maximum increment
(0x3170:01...0x317F:01).
● When a monitoring function is triggered, this causes an error reaction which
decelerates the drive system. The corresponding error message is "F7010
Safely-limited increment exceeded“.
● The safety function "Safely-limited increment" is selected via the active
"Safe Motion" profile using the parameter "0x3157:01, SMO function selec-
tion: Control word 1".
● The state of safety function "Safely-limited increment" is displayed via
parameter "0x3157:03, SMO function selection: Status word 1".

Parameters involved
The following parameters are used in conjunction with the safety function
"Safely-limited increment":
● 0x3157:01, SMO function selection: Control word 1
● 0x3157:03, SMO function selection: Status word 1
● "0x3140:01, SMO special mode 1: Configuration"..."0x314F:01, SMO special
mode 16: Configuration"
● "0x3170:01, SMO safely-limited increment 1: Increment"..."0x317F:01, SMO
safely-limited increment 16: Increment"

Diagnostic messages involved

The following diagnostic messages can be generated in conjunction with the
safety function "Safely-limited increment":
● C8214 SMO: Incorrect configuration
● F7010 Safely-limited increment exceeded
In case of an active motion monitoring, "SMM" is displayed on the drive con-
troller panel.

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Safety function
Configuration and selection
To use the safety function "Safely-limited increment", it has to be configured
during the commissioning of safety technology for the corresponding motion
mode (SMM1 - SMM16) via the parameters "0x3140:01, SMO special mode 1:
Configuration"..."0x314F:01, SMO special mode 16: Configuration". In addition,
the effective increment has to be parameterized via the parameters "0x3170:01,
SMO safely-limited increment 1: Increment"..."0x317F:01, SMO safely-limited
increment 16: Increment".
The safety function "Safely-limited increment" is selected via the active
"Safe Motion" profile using the parameter "0x3157:01, SMO function selection:
Control word 1". The effective increment is selected via the same profile and
parameter.

Selecting the effective limit value

The effective threshold is selected via the active "Safe Motion" profile using the
parameter "0x3157:01, SMO function selection: Control word 1". For example,
the 16 different Safe motions (SMM) with the corresponding increments can be
selected via the SMMx signals 1 to 16 (A_SMMx, x=1..16) in the Safe Motion
profile "Bosch Rexroth".

Monitoring function
In the case of the safety function "Safely-limited increment", dual-channel mon-
itoring prevents the drive from moving by more than one maximum increment
(0x3170:01...0x317F:01). Within the position window (maximum increment) it
is possible to move in both directions.
If the axis, with the safety function activated, moves by more than the max-
imum increment (0x3170:01...0x317F:01) in one direction, the drive generates
the error "F7010 Safely-limited increment exceeded" and the drive is deceler-
ated.

Fig. 29: Safely-limited increment (NC-controlled transition to the safe motion from normal
operation)
F7010 Safely-limited increment exceeded
0x3170:01...0x317F:01 SMO: Safely-limited increment
To define a new position window it is necessary to exit the safety function
"Safely-limited increment" and select it again. This can be done by changing
to different motion mode (SMM1 - SMM 16) or by temporarily deselecting the
active motion mode.

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Safety functions in special mode “Safe motion SMMx”

Terminating the safety function

The safety function "Safely-limited increment" is deselected by deselecting the
special mode "Safe motion".

8.4.5 Safely-limited position (SLP)

Brief description
The safety function "Safely-limited position (SLP)" is one of the safe absolute
position monitoring functions.
The safety function "Safely-limited position (SLP)" can be activated for any of
the 16 motion modes of the special mode "Safe motion".

Safety functions
Alternatively, the absolute position monitoring function "⮫ Safely-monitored
position (SMP)" may be active.
Simultaneously, the absolute position monitoring function "⮫ Safely-limited end
position (SLE) " may be active.
Table 19: Overview of "Safe absolute position monitoring functions"
Special mode
Normal operation
SMES SMST1/SMST2 SMM1…SMM16
⮫ SLE
⮫ SMP
⮫ SLE
SLP
In the case of the safety function "Safely-limited position (SLP)", dual-channel
monitoring in the special mode "Safe motion" prevents the drive from leaving
a position range. The position range has to be set by a positive and a negative
position limit value.

Features
The safety function "Safely-limited position (SLP)" has the following features:
● The safety function can be used with the firmware AXS–V–0504 and above
in drive systems equipped with the optional safety technology module "Safe-
Motion"
AND
with the firmware option (FWS) "SafeMotion Position".
● Is currently suited for safety-relevant applications up to SIL3 according
to EN 61800–5–2 / EN 61508 and Category 4, PL e according to
EN ISO 13849–1.
Note: The auxiliary safety technology function "Safe homing procedure"
for determining the safe absolute position is the prerequisite for the
safety function "Safely-limited position (SLP)". "Safe homing procedure" cur-
rently is only suited for safety-relevant applications up to SIL2 according
to EN 61800–5–2 / EN 61508 and Category 3, PL d according to
EN ISO 13849–1 and thus limits the possible SLP SIL level to SIL 2.
● It can be activated for any of the 16 motion modes of the special mode
"Safe motion".
● Monitors the maximum allowed velocity at which the drive can still
be stopped within the parameterized position limits ("0x3180:01, SMO
safe position 1: Positive limit value"..."0x318F:01, SMO safe position 16:
Positive limit value"; "0x3180:02, SMO safe position 1: Negative limit
value"..."0x318F:02, SMO safe position 16: Negative limit value"), taking a
parameterized deceleration and, where applicable, a jerk into account.

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● When a monitoring function is triggered, this causes an error reaction

which decelerates the drive system. The corresponding error messages are
"F7011 SMP, SLP: Safe position limit value, positive exceeded" and "F7012
SMP, SLP: Safe position limit value, negative exceeded".
● The state of the safety function "Safely-limited position (SLP)" (active/not
active) is displayed via parameter "0x3157:03, SMO function selection:
Status word 1", bit 9.

Parameters involved
The following parameters are used in conjunction with the safety function
"Safely-limited position (SLP)":
● 0x31B0:05, SMO safe homing: Maximum velocity
● 0x3020:05, SMO axis mechanics: Modulo value
● 0x3020:06, SMO axis mechanics: Max. travel range
● 0x3156:04, SMO global functions: Velocity threshold
● 0x3156:05, SMO global functions: Position limit value, positive
● 0x3156:06, SMO global functions: Position limit value, negative
● 0x31B0:01, SMO safe homing: Configuration
● 0x310E:02, SMO encoder function: Position
● 0x310E:03, SMO encoder function: Velocity
● 0x315E:01, SMO error reaction: Configuration stopping process
● 0x315F:02, SMO safely-monitored decel. error: Reaction time
● 0x315F:04, SMO safely-monitored decel. error: Deceleration
● 0x315F:05, SMO safely-monitored decel. error: Jerk
● 0x3157:01, SMO function selection: Control word 1
● 0x3157:03, SMO function selection: Status word 1
● 0x3157:05, SMO function selection: Diagnostics
● 0x3156:03, SMO global functions: Standstill window for safe direction
● "0x3140:01, SMO special mode 1: Configuration"..."0x314F:01, SMO special
mode 16: Configuration"
● "0x3180:01, SMO safe position 1: Positive limit value"..."0x318F:01, SMO
safe position 16: Positive limit value"
● "0x3180:02, SMO safe position 1: Negative limit value"..."0x318F:02, SMO
safe position 16: Negative limit value"

Diagnostic messages involved

The following diagnostic messages can be generated in conjunction with the
safety function:
● C8814 SMO: Incorrect configuration
● F7009 Homing velocity exceeded
● F7011 SMP, SLP: Safe position limit value, positive exceeded
● F7012 SMP, SLP: Safe position limit value, negative exceeded

Safety function
Configuration and selection
Using the safety function "Safely-limited position" is only allowed if the Safe
homing procedure has been activated in "0x31B0:01, SMO safe homing: Config-
uration" (bit 0="1").
For any of the 16 safe motion modes SMM1 to SMM16, either the safety func-
tion "Safely-monitored position (SMP)" (bit 5) or "Safely-limited position (SLP)"
(bit 7) can be activated via "0x3140:01, SMO special mode 1: Configura-
tion"..."0x314F:01, SMO special mode 16: Configuration".

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Safety functions in special mode “Safe motion SMMx”

The position limits for the safety function "Safely-limited position (SLP)"
have to be parameterized in "0x3180:01, SMO safe position 1: Positive limit
value"..."0x318F:01, SMO safe position 16: Positive limit value" and "0x3180:02,
SMO safe position 1: Negative limit value"..."0x318F:02, SMO safe position
16: Negative limit value". With absolute scaling, the position limits to be moni-
tored have to be within "0x3020:06, SMO axis mechanics: Max. travel range".
With modulo scaling, the position limits to be monitored have to be within
"0x3020:05, SMO axis mechanics: Modulo value".
In addition, make sure to comply with the minimum distances to the position
limits of the axis.
Lethal injury / property damage caused by operating the
DANGER drive with incorrect position limit values parameteriza-

Safety functions
tion, since the safe end positions (positive / negative)
may be exceeded!
Check the required minimum distances of the parame-
terized position limits "0x3180:01, SMO safe position 1:
Positive limit value"..."0x318F:01, SMO safe position 16:
Positive limit value" and "0x3180:02, SMO safe position
1: Negative limit value"..."0x318F:02, SMO safe position
16: Negative limit value".
Table 20: Minimum distances to the position limits of the axis, with modulo scaling, example of
special mode "Safe motion 1"
0x3020:05 ‑ 0x3180:01 + 0x3180:02 > 2 ms × maximum travel velocity of drive
Legend:
0x3020:05, SMO axis mechanics: Modulo value
0x3180:01, SMO safe position 1: Positive limit value
0x3180:02, SMO safe position 1: Negative limit value
Table 21: Minimum distances to the position limits of the axis, with absolute scaling, example of
special mode "Safe motion 1"
(2 × 0x3020:06) ‑ 0x3180:01 + 0x3180:02 > 2 ms × maximum travel velocity of drive
Legend:
0x3020:06, SMO axis mechanics: Max. travel range
0x3180:01, SMO safe position 1: Positive limit value
0x3180:02, SMO safe position 1: Negative limit value
"0x315F:04, SMO safely-monitored decel. error: Deceleration" and "0x315F:05,
SMO safely-monitored decel. error: Jerk" define the envelope curve of SMD-E
deceleration monitoring.
Taking into account the error reaction time (0x315F:02, SMO safely-monitored
decel. error: Reaction time), "0x315F:04" can be parameterized with the same
deceleration as in "0x2870:06, Axis shutdown: Emergency stop deceleration",
and "0x315F:05" can be parameterized with the jerk limit value parameterized
in "0x284A:01, Jerk limitation: Value". The correct parameterization ensures
that the drive can come to standstill before exceeding the position limit.
When using the safety function "Safely-limited position", the error reaction
"torque disable" is not allowed for F7xxx errors.
Add new information: When using the safety function "Safely-limited position",
monitoring the error reaction with the safety function "Safely-monitored decel-
eration with time-based trend monitoring (SMD-E-r_TimeTrend)" is not allowed.
The safety function "Safely-limited position (SLP)" is selected with the selec-
tion of the motion mode SMMx of the special mode "Safe motion" for which the
safety function was activated.

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The position limits are only monitored by the safety function

"Safely-limited position" after the "Safe homing procedure" was carried out.
Lethal injury / property damage caused by operating the
DANGER drive without reference, as the safe position limit values
(positive / negative) can be exceeded!
As long as the drive has not been safely homed, make
sure by further measures to prevent hazards caused by
overrunning the position limit values ("0x3180:01, SMO
safe position 1: Positive limit value"..."0x318F:01, SMO
safe position 16: Positive limit value" and "0x3180:02,
SMO safe position 1: Negative limit value"..."0x318F:02,
SMO safe position 16: Negative limit value").
The status (active/inactive) returned by the safety function
"Safely-limited position (SLP)" is displayed in "0x3157:03, SMO function selec-
tion: Status word 1", bit 9.

If the safety function SMP or SLP has been selected, "0x3157:05, SMO function
selection: Diagnostics" displays whether the actual position is within the posi-
tive (bit 2)/negative (bit 3) position limit.

If the safety function has not been selected or if safe reference is missing, bit 2
and bit 3 are set to "0" (actual position outside of position limits).

Monitoring functions
The safety function "Safely-limited position (SLP)" monitors that the drive can
be decelerated within the parameterized position limits with the current actual
velocity and the parameterized braking ability.
For this purpose, the safety function in a direction-dependent way determines
the braking distance available to the position limit. On the basis of the parame-
terized deceleration (0x315F:04, SMO safely-monitored decel. error: Decelera-
tion), the jerk (0x315F:05, SMO safely-monitored decel. error: Jerk) and the
reaction time (0x315F:02, SMO safely-monitored decel. error: Reaction time),
it calculates the maximum allowed velocity limit with which the drive can still
come to standstill within the parameterized position limits.
If the actual velocity (0x310E:03, SMO encoder function: Velocity)
is greater than the maximum allowed velocity, the error "F7011
SMP, SLP: Safe position limit value, positive exceeded" or "F7012
SMP, SLP: Safe position limit value, negative exceeded" is generated in a
direction-dependent way, and the drive is decelerated in accordance with the
reaction parameterized for F7 errors.
"0x315F:04, SMO safely-monitored decel. error: Deceleration" and "0x315F:05,
SMO safely-monitored decel. error: Jerk" define the envelope curve of SMD-E
deceleration monitoring and should be set in such a way that they correspond
to the parameterization of the best possible deceleration of the drive in the
case of F7 error. The correct parameterization ensures that the drive can come
to standstill before exceeding the position limit.
The maximum allowed velocity limit of the active safety function is displayed
as an absolute value in "0x3156:04, SMO global functions: Velocity threshold",
provided that no other safety function (e.g., SMS, SLS, SLS-LT, SLE) reduces
the value in 0x3156:04 even more.

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Safety functions in special mode “Safe motion SMMx”

Safety functions
Fig. 30: Decelerating the drive if maximum allowed velocity exceeded
In addition to the safety function "Safely-limited position (SLP)", the absolute
position monitoring function "⮫ Safely-limited end position (SLE)" can be active
in the operation modes of the special mode "Safe motion". The currently moni-
tored active position limits are made available via "0x3156:05, SMO global
functions: Position limit value, positive" and "0x3156:06, SMO global functions:
Position limit value, negative".
The drive must have been safely homed for the safety function
"Safely-limited position". If Safe reference is not available, the position range
is not monitored and the drive may be moved with no more than the velocity
parameterized in 0x31B0:05. If this velocity threshold is exceeded, the drive
generates the error F7009.
With active safety function "Safely-limited position (SLP)" and Safe reference
missing (0x310E:01, SMO encoder function: Evaluation status, bit 5="0"), the
error "F3112 Safe reference missing" will be generated immediately and perma-
nently.

Lethal injury / property damage caused by operating the

DANGER drive without reference, as the safe position limit values
(positive / negative) can be exceeded!
As long as the drive has not been safely homed, make
sure by further measures to prevent hazards caused by
overrunning the position limit values ("0x3180:01, SMO
safe position 1: Positive limit value"..."0x318F:01, SMO
safe position 16: Positive limit value" and "0x3180:02,
SMO safe position 1: Negative limit value"..."0x318F:02,
SMO safe position 16: Negative limit value").

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Return motion to allowed position range

When the axis is outside of the allowed position range, the error
"F7011 SMP, SLP: Safe position limit value, positive exceeded" or "F7012
SMP, SLP: Safe position limit value, negative exceeded" is generated.
The error can be reset by the command "0x2B87:02, Class 1 diagnostics:
C0500 Reset command". The drive can then be moved.
As long as the actual position of the drive (0x310E:02) is outside of the
allowed position range, dual-channel monitoring makes sure that the drive only
moves in the direction of the allowed position range with a velocity lower than
"0x31B0:05, SMO safe homing: Maximum velocity". If the velocity threshold
is exceeded, the corresponding position limit value error is generated again.
Movements in the opposite direction are allowed within the tolerance window
defined in "0x3156:03, SMO global functions: Standstill window for safe direc-
tion". Movements beyond will cause the error F7011 or F7012 again.

8.4.6 Safely-monitored position (SMP)

Brief description
The safety function "Safely-monitored position (SMP)" is one of the safe abso-
lute position monitoring functions.
It can be activated for any of the 16 motion modes of the special mode
"Safe motion".
Alternatively, the absolute position monitoring "⮫ Safely-limited position (SLP)"
may be active.
Simultaneously, the absolute position monitoring "⮫ Chapter 8.1.3 Safely-lim-
ited end position (SLE) on page 77" may be active.
Table 22: Overview of "Safe absolute position monitoring functions"
Special mode
Normal operation
SMES SMST1/SMST2 SMM1…SMM16
⮫ SLE
⮫ SMP
⮫ SLE
SLP
With the safety function "Safely-monitored position (SMP)", it is detected via
two channels in the special mode "Safe motion" when the drive moves beyond
a monitored position range. The position range has to be set by a positive and a
negative position limit value.

Features
The safety function "Safely-monitored position (SMP)" has the following fea-
tures:
● The safety function can be used with the firmware AXS–V–0504 and above
in drive systems equipped with the optional safety technology module "Safe-
Motion"
AND
with the firmware option (FWS) "SafeMotion Position".
● Is currently suited for safety-relevant applications up to SIL 3 according
to EN 61800–5–2 / EN 61508 and Category 4, PL e according to
EN ISO 13849–1.
Note: The auxiliary safety technology function "Safe homing procedure" for
determining the safe absolute position is the prerequisite for the safety
function "Safely-monitored position (SMP)". "Safe homing procedure" cur-
rently is only suited for safety-relevant applications up to Category 3, PL d

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according to EN ISO 13849‑1 or up to SIL 2 according to

EN 61800–5–2 / EN 61508, and thus limits the possible SMP SIL level to
SIL 2.
● It can be parameterized and activated for any of the 16 motion modes of the
special mode "Safe motion".
● The actual position value (0x310E:02) is monitored via two channels to
check whether it exceeds and/or falls below the parameterized position limit
values "0x3180:01, SMO safe position 1: Positive limit value"..."0x318F:01,
SMO safe position 16: Positive limit value" or "0x3180:02, SMO safe position
1: Negative limit value"..."0x318F:02, SMO safe position 16: Negative limit
value" of the selected motion mode SMMx.
● When a monitoring function is triggered, this causes an error reaction

Safety functions
which decelerates the drive system. The corresponding error messages are
"F7011 SMP, SLP: Safe position limit value, positive exceeded" and "F7012
SMP, SLP: Safe position limit value, negative exceeded".
● The state of the safety function "Safely-monitored position (SMP)"
(active/not active) is displayed via parameter "0x3157:03, SMO function
selection: Status word 1", bit 10.

Parameters involved
The following parameters are used in conjunction with the safety function
"Safely-monitored position (SMP)":
● 0x31B0:05, SMO safe homing: Maximum velocity
● 0x3020:05, SMO axis mechanics: Modulo value
● 0x3020:06, SMO axis mechanics: Max. travel range
● 0x3156:04, SMO global functions: Velocity threshold
● 0x3156:05, SMO global functions: Position limit value, positive
● 0x3156:06, SMO global functions: Position limit value, negative
● 0x31B0:01, SMO safe homing: Configuration
● 0x310E:02, SMO encoder function: Position
● 0x310E:03, SMO encoder function: Velocity
● 0x3157:01, SMO function selection: Control word 1
● 0x3157:03, SMO function selection: Status word 1
● 0x3157:05, SMO function selection: Diagnostics
● 0x3156:03, SMO global functions: Standstill window for safe direction
● "0x3140:01, SMO special mode 1: Configuration"..."0x314F:01, SMO special
mode 16: Configuration"
● "0x3180:01, SMO safe position 1: Positive limit value"..."0x318F:01, SMO
safe position 16: Positive limit value"
● "0x3180:02, SMO safe position 1: Negative limit value"..."0x318F:02, SMO
safe position 16: Negative limit value"

Diagnostic messages involved

The following diagnostic messages can be generated in conjunction with the
safety function:
● C8814 SMO: Incorrect configuration
● F7009 Homing velocity exceeded
● F7011 SMP, SLP: Safe position limit value, positive exceeded
● F7012 SMP, SLP: Safe position limit value, negative exceeded

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Safety function
Configuration and selection
Using the safety function "Safely-monitored position" is only allowed if the Safe
homing procedure has been activated in "0x31B0:01, SMO safe homing: Config-
uration" (bit 0="1").
For any of the 16 safe motion modes SMMx, either the safety function
"Safely-monitored position (SMP)" (bit 5) or "Safely-limited position (SLP)"
(bit 7) can be activated via "0x3140:01, SMO special mode 1: Configura-
tion"..."0x314F:01, SMO special mode 16: Configuration".
The position limits for the safety function "Safely-monitored position (SMP)"
have to be parameterized in "0x3180:01, SMO safe position 1: Positive limit
value"..."0x318F:01, SMO safe position 16: Positive limit value" and "0x3180:02,
SMO safe position 1: Negative limit value"..."0x318F:02, SMO safe position
16: Negative limit value". With absolute scaling, the position limits to be moni-
tored have to be within "0x3020:06, SMO axis mechanics: Max. travel range".
With modulo scaling, the position limits to be monitored have to be within
"0x3020:05, SMO axis mechanics: Modulo value".
In addition, make sure to comply with the minimum distances to the position
limits of the axis.
Lethal injury / property damage caused by operating the
DANGER drive with incorrect position limit values parameteriza-
tion, since the safe end positions (positive / negative)
may be exceeded!
Check the required minimum distances of the parame-
terized position limits "0x3180:01, SMO safe position 1:
Positive limit value"..."0x318F:01, SMO safe position 16:
Positive limit value" and "0x3180:02, SMO safe position
1: Negative limit value"..."0x318F:02, SMO safe position
16: Negative limit value".
Table 23: Minimum distances to the position limits of the axis, with modulo scaling, example of
special mode "Safe motion 1"
0x3020:05 ‑ 0x3180:01 + 0x3180:02 > 2 ms × maximum travel velocity of drive
Legend:
0x3020:05, SMO axis mechanics: Modulo value
0x3180:01, SMO safe position 1: Positive limit value
0x3180:02, SMO safe position 1: Negative limit value
Table 24: Minimum distances to the position limits of the axis, with absolute scaling, example of
special mode "Safe motion 1"
(2 × 0x3020:06) ‑ 0x3180:01 + 0x3180:02 > 2 ms × maximum travel velocity of drive
Legend:
0x3020:06, SMO axis mechanics: Max. travel range
0x3180:01, SMO safe position 1: Positive limit value
0x3180:02, SMO safe position 1: Negative limit value
The safety function "Safely-monitored position (SMP)" is selected with the
selection of the motion mode SMMx of the special mode "Safe motion" for
which the safety function was activated.
The position limits are only monitored by the safety function
"Safely-monitored position" after the "Safe homing procedure" was carried out.

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Safety functions in special mode “Safe motion SMMx”

Lethal injury / property damage caused by operating the

DANGER drive without reference, as the safe position limit values
(positive / negative) can be exceeded!
As long as the drive has not been safely homed,
make sure by further measures to prevent hazards
caused by overrunning the position limit values
(0x3180:01...0x318F:01 and 0x3180:02...0x318F:02).
The status (active/inactive) returned by the safety function
"Safely-monitored position (SMP)" is displayed in "0x3157:03, SMO function
selection: Status word 1", bit 10.

If the safety function SMP or SLP has been selected, "0x3157:05, SMO function

Safety functions
selection: Diagnostics" displays whether the actual position is within the posi-
tive (bit 2)/negative (bit 3) position limit.

If the safety function has not been selected or if safe reference is missing, bit 2
and bit 3 are set to "0" (actual position outside of position limits).

Monitoring functions
The safety function "Safely-monitored position (SMP)" detects that the drive
moves beyond a monitored position range. For this purpose, the actual position
value of "0x310E:02, SMO encoder function: Position" is monitored via two
channels to check whether it exceeds and/or falls below the parameterized
position limit values 0x3180:01...0x318F:01 or 0x3180:02...0x318F:02 of the
selected motion mode SMMx.
If the limit values are not complied with, the error "F7011
SMP, SLP: Safe position limit value, positive exceeded" or "F7012
SMP, SLP: Safe position limit value, negative exceeded" is generated in a
direction-dependent way, and the drive is decelerated in accordance with the
reaction parameterized for F7 errors. In this case, the allowed position range is
usually left.

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Safety functions in special mode “Safe motion SMMx”

Fig. 31: Decelerating the drive if positive position limit value exceeded
In addition to the safety function "Safely-monitored position (SMP)", the abso-
lute position monitoring "⮫ Safely-limited end position (SLE)" can be active in
the operation modes of the special mode "Safe motion". The currently moni-
tored active position limits are made available via "0x3156:05, SMO global
functions: Position limit value, positive" and "0x3156:06, SMO global functions:
Position limit value, negative".
The drive must have been safely homed for the safety function
"Safely-monitored position". If Safe reference is not available, the position
range is not monitored and the drive may be moved with no more than the
velocity parameterized in 0x31B0:05. If this velocity threshold is exceeded, the
drive generates the error F7009.
With active safety function "Safely-monitored position (SMP)" and Safe refer-
ence missing (0x310E:01, bit 5=”0”), the error "F3112 Safe reference missing"
will be generated immediately and permanently.
Lethal injury / property damage caused by operating the
DANGER drive without reference, as the safe position limit values
(positive / negative) can be exceeded!
As long as the drive has not been safely homed,
make sure by further measures to prevent hazards
caused by overrunning the position limit values
(0x3180:01...0x318F:01 and 0x3180:02...0x318F:02).

Return motion to allowed position range

When the axis is outside of the allowed position range, the error
"F7011 SMP, SLP: Safe position limit value, positive exceeded" or "F7012
SMP, SLP: Safe position limit value, negative exceeded" is generated. The error
can be reset by the command "0x2B87:02, Class 1 diagnostics: C0500 Reset
command". The drive can then be moved. As long as the actual position of the
drive is outside of the allowed position range, dual-channel monitoring makes

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Transition functions

sure that the drive only moves in the direction of the allowed position range
with a velocity lower than "0x31B0:05, SMO safe homing: Maximum velocity". If
the velocity threshold is exceeded, the corresponding position limit value error
is generated again. Movements in the opposite direction are allowed within
the tolerance window defined in "0x3156:03, SMO global functions: Standstill
window for safe direction". Movements beyond will cause the error F7011 or
F7012 again.

8.5 Transition functions

8.5.1 Safe stop 1 (SS1)

Safety functions
Brief description
When the transition function "Safe stop 1 (SS1)" is activated, the drive is decel-
erated in a safely monitored way.
The transition to standstill by the transition function "Safe stop 1 (SS1)" can be
performed in different ways:
● "Drive-controlled", i.e. the drive is decelerated by the standard firmware, and
the safety technology monitors the deceleration process or
● "NC-controlled", i.e. the higher-level control unit decelerates the drive via the
command value system, and the safety technology monitors the deceleration
process
Both the drive-controlled and the NC-controlled transition can be executed in a
"time-prioritized" or in a "standstill-prioritized" way.
The time-prioritized transition has the following features:
● The functionality is independent of the measuring system used and attains
the safety level Category 4, PL e according to EN ISO 13849–1 or SIL 3
according to EN 61800–5–2 / EN 61508.
● STO function is activated in standstill with drive enable removed, but at the
latest after the parameterized delay is over. Even an error reaction running in
parallel does not have an influence on this behavior.
● To monitor the deceleration process, deceleration monitoring can be acti-
vated [safety function "Safely-monitored deceleration (SMD)" with safety
level Category 3, PL d according to EN ISO 13849–1 or SIL 2 according to
EN 61800–5–2 / EN 61508].
The standstill-prioritized transition has the following features:
● The functionality depends on the measuring system used and can attain
the safety level Category 3, PL d according to EN ISO 13849–1 or SIL 2
according to EN 61800–5–2 / EN 61508.
● STO function is activated in standstill with drive enable removed.
● The deceleration process is always monitored, with regard to the max-
imum transition time, by the deceleration monitoring [safety function
"Safely-monitored deceleration (SMD)"] with integrated monitoring. If the
maximum transition time is exceeded, the STO function is not necessarily
activated. This is done within the scope of the parameterized error reaction
(0x315E:01).

Features
The function has the following features:
● Corresponds to stop category 1 according to EN 60204-1.
● The energy supply to the motor is safely interrupted.
● The transition function can be used in drive systems equipped with the
optional safety technology module "SafeMotion".

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● To use the function, it is necessary to activate and license a function

package. For the function package required for the various characteristics
of the function, please refer to ⮫ Table 7 Dependency on safety functions
and on the availability with the function packages on page 27.
● The transition can be performed in a "drive-controlled" way or in an "NC-con-
trolled" way.
● At the end of the transition, the safety function "Safe torque off" is activated.
● The duration of the transition is monitored (cf. 0x3084:02 or 0x3084:03).
When the monitoring function is triggered, this causes an error reaction
(F7050 / F8350) which decelerates the drive system.
● The deceleration can be optionally monitored during the transition using the
safety function "Safely-monitored deceleration (SMD)". When the monitoring
function is triggered, this causes an error reaction (F7051 / F8351) which
decelerates the drive system.
● The transition function "Safe stop 1" is selected via the active "SafeMotion"
profile using 0x3157:01.
● The status of the transition function "Safe stop 1" is displayed via
0x3157:03.

Parameters involved
The following parameters are used in conjunction with the transition function
"Safe stop 1":
● 0x3156:04, SMO global functions: Velocity threshold
● 0x310E:04, SMO encoder function: Velocity threshold
● 0x315E:01, SMO error reaction: Configuration stopping process
● 0x3157:01, SMO function selection: Control word 1
● 0x3157:03, SMO function selection: Status word 1
● 0x3084:01, SMO state machine prof. 1: Config operation mode transitions
● 0x3084:02, SMO state machine prof. 1: Max. trans. time, NO to SMST/SMES
● 0x3084:03, SMO state machine prof. 1: Max. trans. time, between SMxx

Diagnostic messages involved

The following diagnostic messages can be generated in conjunction with the
transition function "Safe stop 1":
● C8214 SMO: Incorrect configuration
● F7050 Maximum transition time exceeded
● F7051 Safely-monitored deceleration exceeded
● F8350 Maximum transition time exceeded
● F8351 Safely-monitored deceleration exceeded
With the transition function "Safe stop 1" activated, the display of the panel
does not show any specific message.

Transition function

Basic principles
When the transition function "Safe stop 1 (SS1)" is activated, the drive is decel-
erated in a safely monitored way.

Basic principle of standstill-prioritized execution of SS1 (SS1-r)

If the transition function "Safe stop 1 (SS1)" is executed in a standstill-priori-
tized way (SS1-r), the drive is decelerated in a safely monitored way.

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Transition functions

After the deceleration process has been completed, the safety function
"Safe torque off (STO)" is activated and the energy supply to the motor is safely
interrupted. The motor cannot generate any torque/any force and therefore no
dangerous movements.
The transition function "Safe stop 1 (SS1-r)" detects a successful deceleration
process, if the following conditions have been fulfilled:
− The motor has stopped, i.e. the actual velocity is smaller than the value
parameterized in "0x310E:04, SMO encoder function: Velocity threshold"
and
− the drive is no longer in control.

Basic principle of time-prioritized execution of SS1 (SS1-t)

Safety functions
If the transition function "Safe stop 1 (SS1)" is executed in a time-prioritized
way (SS1-t), a motor delay is triggered.
After an application-specific delay, the safety function "Safe torque off (STO)"
is activated and the energy supply to the motor is safely interrupted. The motor
cannot generate any torque/any force and therefore no dangerous movements.

Configuring the transition function

To use the transition function "Safe stop 1", it has to be configured, when
safety technology is commissioned, via the parameter "0x3084:01, SMO state
machine prof. 1: Config operation mode transitions".
The transition function "Safe stop 1" can be executed in 14 variants, as the
table below shows:
Table 25: Configurable variants of the transition function Safe stop 1 (SS1)
mode tran-

No. Monitoring Execution SS1 Execution Depends on meas- Maximum safety level
Operation

sitions to
standstill

SMD uring system used

1a SS1, standstill-pri- Standstill-priori- Drive-controlled Ramp- Yes Category 3, PL d

oritized with drive- tized (SS1–r) based according to
controlled transi- trend moni- EN ISO 13849-1
tion (with ramp- toring or SIL 2 according
based trend moni- (SMD- to EN 61800–5–2 /
toring) r_Ramp- EN 61508
Trend)
1b SS1, standstill-pri- Time-based
oritized with drive- trend moni-
controlled transi- toring
tion (with time- (SMD-
based trend moni- r_Time-
toring) Trend)
1c SS1, standstill-pri- Based on
oritized with drive- actual
controlled transi- velocity
tion (based on (SMD-
actual velocity) r_ActVel)
2a SS1, standstill-pri- NC-controlled Ramp-
oritized with NC- based
controlled transi- trend moni-
tion (with ramp- toring
based trend moni- (SMD-
toring) r_Ramp-
Trend)

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mode tran-
No. Monitoring Execution SS1 Execution Depends on meas- Maximum safety level

Operation

sitions to
standstill
SMD uring system used

2b SS1, standstill-pri- Time-based

oritized with NC- trend moni-
controlled transi- toring
tion (with time- (SMD-
based trend moni- r_Time-
toring) Trend)
2c SS1, standstill-pri- Based on
oritized with NC- actual
controlled transi- velocity
tion (based on (SMD-
actual velocity) r_ActVel)
3 SS1, time-priori- Time-prioritized Drive-controlled - No Category 4, PL e
tized with drive- (SS1–t) according to
controlled transi- EN ISO 13849-1
tion or SIL 3 according
3 SS1, time- Time-*1) & stand- Ramp- Yes to EN 61800–5–2 /
(+1a) and standstill-pri- still-prioritized based EN 61508
oritized with drive- (SS1–t and SS1–r) trend moni- (The safety level is
controlled transi- toring determined by the time-
tion (with ramp- (SMD- prioritized monitoring.)
based trend moni- r_Ramp-
toring) Trend)
3 SS1, time- Time-based
(+1b) and standstill-pri- trend moni-
oritized with drive- toring
controlled transi- (SMD-
tion (with time- r_Time-
based trend moni- Trend)
toring)
3 SS1, time- Based on
(+1c) and standstill-pri- actual
oritized with drive- velocity
controlled transi- (SMD-
tion (based on r_ActVel)
actual velocity)
4 SS1, time-priori- Time-prioritized NC-controlled - No
tized with NC-con- (SS1–t)
trolled transition
4 SS1, time- Time-*1) & stand- Ramp- Yes
(+2a) and standstill-pri- still-prioritized based
oritized with NC- (SS1–t and SS1–r) trend moni-
controlled transi- toring
tion (with ramp- (SMD-
based trend moni- r_Ramp-
toring) Trend)

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Operation
No. Monitoring Execution SS1 Execution Depends on meas- Maximum safety level

standstill
tions to
SMD uring system used

transi-
mode
4 SS1, time- Time-based
(+2b) and standstill-pri- trend moni-
oritized with NC- toring
controlled transi- (SMD-
tion (with time- r_Time-
based trend moni- Trend)
toring)
4 SS1, time- Based on

Safety functions
(+2c) and standstill-pri- actual
oritized with NC- velocity
controlled transi- (SMD-
tion (based on r_ActVel)
actual velocity)
Legend:
*1) monitoring function of higher priority

Selecting the transition function

If the safety function "Safe torque off" (STO) has been configured, but is not
active, the transition function "Safe stop 1 (SS1)" can be activated via the
active "Safe Motion" profile using the parameter "0x3157:01, SMO function
selection: Control word 1".

Transition to the safe state

Monitoring function 1a: "SS1, standstill-prioritized with drive-controlled transi-
tion (with ramp-based trend monitoring)"
When the monitoring function 1 [SS1, standstill-prioritized with drive-con-
trolled transition (with ramp-based trend monitoring)] has been configured,
the axis is decelerated in a drive-controlled way when SS1 is selected. That is
to say the drive makes itself independent of the command value input of the
control and is decelerated by the standard firmware in accordance with the
parameterization of "0x315E:01, SMO error reaction: Configuration stopping
process" (bit 0‑3). At the end of the deceleration process, drive enable is
removed.
To monitor the deceleration process, the transition function "Safe stop 1 (SS1)"
calls the ⮫ Transition function "Safely-monitored deceleration with ramp-
based trend monitoring". If the SMD detects that the velocity is
exceeded, the error “F7051 Safely-monitored deceleration exceeded“ or "F8351
Safely-monitored deceleration exceeded" [only for F3 equal to F7 reaction
(0x315E:01)] is signaled, and the drive keeps being decelerated according to
the parameterized error reaction (0x315E:01) (see ⮫ Error reaction and escala-
tion strategy).
The currently active velocity monitoring limit of Safe Motion is displayed in
"0x3156:04, SMO global functions: Velocity threshold". With this parameter it
is possible to check in the control whether the velocity command values are
within the allowed limits.
With the auxiliary function "⮫ Limiting the positioning velocity", it is possible
to monitor and, if necessary, limit the velocity command value effective in the
drive to the active velocity threshold (0x3156:04).
In parallel with velocity monitoring, SMD also monitors that the deceleration
process is completed within the parameterized transition time (0x3084:02
or 0x3084:03). If the transition is not completed within the parameterized

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transition time, the error "F7050 Maximum transition time exceeded" or

"F8350 Maximum transition time exceeded" [only for F3 equal to F7 reaction
(0x315E:01)] is signaled, and the drive keeps being decelerated according to
the parameterized error reaction (0x315E:01) (see ⮫ Error reaction and escala-
tion strategy).
⇒ The maximum time between the selection of the transition function
"Safe stop 1 (SS1)" and activating of the safety function Safe torque off (STO)
depends on the transition progress! The maximum time can be prolonged at
most by the time parameterized in 0x315E:03 if an error occurs. In the case of
a configured F7 error reaction="torque disable" (0x315E:01) or direct switching
to the F8 error reaction (F3 reaction = F7 reaction in 0x315E:01), the time is
not prolonged.
If SMD acknowledges the transition process without error, the transition by the
transition function SS1 is completed with the selection of the safety function
STO.

Fig. 32: Monitoring function 1a: "SS1, standstill-prioritized with drive-controlled transition (with
ramp-based trend monitoring)"
Legend:
0x310E:04, SMO encoder function: Velocity threshold
0x3084:02, SMO state machine prof. 1: Max. trans. time, NO to SMST/SMES
0x3084:03, SMO state machine prof. 1: Max. trans. time, between SMxx
0x315A:05, SMO safely-monitored decel.: Deceleration

Monitoring function 1b: "SS1, standstill-prioritized with drive-controlled transi-

tion (with time-based trend monitoring)"
When the monitoring function 1b [SS1, standstill-prioritized with drive-con-
trolled transition (with time-based trend monitoring)] has been configured, the
axis is decelerated in a drive-controlled way when SS1 is selected. That is to
say the drive makes itself independent of the command value input of the con-

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Transition functions

trol and is decelerated by the standard firmware in accordance with the param-
eterization of "0x315E:01, SMO error reaction: Configuration stopping process"
(bit 0‑3). At the end of the deceleration process, drive enable is removed.
To monitor the deceleration process, the transition function "Safe stop 1 (SS1)"
calls the ⮫ Transition function "Safely-monitored deceleration with time-
based trend monitoring". If the SMD detects that the velocity is
exceeded, the error “F7051 Safely-monitored deceleration exceeded“ or "F8351
Safely-monitored deceleration exceeded" [only for F3 equal to F7 reaction
(0x315E:01)] is signaled, and the drive keeps being decelerated according to
the parameterized error reaction (0x315E:01) (see ⮫ Error reaction and escala-
tion strategy).
The currently active velocity monitoring limit of Safe Motion is displayed in

Safety functions
"0x3156:04, SMO global functions: Velocity threshold". With this parameter it
is possible to check in the control whether the velocity command values are
within the allowed limits.
With the auxiliary function "⮫ Limiting the positioning velocity", it is possible
to monitor and, if necessary, limit the velocity command value effective in the
drive to the active velocity threshold (0x3156:04).
In parallel with velocity monitoring, SMD also monitors that the deceleration
process is completed within the parameterized transition time (0x3084:02
or 0x3084:03). If the transition is not completed within the parameterized
transition time, the error "F7050 Maximum transition time exceeded" or
"F8350 Maximum transition time exceeded" [only for F3 equal to F7 reaction
(0x315E:01)] is signaled, and the drive keeps being decelerated according to
the parameterized error reaction (0x315E:01) (see ⮫ Error reaction and escala-
tion strategy).
⇒ The maximum time between the selection of the transition function
"Safe stop 1 (SS1)" and activating of the safety function Safe torque off (STO)
depends on the transition progress! The maximum time can be prolonged at
most by the time parameterized in 0x315E:03 if an error occurs. In the case of
a configured F7 error reaction="torque disable" (0x315E:01) or direct switching
to the F8 error reaction (F3 reaction = F7 reaction in 0x315E:01), the time is
not prolonged.
If SMD acknowledges the transition process without error, the transition by the
transition function SS1 is completed with the selection of the safety function
STO.

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Fig. 33: Monitoring function 1b: "SS1, standstill-prioritized with drive-controlled transition (with
time-based trend monitoring)"
Legend:
0x310E:04, SMO encoder function: Velocity threshold
0x3084:02, SMO state machine prof. 1: Max. trans. time, NO to SMST/SMES
0x3084:03, SMO state machine prof. 1: Max. trans. time, between SMxx

Monitoring function 1c: "SS1, standstill-prioritized with drive-controlled transi-

tion (based on actual velocity)"
When the monitoring function 1c [SS1, standstill-prioritized with drive-con-
trolled transition (based on actual velocity)] has been configured, the axis is
decelerated in a drive-controlled way when SS1 is selected. That is to say
the drive makes itself independent of the command value input of the control
and is decelerated by the standard firmware in accordance with the parame-
terization of "0x315E:01, SMO error reaction: Configuration stopping process"
(bit 0‑3). At the end of the deceleration process, drive enable is removed.
To monitor the deceleration process, the transition function "Safe stop 1 (SS1)"
calls the ⮫ Transition function "Safely-monitored deceleration based on
actual velocity". If the SMD detects that the velocity is exceeded,
the error “F7051 Safely-monitored deceleration exceeded“ or "F8351
Safely-monitored deceleration exceeded" [only for F3 equal to F7 reaction
(0x315E:01)] is signaled, and the drive keeps being decelerated according to
the parameterized error reaction (0x315E:01) (see ⮫ Error reaction and escala-
tion strategy).
The currently active velocity monitoring limit of Safe Motion is displayed in
"0x3156:04, SMO global functions: Velocity threshold". With this parameter it
is possible to check in the control whether the velocity command values are
within the allowed limits.
With the auxiliary function "⮫ Limiting the positioning velocity", it is possible
to monitor and, if necessary, limit the velocity command value effective in the
drive to the active velocity threshold (0x3156:04).

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In parallel with velocity monitoring, SMD also monitors that the deceleration
process is completed within the parameterized transition time (0x3084:02
or 0x3084:03). If the transition is not completed within the parameterized
transition time, the error "F7050 Maximum transition time exceeded" or
"F8350 Maximum transition time exceeded" [only for F3 equal to F7 reaction
(0x315E:01)] is signaled, and the drive keeps being decelerated according to
the parameterized error reaction (0x315E:01) (see ⮫ Error reaction and escala-
tion strategy).
⇒ The maximum time between the selection of the transition function
"Safe stop 1 (SS1)" and activating of the safety function Safe torque off (STO)
depends on the transition progress! The maximum time can be prolonged at
most by the time parameterized in 0x315E:03 if an error occurs. In the case of

Safety functions
a configured F7 error reaction="torque disable" (0x315E:01) or direct switching
to the F8 error reaction (F3 reaction = F7 reaction in 0x315E:01), the time is
not prolonged.
If SMD acknowledges the transition process without error, the transition by the
transition function SS1 is completed with the selection of the safety function
STO.

Fig. 34: Monitoring function 1c: "SS1, standstill-prioritized with drive-controlled transition (based
on actual velocity)"

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Legend:
*1) SMD executed on the basis of the actual velocity
0x310E:04, SMO encoder function: Velocity threshold
0x3084:02, SMO state machine prof. 1: Max. trans. time, NO to SMST/SMES
0x3084:03, SMO state machine prof. 1: Max. trans. time, between SMxx
The following parameters are relevant for the monitoring function, but do not appear in the figure so as not to overload the
figure with information:
0x315A:01, SMO safely-monitored decel.: Oscillation velocity window
0x315A:02, SMO safely-monitored decel.: Reaction time
0x315A:03, SMO safely-monitored decel.: Velocity window
0x315A:05, SMO safely-monitored decel.: Deceleration
0x315A:04, SMO safely-monitored decel.: Jerk

Monitoring function 2a: "SS1, standstill-prioritized with NC-controlled transi-

tion (with ramp-based trend monitoring)"
When the monitoring function 2a [SS1, standstill-prioritized with NC-controlled
transition (with trend monitoring)] has been configured, the axis is decelerated
in an NC-controlled way when SS1 is selected. That is to say the higher-level
control decelerates the drive using the command value system and removes
drive enable at the end of the deceleration process.
To monitor the deceleration process, the transition function "Safe stop 1 (SS1)"
calls the ⮫ Transition function "Safely-monitored deceleration with ramp-based
trend monitoring". If SMD detects an exceeded velocity, the error "F7051
Safely-monitored deceleration exceeded" is signaled, and the drive keeps being
decelerated according to the parameterized error reaction (0x315E:01) (see
⮫ Error reaction and escalation strategy).
The currently active velocity monitoring limit of Safe Motion is displayed in
"0x3156:04, SMO global functions: Velocity threshold". With this parameter it
is possible to check in the control whether the velocity command values are
within the allowed limits.
With the auxiliary function "⮫ Limiting the positioning velocity", it is possible
to monitor and, if necessary, limit the velocity command value effective in the
drive to the active velocity threshold (0x3156:04).
In parallel with velocity monitoring, SMD also monitors that the deceleration
process is completed within the parameterized transition time (0x3084:02 or
0x3084:03). If the transition is not completed within the parameterized transi-
tion time, the error "F7050 Maximum transition time exceeded" is signaled, and
the drive keeps being decelerated in accordance with the parameterized error
reaction (0x315E:01) (see ⮫ Error reaction and escalation strategy).
⇒ The maximum time between the selection of the transition function
"Safe stop 1 (SS1)" and activating of the safety function Safe torque off (STO)
depends on the transition progress! The maximum time can be prolonged at
most by the time parameterized in 0x315E:03 if an error occurs. In the case of
a configured F7 error reaction="torque disable" (0x315E:01) or direct switching
to the F8 error reaction (F3 reaction = F7 reaction in 0x315E:01), the time is
not prolonged.
If SMD acknowledges the transition process without error, the transition by the
transition function SS1 is completed with the selection of the safety function
"Safe torque off".

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Transition functions

Safety functions
Fig. 35: Monitoring function 2a: "SS1, standstill-prioritized with NC-controlled transition (with
ramp-based trend monitoring)"
Legend:
0x310E:04, SMO encoder function: Velocity threshold
0x3084:02, SMO state machine prof. 1: Max. trans. time, NO to SMST/SMES
0x3084:03, SMO state machine prof. 1: Max. trans. time, between SMxx
0x315A:05, SMO safely-monitored decel.: Deceleration

Monitoring function 2b: "SS1, standstill-prioritized with NC-controlled transi-

tion (with time-based trend monitoring)"
When the monitoring function 2b [SS1, standstill-prioritized with NC-controlled
transition (with time-based trend monitoring)] has been configured, the axis is
decelerated in an NC-controlled way when SS1 is selected. That is to say the
higher-level control decelerates the drive using the command value system and
removes drive enable at the end of the deceleration process.
To monitor the deceleration process, the transition function "Safe stop 1 (SS1)"
calls the ⮫ Transition function "Safely-monitored deceleration with time-based
trend monitoring". If SMD detects an exceeded velocity, the error "F7051
Safely-monitored deceleration exceeded" is signaled, and the drive keeps being
decelerated according to the parameterized error reaction (0x315E:01) (see
⮫ Error reaction and escalation strategy).
The currently active velocity monitoring limit of Safe Motion is displayed in
"0x3156:04, SMO global functions: Velocity threshold". With this parameter it
is possible to check in the control whether the velocity command values are
within the allowed limits.
With the auxiliary function "⮫ Limiting the positioning velocity", it is possible
to monitor and, if necessary, limit the velocity command value effective in the
drive to the active velocity threshold (0x3156:04).

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Transition functions

In parallel with velocity monitoring, SMD also monitors that the deceleration
process is completed within the parameterized transition time (0x3084:02 or
0x3084:03). If the transition is not completed within the parameterized transi-
tion time, the error "F7050 Maximum transition time exceeded" is signaled, and
the drive keeps being decelerated in accordance with the parameterized error
reaction (0x315E:01) (see ⮫ Error reaction and escalation strategy).
⇒ The maximum time between the selection of the transition function
"Safe stop 1 (SS1)" and activating of the safety function Safe torque off (STO)
depends on the transition progress! The maximum time can be prolonged at
most by the time parameterized in 0x315E:03 if an error occurs. In the case of
a configured F7 error reaction="torque disable" (0x315E:01) or direct switching
to the F8 error reaction (F3 reaction = F7 reaction in 0x315E:01), the time is
not prolonged.
If SMD acknowledges the transition process without error, the transition by the
transition function SS1 is completed with the selection of the safety function
"Safe torque off".

Fig. 36: Monitoring function 2b: "SS1, standstill-prioritized with NC-controlled transition (with time-
based trend monitoring)"
Legend:
0x310E:04, SMO encoder function: Velocity threshold
0x3084:02, SMO state machine prof. 1: Max. trans. time, NO to SMST/SMES
0x3084:03, SMO state machine prof. 1: Max. trans. time, between SMxx

Monitoring function 2c: "SS1, standstill-prioritized with NC-controlled transi-

tion (based on actual velocity)"
When the monitoring function 2c "[SS1, standstill-prioritized with NC-con-
trolled transition (based on actual velocity)]" has been configured, the axis is
decelerated in an NC-controlled way when SS1 is selected. That is to say the
higher-level control decelerates the drive using the command value system and
removes drive enable at the end of the deceleration process.

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Transition functions

To monitor the deceleration process, the transition function "Safe stop 1 (SS1)"
calls the ⮫ Transition function "Safely-monitored deceleration based on
actual velocity". If SMD detects an exceeded velocity, the error "F7051
Safely-monitored deceleration exceeded" is signaled, and the drive keeps being
decelerated according to the parameterized error reaction (0x315E:01) (see
⮫ Error reaction and escalation strategy).
The currently active velocity monitoring limit of Safe Motion is displayed in
"0x3156:04, SMO global functions: Velocity threshold". With this parameter it
is possible to check in the control whether the velocity command values are
within the allowed limits.
With the auxiliary function "⮫ Limiting the positioning velocity", it is possible
to monitor and, if necessary, limit the velocity command value effective in the

Safety functions
drive to the active velocity threshold (0x3156:04).
In parallel with velocity monitoring, SMD also monitors that the deceleration
process is completed within the parameterized transition time (0x3084:02 or
0x3084:03). If the transition is not completed before the transition time is over,
the error "F7050 Maximum transition time exceeded" is signaled, and the drive
keeps being decelerated in accordance with the parameterized error reaction
(0x315E:01) (see ⮫ Error reaction and escalation strategy).
⇒ The maximum time between the selection of the transition function
"Safe stop 1 (SS1)" and activating of the safety function Safe torque off (STO)
depends on the transition progress! The maximum time can be prolonged at
most by the time parameterized in 0x315E:03 if an error occurs. In the case of
a configured F7 error reaction="torque disable" (0x315E:01) or direct switching
to the F8 error reaction (F3 reaction = F7 reaction in 0x315E:01), the time is
not prolonged.
If SMD acknowledges the transition process without error, the transition by the
transition function SS1 is completed with the selection of the safety function
"Safe torque off (STO)".

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Transition functions

Legend:
*1) SMD executed on the basis of the actual velocity
0x310E:04, SMO encoder function: Velocity threshold
0x3084:02, SMO state machine prof. 1: Max. trans. time, NO to SMST/SMES
0x3084:03, SMO state machine prof. 1: Max. trans. time, between SMxx
The following parameters are relevant for the monitoring function, but do not appear in the figure so as not to overload the
figure with information:
0x315A:01, SMO safely-monitored decel.: Oscillation velocity window
0x315A:02, SMO safely-monitored decel.: Reaction time
0x315A:03, SMO safely-monitored decel.: Velocity window
0x315A:05, SMO safely-monitored decel.: Deceleration
0x315A:04, SMO safely-monitored decel.: Jerk

Monitoring function 3: “SS1, time-prioritized with drive-controlled transition"

When the monitoring function 3 (SS1, time-prioritized with drive-controlled
transition) has been configured, the axis is decelerated in a drive-controlled
way when SS1 is selected. That is to say the drive makes itself independent
of the command value input of the control and is decelerated by the standard
firmware in accordance with the parameterization in "0x315E:01, SMO error
reaction: Configuration stopping process" (bit 0‑3). At the end of the decelera-
tion process, drive enable is removed.
The transition function "Safe stop 1 (SS1)" monitors that the deceleration
process is completed within the parameterized transition time (0x3084:02 or
0x3084:03). If the transition is not completed within the parameterized transi-
tion time, the error "F8350 Maximum transition time exceeded" is signaled and
the safety function "Safe torque off (STO)” is activated.
⇒ The maximum time between the selection of the transition function
"Safe stop 1 (SS1)" and activating of the safety function Safe torque off (STO)
does not depend on the transition progress! The maximum time span is not
extended by the occurrence of an error.
If the drive has been decelerated without error within the parameter-
ized transition time (0x3084:02 or 0x3084:03), the transition by the transi-
tion function SS1 is completed with the selection of the safety function
"Safe torque off (STO)".

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Transition functions

Safety functions
Fig. 37: Monitoring function 3: “SS1, time-prioritized with drive-controlled transition"
Legend:
0x3084:02, SMO state machine prof. 1: Max. trans. time, NO to SMST/SMES
0x3084:03, SMO state machine prof. 1: Max. trans. time, between SMxx

Monitoring function 3(+1a): "SS1, time- and standstill-prioritized with drive-

controlled transition (with ramp-based trend monitoring)"
When the monitoring function 3(+1a) [SS1, time- and standstill-prioritized with
drive-controlled transition (with ramp-based trend monitoring)] has been con-
figured, the axis is decelerated in a drive-controlled way when SS1 is selected.
That is to say the drive makes itself independent of the command value input of
the control and is decelerated by the standard firmware in accordance with the
parameterization in "0x315E:01, SMO error reaction: Configuration stopping
process" (bit 0-3). At the end of the deceleration process, drive enable is
removed.
The transition function "Safe stop 1 (SS1)" monitors that the deceleration
process is completed within the parameterized transition time (0x3084:02 or
0x3084:03). If the transition is not completed within the parameterized transi-
tion time, the error "F8350 Maximum transition time exceeded" is signaled and
the safety function "Safe torque off (STO)" is activated.
In addition to the time monitoring of the transition func-
tion "Safe stop 1 (SS1)", the ⮫ Transition function "Safely-moni-
tored deceleration with ramp-based trend monitoring" is called.
If the SMD detects that the velocity is exceeded, the
error “F7051 Safely-monitored deceleration exceeded“ or "F8351
Safely-monitored deceleration exceeded" [only for F3 equal to F7 reaction
(0x315E:01)] is signaled, and the drive keeps being decelerated according
to the parameterized error reaction (0x315E:01) (see ⮫ Error reaction
and escalation strategy). With the start of the error reaction, the run-
ning transition time monitoring is neither aborted nor retriggered. When
the transition time (0x3084:02 or 0x3084:03) is over, the error "F8350
Maximum transition time exceeded" is additionally signaled independently of
the status of the error reaction, and the safety function "Safe torque off (STO)"
is activated.

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Transition functions

⇒ The maximum time between the selection of the transition function

"Safe stop 1 (SS1)" and activating of the safety function Safe torque off (STO)
does not depend on the transition progress! The maximum time span is not
extended by the occurrence of an error.
The currently active velocity monitoring limit of Safe Motion is displayed in
"0x3156:04, SMO global functions: Velocity threshold". With this parameter it
is possible to check in the control whether the velocity command values are
within the allowed limits.
With the auxiliary function "⮫ Limiting the positioning velocity", it is possible
to monitor and, if necessary, limit the velocity command value effective in the
drive to the active velocity threshold (0x3156:04).
If the drive has been decelerated without error within the parameter-
ized transition time (0x3084:02 or 0x3084:03), the transition by the transi-
tion function SS1 is completed with the selection of the safety function
"Safe torque off (STO)".

Fig. 38: Monitoring function 3(+1a): "SS1, time- and standstill-prioritized with drive-controlled
transition (with ramp-based trend monitoring)"
Legend:
0x310E:04, SMO encoder function: Velocity threshold
0x3084:02, SMO state machine prof. 1: Max. trans. time, NO to SMST/SMES
0x3084:03, SMO state machine prof. 1: Max. trans. time, between SMxx

Monitoring function 3(+1b): "SS1, time- and standstill-prioritized with drive-

controlled transition (with time-based trend monitoring)"
When the monitoring function 3(+1b) [SS1, time- and standstill-prioritized with
drive-controlled transition (with time-based trend monitoring)] has been con-
figured, the axis is decelerated in a drive-controlled way when SS1 is selected.
That is to say the drive makes itself independent of the command value input of
the control and is decelerated by the standard firmware in accordance with the

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Transition functions

parameterization in "0x315E:01, SMO error reaction: Configuration stopping

process" (bit 0-3). At the end of the deceleration process, drive enable is
removed.
The transition function "Safe stop 1 (SS1)" monitors that the deceleration
process is completed within the parameterized transition time (0x3084:02 or
0x3084:03). If the transition is not completed within the parameterized transi-
tion time, the error "F8350 Maximum transition time exceeded" is signaled and
the safety function "Safe torque off (STO)" is activated.
In addition to the time monitoring of the transition func-
tion "Safe stop 1 (SS1)", the ⮫ Transition function "Safely-moni-
tored deceleration with time-based trend monitoring" is called.
If the SMD detects that the velocity is exceeded, the

Safety functions
error “F7051 Safely-monitored deceleration exceeded“ or "F8351
Safely-monitored deceleration exceeded" [only for F3 equal to F7 reaction
(0x315E:01)] is signaled, and the drive keeps being decelerated according
to the parameterized error reaction (0x315E:01) (see ⮫ Error reaction
and escalation strategy). With the start of the error reaction, the run-
ning transition time monitoring is neither aborted nor retriggered. When
the transition time (0x3084:02 or 0x3084:03) is over, the error "F8350
Maximum transition time exceeded" is additionally signaled independently of
the status of the error reaction, and the safety function "Safe torque off (STO)"
is activated.
⇒ The maximum time between the selection of the transition function
"Safe stop 1 (SS1)" and activating of the safety function Safe torque off (STO)
does not depend on the transition progress! The maximum time span is not
extended by the occurrence of an error.
The currently active velocity monitoring limit of Safe Motion is displayed in
"0x3156:04, SMO global functions: Velocity threshold". With this parameter it
is possible to check in the control whether the velocity command values are
within the allowed limits.
With the auxiliary function "⮫ Limiting the positioning velocity", it is possible
to monitor and, if necessary, limit the velocity command value effective in the
drive to the active velocity threshold (0x3156:04).
If the drive has been decelerated without error within the parameter-
ized transition time (0x3084:02 or 0x3084:03), the transition by the transi-
tion function SS1 is completed with the selection of the safety function
"Safe torque off (STO)".

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Transition functions

Fig. 39: Monitoring function 3(+1b): "SS1, time- and standstill-prioritized with drive-controlled
transition (with time-based trend monitoring)"
Legend:
0x310E:04, SMO encoder function: Velocity threshold
0x3084:02, SMO state machine prof. 1: Max. trans. time, NO to SMST/SMES
0x3084:03, SMO state machine prof. 1: Max. trans. time, between SMxx

Monitoring function 3(+1c): "SS1, time- and standstill-prioritized with drive-

controlled transition (based on actual velocity)"
When the monitoring function 3(+1c) [SS1, time- and standstill-prioritized with
drive-controlled transition (based on actual velocity)] has been configured, the
axis is decelerated in a drive-controlled way when SS1 is selected. That is to
say the drive makes itself independent of the command value input of the con-
trol and is decelerated by the standard firmware in accordance with the param-
eterization in "0x315E:01, SMO error reaction: Configuration stopping process"
(bit 0-3). At the end of the deceleration process, drive enable is removed.
The transition function "Safe stop 1 (SS1)" monitors that the deceleration
process is completed within the parameterized transition time (0x3084:02 or
0x3084:03). If the transition is not completed within the parameterized transi-
tion time, the error "F8350 Maximum transition time exceeded" is signaled and
the safety function "Safe torque off (STO)" is activated.
In addition to the time monitoring of the transition function
"Safe stop 1 (SS1)", the ⮫ Transition function "Safely-monitored deceleration
based on actual velocity" is called. If the SMD detects that the velocity
is exceeded, the error “F7051 Safely-monitored deceleration exceeded“ or
"F8351 Safely-monitored deceleration exceeded" [only for F3 equal to F7
reaction (0x315E:01)] is signaled, and the drive keeps being decelerated
according to the parameterized error reaction (0x315E:01) (see ⮫ Error reac-
tion and escalation strategy). With the start of the error reaction, the run-
ning transition time monitoring is neither aborted nor retriggered. When
the transition time (0x3084:02 or 0x3084:03) is over, the error "F8350

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Transition functions

Maximum transition time exceeded" is additionally signaled independently of

the status of the error reaction, and the safety function "Safe torque off (STO)"
is activated.
⇒ The maximum time between the selection of the transition function
"Safe stop 1 (SS1)" and activating of the safety function Safe torque off (STO)
does not depend on the transition progress! The maximum time span is not
extended by the occurrence of an error.
The currently active velocity monitoring limit of Safe Motion is displayed in
"0x3156:04, SMO global functions: Velocity threshold". With this parameter it
is possible to check in the control whether the velocity command values are
within the allowed limits.
With the auxiliary function "⮫ Limiting the positioning velocity", it is possible

Safety functions
to monitor and, if necessary, limit the velocity command value effective in the
drive to the active velocity threshold (0x3156:04).
If the drive has been decelerated without error within the parameter-
ized transition time (0x3084:02 or 0x3084:03), the transition by the transi-
tion function SS1 is completed with the selection of the safety function
"Safe torque off (STO)".

Fig. 40: Monitoring function 3(+1c): "SS1, time- and standstill-prioritized with drive-controlled
transition (based on actual velocity)"

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Transition functions

Legend:
*1) SMD executed on the basis of the actual velocity
0x310E:04, SMO encoder function: Velocity threshold
0x3084:02, SMO state machine prof. 1: Max. trans. time, NO to SMST/SMES
0x3084:03, SMO state machine prof. 1: Max. trans. time, between SMxx
The following parameters are relevant for the monitoring function, but do not appear in the figure so as not to overload the
figure with information:
0x315A:01, SMO safely-monitored decel.: Oscillation velocity window
0x315A:02, SMO safely-monitored decel.: Reaction time
0x315A:03, SMO safely-monitored decel.: Velocity window
0x315A:05, SMO safely-monitored decel.: Deceleration
0x315A:04, SMO safely-monitored decel.: Jerk

Monitoring function 4: "SS1, time-prioritized with NC-controlled transition"

When the monitoring function 4 (SS1, time-prioritized with NC-controlled tran-
sition) has been configured, the axis is decelerated in an NC-controlled way
when SS1 is selected. That is to say the higher-level control decelerates the
drive using the command value system and removes drive enable at the end of
the deceleration process.
The transition function "Safe stop 1 (SS1)" monitors that the deceleration
process is completed within the parameterized transition time (0x3084:02 or
0x3084:03). If the transition is not completed within the parameterized transi-
tion time, the error "F8350 Maximum transition time exceeded" is signaled and
the safety function "Safe torque off (STO)” is activated.
⇒ The maximum time between the selection of the transition function
"Safe stop 1 (SS1)" and activating of the safety function Safe torque off (STO)
does not depend on the transition progress! The maximum time span is not
extended by the occurrence of an error.
If the drive has been decelerated without error within the parameter-
ized transition time (0x3084:02 or 0x3084:03), the transition by the transi-
tion function SS1 is completed with the selection of the safety function
"Safe torque off (STO)".

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Transition functions

Safety functions
Fig. 41: Monitoring function 4: "SS1, time-prioritized with NC-controlled transition"
Legend:
0x3084:03, SMO state machine prof. 1: Max. trans. time, between SMxx
0x3084:02, SMO state machine prof. 1: Max. trans. time, NO to SMST/SMES

Monitoring function 4(+2a): "SS1, time- and standstill-prioritized with NC-con-

trolled transition (with ramp-based trend monitoring)"
When the monitoring function 4(+2a) [SS1, time- and standstill-prioritized with
NC-controlled transition (with ramp-based trend monitoring)] has been config-
ured, the axis is decelerated in an NC-controlled way when SS1 is selected.
That is to say the higher-level control decelerates the drive using the command
value system and removes drive enable at the end of the deceleration process.
The transition function "Safe stop 1 (SS1)" monitors that the deceleration
process is completed within the parameterized transition time (0x3084:02 or
0x3084:03). If the transition is not completed within the parameterized transi-
tion time, the error "F8350 Maximum transition time exceeded" is signaled and
the safety function "Safe torque off (STO)” is activated.
In addition to the time monitoring of the transition function "Safe stop 1", the
⮫ Safety monitored deceleration (SMD) is called. If SMD detects an exceeded
velocity, the error "F7051 Safely-monitored deceleration exceeded" is signaled,
and the drive keeps being decelerated according to the parameterized error
reaction (0x315E:01) (see ⮫ Error reaction and escalation strategy). With the
start of the error reaction, the running transition time monitoring is neither
aborted nor retriggered. When the transition time (0x3084:02 or 0x3084:03)
is over, the error "F8350 Maximum transition time exceeded" is additionally sig-
naled independently of the status of the error reaction, and the safety function
"Safe torque off (STO)" is activated.
⇒ The maximum time between the selection of the transition function
"Safe stop 1 (SS1)" and activating of the safety function Safe torque off (STO)
does not depend on the transition progress! The maximum time span is not
extended by the occurrence of an error.

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Transition functions

The currently active velocity monitoring limit of Safe Motion is displayed in

"0x3156:04, SMO global functions: Velocity threshold". With this parameter it
is possible to check in the control whether the velocity command values are
within the allowed limits.
With the auxiliary function "⮫ Limiting the positioning velocity", it is possible
to monitor and, if necessary, limit the velocity command value effective in the
drive to the active velocity threshold (0x3156:04).
If the drive has been decelerated without error within the parameter-
ized transition time (0x3084:02 or 0x3084:03), the transition by the transi-
tion function SS1 is completed with the selection of the safety function
"Safe torque off (STO)".

Fig. 42: Monitoring function 4(+2a): "SS1, time- and standstill-prioritized with NC-controlled
transition (with ramp-based trend monitoring)"
Legend:
0x310E:04, SMO encoder function: Velocity threshold
0x3084:02, SMO state machine prof. 1: Max. trans. time, NO to SMST/SMES
0x3084:03, SMO state machine prof. 1: Max. trans. time, between SMxx

Monitoring function 4(+2b): "SS1, time- and standstill-prioritized with NC-con-

trolled transition (with time-based trend monitoring)
When the monitoring function 4(+2b) [SS1, time- and standstill-prioritized with
NC-controlled transition (with time-based trend monitoring)] has been config-
ured, the axis is decelerated in an NC-controlled way when SS1 is selected.
That is to say the higher-level control decelerates the drive using the command
value system and removes drive enable at the end of the deceleration process.
The transition function "Safe stop 1 (SS1)" monitors that the deceleration
process is completed within the parameterized transition time (0x3084:02 or
0x3084:03). If the transition is not completed within the parameterized transi-
tion time, the error "F8350 Maximum transition time exceeded" is signaled and
the safety function "Safe torque off (STO)” is activated.

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Transition functions

In addition to the time monitoring of the transition function "Safe stop 1", the
⮫ Safety monitored deceleration (SMD) is called. If SMD detects an exceeded
velocity, the error "F7051 Safely-monitored deceleration exceeded" is signaled,
and the drive keeps being decelerated according to the parameterized error
reaction (0x315E:01) (see ⮫ Error reaction and escalation strategy). With the
start of the error reaction, the running transition time monitoring is neither
aborted nor retriggered. When the transition time (0x3084:02 or 0x3084:03)
is over, the error "F8350 Maximum transition time exceeded" is additionally sig-
naled independently of the status of the error reaction, and the safety function
"Safe torque off (STO)" is activated.
⇒ The maximum time between the selection of the transition function
"Safe stop 1 (SS1)" and activating of the safety function Safe torque off (STO)

Safety functions
does not depend on the transition progress! The maximum time span is not
extended by the occurrence of an error.
The currently active velocity monitoring limit of Safe Motion is displayed in
"0x3156:04, SMO global functions: Velocity threshold". With this parameter it
is possible to check in the control whether the velocity command values are
within the allowed limits.
With the auxiliary function "⮫ Limiting the positioning velocity", it is possible
to monitor and, if necessary, limit the velocity command value effective in the
drive to the active velocity threshold (0x3156:04).
If the drive has been decelerated without error within the parameter-
ized transition time (0x3084:02 or 0x3084:03), the transition by the transi-
tion function SS1 is completed with the selection of the safety function
"Safe torque off (STO)".

Fig. 43: Monitoring function 4(+2b): "SS1, time- and standstill-prioritized with NC-controlled
transition (with time-based trend monitoring)

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Transition functions

Legend:
0x310E:04, SMO encoder function: Velocity threshold
0x3084:02, SMO state machine prof. 1: Max. trans. time, NO to SMST/SMES
0x3084:03, SMO state machine prof. 1: Max. trans. time, between SMxx

Monitoring function 4(+2c): "SS1, time- and standstill-prioritized with NC-con-

trolled transition (based on actual velocity)"
When the monitoring function 4(+2c) [SS1, time- and standstill-prioritized with
NC-controlled transition (based on actual velocity)] has been configured, the
axis is decelerated in an NC-controlled way when SS1 is selected. That is to say
the higher-level control decelerates the drive using the command value system
and removes drive enable at the end of the deceleration process.
The transition function "Safe stop 1 (SS1)" monitors that the deceleration
process is completed within the parameterized transition time (0x3084:02 or
0x3084:03). If the transition is not completed within the parameterized transi-
tion time, the error "F8350 Maximum transition time exceeded" is signaled and
the safety function "Safe torque off” is activated.
In addition to the time monitoring of the transition function
"Safe stop 1 (SS1)", the ⮫ Safety monitored deceleration (SMD)
is called. If SMD detects an exceeded velocity, the error "F7051
Safely-monitored deceleration exceeded" is signaled, and the drive keeps being
decelerated according to the parameterized error reaction (0x315E:01) (see
⮫ Error reaction and escalation strategy). With the start of the error reaction,
the running transition time monitoring is neither aborted nor retriggered.
When the transition time (0x3084:02 or 0x3084:03) is over, the error "F8350
Maximum transition time exceeded" is additionally signaled independently of
the status of the error reaction, and the safety function "Safe torque off (STO)"
is activated.
⇒ The maximum time between the selection of the transition function
"Safe stop 1 (SS1)" and activating of the safety function Safe torque off (STO)
does not depend on the transition progress! The maximum time span is not
extended by the occurrence of an error.
The currently active velocity monitoring limit of Safe Motion is displayed in
"0x3156:04, SMO global functions: Velocity threshold". With this parameter it
is possible to check in the control whether the velocity command values are
within the allowed limits.
With the auxiliary function "⮫ Limiting the positioning velocity", it is possible
to monitor and, if necessary, limit the velocity command value effective in the
drive to the active velocity threshold (0x3156:04).
If the drive has been decelerated without error within the parameter-
ized transition time (0x3084:02 or 0x3084:03), the transition by the transi-
tion function SS1 is completed with the selection of the safety function
"Safe torque off (STO)".

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Transition functions

Safety functions
Fig. 44: Monitoring function 4(+2c): "SS1, time- and standstill-prioritized with NC-controlled
transition (based on actual velocity)"
Legend:
*1) SMD executed on the basis of the actual velocity
0x310E:04, SMO encoder function: Velocity threshold
0x3084:02, SMO state machine prof. 1: Max. trans. time, NO to SMST/SMES
0x3084:03, SMO state machine prof. 1: Max. trans. time, between SMxx
The following parameters are relevant for the monitoring function, but do not appear in the figure so as not to overload the
figure with information:
0x315A:01, SMO safely-monitored decel.: Oscillation velocity window
0x315A:02, SMO safely-monitored decel.: Reaction time
0x315A:03, SMO safely-monitored decel.: Velocity window
0x315A:05, SMO safely-monitored decel.: Deceleration
0x315A:04, SMO safely-monitored decel.: Jerk

Deselecting the transition function

An active transition function "Safe stop 1" (SS1) becomes inactive under the
following conditions:
● By activating the STO function after the deceleration process has been com-
pleted
‑ or ‑
● By deselecting the transition function via the active "Safe Motion" profile
using the parameter "0x3157:01, SMO function selection: Control word 1"
‑ or ‑
● When a safety technology error occurs in the standstill-prioritized variants of
the transition function "Safe stop 1 (SS1)". In this case, the parameterized
error reaction (0x315E:01) decelerates the drive and activates the STO func-
tion.

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Transition functions

In the case of a drive-controlled operation mode transition, the started deceler-

ation process is continued by the standard firmware, even if the safety function
is deselected.

8.5.2 Safe stop 2 (SS2)

Brief description
If the transition function "Safe stop 2 (SS2)" is activated, the drive is deceler-
ated in a safely monitored way. After the deceleration process has been com-
pleted, the safety function "Safe operating stop (SOS)" is activated.
The transition function "Safe stop 2 (SS2)" detects a successful deceleration
process, when the motor has stopped; i.e. the actual velocity is smaller
than the value parameterized in "0x310E:04, SMO encoder function: Velocity
threshold".
The transition to standstill by the transition function "Safe stop 2 (SS2)" can be
performed in two ways:
● "Drive-controlled", i.e. the drive is decelerated by the standard firmware, and
the safety technology monitors the deceleration process or
● "NC-controlled", i.e. the higher-level control decelerates the drive via the
command value system, and the safety technology monitors the deceleration
process
Both the drive-controlled and the NC-controlled transition can be carried out
"with time control" (SS2-t) or "with monitoring of the deceleration ramp" (SS2-
r).
A transition with time control has the following features:
● The functionality is independent of the measuring system used and attains
the safety level Category 4, PL e according to EN ISO 13849-1 or SIL 3
according to EN 61800–5–2 / EN 61508.
● The safety function "Safe operating stop (SOS)" is activated in standstill
after expiration of the parameterized time delay.
A transition with monitoring of the deceleration ramp has the following fea-
tures:
● The functionality depends on the measuring system used and can attain
the safety level Category 3, PL d according to EN ISO 13849-1 or SIL 2
according to EN 61800–5–2 / EN 61508.
● The safety function "Safe operating stop (SOS)" is activated in standstill.
● The deceleration process is always monitored, with regard to the max-
imum transition time, by a deceleration monitoring function [safety function
"Safely-monitored deceleration (SMD)"] with integrated monitoring. If the
maximum transition time is exceeded, the STO function is not necessarily
activated. This is done within the scope of the parameterized error reaction
(0x315E:01).

Features
The function has the following features:
● Corresponds to stop category 2 according to EN 60204-1.
● The "Safe stop 2 with time control" (SS2-t) is suited for safety-relevant
applications up to Category 4, PL e according to EN ISO 13849–1 or SIL 3
according to EN 61800–5–2 / EN 61508.
● The "Safe stop 2 with monitoring of the deceleration ramp" (SS2-r) is
suited for safety-relevant applications up to Category 3, PL d according to
EN ISO 13849-1 or SIL 2 according to EN 61800–5–2 / EN 61508.

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Transition functions

In conjunction with a suitable measuring system and the function package

"SafeMotion SIL3+", the safety level Category 4, PL e according to
EN ISO 13849‑1 or SIL 3 according to EN 61800–5–2 / EN 61508 can be
achieved.
● The energy supply to the motor is not interrupted.
● The transition function can be used in drive systems equipped with the
optional safety technology module "SafeMotion".
● To use the function, it is necessary to activate and license a function
package. For the function package required for the various characteristics
of the function, please refer to ⮫ Table 7 Dependency on safety functions
and on the availability with the function packages on page 27.
● The transition can be performed in a "drive-controlled" way or in an "NC-con-

Safety functions
trolled" way.
● The safety function "Safe operating stop (SOS)" is automatically activated at
the end of the transition function "Safe stop 2" (SS2).
● The duration of the transition is monitored (cf. 0x3084:02 or 0x3084:03).
When the monitoring function is triggered, this causes an error reac-
tion which decelerates the drive system. The corresponding error
message is "F7050 Maximum transition time exceeded or "F8350
Maximum transition time exceeded“.
● The deceleration during the transition "Safe stop 2 with moni-
toring of the deceleration ramp" (SS2-r) is monitored via the
safety function "Safely-monitored deceleration (SMD)". When the
monitoring function is triggered, this causes an error reaction
which decelerates the drive system. The corresponding error mes-
sage is "F7051 Safely-monitored deceleration exceeded“ or "F8351
Safely-monitored deceleration exceeded“.
● The transition function "Safe stop 2" is selected via the active "Safe Motion"
profile using the parameter "0x3157:01, SMO function selection: Control
word 1".
● The state of the transition function "Safe stop 2" is displayed via parameter
"0x3157:03, SMO function selection: Status word 1".

Parameters involved
The following parameters are used in conjunction with the transition function
"Safe stop 2 (SS2)":
● 0x3156:04, SMO global functions: Velocity threshold
● 0x310E:04, SMO encoder function: Velocity threshold
● 0x3082:02, SMO state machine: Control word, functional
● 0x315E:01, SMO error reaction: Configuration stopping process
● 0x3157:01, SMO function selection: Control word 1
● 0x3157:03, SMO function selection: Status word 1
● 0x3084:01, SMO state machine prof. 1: Config operation mode transitions
● 0x3084:02, SMO state machine prof. 1: Max. trans. time, NO to SMST/SMES
● 0x3084:03, SMO state machine prof. 1: Max. trans. time, between SMxx

Diagnostic messages involved

The following diagnostic messages can be generated in conjunction with the
safety function "Safe stop 2 (SS2)":
● C8214 SMO: Incorrect configuration
● F7050 Maximum transition time exceeded
● F7051 Safely-monitored deceleration exceeded
● F7052 Selected target velocity exceeded

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● F8350 Maximum transition time exceeded

● F8351 Safely-monitored deceleration exceeded
With the transition function "Safe stop 2 (SS2)" activated, the display of the
drive controller panel does not show any specific message.

Transition function

Basic principle
If the transition function "Safe stop 2 (SS2)" is activated, the drive is deceler-
ated in a safely monitored way. After the deceleration process has been com-
pleted, the safety function "Safe operating stop (SOS)" is activated.

The transition function "Safe stop 2" detects a successful deceleration process,
when the motor has stopped; i.e. the actual velocity is smaller than the value
parameterized in "0x310E:04, SMO encoder function: Velocity threshold".

Configuring the transition function

To use the transition function "Safe stop 2 (SS2)", it has to be configured,
when safety technology is commissioned, via the parameter "0x3084:01, SMO
state machine prof. 1: Config operation mode transitions".

The transition function "Safe stop 2" can be executed in 8 variants, as the table
below shows:
Table 26: Configurable variants of the transition function Safe stop 2 (SS2)
No. Monitoring Execution SS2 Operation mode Execution Depends on meas- Maximum safety level
transitions to SMD uring system used
standstill
1a SS2 with moni- Monitoring of the Drive-controlled Ramp- Yes Category 3, PL d
toring of the decel- deceleration ramp based according to
eration ramp and (SS2-r) trend moni- EN ISO 13849-1
drive-controlled toring or SIL 2 according
transition (with (SMD- to EN 61800–5–2 /
ramp-based trend r_Ramp- EN 61508
monitoring) Trend)
1b SS2 with moni- Time-based
toring of the decel- trend moni-
eration ramp and toring
drive-controlled (SMD-
transition (with r_Time-
time-based trend Trend)
monitoring)
1c SS2 with moni- Based on
toring of the decel- actual
eration ramp and velocity
drive-controlled (SMD-
transition (based r_ActVel)
on actual velocity)
2a SS2 with moni- NC-controlled Ramp-
toring of the decel- based
eration ramp and trend moni-
NC-controlled tran- toring
sition (with ramp- (SMD-
based trend moni- r_Ramp-
toring) Trend)

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Transition functions

No. Monitoring Execution SS2 Operation mode Execution Depends on meas- Maximum safety level
transitions to SMD uring system used
standstill
2b SS2 with moni- Time-based
toring of the decel- trend moni-
eration ramp and toring
NC-controlled tran- (SMD-
sition (with time- r_Time-
based trend moni- Trend)
toring)
2c SS2 with moni- Based on
toring of the decel- actual

Safety functions
eration ramp and velocity
NC-controlled tran- (SMD-
sition (based on r_ActVel)
actual velocity)
3 SS2 with time con- Time control (SS2- Drive-controlled - No Category 4, PL e
trol and drive-con- t) according to
trolled transition EN ISO 13849-1
4 SS2 with time con- NC-controlled or SIL 3 according
trol and NC-con- to EN 61800–5–2 /
trolled transition EN 61508

Selecting the transition function

The transition function "Safe stop 2 (SS2)" can be activated via the active
"Safe Motion" profile using the parameter "0x3157:01, SMO function selection:
Control word 1", when the following conditions have been fulfilled:
● SOS has been configured, but is not active and
● SS1 or STO is not active

Transition to the safe state

Monitoring function 1a: "SS2 with monitoring of the deceleration ramp and
drive-controlled transition (with ramp-based trend monitoring)"
When the monitoring function 1a (SS2 with monitoring of the deceleration
ramp and drive-controlled transition (with ramp-based trend monitoring)) has
been configured, the axis is decelerated in a drive-controlled way when SS2
is selected. That is to say the drive makes itself independent of the command
value input of the control and is decelerated via the "Drive Halt" function of the
standard firmware (see also Functional Description of firmware "Drive Halt").
To monitor the standstill process, the transition function "Safe stop 2 (SS2)"
calls the ⮫ Transition function "Safely-monitored deceleration based
on actual velocity". If SMD detects that the velocity is exceeded,
the error "F7051 Safely-monitored deceleration exceeded" or "F8351
Safely-monitored deceleration exceeded" [only for F3 equal to F7 reaction
(0x315E:01)] is signaled, and the drive keeps being decelerated according to
the parameterized error reaction (0x315E:01) (see ⮫ Error reaction and escala-
tion strategy).
The currently active velocity monitoring limit of Safe Motion is displayed in
"0x3156:04, SMO global functions: Velocity threshold". With this parameter it
is possible to check in the control whether the velocity command values are
within the allowed limits.
With the auxiliary function "⮫ Limiting the positioning velocity", it is possible
to monitor and, if necessary, limit the velocity command value effective in the
drive to the active velocity threshold (0x3156:04).

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In parallel with velocity monitoring, SMD also monitors that the deceleration
process is completed within the parameterized transition time (0x3084:02
or 0x3084:03). If the transition is not completed within the parameterized
transition time, the error "F7050 Maximum transition time exceeded" or
"F8350 Maximum transition time exceeded" [only for F3 equal to F7 reaction
(0x315E:01)] is signaled, and the drive keeps being decelerated according to
the parameterized error reaction (0x315E:01) (see ⮫ Error reaction and escala-
tion strategy).
⇒ The maximum time between the selection of the transition function
"Safe stop 2 (SS2)" and reaching of the safe standstill ("SOS" in case of an
error-free transition or "STO" in case an error occurs) is dependent on the
transition! The maximum time can be prolonged at most by the time parame-
terized in 0x315E:03 if an error occurs. In the case of a configured F7 error
reaction="torque disable" (0x315E:01) or direct switching to the F8 error reac-
tion (F3 reaction=F7 reaction in 0x315E:01), the time is not prolonged.
If SMD acknowledges the transition process without error, the transition by the
transition function "Safe stop 2 (SS2)" is completed with the selection of the
safety function "Safe operating stop (SOS)".

Fig. 45: Monitoring function 1a: "SS2 with monitoring of the deceleration ramp and drive-controlled
transition (with ramp-based trend monitoring)"
Legend:
0x310E:04, SMO encoder function: Velocity threshold
0x3084:02, SMO state machine prof. 1: Max. trans. time, NO to SMST/SMES
0x3084:03, SMO state machine prof. 1: Max. trans. time, between SMxx

Monitoring function 1b: "SS2 with monitoring of the deceleration ramp and
drive-controlled transition (with time-based trend monitoring)"
When the monitoring function 1b (SS2 with monitoring of the deceleration
ramp and drive-controlled transition (with time-based trend monitoring)) has
been configured, the axis is decelerated in a drive-controlled way when SS2
is selected. That is to say the drive makes itself independent of the command
value input of the control and is decelerated via the "Drive Halt" function of the
standard firmware (see also Functional Description of firmware "Drive Halt").

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Transition functions

To monitor the standstill process, the transition function "Safe stop 2 (SS2)"
calls the ⮫ Transition function "Safely-monitored deceleration with time-
based trend monitoring". If SMD detects that the velocity is exceeded,
the error "F7051 Safely-monitored deceleration exceeded" or "F8351
Safely-monitored deceleration exceeded" [only for F3 equal to F7 reaction
(0x315E:01)] is signaled, and the drive keeps being decelerated according to
the parameterized error reaction (0x315E:01) (see ⮫ Error reaction and escala-
tion strategy).
The currently active velocity monitoring limit of Safe Motion is displayed in
"0x3156:04, SMO global functions: Velocity threshold". With this parameter it
is possible to check in the control whether the velocity command values are
within the allowed limits.

Safety functions
With the auxiliary function "⮫ Limiting the positioning velocity", it is possible
to monitor and, if necessary, limit the velocity command value effective in the
drive to the active velocity threshold (0x3156:04).
In parallel with velocity monitoring, SMD also monitors that the deceleration
process is completed within the parameterized transition time (0x3084:02
or 0x3084:03). If the transition is not completed within the parameterized
transition time, the error "F7050 Maximum transition time exceeded" or
"F8350 Maximum transition time exceeded" [only for F3 equal to F7 reaction
(0x315E:01)] is signaled, and the drive keeps being decelerated according to
the parameterized error reaction (0x315E:01) (see ⮫ Error reaction and escala-
tion strategy).
⇒ The maximum time between the selection of the transition function
"Safe stop 2 (SS2)" and reaching of the safe standstill ("SOS" in case of an
error-free transition or "STO" in case an error occurs) is dependent on the
transition! The maximum time can be prolonged at most by the time parame-
terized in 0x315E:03 if an error occurs. In the case of a configured F7 error
reaction="torque disable" (0x315E:01) or direct switching to the F8 error reac-
tion (F3 reaction=F7 reaction in 0x315E:01), the time is not prolonged.
If SMD acknowledges the transition process without error, the transition by the
transition function "Safe stop 2 (SS2)" is completed with the selection of the
safety function "Safe operating stop (SOS)".

Fig. 46: Monitoring function 1b: "SS2 with monitoring of the deceleration ramp and drive-controlled
transition (with time-based trend monitoring)"

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Legend:
0x310E:04, SMO encoder function: Velocity threshold
0x3156:02, SMO global functions: Safe max. speed
0x3084:02, SMO state machine prof. 1: Max. trans. time, NO to SMST/SMES
0x3084:03, SMO state machine prof. 1: Max. trans. time, between SMxx
0x315A:06, SMO safely-monitored decel.: Trans. time, NO to standstill
0x315A:07, SMO safely-monitored decel.: Trans. time, SMD between SMx
0x3160:01, SMO safely-limited speed 1: Velocity...0x316F:01, SMO safely-limited speed 16: Velocity

Monitoring function 1c: "SS2 with monitoring of the deceleration ramp and
drive-controlled transition (based on actual velocity)"
When the monitoring function 1c (SS2 with monitoring of the deceleration
ramp and drive-controlled transition (based on actual velocity)) has been con-
figured, the axis is decelerated in a drive-controlled way when SS2 is selected.
That is to say the drive makes itself independent of the command value input
of the control and is decelerated via the "Drive Halt" function of the standard
firmware (see also Functional Description of firmware "Drive Halt").
To monitor the standstill process, the transition function "Safe stop 2 (SS2)"
calls the ⮫ Transition function "Safely-monitored deceleration based
on actual velocity". If SMD detects that the velocity is exceeded,
the error "F7051 Safely-monitored deceleration exceeded" or "F8351
Safely-monitored deceleration exceeded" [only for F3 equal to F7 reaction
(0x315E:01)] is signaled, and the drive keeps being decelerated according to
the parameterized error reaction (0x315E:01) (see ⮫ Error reaction and escala-
tion strategy).
The currently active velocity monitoring limit of Safe Motion is displayed in
"0x3156:04, SMO global functions: Velocity threshold". With this parameter it
is possible to check in the control whether the velocity command values are
within the allowed limits.
With the auxiliary function "⮫ Limiting the positioning velocity", it is possible
to monitor and, if necessary, limit the velocity command value effective in the
drive to the active velocity threshold (0x3156:04).
In parallel with velocity monitoring, SMD also monitors that the deceleration
process is completed within the parameterized transition time (0x3084:02
or 0x3084:03). If the transition is not completed within the parameterized
transition time, the error "F7050 Maximum transition time exceeded" or
"F8350 Maximum transition time exceeded" [only for F3 equal to F7 reaction
(0x315E:01)] is signaled, and the drive keeps being decelerated according to
the parameterized error reaction (0x315E:01) (see ⮫ Error reaction and escala-
tion strategy).
⇒ The maximum time between the selection of the transition function
"Safe stop 2 (SS2)" and reaching of the safe standstill ("SOS" in case of an
error-free transition or "STO" in case an error occurs) is dependent on the
transition! The maximum time can be prolonged at most by the time parame-
terized in 0x315E:03 if an error occurs. In the case of a configured F7 error
reaction="torque disable" (0x315E:01) or direct switching to the F8 error reac-
tion (F3 reaction=F7 reaction in 0x315E:01), the time is not prolonged.
If SMD acknowledges the transition process without error, the transition by the
transition function "Safe stop 2 (SS2)" is completed with the selection of the
safety function "Safe operating stop (SOS)".

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Transition functions

Safety functions
Fig. 47: Monitoring function 1c: "SS2 with monitoring of the deceleration ramp and drive-controlled
transition (based on actual velocity)"
Legend:
0x310E:04, SMO encoder function: Velocity threshold
0x3084:02, SMO state machine prof. 1: Max. trans. time, NO to SMST/SMES
0x3084:03, SMO state machine prof. 1: Max. trans. time, between SMxx
0x315A:01, SMO safely-monitored decel.: Oscillation velocity window
0x315A:02, SMO safely-monitored decel.: Reaction time
0x315A:03, SMO safely-monitored decel.: Velocity window
0x315A:05, SMO safely-monitored decel.: Deceleration
0x315A:04, SMO safely-monitored decel.: Jerk

Monitoring function 2a: "SS2 with monitoring of the deceleration ramp and
NC-controlled transition (with ramp-based trend monitoring)"
When the monitoring function 2a [SS2 with monitoring of the deceleration
ramp and NC-controlled transition (with ramp-based trend monitoring)] has
been configured, the axis is decelerated in an NC-controlled way when SS2
is selected; i.e. the higher-level control decelerates the drive within the para-
meterized transition time (0x3084:02 or 0x3084:03) via the command value
system.
To monitor the standstill process, the transition function "Safe stop 2 (SS2)"
calls the ⮫ Transition function "Safely-monitored deceleration based on actual
velocity". If SMD detects that the velocity is exceeded, the error "F7051
Safely-monitored deceleration exceeded" is signaled and the drive keeps being
decelerated in accordance with the parameterized error reaction (0x315E:01)
(see ⮫ Error reaction and escalation strategy).

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The currently active velocity monitoring limit of Safe Motion is displayed in

"0x3156:04, SMO global functions: Velocity threshold". With this parameter it
is possible to check in the control whether the velocity command values are
within the allowed limits.
With the auxiliary function "⮫ Limiting the positioning velocity", it is possible
to monitor and, if necessary, limit the velocity command value effective in the
drive to the active velocity threshold (0x3156:04).
In parallel with velocity monitoring, SMD also monitors that the deceleration
process is completed within the parameterized transition time (0x3084:02 or
0x3084:03). If the transition is not completed within the parameterized transi-
tion time, the error "F7050 Maximum transition time exceeded" is signaled.
The drive keeps being decelerated in accordance with the parameterized error
reaction (0x315E:01) (see ⮫ Error reaction and escalation strategy).
⇒ The maximum time between the selection of the transition function
"Safe stop 2 (SS2)" and reaching of the safe standstill ("SOS" in case of an
error-free transition or "STO" in case an error occurs) is dependent on the
transition! The maximum time can be prolonged at most by the time parame-
terized in 0x315E:03 if an error occurs. In the case of a configured F7 error
reaction="torque disable" (0x315E:01) or direct switching to the F8 error reac-
tion (F3 reaction=F7 reaction in 0x315E:01), the time is not prolonged.
When SMD signals motor standstill (actual velocity < 0x310E:04) and the tran-
sition time (0x3084:02 or 0x3084:03) is over, the transition by the transition
function "Safe stop 2 (SS2)" is completed with the selection of the safety
function "Safe operating stop (SOS)".

Fig. 48: Monitoring function 2a: "SS2 with monitoring of the deceleration ramp and NC-controlled
transition (with ramp-based trend monitoring)" (without "NC-Ready")
Legend:
0x310E:04, SMO encoder function: Velocity threshold
0x3084:02, SMO state machine prof. 1: Max. trans. time, NO to SMST/SMES
0x3084:03, SMO state machine prof. 1: Max. trans. time, between SMxx

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Transition functions

Via the "NC-Ready" signal "NC-Ready" in "0x3082:02, SMO state machine: Con-
trol word, functional", the control may signal the end of the transition process
of safety technology. The safety function SMD will then immediately terminate
the transition and not wait for the transition time to expire (0x3084:02 or
0x3084:03 or 0x3084:04).
The “NC-Ready” signal is evaluated dynamically, i.e. in an edge-triggered way.
The safety technology detects a valid edge (0‑1 transition), if the signal previ-
ously had been "0" for at least 10 ms.
If the transition process is terminated ahead of time via the "NC-Ready" signal,
although the target velocity of the selected safety function has not yet been
reached, the error "F7052 Selected target velocity exceeded" is generated and
the drive is decelerated.

Safety functions
Fig. 49: Monitoring function 2a: "SS2 with monitoring of the deceleration ramp and NC-controlled
transition (with ramp-based trend monitoring)" (with "NC-Ready")
Legend:
0x310E:04, SMO encoder function: Velocity threshold
0x3084:02, SMO state machine prof. 1: Max. trans. time, NO to SMST/SMES
0x3084:03, SMO state machine prof. 1: Max. trans. time, between SMxx

Monitoring function 2b: "SS2 with monitoring of the deceleration ramp and
NC-controlled transition (with time-based trend monitoring)"
When the monitoring function 2b [SS2 with monitoring of the deceleration
ramp and NC-controlled transition (with time-based trend monitoring)] has
been configured, the axis is decelerated in an NC-controlled way when SS2
is selected; i.e. the higher-level control decelerates the drive within the para-
meterized transition time (0x3084:02 or 0x3084:03) via the command value
system.
To monitor the standstill process, the transition function "Safe stop 2 (SS2)"
calls the ⮫ Transition function "Safely-monitored deceleration with time-based
trend monitoring". If SMD detects that the velocity is exceeded, the error

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Transition functions

"F7051 Safely-monitored deceleration exceeded" is signaled and the drive

keeps being decelerated in accordance with the parameterized error reaction
(0x315E:01) (see ⮫ Error reaction and escalation strategy).
The currently active velocity monitoring limit of Safe Motion is displayed in
"0x3156:04, SMO global functions: Velocity threshold". With this parameter it
is possible to check in the control whether the velocity command values are
within the allowed limits.
With the auxiliary function "⮫ Limiting the positioning velocity", it is possible
to monitor and, if necessary, limit the velocity command value effective in the
drive to the active velocity threshold (0x3156:04).
In parallel with velocity monitoring, SMD also monitors that the deceleration
process is completed within the parameterized transition time (0x3084:02 or
0x3084:03). If the transition is not completed within the parameterized transi-
tion time, the error "F7050 Maximum transition time exceeded" is signaled.
The drive keeps being decelerated in accordance with the parameterized error
reaction (0x315E:01) (see ⮫ Error reaction and escalation strategy).
⇒ The maximum time between the selection of the transition function
"Safe stop 2 (SS2)" and reaching of the safe standstill ("SOS" in case of an
error-free transition or "STO" in case an error occurs) is dependent on the
transition! The maximum time can be prolonged at most by the time parame-
terized in 0x315E:03 if an error occurs. In the case of a configured F7 error
reaction="torque disable" (0x315E:01) or direct switching to the F8 error reac-
tion (F3 reaction=F7 reaction in 0x315E:01), the time is not prolonged.
When SMD signals motor standstill (actual velocity < 0x310E:04) and the tran-
sition time (0x3084:02 or 0x3084:03) is over, the transition by the transition
function "Safe stop 2 (SS2)" is completed with the selection of the safety
function "Safe operating stop (SOS)".

Fig. 50: Monitoring function 2b: "SS2 with monitoring of the deceleration ramp and NC-controlled
transition (with time-based trend monitoring)" (without "NC-Ready")

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Transition functions

Legend:
0x310E:04, SMO encoder function: Velocity threshold
0x3156:02, SMO global functions: Safe max. speed
0x3084:02, SMO state machine prof. 1: Max. trans. time, NO to SMST/SMES
0x3084:03, SMO state machine prof. 1: Max. trans. time, between SMxx
0x315A:06, SMO safely-monitored decel.: Trans. time, NO to standstill
0x315A:07, SMO safely-monitored decel.: Trans. time, SMD between SMx
0x3160:01, SMO safely-limited speed 1: Velocity...0x316F:01, SMO safely-limited speed 16: Velocity

Via the "NC-Ready" signal "NC-Ready" in "0x3082:02, SMO state machine: Con-
trol word, functional", the control may signal the end of the transition process

Safety functions
of safety technology. The safety function SMD will then immediately terminate
the transition and not wait for the transition time to expire (0x3084:02 or
0x3084:03 or 0x3084:04).
The “NC-Ready” signal is evaluated dynamically, i.e. in an edge-triggered way.
The safety technology detects a valid edge (0‑1 transition), if the signal previ-
ously had been "0" for at least 10 ms.
If the transition process is terminated ahead of time via the "NC-Ready" signal,
although the target velocity of the selected safety function has not yet been
reached, the error "F7052 Selected target velocity exceeded" is generated and
the drive is decelerated.

Fig. 51: Monitoring function 2b: "SS2 with monitoring of the deceleration ramp and NC-controlled
transition (with time-based trend monitoring)" (with "NC-Ready")

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Transition functions

Legend:
0x310E:04, SMO encoder function: Velocity threshold
0x3156:02, SMO global functions: Safe max. speed
0x3084:02, SMO state machine prof. 1: Max. trans. time, NO to SMST/SMES
0x3084:03, SMO state machine prof. 1: Max. trans. time, between SMxx
0x315A:06, SMO safely-monitored decel.: Trans. time, NO to standstill
0x315A:07, SMO safely-monitored decel.: Trans. time, SMD between SMx
0x3160:01, SMO safely-limited speed 1: Velocity...0x316F:01, SMO safely-limited speed 16: Velocity

Monitoring function 2c: "SS2 with monitoring of the deceleration ramp and
NC-controlled transition (based on actual velocity)"
When the monitoring function 2c [SS2 with monitoring of the deceleration
ramp and NC-controlled transition (based on actual velocity)] has been config-
ured, the axis is decelerated in an NC-controlled way when SS2 is selected; i.e.
the higher-level control decelerates the drive via the command value system.
To monitor the standstill process, the transition function "Safe stop 2 (SS2)"
calls the ⮫ Transition function "Safely-monitored deceleration based on actual
velocity". If SMD detects that the velocity is exceeded, the error "F7051
Safely-monitored deceleration exceeded" is signaled and the drive keeps being
decelerated in accordance with the parameterized error reaction (0x315E:01)
(see ⮫ Error reaction and escalation strategy).
The currently active velocity monitoring limit of Safe Motion is displayed in
"0x3156:04, SMO global functions: Velocity threshold". With this parameter it
is possible to check in the control whether the velocity command values are
within the allowed limits.
With the auxiliary function "⮫ Limiting the positioning velocity", it is possible
to monitor and, if necessary, limit the velocity command value effective in the
drive to the active velocity threshold (0x3156:04).
In parallel with velocity monitoring, SMD also monitors that the deceleration
process is completed within the parameterized transition time (0x3084:02 or
0x3084:03). If the transition is not completed within the parameterized transi-
tion time, the error "F7050 Maximum transition time exceeded" is signaled.
The drive keeps being decelerated in accordance with the parameterized error
reaction (0x315E:01) (see ⮫ Error reaction and escalation strategy).
⇒ The maximum time between the selection of the transition function
"Safe stop 2 (SS2)" and reaching of the safe standstill ("SOS" in case of an
error-free transition or "STO" in case an error occurs) is dependent on the
transition! The maximum time can be prolonged at most by the time parame-
terized in 0x315E:03 if an error occurs. In the case of a configured F7 error
reaction="torque disable" (0x315E:01) or direct switching to the F8 error reac-
tion (F3 reaction=F7 reaction in 0x315E:01), the time is not prolonged.
When SMD signals motor standstill (actual velocity < 0x310E:04) and the tran-
sition time (0x3084:02 or 0x3084:03) is over, the transition by the transition
function "Safe stop 2 (SS2)" is completed with the selection of the safety
function "Safe operating stop (SOS)".

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Transition functions

Via the "NC-Ready" signal "NC-Ready" in "0x3082:02, SMO state machine: Con-
trol word, functional", the control may signal the end of the transition process
of safety technology. The safety function SMD will then immediately terminate
the transition and not wait for the transition time to expire (0x3084:02 or
0x3084:03 or 0x3084:04).
The “NC-Ready” signal is evaluated dynamically, i.e. in an edge-triggered way.
The safety technology detects a valid edge (0‑1 transition), if the signal previ-
ously had been "0" for at least 10 ms.
If the transition process is terminated ahead of time via the "NC-Ready" signal,
although the target velocity of the selected safety function has not yet been
reached, the error "F7052 Selected target velocity exceeded" is generated and
the drive is decelerated.

Safety functions
Fig. 52: Monitoring function 2c: "SS2 with monitoring of the deceleration ramp and NC-controlled
transition (based on actual velocity)"
Legend:
0x310E:04, SMO encoder function: Velocity threshold
0x3084:02, SMO state machine prof. 1: Max. trans. time, NO to SMST/SMES
0x3084:03, SMO state machine prof. 1: Max. trans. time, between SMxx
0x315A:01, SMO safely-monitored decel.: Oscillation velocity window
0x315A:02, SMO safely-monitored decel.: Reaction time
0x315A:03, SMO safely-monitored decel.: Velocity window
0x315A:05, SMO safely-monitored decel.: Deceleration
0x315A:04, SMO safely-monitored decel.: Jerk
0x3160:01, SMO safely-limited speed 1: Velocity...0x316F:01, SMO safely-limited speed 16: Velocity

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Transition functions

Monitoring function 3: "SS2 with time control and drive-controlled transition"

When the monitoring function 3 (SS2 with time control and drive-controlled
transition) has been configured, the axis is decelerated in a drive-controlled
way when SS2 is selected. That is to say the drive makes itself independent of
the command value input of the control and is decelerated via the "Drive Halt"
function of the standard firmware (see also Functional Description of firmware
"Drive Halt").
The transition function "Safe stop 2 (SS2)" monitors that the deceleration
process is completed within the parameterized transition time (0x3084:02 or
0x3084:03). If the transition is not completed within the parameterized tran-
sition time, the error "F7050 Maximum transition time exceeded" or "F8350
Maximum transition time exceeded" is signaled, depending on the parameter-
ized error reaction (0x315E:01). The drive keeps being decelerated in accord-
ance with the parameterized error reaction (0x315E:01) (see ⮫ Error reaction
and escalation strategy).
⇒ The maximum time between the selection of the transition function
"Safe stop 2 (SS2)" and reaching of the safe standstill ("SOS" in case of an
error-free transition or "STO" in case an error occurs) is dependent on the
transition! The maximum time can be prolonged at most by the time parame-
terized in 0x315E:03 if an error occurs. In the case of a configured F7 error
reaction="torque disable" (0x315E:01) or direct switching to the F8 error reac-
tion (F3 reaction=F7 reaction in 0x315E:01), the time is not prolonged.
If the drive before expiration of the parameterized transition time (0x3084:02
or 0x3084:03) was decelerated without error and drive enable removed by the
drive, the transition function "Safe stop 2 (SS2)" is directly completed with the
selection of the safety function "Safe operating stop (SOS)".

Fig. 53: Monitoring function 3: "SS2 with time control and drive-controlled transition"
Legend:
0x310E:04, SMO encoder function: Velocity threshold
0x3084:02, SMO state machine prof. 1: Max. trans. time, NO to SMST/SMES
0x3084:03, SMO state machine prof. 1: Max. trans. time, between SMxx

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Transition functions

Monitoring function 4: "SS2 with time control and NC-controlled transition"

When the monitoring function 4 (SS2 with time control and NC-controlled tran-
sition) has been configured, the axis is decelerated in an NC-controlled way
when SS2 is selected; i.e. the higher-level control decelerates the drive via the
command value system.
The transition function "Safe stop 2 (SS2)" monitors that the deceleration
process is completed within the parameterized transition time (0x3084:02 or
0x3084:03). If the transition is not completed within the parameterized transi-
tion time, the error "F7050 Maximum transition time exceeded" is signaled.
The drive keeps being decelerated in accordance with the parameterized error
reaction (0x315E:01) (see ⮫ Error reaction and escalation strategy).
⇒ The maximum time between the selection of the transition function

Safety functions
"Safe stop 2 (SS2)" and reaching of the safe standstill ("SOS" in case of an
error-free transition or "STO" in case an error occurs) is dependent on the
transition! The maximum time can be prolonged at most by the time parame-
terized in 0x315E:03 if an error occurs. In the case of a configured F7 error
reaction="torque disable" (0x315E:01) or direct switching to the F8 error reac-
tion (F3 reaction=F7 reaction in 0x315E:01), the time is not prolonged.
If the drive before expiration of the parameterized transition time (0x3084:02
or 0x3084:03) was decelerated without error and drive enable removed by the
drive, the transition function "Safe stop 2 (SS2)" is directly completed with the
selection of the safety function "Safe operating stop (SOS)".
Via the "NC-Ready" signal in "0x3082:02, SMO state machine: Control word,
functional", the control may signal the end of the transition process of safety
technology. The safety function SS2 will then immediately terminate the transi-
tion and not wait for the transition time to expire (0x3084:02 or 0x3084:03).
The “NC-Ready” signal is evaluated dynamically, i.e. in an edge-triggered way.
The safety technology detects a valid edge (0‑1 transition), if the signal previ-
ously had been "0" for at least 10 ms.
If the transition process is terminated ahead of time via the "NC-Ready" signal,
although the target velocity of the selected safety function has not yet been
reached, the error "F7052 Selected target velocity exceeded" is generated and
the drive is decelerated.

Fig. 54: Monitoring function 3: "SS2 with time control and drive-controlled transition"

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Transition functions

Legend:
0x310E:04, SMO encoder function: Velocity threshold
0x3084:02, SMO state machine prof. 1: Max. trans. time, NO to SMST/SMES
0x3084:03, SMO state machine prof. 1: Max. trans. time, between SMxx

Deselecting the safety function

An active transition function "Safe stop 2 (SS2)" becomes inactive under the
following conditions:
● By activating the SOS function after the deceleration process has been com-
pleted
‑ or ‑
● By deselecting the transition function via the active "SafeMotion" profile
using the parameter "0x3157:01, SMO function selection: Control word 1"
‑ or ‑
● When a safety technology error occurs
‑ or ‑
● By selecting the safety function "STO" or "SS1"
In the case of a drive-controlled operation mode transition, the started deceler-
ation process is continued by the standard firmware, even if the safety function
is deselected.

8.5.3 Safely-monitored deceleration (SMD)

Brief description
The transition function "Safely-monitored deceleration" (SMD) uses dual-
channel monitoring to detect whether the actual velocity of the drive, given
a change in the operating status or given an error reaction, is within a parame-
terized velocity envelope curve.
Five monitoring variants of the transition function
"Safely-monitored deceleration (SMD)" are available.

Features
The function has the following features:
● Is intended for safety-relevant applications up to Category 3, PL d according
to EN ISO 13849‑1 or SIL 2 according to EN 61800–5–2 / EN 61508.
● The transition function can be used in drive systems equipped with the
optional safety technology module "SafeMotion".
● To use the function, it is necessary to activate and license a function
package. For the function package required for the various characteristics
of the function, please refer to ⮫ Table 7 Dependency on safety functions
and on the availability with the function packages on page 27.
● Transitions due to a change in the operating status or due to an error reac-
tion are monitored.
● Transition variants:
– "Safely-monitored deceleration with ramp-based trend monitoring" (SMD-
r_RampTrend)
– "Safely-monitored deceleration with time-based trend monitoring" (SMD-
r_TimeTrend)
– "Safely-monitored deceleration based on actual velocity" (SMD-r_ActVel)
– "Safely-monitored deceleration in the case of error" (SMD-E-r_ActVel)
– "Safely-monitored deceleration in the case of error with time-based trend
monitoring" (SMD-E-r_TimeTrend) (from AXS–V–0316)

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Transition functions

Furthermore, the transition can be performed in two ways:

– "Drive-controlled", i.e. the transition of the drive is carried out by the
standard firmware, and the safety technology monitors the transition
process or
– "NC-controlled", i.e. the higher-level control carries out the transition of
the drive by adjusting the command value system, and the safety tech-
nology monitors the transition process
● The duration of the transition is monitored (cf. 0x315E:02, 0x315E:03,
0x3084:02, 0x3084:03, 0x3084:04). When the monitoring function is trig-
gered, this causes an error reaction which decelerates the drive system. The
corresponding error message is "F7050 Maximum transition time exceeded"
or "F8350 Maximum transition time exceeded“.

Safety functions
● When the deceleration monitoring is triggered, this causes an error
reaction which decelerates the drive system. The corresponding error
message is "F7051 Safely-monitored deceleration exceeded" or "F8351
Safely-monitored deceleration exceeded“.
It is also possible to configure that the axis may move by a parameterizable
distance before the error F7051 or F8351 is generated. The warning E3151
is triggered during this motion.
● The transition function "Safely-monitored deceleration" is selected via the
active "SafeMotion" profile using the parameter "0x3157:01, SMO function
selection: Control word 1".
● The state of the transition function "Safely-monitored deceleration" is dis-
played via parameter "0x3157:03, SMO function selection: Status word 1".

Parameters involved
The following parameters are used in conjunction with the transition function
"Safely-monitored deceleration (SMD)":
● 0x3156:04, SMO global functions: Velocity threshold
● 0x310E:04, SMO encoder function: Velocity threshold
● 0x3082:02, SMO state machine: Control word, functional
● 0x315E:01, SMO error reaction: Configuration stopping process
● 0x315F:01, SMO safely-monitored decel. error: Oscillation vel. window
● 0x315F:02, SMO safely-monitored decel. error: Reaction time
● 0x315F:03, SMO safely-monitored decel. error: Velocity window
● 0x315F:04, SMO safely-monitored decel. error: Deceleration
● 0x315E:02, SMO error reaction: F3 tolerance time
● 0x315E:03, SMO error reaction: F7 tolerance time
● 0x315F:05, SMO safely-monitored decel. error: Jerk
● 0x3157:01, SMO function selection: Control word 1
● 0x3157:03, SMO function selection: Status word 1
● 0x3156:01, SMO global functions: Configuration
● 0x3156:02, SMO global functions: Safe max. speed
● 0x3084:01, SMO state machine prof. 1: Config operation mode transitions
● 0x3084:02, SMO state machine prof. 1: Max. trans. time, NO to SMST/SMES
● 0x3084:03, SMO state machine prof. 1: Max. trans. time, between SMxx
● 0x3084:04, SMO state machine prof. 1: Max. trans. time, NO to SMM
● 0x315A:01, SMO safely-monitored decel.: Oscillation velocity window
● 0x315A:02, SMO safely-monitored decel.: Reaction time
● 0x315A:03, SMO safely-monitored decel.: Velocity window
● 0x315A:05, SMO safely-monitored decel.: Deceleration
● 0x315A:04, SMO safely-monitored decel.: Jerk
● 0x315A:06, SMO safely-monitored decel.: Trans. time, NO to standstill

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Transition functions

● 0x315A:07, SMO safely-monitored decel.: Trans. time, SMD between SMx

● 0x315A:08, SMO safely-monitored decel.: Trans. time, NO to SMM
● 0x3155:02, SMO safe standstill: Monitoring window safe operational stop
● 0x3160:01, SMO safely-limited speed 1: Velocity...0x316F:01, SMO safely-
limited speed 16: Velocity

Diagnostic messages involved

The following diagnostic messages can be generated in conjunction with the
transition function "Safely-monitored deceleration (SMD)":
● E3151 Safely-monitored deceleration exceeded
● F7050 Maximum transition time exceeded
● F7051 Safely-monitored deceleration exceeded
● F8350 Maximum transition time exceeded
● F8351 Safely-monitored deceleration exceeded

Transition function

Basic principle
The transition function "Safely-monitored deceleration" (SMD) uses dual-
channel monitoring to detect whether the actual velocity of the drive, given
a change in the operating status or given an error reaction, is within a parame-
terized velocity envelope curve.

Configuring the transition function

To use the transition function "Safely-monitored deceleration", it has to be
configured via the parameters "0x3084:01, SMO state machine prof. 1: Config
operation mode transitions" and "0x315E:01, SMO error reaction: Configura-
tion stopping process" when safety technology is commissioned.
The active monitoring functions depend on the parameterization of the axis,
as well as on the selected safety function. The tables below show when the
different types of monitoring are active and which error is generated when the
monitoring function triggers.

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Transition functions

Monitoring functions during NC-controlled safety technology operation mode transitions

Safety technology
Parameterization
operation mode tran- Reaction
(0x3084:01)
sition
Error message when monitoring function is
Active Selected
violated
safety safety Bit 3 Bit 4 Bit 8 Bit 9 Monitoring
When time moni- When velocity is vio-
function function
toring is triggered lated
SMD with ramp-
0 based trend moni-
STO toring

Safety functions
(SS1), 0 F7051
SMD with time-
NO SOS x x
1 based trend moni-
(SS2),
toring
SBC
SMD based on actual
1 x F7051 / E31511)
velocity
F7050
SMD with ramp-
0 based trend moni-
toring
0
SMD with time-
NO SMMx x x F7051
1 based trend moni-
toring
SMD based on actual
1 x
velocity
NO, SOS -
STO, SBC (SS2), x x x x (no transition necessary, switching takes place directly and the
SMMx output stage is enabled)
SMD with ramp-
0 based trend moni-
toring
STO 0 F7051
SMD with time-
SOS (SS1), x x F7050
1 based trend moni-
SBC
toring
SMD based on actual
1 x F7051 / E31511)
velocity
-
SOS NO, SMMx x x x x
(no transition necessary, switching takes place directly)
SMD with ramp-
0 based trend moni-
STO toring
(SS1), 0 F7051
SMD with time-
SMMx SOS x x
1 based trend moni-
(SS2),
toring
SBC
SMD based on actual
1 x F7050 F7051 / E31511)
velocity
SMD with ramp-
0 based trend moni-
toring
SMMx SMMx x 0 x F7051
SMD with time-
1 based trend moni-
toring

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Transition functions

Safety technology
Parameterization
operation mode tran- Reaction
(0x3084:01)
sition
Error message when monitoring function is
Active Selected
violated
safety safety Bit 3 Bit 4 Bit 8 Bit 9 Monitoring
When time moni- When velocity is vio-
function function
toring is triggered lated
SMD based on actual
1 x
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): With configuration 0x3084:01, bit 7=0 or 0x3156:04 > (2 × 0x310E:04) → F7051 after exceeding 0x3156:04;
with configuration 0x3084:01, bit 7=1 and 0x3156:04 ≤ (2 × 0x310E:04) → warning E3151 after exceeding
0x3156:04 with monitoring of incorrect distance

Monitoring functions during drive-controlled safety technology operation mode transitions

Safety technology opera-
Parameterization Reaction
tion mode transition
F7 reaction 0x315E:01
0x3084:01

Error message when violating the

Safety function

Safety function

SMD monitoring
selected
active

Monitoring
F3 reaction
(bit 3

(bit 7

When time monitoring When velocity is vio-

Bit 3

Bit 8

‑0)

‑4)

is triggered lated

0 0 F8350 F8351 / E31511)

1 1 F8350 F8351 / E31511)
SMD based on actual
1 x 2 0 or 4
velocity F7050 F7051 / E31511)
0
4
4 F8350 F8351 / E31511)
0 F8350 F8351
0
1 F7050 F7051
STO (SS1),
1 1 SMD with ramp-based F8350 F8351
NO SOS (SS2), 0
2 0 or 4 trend monitoring
SBC F7050 F7051
0
4
0 4 F8350 F8351
0 0 F8350 F8351
1 1 F8350 F8351
SMD with time-based
1 2 0 or 4
trend monitoring F7050 F7051
0
4
4 F8350 F8351
-
[transitions to SMMx cannot be performed in a drive-controlled way,
NO SMMx x x x x
they are always NC-controlled (see table "Monitoring functions during
NC-controlled safety technology operation mode transitions")]

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Transition functions

Safety technology opera-

Parameterization Reaction
tion mode transition

0x315E:01
0x3084:01
Error message when violating the
Safety function

Safety function
SMD monitoring
selected
active

Monitoring

F3 reaction

F7 reaction
(bit 3‑0)

(bit 7‑4)
When time monitoring When velocity is vio-
Bit 3

Bit 8
is triggered lated

NO, SOS -
STO, SBC (SS2), x x x x

Safety functions
(no transition necessary, switching takes place directly and the
SMMx output stage is enabled)
0 0 F8350 F8351 / E31511)
1 1 F8350 F8351 / E31511)
SMD based on actual
1 x 2 0 or 4
velocity F7050 F7051 / E31511)
0
4
4 F8350 F8351 / E31511)
0 0 F8350 F8351
STO (SS1), SBC

1 1 F8350 F8351
SMD with ramp-based
SOS

0 2 0 or 4
trend monitoring F7050 F7051
0
4
4 F8350 F8351
0
0 0 F8350 F8351
1 1 F8350 F8351
SMD with time-based
1 2 0 or 4
trend monitoring F7050 F7051
0
4
4 F8350 F8351
-
SOS NO, SMMx x x x x
(no transition necessary, switching takes place directly)
SMD based on actual velocity

0 0 F8350 F8351 / E31511)

1 1 F8350 F8351 / E31511)
2 0 or 4
F7050 F7051 / E31511)
0
1 x
STO (SS1), SOS (SS2), SBC

4
4 F8350 F8351 / E31511)
SMMx

0 0 F8350 F8351
1 1 F8350 F8351
SMD with ramp-based
0 2 0 or 4
trend monitoring F7050 F7051
0
4
0 4 F8350 F8351
0 0 F8350 F8351
1 1 SMD with time-based F8350 F8351
1
2 0 or 4 trend monitoring
F7050 F7051
4 0

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Transition functions

Safety technology opera-

Parameterization Reaction
tion mode transition

0x315E:01
0x3084:01
Error message when violating the
Safety function

Safety function
SMD monitoring
selected
active

Monitoring

F3 reaction

F7 reaction
(bit 3‑0)

(bit 7‑4)
When time monitoring When velocity is vio-
Bit 3

Bit 8
is triggered lated

4 F8350 F8351
SMMx

-
NO

(no transition necessary, switching takes place directly)

-
x x x x
SMMx

SMMx

[transitions to SMMx cannot be performed in a drive-controlled way,

they are always NC-controlled (see table "Monitoring functions during
NC-controlled safety technology operation mode transitions")]
Legend:
NO: Normal operation, safety functions for normal operation
SMMx: Motion modes (SMM1 – SMM16), safety functions for motion monitoring
x: not relevant
1): With configuration 0x3084:01, bit 7=0 or 0x3156:04 > (2 × 0x310E:04) F7051 after exceeding 0x3156:04; with configura-
tion 0x3084:01, bit 7=1 and 0x3156:04 ≤ (2 × 0x310E:04) warning E3151 after exceeding 0x3156:04 with monitoring of
incorrect distance

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Transition functions

Monitoring during safety technology errors or safety technology warnings

Parameterization (0x315E:01) Reaction
Monitoring Error message when SMD moni-
NC error
Error F3 F7 of the Monitoring toring is violated
reaction
state reaction reaction decelera- during the error When time mon-
(bit When velocity is
(bit 3‑0) (bit 7‑4) tion (bit reaction itoring is trig-
19-16) violated
27-24 gered
“SMD‑E” based
0
on actual velocity
0 0 "SMD‑E" with F8350 F8351 / E3151
2 time-based trend

Safety functions
monitoring
-
1 1 x (no monitoring necessary, switching takes place
directly and the output stage is locked)
“SMD‑E” based
0
on actual velocity
2 0 or 4 "SMD‑E" with
0 2 time-based trend
F3 error, monitoring
F7050 F7051 / E3151
E83 “SMD‑E” based
0
warning on actual velocity
0 "SMD‑E" with
2 time-based trend
monitoring
4
“SMD‑E” based
0
on actual velocity
4 "SMD‑E" with F8350 F8351 / E3151
2 time-based trend
monitoring
-
(no SMD active,
1 x x x F7050
only the time is
monitored)
“SMD‑E” based
0
on actual velocity
x 0 or 4 "SMD‑E" with F8350 F8351 / E3151
2 time-based trend
F7 error x
monitoring
-
1 1 x (no monitoring necessary, switching takes place
directly and the output stage is locked)
-
(no monitoring necessary, switching takes place
F8 error x x x x
directly and the output stage is locked, the brake is
applied)
Legend:
x: not relevant

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Transition functions

Selecting the transition function

The following transition functions are directly selected via the active
"SafeMotion" profile using the parameter "0x3157:01, SMO function selection:
Control word 1":

● "Safely-monitored deceleration with ramp-based trend monitoring" (SMD-

r_RampTrend)
● "Safely-monitored deceleration with time-based trend monitoring" (SMD-
r_TimeTrend)
● "Safely-monitored deceleration based on actual velocity" (SMD-r_ActVel).

Transition to the safe state

Transition function "Safely-monitored deceleration with ramp-based trend mon-
itoring"
When the transition function "Safely-monitored deceleration with ramp-based
trend monitoring" (SMD-r_RampTrend) is selected, the NC-controlled or drive-
controlled transition of the axis is performed in accordance with the configura-
tion (0x3084:01).
In the case of NC-controlled transition, the higher-level control adjusts the com-
mand value system for the drive in accordance with the monitoring thresholds
of the selected safety function.
In the case of drive-controlled transition, the drive makes itself independent
of the command value input of the control and is decelerated by the standard
firmware in accordance with the parameterization in "0x315E:01, SMO error
reaction: Configuration stopping process" [F3 error reaction / drive-controlled
transition to the special mode "Safe standstill" (bit 0‑3)]. The drive-controlled
transition is only possible to standstill.
In the case of the transition function "Safely-monitored deceleration with ramp-
based trend monitoring", dual-channel monitoring is used to detect whether
the actual velocity is within the velocity envelope curve (0x3156:04). Using
the deceleration ramp (0x315A:05), the drive calculates the velocity envelope
curve in such a way that the drive is at any time able ‑ within the scope of the
possible deceleration ‑ to reach the parameterized velocity window (0x310E:04
or 0x3160:01...0x316F:01) of the selected special mode until the transition
time (0x3084:02 or 0x3084:03 or 0x3084:04) is over. If this is not possible
anymore, the error “F7051 Safely-monitored deceleration exceeded“ or "F8351
Safely-monitored deceleration exceeded" [only for F3 equal to F7 reaction
(0x315E:01)] is generated and the drive is decelerated in accordance with
the parameterized error reaction (0x315E:01) (see ⮫ Error reaction / escalation
strategy).
If the monitoring limit of the "Safe maximum speed (SMS)" (0x3156:02) or
an active "Safely-limited speed (SLS)" (0x3160:01...0x316F:01) is below the cal-
culated velocity envelope curve (0x3156:04), the envelope curve acts as mon-
itoring limit. When the monitoring limit is violated, the corresponding safety
function signals an error.
The currently active velocity monitoring limit of Safe Motion is displayed in
"0x3156:04, SMO global functions: Velocity threshold". With this parameter it
is possible to check in the control whether the velocity command values are
within the allowed limits.
With the auxiliary function "⮫ Limiting the positioning velocity", it is possible
to monitor and, if necessary, limit the velocity command value effective in the
drive to the active velocity threshold (0x3156:04).
In parallel with velocity monitoring, "SMD-r_RampTrend" also monitors
that the transition process is completed within the parameterized
transition time (0x3084:02 / 0x3084:03 / 0x3084:04). If the tran-

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Transition functions

sition is not completed within the parameterized transition time,

the error "F7050 Maximum transition time exceeded" or "F8350
Maximum transition time exceeded" [only for F3 equal to F7 reaction
(0x315E:01)] is signaled and the drive is decelerated in accordance with the
parameterized error reaction (0x315E:01) (see ⮫ Error reaction / escalation
strategy).

Safety functions
Fig. 55: Transition function "Safely-monitored deceleration with ramp-based trend monitoring"
Legend:
0x310E:04, SMO encoder function: Velocity threshold
0x3084:02, SMO state machine prof. 1: Max. trans. time, NO to SMST/SMES
0x3084:03, SMO state machine prof. 1: Max. trans. time, between SMxx
0x3084:04, SMO state machine prof. 1: Max. trans. time, NO to SMM
0x315A:05, SMO safely-monitored decel.: Deceleration
0x3160:01, SMO safely-limited speed 1: Velocity...0x316F:01, SMO safely-limited speed 16: Velocity

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Transition functions

The "Safely-monitored deceleration with ramp-based trend monitoring" is termi-

nated before the parameterized transition time is over, as soon as one of the
following conditions has been fulfilled:
− The actual velocity is within the velocity window of the selected safety
function and drive enable has been removed.
− In the case of an NC-controlled transition, the control signals the end of the
transition process via the "NC-Ready" signal (0x3082:02).
The “NC-Ready” signal is evaluated dynamically, i.e. in an edge-triggered
way. The safety technology detects a valid edge (0-1 transition), if the signal
previously had been "0” for at least 10 ms.
If the transition process is terminated ahead of time via the "NC-Ready"
signal, although the target velocity of the selected safety function has not
yet been reached, the error “F7052 Selected target velocity exceeded is
generated and the drive is decelerated.
− An SMM safety function is selected from normal operation, when the
option "Immediate switching NO to motion mode" was configured in
"0x3084:01, SMO state machine prof. 1: Config operation mode transitions"
and this is possible due to the system properties (selected velocity window
and selected direction of motion are complied with) (see ⮫ "Immediate
switching" option).
− A different SMM safety function is selected from an active SMM safety
function, when the option "Immediate switching within special mode "Safe
motion" was configured in "0x3084:01, SMO state machine prof. 1: Config
operation mode transitions" and this is possible due to the system proper-
ties (selected velocity window and selected direction of motion are com-
plied with) (see ⮫ "Immediate switching" option).

Transition function "Safely-monitored deceleration with time-based trend moni-

toring"
When the transition function "Safely-monitored deceleration with time-based
trend monitoring" (SMD-r_TimeTrend) is selected, the NC-controlled or drive-
controlled transition of the axis is performed in accordance with the configura-
tion (0x3084:01).
In the case of NC-controlled transition, the higher-level control adjusts the com-
mand value system for the drive in accordance with the monitoring thresholds
of the selected safety function.
In the case of drive-controlled transition (only possible: transition to standstill),
the drive makes itself independent of the command value input of the control
and is decelerated by the standard firmware in accordance with the parameteri-
zation in "0x315E:01, SMO error reaction: Configuration stopping process" [F3
error reaction / drive-controlled transition to the special mode "Safe standstill"
(bit 0‑3)].
In the case of the transition function "Safely-monitored deceleration
with time-based trend monitoring", dual-channel monitoring is used to
detect whether the actual velocity is within the velocity envelope curve
(0x3156:04). The drive determines the velocity envelope curve from the dif-
ference of the active velocity limit at selection (0x3156:04) and the SMO
velocity limit of the target state and the transition time (0x3084:02 /
0x3084:03 / 0x3084:04). The configuration can be made separately for
"SMD to standstill" (0x3084:01, bit 8) and "SMD to Safe motion"
(0x3084:01, bit 9). If the drive leaves the envelope curve during the tran-
sition, the error “F7051 Safely-monitored deceleration exceeded“ or "F8351
Safely-monitored deceleration exceeded" [only for F3 equal to F7 reaction
(0x315E:01)] is generated and the drive is decelerated in accordance with
the parameterized error reaction (0x315E:01) (see ⮫ Error reaction / escalation
strategy).

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Transition functions

The configuration "Safely-monitored deceleration with time-based trend moni-

toring" also requires the "Safe maximum speed (SMS)" (0x3156:01) to be con-
figured.
The currently active velocity monitoring limit of Safe Motion is displayed in
"0x3156:04, SMO global functions: Velocity threshold". With this parameter it
is possible to check in the control whether the velocity command values are
within the allowed limits.
With the auxiliary function "⮫ Limiting the positioning velocity", it is possible
to monitor and, if necessary, limit the velocity command value effective in the
drive to the active velocity threshold (0x3156:04).
In parallel with velocity monitoring, “SMD-r_TimeTrend" also monitors
that the transition process is completed within the parameterized

Safety functions
transition time (0x3084:02 / 0x3084:03 / 0x3084:04). If the tran-
sition is not completed within the parameterized transition time,
the error "F7050 Maximum transition time exceeded" or "F8350
Maximum transition time exceeded" [only for F3 equal to F7 reaction
(0x315E:01)] is signaled and the drive is decelerated in accordance with the
parameterized error reaction (0x315E:01) (see ⮫ Error reaction / escalation
strategy).

Fig. 56: Transition function "Safely-monitored deceleration with time-based trend monitoring"
Legend:
0x310E:04, SMO encoder function: Velocity threshold
0x3156:02, SMO global functions: Safe max. speed
0x3084:02, SMO state machine prof. 1: Max. trans. time, NO to SMST/SMES
0x3084:03, SMO state machine prof. 1: Max. trans. time, between SMxx
0x3084:04, SMO state machine prof. 1: Max. trans. time, NO to SMM
0x315A:06, SMO safely-monitored decel.: Trans. time, NO to standstill
0x315A:07, SMO safely-monitored decel.: Trans. time, SMD between SMx
0x315A:08, SMO safely-monitored decel.: Trans. time, NO to SMM
0x3160:01, SMO safely-limited speed 1: Velocity...0x316F:01, SMO safely-limited speed 16: Velocity

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Transition functions

The velocity envelope curve consists of two steps and is generated as follows:
● Step 1: "Reaction time to change in selection" (drive-side or NC-side) for the
duration of 0x315A:06 / 0x315A:07 / 0x315A:08:
For the duration of the respective delay (0x315A:06 / 0x315A:07 /
0x315A:08), the safety technology gives the system (control and drive) the
time to adjust the command value input for the transition process. In this
space of time, monitoring takes place to find out whether the actual velocity
is within the velocity envelope curve (0x3156:04). The velocity envelope
curve is determined by the SMO velocity limit previously active:
– Normal operation: 0x3156:02, SMO global functions: Safe max. speed
– Special mode motion: 0x3160:01, SMO safely-limited speed 1:
Velocity...0x316F:01, SMO safely-limited speed 16: Velocity
– Special mode Safe standstill: 0x310E:04, SMO encoder function: Velocity
threshold
In accordance with the safety technology operation mode transition, dif-
ferent reaction times take effect:
– "0x315A:06, SMO safely-monitored decel.: Trans. time, NO to standstill"
takes effect during transition from normal operation to Safe standstill
– "0x315A:07, SMO safely-monitored decel.: Trans. time, SMD between
SMx" takes effect during transition between two special modes
– "0x315A:08, SMO safely-monitored decel.: Trans. time, NO to SMM" takes
effect during transition from normal operation to Safe motion
NOTE: Monitoring step 1 is not required when in the value "0" is parameter-
ized in the respective delay (0x315A:06 / 0x315A:07 / 0x315A:08).
● Step 2: "Monitoring of transition to the selected safety function" using decel-
eration ramp until the velocity window of the selected safety function has
been reached:
In step 2, monitoring via two channels takes place to find out whether the
actual velocity is within the velocity envelope curve (0x3156:04). The drive
determines the linear velocity envelope curve from the velocity difference
between the active and the selected safety function and the ramp time
(max. transition time1) ‑ delay2)).
1) The maximum transition time is specified by one of the following values:
"0x3084:02, SMO state machine prof. 1: Max. trans. time, NO to SMST/
SMES" or "0x3084:03, SMO state machine prof. 1: Max. trans. time, between
SMxx" or "0x3084:04, SMO state machine prof. 1: Max. trans. time, NO to
SMM"
2) The delay is specified by one of the following values: "0x315A:06, SMO
safely-monitored decel.: Trans. time, NO to standstill" or "0x315A:07, SMO
safely-monitored decel.: Trans. time, SMD between SMx" or "0x315A:08,
SMO safely-monitored decel.: Trans. time, NO to SMM"
The start value of deceleration monitoring is the monitoring limit of the
active safety function.
In the case of a transition between two safety functions, for which the velocity
limit of the selected safety function is smaller than the one of the active safety
function, the velocity limit of the active safety function remains active until
switching takes place.

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Transition functions

The "Safely-monitored deceleration with time-based trend monitoring" is termi-

nated before the parameterized transition time is over, as soon as one of the
following conditions has been fulfilled:
− The actual velocity is within the velocity window of the selected safety
function and drive enable has been removed.
− In the case of an NC-controlled transition, the control signals the end of the
transition process via the "NC-Ready" signal (0x3082:02).
The "NC-Ready" signal is evaluated dynamically, i.e. in an edge-triggered
way. [The safety technology detects a valid edge (0-1 transition), if the
signal previously had been "0" for at least 10 ms.]
If the transition process is terminated ahead of time via the "NC-Ready"
signal, although the target velocity of the selected safety function has not

Safety functions
yet been reached, the error "F7052 Selected target velocity exceeded" is
generated and the drive is decelerated.
− An SMM safety function is selected from normal operation, when the option
"Immediate switching NO to motion mode" was configured in the parameter
"0x3084:01, SMO state machine prof. 1: Config operation mode transitions"
and this is possible due to the system properties (selected velocity window
and selected direction of motion are complied with) (see ⮫ "Immediate
switching" option).
− An SMM safety function is selected from an active SMM safety function,
when the option "Immediate switching within special mode "Safe motion"
was configured in the parameter "0x3084:01, SMO state machine prof. 1:
Config operation mode transitions" and this is possible due to the system
properties (selected velocity window and selected direction of motion are
complied with) (see ⮫ "Immediate switching" option).

Transition function "Safely-monitored deceleration based on actual velocity"

When the transition function "Safely-monitored deceleration based on actual
velocity" (SMD-r_ActVel) is selected, the drive-controlled or NC-controlled
transition of the axis is performed in accordance with the configuration
(0x3084:01).
In the case of drive-controlled transition (only possible: transition to standstill),
the drive makes itself independent of the command value input of the control
and is decelerated by the standard firmware in accordance with the parameteri-
zation in "0x315E:01, SMO error reaction: Configuration stopping process" [F3
error reaction / drive-controlled transition to the special mode "Safe standstill"
(bit 0‑3)].
In the case of NC-controlled transition, the higher-level control adjusts the com-
mand value system for the drive in accordance with the monitoring thresholds
of the selected safety function.
The "SMD-r_ActVel" monitors via two channels to find out whether the actual
velocity is within the velocity envelope curve (0x3156:04). Using the decel-
eration ramp (0x315A:05) with jerk limitation (0x315A:04), the drives gen-
erates the velocity envelope curve. The drive calculates the start value of
the velocity envelope curve from the current actual velocity plus a tolerance
(0x315A:03). When the actual velocity leaves the velocity envelope curve
(0x3156:04), the error "F7051 Safely-monitored deceleration exceeded" or
"F8351 Safely-monitored deceleration exceeded" [only for F3 equal to F7 reac-
tion (0x315E:01)] is signaled. The drive keeps being decelerated in accordance
with the parameterized error reaction (0x315E:01) (see ⮫ Error reaction / esca-
lation strategy).

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Transition functions

To compensate transient oscillation processes to standstill or to compensate

motions after the output stage was switched off, it is also possible to con-
figure that the axis may move by a parameterizable incorrect distance after the
velocity envelope curve (0x3156:04) has been exceeded. The warning E3151
is triggered during this motion (see ⮫ Compensating transient oscillation proc-
esses).
If the monitoring limit of the "Safe maximum speed (SMS)" (0x3156:02) or
an active "Safely-limited speed (SLS)" (0x3160:01...0x316F:01) is below the cal-
culated velocity envelope curve (0x3156:04), the envelope curve acts as mon-
itoring limit. When the monitoring limit is violated, the corresponding safety
function signals an error.
The currently active velocity monitoring limit of Safe Motion is displayed in
"0x3156:04, SMO global functions: Velocity threshold". With this parameter it
is possible to check in the control whether the velocity command values are
within the allowed limits.
With the auxiliary function "⮫ Limiting the positioning velocity", it is possible
to monitor and, if necessary, limit the velocity command value effective in the
drive to the active velocity threshold (0x3156:04).
In parallel with velocity monitoring, "SMD-r_ActVel" also monitors
that the transition process is completed within the parameterized
transition time (0x3084:02 / 0x3084:03 / 0x3084:04). If the tran-
sition is not completed within the parameterized transition time,
the error "F7050 Maximum transition time exceeded" or "F8350
Maximum transition time exceeded" [only for F3 equal to F7 reaction
(0x315E:01)] is signaled. The drive keeps being decelerated in accordance with
the parameterized error reaction (0x315E:01) (see ⮫ Error reaction / escalation
strategy).

Fig. 57: Transition function "Safely-monitored deceleration based on actual velocity"

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Transition functions

Legend:
0x310E:04, SMO encoder function: Velocity threshold
0x3084:02, SMO state machine prof. 1: Max. trans. time, NO to SMST/SMES
0x3084:03, SMO state machine prof. 1: Max. trans. time, between SMxx
0x3084:04, SMO state machine prof. 1: Max. trans. time, NO to SMM
0x315A:01, SMO safely-monitored decel.: Oscillation velocity window
0x315A:02, SMO safely-monitored decel.: Reaction time
0x315A:03, SMO safely-monitored decel.: Velocity window
0x315A:05, SMO safely-monitored decel.: Deceleration
0x315A:04, SMO safely-monitored decel.: Jerk

Safety functions
0x3160:01, SMO safely-limited speed 1: Velocity...0x316F:01, SMO safely-limited speed 16: Velocity

The velocity envelope curve consists of three steps and is generated as follows:
● Step 1: "Reaction time to change in selection" (drive-side or NC-side) for the
duration of 0x315A:02:
For the duration of "0x315A:02, SMO safely-monitored decel.: Reaction
time", the safety technology gives the system (control and drive) the time to
adjust the command value input for the transition process. In this space of
time, monitoring takes place to find out whether the actual velocity is within
the velocity envelope curve (0x3156:04). In this step, the drive calculates
the velocity envelope curve from the actual velocity at selection plus the
tolerance of parameter "0x315A:01, SMO safely-monitored decel.: Oscillation
velocity window".
NOTE: This monitoring step is not required when the value "0" is parameter-
ized in 0x315A:02.
NOTE: If the monitoring limit "0x3156:02, SMO global functions: Safe max.
speed" or of an active "Safely-limited speed (SLS)" (0x3160:01...0x316F:01)
is below the calculated velocity envelope curve (0x3156:04), the envelope
curve acts as monitoring limit. When exceeding the monitoring limit, the
safety function reports an error.
● Step 2: "Monitoring of transition to the selected safety function" using decel-
eration ramp (0x315A:05 und 0x315A:04) until the velocity window of the
selected safety function has been reached:
In step 2, monitoring via two channels takes place to find out whether
the actual velocity is within the velocity envelope curve (0x3156:04). Using
the deceleration ramp (0x315A:05) and the jerk limitation (0x315A:04), the
drives generates the velocity envelope curve. The drive calculates the start
value of the velocity envelope curve from the current actual velocity, plus the
tolerance specified by "0x315A:03, SMO safely-monitored decel.: Velocity
window".
If a jerk greater than "0" has been set in "0x315A:04, SMO safely-monitored
decel.: Jerk", the deceleration ramp for limiting the jerk is filtered via a PT1
element. The time constant of the filter can be determined as follows:
TPT1 = 0x315A:05 / 0x315A:04
NOTE: Via 0x315A:03 and 0x315A:04, the transient oscillation of the velocity
to the new target velocity is made possible.
NOTE: If the monitoring limit "0x3156:02, SMO global functions: Safe max.
speed" or of an active "Safely-limited speed (SLS)" (0x3160:01...0x316F:01)
is below the calculated velocity envelope curve (0x3156:04), the envelope
curve acts as monitoring limit. When exceeding the monitoring limit, the
safety function reports an error.
● Step 3: "Monitoring of the velocity window of the selected safety function"
until switching to the selected safety function takes place:

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Transition functions

After the velocity envelope curve (0x3156:04) has reached the velocity
window ("0x310E:04, SMO encoder function: Velocity threshold" or
"0x3160:01, SMO safely-limited speed 1: Velocity"..."0x316F:01, SMO safely-
limited speed 16: Velocity") of the selected safety function, the drive mon-
itors that the actual velocity is smaller than the velocity window until
switching to the selected safety function takes place.
NOTE: To compensate transient oscillation processes to standstill or to
compensate motions after the output stage was switched off, it is also
possible to configure that the axis may move by a parameterizable incorrect
distance after the velocity envelope curve (0x3156:04) has been exceeded.
The warning E3151 is triggered during this motion (see ⮫ Compensating
transient oscillation processes).
The parameters involved can be used to adjust the monitoring function to dif-
ferent applications; primarily, this can be accomplished with 0x315A:02 and
0x315A:05.
The "Safely-monitored deceleration based on actual velocity" is terminated
before the parameterized transition time is over, as soon as one of the fol-
lowing conditions has been fulfilled:
− The actual velocity is within the velocity window of the selected safety
function and drive enable has been removed.
− In the case of an NC-controlled transition, the control signals the end of the
transition process via the "NC-Ready" signal (0x3082:02).
The "NC-Ready" signal is evaluated dynamically, i.e. in an edge-triggered
way. [The safety technology detects a valid edge (0-1 transition), if the
signal previously had been "0" for at least 10 ms.]
If the transition process is terminated ahead of time via the "NC-Ready"
signal, although the target velocity of the selected safety function has not
yet been reached, the error "F7052 Selected target velocity exceeded" is
generated and the drive is decelerated.
− An SMM safety function is selected from normal operation, when the option
"Immediate switching NO to motion mode" was configured in the parameter
"0x3084:01, SMO state machine prof. 1: Config operation mode transitions"
and this is possible due to the system properties (selected velocity window
and selected direction of motion are complied with) (see ⮫ "Immediate
switching" option).
− An SMM safety function is selected from an active SMM safety function,
when the option "Immediate switching within special mode "Safe motion"
was configured in the parameter "0x3084:01, SMO state machine prof. 1:
Config operation mode transitions" and this is possible due to the system
properties (selected velocity window and selected direction of motion are
complied with) (see ⮫ "Immediate switching" option).

Transition function "Safely-monitored deceleration in the case of error with

time-based trend monitoring"
When the transition function "Safely-monitored deceleration in the case of
error with time-based trend monitoring (SMD-E-r_TimeTrend) is selected by a
safety technology error or a safety technology warning, the axis is decelerated
in a drive-controlled way; i.e. the drive makes itself independent of the com-
mand value input of the control and is decelerated by the standard firmware
in accordance with the parameterization in "0x315E:01, SMO error reaction:
Configuration stopping process". At the end of the deceleration process, drive
enable is removed.
With "SMD-E-r_TimeTrend", monitoring via two channels takes place to find out
whether the actual velocity is within the velocity envelope curve (0x3156:04).
The drive determines the velocity envelope curve from the difference of the

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Transition functions

active velocity limit at selection [0x3156:04 + 0x315F:01 (AXS-V-0402 and with

AXS-V-0504 and above)] and the "SMO encoder function: Velocity threshold"
(0x310E:04). When the actual velocity leaves the velocity envelope curve
(0x3156:04), one of the following errors is signaled and the drive keeps being
decelerated in accordance with the parameterized error reaction (0x315E:01)
(see ⮫ Error reaction / escalation strategy):
● "SMD-E-r_TimeTrend" in case of F3 error:
“F7051 Safely-monitored deceleration exceeded“ or "F8351
Safely-monitored deceleration exceeded" [only for F3 equal to F7 reaction
(0x315E:01)]
NOTE: If the monitoring limit of the Safe maximum speed (0x3156:02) or an
active Safely-limited speed (0x3160:01...0x316F:01) is below the calculated

Safety functions
velocity envelope curve (0x3156:04), the envelope curve acts as monitoring
limit. When exceeding the monitoring limit, the safety function reports an
error.
● "SMD-E-r_TimeTrend" in case of F7 error: "F8351
Safely-monitored deceleration exceeded".
The configuration "Safely-monitored deceleration with time-based trend moni-
toring" also requires the "Safe maximum speed (SMS)" (0x3156:01) to be con-
figured.
In parallel with velocity monitoring, "SMD-E-r_TimeTrend" in the case of F3 and
F7 errors also monitors that the transition process is completed within the
parameterized transition time (0x315E:02 or 0x315E:03). If the transition is
not completed within the parameterized transition time, one of the following
errors is signaled and the drive keeps being decelerated in accordance with
the parameterized error reaction (0x315E:01) (see ⮫ Error reaction / escalation
strategy):
● "SMD-E-r_TimeTrend" in case of F3 error:
“F7050 Maximum transition time exceeded“ or "F8350
Maximum transition time exceeded" [only for F3 equal to F7 reaction
(0x315E:01)]
● "SMD-E-r_TimeTrend" in case of F7 error: "F8350
Maximum transition time exceeded"
For F3/F7 errors, the transition is monitored as follows:

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Fig. 58: Transition function "Safely-monitored deceleration with time-based trend monitoring"
Legend:
0x310E:04, SMO encoder function: Velocity threshold
0x315F:01, SMO safely-monitored decel. error: Oscillation vel. window (AXS-V-0402 and with AXS-V-0504 and above)
0x315F:02, SMO safely-monitored decel. error: Reaction time
0x315E:02, SMO error reaction: F3 tolerance time
0x315E:03, SMO error reaction: F7 tolerance time
0x3156:02, SMO global functions: Safe max. speed
0x3160:01, SMO safely-limited speed 1: Velocity...0x316F:01, SMO safely-limited speed 16: Velocity

The velocity envelope curve consists of two steps and is generated as follows:
● Step 1: "Reaction time until the error reaction is initiated" (on the drive side)
for the duration of 0x315F:02:
During the time parameterized in "0x315F:02, SMO safely-monitored decel.
error: Reaction time", the safety technology allows the drive to adjust the
command value input for the transition process. In this space of time, mon-
itoring takes place to find out whether the actual velocity is within the

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velocity envelope curve (0x3156:04). The velocity envelope curve is deter-

mined by the SMO velocity limit previously active plus "0x315F:01, SMO
safely-monitored decel. error: Oscillation vel. window"3):
– Normal operation: "0x3156:02, SMO global functions: Safe max. speed"
+ "0x315F:01, SMO safely-monitored decel. error: Oscillation vel.
window"3)
– Special mode motiong: "0x3160:01, SMO safely-limited speed
1: Velocity"..."0x316F:01, SMO safely-limited speed 16: Velocity"
+ "0x315F:01, SMO safely-monitored decel. error: Oscillation vel.
window"3)
– Special mode Safe standstill: 0x310E:04, SMO encoder function: Velocity
threshold + "0x315F:01, SMO safely-monitored decel. error: Oscillation

Safety functions
vel. window"3)
NOTE: This monitoring step is not required when the value "0" is parameter-
ized in the parameter "0x315F:02, SMO safely-monitored decel. error: Reac-
tion time".
● Step 2: "Monitoring of the transition to "Safe standstill error"" using
the deceleration ramp until "0x310E:04, SMO encoder function: Velocity
threshold" has been reached:
In step 2, monitoring via two channels takes place to find out whether the
actual velocity is within the velocity envelope curve (0x3156:04). The drive
determines the linear velocity envelope curve from the velocity difference
between the active safety function plus "0x315F:01, SMO safely-monitored
decel. error: Oscillation vel. window"3) and "0x310E:04, SMO encoder func-
tion: Velocity threshold" and the ramp time [max. transition time1) ‑ delay2)).
1) The maximum transition time is specified by one of the following values:
"0x315E:02, SMO error reaction: F3 tolerance time" or "0x315E:03, SMO error
reaction: F7 tolerance time"
2) The delay is specified by the following value: 0x315F:02, SMO safely-moni-
tored decel. error: Reaction time
3) AXS-V-0402 and with AXS-V-0504 and above
NOTE: The transition to "Safe standstill error" is terminated ahead of time,
when the drive has removed drive enable and the actual velocity is smaller than
the parameterized velocity window (0x310E:04).

Transition function "Safely-monitored deceleration in the case of error based on

actual velocity"
When the transition function "Safely-monitored deceleration in the case of error
based on actual velocity" (SMD-E-r_ActVel) is selected by a safety technology
error or a safety technology warning, the axis is decelerated in a drive-con-
trolled way; i.e. the drive makes itself independent of the command value input
of the control and is decelerated by the standard firmware in accordance with
the parameterization in "0x315E:01, SMO error reaction: Configuration stop-
ping process". At the end of the deceleration process, drive enable is removed.
The "SMD-E-r_ActVel" monitors via two channels to find out whether the actual
velocity is within the velocity envelope curve (0x3156:04). Using the decelera-
tion ramp (0x315F:04) with jerk limitation (0x315F:05), the drives generates
the velocity envelope curve. The drive calculates the start value of the velocity
envelope curve from the current actual velocity plus a tolerance (0x315F:01).
When the actual velocity leaves the velocity envelope curve (0x3156:04), one
of the following errors is signaled and the drive keeps being decelerated in
accordance with the parameterized error reaction (0x315E:01) (see ⮫ Error
reaction / escalation strategy):

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● "SMD-E-r_ActVel" in case of F3 error: “F7051

Safely-monitored deceleration exceeded“ or "F8351
Safely-monitored deceleration exceeded" [only for F3 equal to F7 reaction
(0x315E:01)]
NOTE: If the monitoring limit of the "Safe maximum speed
(SMS)" (0x3156:02) or an active "Safely-limited speed (SLS)"
(0x3160:01...0x316F:01) is below the calculated velocity envelope curve
(0x3156:04), the envelope curve acts as monitoring limit. When exceeding
the monitoring limit, the safety function reports an error.
● "SMD-E-r_ActVel" in case of F7 error: "F8351
Safely-monitored deceleration exceeded".
To compensate transient oscillation processes to standstill or to compensate
motions after the output stage was switched off, it is also possible to con-
figure that the axis may move by a parameterizable incorrect distance after the
velocity envelope curve (0x3156:04) has been exceeded. The warning E3151
is triggered during this motion (see ⮫ Compensating transient oscillation proc-
esses).
In parallel with velocity monitoring, "SMD-E-r_ActVel" in the case of F3 and
F7 errors also monitors that the transition process is completed within the
parameterized transition time (0x315E:02 or 0x315E:03). If the transition is
not completed within the parameterized transition time, one of the following
errors is signaled and the drive keeps being decelerated in accordance with
the parameterized error reaction (0x315E:01) (see ⮫ Error reaction / escalation
strategy):
● "SMD-E-r_ActVel" in case of F3 error: “F7050
Maximum transition time exceeded“ or "F8350
Maximum transition time exceeded" [only for F3 equal to F7 reaction
(0x315E:01)]
● "SMD-E-r_ActVel" in case of F7 error: "F8350
Maximum transition time exceeded"
For F3/F7 errors, the transition is monitored as follows:

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Transition functions

Safety functions
Fig. 59: Transition function "Safely-monitored deceleration in the case of F3/F7 errors based on
actual velocity"
Legend:
0x310E:04, SMO encoder function: Velocity threshold
0x315F:01, SMO safely-monitored decel. error: Oscillation vel. window
0x315F:02, SMO safely-monitored decel. error: Reaction time
0x315F:03, SMO safely-monitored decel. error: Velocity window
0x315F:04, SMO safely-monitored decel. error: Deceleration
0x315E:02, SMO error reaction: F3 tolerance time
0x315E:03, SMO error reaction: F7 tolerance time
0x315F:05, SMO safely-monitored decel. error: Jerk

● The velocity envelope curve consists of three steps and is generated as

follows:
– Step 1: "Reaction time until the error reaction is initiated" (on the drive
side) for the duration of 0x315F:02:
During the time parameterized in "0x315F:02, SMO safely-monitored
decel. error: Reaction time", the safety technology allows the drive to
adjust the command value input for the transition process. In this space
of time, monitoring takes place to find out whether the actual velocity is
within the velocity envelope curve (0x3156:04). The drive calculates the
start value of the velocity envelope curve from the current actual velocity
plus a tolerance (0x315F:01).
NOTE: This monitoring step is not required when the value "0" is parame-
terized in the parameter "0x315F:02, SMO safely-monitored decel. error:
Reaction time".

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NOTE: If the monitoring limit of the "Safe maximum speed

(SMS)" (0x3156:02) or an active "Safely-limited speed (SLS)"
(0x3160:01...0x316F:01) is below the calculated velocity envelope
curve (0x3156:04), the envelope curve acts as monitoring limit. When
exceeding the monitoring limit, the safety function reports an error.
– Step 2: "Monitoring of the transition to "Safe standstill error"" using the
deceleration ramp (0x315F:04 and 0x315F:05) until "0x310E:04, SMO
encoder function: Velocity threshold" has been reached:
In step 2, monitoring via two channels takes place to find out whether the
actual velocity is within the velocity envelope curve (0x3156:04). Using
the deceleration ramp (0x315F:04) and the jerk limitation (0x315F:05,
SMO safely-monitored decel. error: Jerk), the drives generates the
velocity envelope curve. The drive calculates the start value of the
velocity envelope curve from the current actual velocity plus a tolerance
(0x315F:03).
If a jerk > "0" has been set in "0x315F:05, SMO safely-monitored decel.
error: Jerk", the deceleration ramp for limiting the jerk is filtered via
a PT1 element. The time constant of the filter can be determined as
follows:
TPT1 = 0x315F:04 / 0x315F:05
NOTE: Via "0x315F:03, SMO safely-monitored decel. error: Velocity
window" and "0x315F:05, SMO safely-monitored decel. error: Jerk", the
transient oscillation of the velocity to the new target velocity is made
possible.
NOTE: If the monitoring limit of the "Safe maximum speed
(SMS)" (0x3156:02) or an active "Safely-limited speed (SLS)"
(0x3160:01...0x316F:01) is below the calculated velocity envelope
curve (0x3156:04), the envelope curve acts as monitoring limit. When
exceeding the monitoring limit, the safety function reports an error.
– Step 3: "Monitoring of the "velocity window of Safe standstill" until
switching to "Safe standstill error" takes place:
After the velocity envelope curve (0x3156:04) has reached the velocity
window (0x310E:04, SMO encoder function: Velocity threshold), the drive
monitors that the actual velocity is smaller than the velocity window until
switching to "Safe standstill error" takes place.
The parameters involved can be used to adjust the monitoring function to
different applications; primarily, this can be accomplished with 0x315F:02
and 0x315F:04.
NOTE: The transition to "Safe standstill error" is terminated ahead of time,
when the drive has removed drive enable and the actual velocity is smaller
than the parameterized velocity window (0x310E:04).

Compensating transient oscillation processes

In the case of the transition functions "Safely-monitored deceleration in the
case of error based on actual velocity" (SMD-E-r_ActVel) and "Safely-monitored
deceleration based on actual velocity" (SMD-r_ActVel), it is possible to con-
figure that the axis may still move by an incorrect distance after the "velocity
envelope curve" (0x3156:04) has been exceeded, before SafeMotion switches
off with the error F7051 or F8351. This can be used for transient oscillation
processes to standstill or for axis motions after the output stage was switched
off.
Monitoring of the incorrect distance becomes active under the following condi-
tions:

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Transition functions

● The configuration specifies that the axis may still move by an incorrect dis-
tance (0x3084:01, bit 7="1").
● One of the following transitions is active:
– Transition to special mode Safe standstill (SMES, SMST1, SMST2) with
active deceleration monitoring (SMD-r_ActVel)
– Transition to error state with active deceleration monitoring (SMD-E-
r_ActVel)
● The velocity envelope curve of deceleration monitoring falls below
the velocity window (2 × "0x310E:04, SMO encoder function: Velocity
threshold")
● The actual velocity is greater than the velocity envelope curve of decelera-
tion monitoring (0x3156:04)

Safety functions
The incorrect distance is determined by adding the actual velocity values.
If the incorrect distance is smaller than "0x3155:02, SMO safe stand-
still: Monitoring window safe operational stop", the warning "E3151
Safely-monitored deceleration exceeded" is generated; if the incorrect distance
is greater, the error message F7051 or F8351 is generated, depending on the
configuration.

“Immediate switching” option

With the "immediate switching" option, the transition function SMD provides
the user with the possibility of time-optimized switching when selecting a
motion mode. As soon as the drive, due to the current system properties (para-
meterized monitoring function and monitoring limits, actual velocity), detects
that immediate switching to the selected motion mode is possible, it performs
immediate switching. This option can be separately enabled in the parameter
"0x3084:01, SMO state machine prof. 1: Config operation mode transitions" for
changing between the motion modes and for changing from normal operation
to a motion mode.
Immediate switching occurs when the following conditions have been fulfilled:
● The actual velocity is within the velocity window of the selected safety func-
tion and
● the monitoring of the direction of motion of the active safety function and of
the selected safety function is identical or
the selected safety function is without monitoring of the direction of motion.

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Transition functions

Fig. 60: Immediate switching within the motion modes ("SMMx" to "SMMy")
Legend:
0x3160:01, SMO safely-limited speed 1: Velocityx...0x316F:01, SMO safely-limited speed 16: Velocityx
0x3160:01, SMO safely-limited speed 1: Velocityy...0x316F:01, SMO safely-limited speed 16: Velocityy

Fig. 61: Immediate switching from normal operation

Legend:
0x3160:01, SMO safely-limited speed 1: Velocity...0x316F:01, SMO safely-limited speed 16: Velocity
0x3084:04, SMO state machine prof. 1: Max. trans. time, NO to SMM
0x315A:05, SMO safely-monitored decel.: Deceleration

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Additional and auxiliary functions

Deselecting the transition function

An active transition function "Safely-monitored deceleration (SMD)" becomes
inactive when the safety function is deselected via the active "SafeMotion"
profile using the parameter "0x3157:01, SMO function selection: Control word
1".

In the case of a drive-controlled operation mode transition, the started deceler-

ation process is continued by the standard firmware, even if the safety function
is deselected.

8.6 Additional and auxiliary functions

Safety functions
8.6.1 Safe parking axis
Brief description
The drive function "parking axis" can be used in conjunction with integrated
safety technology, too. When this is done, it is possible to acknowledge the
safety state at the diagnostic interfaces.
For a detailed description of the drive function "parking axis", see the Func-
tional Description of the firmware.

Features
The auxiliary function "Safe parking axis" has the following features:
● Is intended for safety-relevant applications up to Category 4, PL e according
to EN ISO 13849–1 or up to SIL 3 according to EN 61800–5–2 / EN 61508.
● The auxiliary function can be used in drive systems equipped with the
optional safety technology module "SafeMotion".
● The functionality is available without function package.
● The output stage and the brake are locked via two channels for the duration
of the parking axis.
● Encoder monitoring functions are not active for the auxiliary function "Safe
parking axis". This means that the monitoring functions for velocity, acceler-
ation and position are deactivated.
● Safety is acknowledged if the risk analysis shows the appropriate result.
● The state of the auxiliary function "Safe parking axis" is displayed via param-
eter "0x3082:04, SMO state machine: Operating status".

Auxiliary function
Selecting the function
The auxiliary function "Safe parking axis" is active after safety technology has
been activated and the drive function "parking axis" has been selected. For
how to proceed to activate the drive function "parking axis", see the Functional
Description of the firmware.

Monitoring functions
With the auxiliary function "Safe parking axis", the following monitoring func-
tions are deactivated:
● Monitoring functions of the measuring systems
● Monitoring functions regarding velocity, acceleration and position
The missing velocity information can be replaced via the control bit "defined
safety with parked axis" in "0x3010:01, SMO configuration: System".

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Additional and auxiliary functions

Dangerous movements! Danger to life, risk of injury,

WARNING serious injury or property damage!
The control bit "defined safety with parked axis" in
"0x3010:01, SMO configuration: System" signals safety
which must result from the risk analysis. The risk analysis
must show that the axis does not cause any danger to
persons, when the axis has been parked. Using the func-
tion for axes with long coasting times (grinding wheels,
spindles, rolls,...) has to be excluded.

Acknowledging safety
When the control bit "defined safety with parked axis" has been set in
"0x3010:01, SMO configuration: System", the axis acknowledges safety with
the auxiliary function "Safe parking axis" having been activated (0x3082:05).
Further safety acknowledgements in accordance with parameterization, e.g. via
the local safe output pair, the safety zone bus etc.
Dangerous movements! Danger to life, risk of injury,
WARNING serious injury or property damage!
The control bit "defined safety with parked axis" in
"0x3010:01, SMO configuration: System" signals safety
which must result from the risk analysis. The risk analysis
must show that the axis does not cause any danger to
persons, when the axis has been parked. Using the func-
tion for axes with long coasting times (grinding wheels,
spindles, rolls,...) has to be excluded.

8.6.2 Limiting the positioning velocity

Brief description
With the "limiting the positioning velocity" function, it is possible, for drives
equipped with the optional safety technology module "SafeMotion", to activate
an additional velocity limit value for the initial velocity of the operation mode.

Features
The "limiting the positioning velocity" function has the following features:
● The function can be used in drive systems equipped with an optional safety
technology module "SafeMotion".
● The following operation modes / axis functions are supported:
– Drive-internal interpolation
– Drive-controlled positioning
– Positioning block mode
– Establishing position data reference (relative measuring systems)

Parameters involved
The following parameters are used in conjunction with the
"limiting the positioning velocity" function:
● 0x3010:03, SMO configuration: Rating factor for velocity limit values
● 0x3010:02, SMO configuration: Support functions
● 0x3020:01, SMO axis mechanics: Polarity
● 0x3024:01, SMO velocity scaling: Type
● 0x3024:02, SMO velocity scaling: Exponent
● 0x3156:04, SMO global functions: Velocity threshold
● 0x2304:02, Velocity limitation: Limit value, positive

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Additional and auxiliary functions

● 0x2304:03, Velocity limitation: Limit value, negative

● 0x290A:02, Axis polarity: Velocity
● 0x2902:01, Velocity data scaling: Type
● 0x2902:02, Velocity data scaling: Factor
● 0x2902:03, Velocity data scaling: Exponent
● 0x607F:00, Velocity limitation: Max profile velocity

Diagnostic messages involved

With active limitation of the positioning velocity, the warning "E2049
Positioning velocity >= limit value" is output.

Safety functions
Function
How to use the function
With the "limiting the positioning velocity" function, it is possible, for drives
equipped with the optional safety technology module "SafeMotion", to activate
an additional velocity limit value for the initial velocity of the operation mode.
The function can be activated via 0x3010:02, bit 0="1". It is only possible to
activate the function if the scaling of the standard firmware and of the safety
technology firmware is identical.
Scaling type: 0x3024:01 = 0x2902:01
Scaling factor: 0x2902:02 ="1"
Scaling exponent: 0x3024:02 = 0x2902:03
Polarity: 0x3020:01 = 0x290A:02 (bit 0)

Monitoring functions
The limitation of the target velocity in the standard firmware is supposed to
prevent the monitoring functions of "Safe Motion" from triggering. For this
purpose, the active velocity threshold (0x3156:04) is read. The threshold
and the scaling factor for the velocity limit value are used for calculation
(0x3010:03: 0 .. 100%). The velocity limit value is determined as follows:
Velocity limit value = 0x3156:04 × 0x3010:03 / 100
Legend:
0x3010:03, SMO configuration: Rating factor for velocity limit values
0x3156:04, SMO global functions: Velocity threshold
With the "limiting the positioning velocity" function active, the velocity limit
value is furthermore reduced by at least the velocity threshold for safe stand-
still (0x310E:04) compared to the active velocity threshold.
In addition, the limitation to the bipolar velocity limit value (0x607F:00) or
0x2304:02/0x2304:03 is carried out.
With active limitation of the positioning velocity, the warning "E2049
Positioning velocity >= limit value" is output.

8.6.3 Safe homing procedure

Brief description
The Safe homing procedure by itself is not an independent safety function, but
the basis of all safety functions with Safely-monitored absolute position!
To use the auxiliary function "Safe homing procedure", the standard firmware
and "SafeMotion" have to feature the same position scaling, mechanics and
encoder setting and position polarity.

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Additional and auxiliary functions

The auxiliary function "Safe homing procedure" is a homing procedure during

normal operation with an additional home switch for safely determining the
reference position.
The auxiliary safety technology function "Safe homing procedure" has to be
carried out before selecting the following safety functions:
● "Safely-limited position (SLP)"
● "Safely-monitored position (SMP)"
● "Safely-limited end position (SLE)"
For absolute measuring systems, the Safe homing procedure has to be carried
out, too.

Features
The auxiliary safety technology function "Safe homing procedure" has the fol-
lowing features:
● Is suited for safety-relevant applications up to SIL2 according to EN 61800–
5–2 / EN 61508 and Category 3, PL d according to EN ISO 13849–1.
● The safety function can be used in drive systems equipped with the optional
safety technology module "SafeMotion"
AND
for which the SafeMotion function package "SafeMotion Position" has been
activated.
● Is available with the firmware AXS–V–0504 and above.
● Individual additional homing command for "SafeMotion" (C4000).
● According to the application requirements, the position data reference for
"SafeMotion" can be established by a static or a dynamic reference signal.
The dynamic reference signal is optionally detected at a rising or a falling
edge.
● Only single-channel design of the home switch required (can also be wired
via non-safe inputs).
● No dynamization of the home switch.
● The position difference between the first and the second reference is moni-
tored (0x31B0:04).
● The Safe reference is lost in the "CM" (configuration mode) and
"parking axis" operating states.
● The auxiliary safety technology function "Safe homing procedure" is
the prerequisite of the safety functions "Safely-limited position (SLP)",
"Safely-monitored position (SMP)" and "Safely-limited end position (SLE)".

Parameters involved
The following parameters are used in conjunction with the auxiliary safety tech-
nology function "Safe homing procedure":
● 0x31B0:02, SMO safe homing: Control word
● 0x31B0:01, SMO safe homing: Configuration
● 0x31B0:07, SMO safe homing: C4000 Safe homing procedure command
● 0x31B0:03, SMO safe homing: Reference position
● 0x31B0:04, SMO safe homing: Tolerance window
● 0x31B0:05, SMO safe homing: Maximum velocity
● 0x31B0:06, SMO safe homing: Ref. check time interv. deprecated

Diagnostics involved
The following diagnostic messages can be generated in conjunction with the
auxiliary safety technology function "Safe homing procedure":

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Additional and auxiliary functions

● C8214 SMO: Incorrect configuration

● C4001 Encoder evaluation error during Safe homing procedure
● C4002 Incorrect SMO position feedback value
● C4003 Home switch distance below minimum value
● C4004 Faulty SMO reference signal
● E3112 Safe reference missing
● E3113 Prewarning: End of reference position check time interval
● F3112 Safe reference missing
● F3165 Faulty SMO reference signal
● F3166 Reference position check failed
● F3167 Encoder evaluation warning

Safety functions
● F7009 Homing velocity exceeded

Functional description
Basic function
Two diversitary references are required to establish Safe reference for "Safe-
Motion". First of all, the functional reference of the standard drive has to be
established using the known mechanisms, or be already available ("set abso-
lute position" with absolute encoders) (see Functional Description of firmware
"Establishing the position data reference"). Afterwards, the functional reference
is applied to "SafeMotion" within the scope of the command "C4000 SMO:
Safe homing procedure command" (first reference) and validated with a second
homing procedure (second reference).
The drive only remains safely homed as long as it is in the operating state "PM"
or "OM". The Safe homing procedure has to be repeated after a restart, an SMO
encoder error or a change in the operating state to "CM" or "parking axis".
The paragraphs below mainly describe the functionality of the second refer-
ence. For the functionality of the first reference, please see the Functional
Description of firmware.

Selecting the reference signal for the second reference

When selecting the reference signal for the second reference, make sure that
the second reference can detect an error that occurred when the first reference
had been established (functional reference for the standard drive). Therefore,
the reference signal for the second reference has to have the following proper-
ties:
● Home switches spatially separated: It is not allowed to use one home switch
for the first and second reference
● Home switches mechanically decoupled: The home switches of the first and
second reference should not be mechanically coupled so that accidentally
shifting a home switch does not cause the second home switch to be shifted
● External reference signal: The reference signal for the second reference
should not be generated automatically and without an external event (e.g.,
mechanical switch or active operator action) in the control or the drive
According to the application requirements, the position data reference for the
second reference can be established by a static or dynamic reference signal.
The setting is made in "0x31B0:01, SMO safe homing: Configuration".
● "Static evaluation" means that to establish the position data reference,
a high level in standstill ("0x310E:01, SMO encoder function: Evaluation
status", bit 6=1) is constantly expected at the home switch input for
T>100 ms (within a maximum of 300 ms after the first edge has been
detected) in "0x31B0:03, SMO safe homing: Reference position".

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Additional and auxiliary functions

Fig. 62: Evaluating a static reference signal

The evaluation of a static reference signal should be used in the following
cases:
● the start position of the first reference for moving to the first reference
position is not unequivocally before or behind the second reference distance
position and it is therefore only possible to position the drive unequivocally
at this position, or
● the Safe reference is to be manually confirmed.
● "Dynamic evaluation" means that during a movement a defined edge is
expected at the home switch input in "0x31B0:03, SMO safe homing: Refer-
ence position" to establish the second position data reference. Afterwards,
this edge has to be applied for T>95 ms with a constant level (the first 5 ms
after the edge are not taken into account due to switch bouncing).

Fig. 63: Evaluating a dynamic reference signal

The evaluation of a dynamic reference signal should be used if it is possible
to ensure, by moving to the reference mark of the first reference, that the
reference position of the second reference is passed with a defined edge.
Since the reference signal evaluation has a velocity and switch tolerance,
the position data reference is adjusted to the position feedback value of the
standard drive. During the adjustment a check is run to find out whether the
difference of the position feedback values of the first and second reference
is within the value parameterized in "0x31B0:04, SMO safe homing: Tolerance
window".

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Additional and auxiliary functions

If using the "dynamic evaluation" of the home switch for the second reference,
make sure, when selecting the home switch and the homing velocity, that pos-
sible bouncing of the home switch contacts is < 5 ms and the reference pulse
that is output is > 100 ms. Use the formula below to determine the minimum
width of the home switch:
Home switch width > homing velocity × 100 ms
Calculating the minimum width of the home switch for the second reference

Signal sources for the reference signal of the second reference

A single-channel, non-dynamized home switch is sufficient for the reference
signal of the second reference. There are different ways to read in the reference

Safety functions
signal in SafeMotion. The table below shows the possible signal sources:
Signal source Parameter for signal transmis- Optional safety tech-
sion nology module "SafeMo- Signal runtime
tion"
Standard input of drive 0x305C:05, SMO local IOs: ✔
In preparation
Functional input signals, drive
Master communication 0x305C:05, SMO local IOs: ✔ Not recommended as a signal
Functional input signals, drive source for the reference signal
due to the long signal run times.
ctrlX SAFETYlink 0x3060:04, SMO SAFETYlink: --
4.5 ms
Input signals
Safety bus 0x3052:02, SMO safety bus ✔ Not recommended as a signal
function: Control word source for the reference signal
due to the long signal run times.
Functional input of optional 0x305C:04, SMO local IOs: ✔
safety technology module Functional input signals 1 ms
(X41/X41.n/X141)

Using the "IO mapper inputs" of SMO, the signal source of the reference signal
has to be assigned to the reference signal of the second reference (0x31B0:02,
SMO safe homing: Control word). The signal source is assigned using the IO
mapper block "Functional connector".
When selecting the signal source of the reference signal for the second refer-
ence, its signal run time and the type of evaluation (dynamic or static home
switch) have to be taken into account. It can have an effect on the accuracy of
the safe reference and the required home switch width.

Establishing the position data reference for the second reference

When using two encoders to be homed via the command "0x2501:01, Homing
control: C0600 Command drive-controlled procedure", it has to be noted that
with the Safe homing procedure, the absolute position of the currently set
reference encoder (0x2500:02, bit 3) will always be applied to Safe Motion as
the first reference.
There are two options for establishing the position data reference for the
second reference:

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Additional and auxiliary functions

● Via digital input or parameter, start the independent command "0x31B0:07,

SMO safe homing: C4000 Safe homing procedure command" and observe
the points listed below:
– The first reference already has to have been established (e.g., absolute
encoder).
– NC-controlled motion has to be carried out so that the selected dedi-
cated point is passed (detected), since the drive does not carry out any
independent motion during the execution of the command "0x31B0:07,
SMO safe homing: C4000 Safe homing procedure command".
● Start "0x2501:01, Homing control: C0600 Command drive-controlled proce-
dure" and observe the points listed below:
– The command "0x2501:01, Homing control: C0600 Command drive-con-
trolled procedure" at the beginning also automatically starts the com-
mand "0x31B0:07, SMO safe homing: C4000 Safe homing procedure
command" internally, if this has been configured in "0x2500:02, Homing
function: Configuration".
– The home switch for the second reference has to be mechanically
mounted in such a way that it is activated with the travel motion to be
expected or during the concluding positioning. If this is not the case, the
home switch has to be activated by an NC-controlled motion.
Using "0x310E:01, SMO encoder function: Evaluation status" check whether the
drive has been safely homed.

Monitoring functions
As long as the axis has not been safely homed, it may only be moved at
velocities smaller than "0x31B0:05, SMO safe homing: Maximum velocity". If
this velocity threshold is exceeded, SMO generates the error "F7009 Homing
velocity exceeded" and decelerates the axis.
Axes with "safe reference" configured may not be operated more than 15
minutes without safe reference. After 15 minutes, the axis is switched off with
the error "F3112 Safe reference missing". The error can be cleared and time
monitoring is retriggered.
If a special mode is selected for which Safe absolute position monitoring has
been configured, the error "F3112" is immediately generated and can only be
cleared after the respective special mode was exited.
In "0x31B0:01, SMO safe homing: Configuration", the error message "F3112"
can be reconfigured as the warning "E3112 Safe reference missing" for normal
operation and the special mode (without absolute position monitoring).
If the SMO reference signal is statically evaluated and safe reference has been
established, monitoring takes place to find out whether the SMO reference
signal is at high level although the SMO reference position is outside of the
parameterized position window [reference position (0x31B0:03) ±tolerance
window (0x31B0:04)]. In the case of error, "F3165 Faulty SMO reference signal"
is generated and the safe reference is cleared.

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Additional and auxiliary functions

Safety functions
Fig. 64: Monitoring the reference signal of the second reference
Parameters:
0x31B0:02, SMO safe homing: Control word
0x31B0:03, SMO safe homing: Reference position
0x31B0:04, SMO safe homing: Tolerance window
In the case of applications for which the risk assessment shows that a creeping
position offset can occur in operation during the generation of the absolute
position (e.g., due to EMC interference or accumulation of dirt on the encoder
code disk), a cyclic check of the safe reference can be configured. During
the cyclic check of the safe reference, the safe reference is validated again in
running operation as soon as the reference position of the second reference is
passed. That is to say it is not necessary to activate a homing command (C0600
or C4000) for the check. The following conditions have to be fulfilled:
● The same criteria as for the safe homing procedure itself concerning the
signal shape, signal duration and actual velocity apply during the cyclic
check of the safe reference.
● The cyclic check was activated in "0x31B0:01, SMO safe homing: Configura-
tion"
● The time interval for the cyclic check was configured in "0x31B0:06, SMO
safe homing: Ref. check time interv. deprecated"
If an error was detected during the cyclic check of the safe reference or no
successful check was carried out within the time interval, SMO generates the
error "F3166 Reference position check failed" and clears the safe reference.

Notes on commissioning

Introduction
The safe reference of SafeMotion is maintained, even if the reference in the
standard firmware is cleared or gets lost.
The paragraphs below describe typical commissioning sequences for different
measuring systems. According to the mounting position of the home switches
and the control unit used, there are up to three different commissioning
sequences for each encoder type:

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● Option 1: "drive-controlled"
– The home switches are mounted in such a way that by carrying out drive-
controlled homing for the first reference it can be ensured that the home
switch for the second reference is passed from the correct side (dynamic
evaluation) or the drive is positioned at it (static evaluation).
– The control knows the command "0x2501:01".
● Option 2: "drive-/NC-controlled"
– The home switches are mounted in such a way that by carrying out drive-
controlled homing for the first reference it cannot be ensured that the
home switch for the second reference is passed from the correct side
(dynamic evaluation) or the drive is positioned at it (static evaluation).
– The homing command of the control is extended by NC‑controlled actua-
tion of the home switch for the second reference.
● Option 3: "NC-controlled"
– The homing of the first reference is completely carried out by the control
unit (the travel motions, too), and the homed system is only transmitted
to the drive.
– The homing command of the control is extended by NC‑controlled actua-
tion of the home switch for the second reference.
Please see the diagram below for the commissioning example for the safe
homing procedure that applies to your application:

Fig. 65: Selection diagram for commissioning examples of Safe homing procedure
In the descriptions below, the first reference always refers to encoder 1. If an
encoder 2 has been plugged in interface 1 (or interface 2 for axis 2 in the case
of the double-axis device) instead of encoder 1, it is only necessary to replace
the following parameters, the function remains as described:
− Actual position value: 0x24C0:01 by 0x24C2:01 (encoder 2)
− Reference distance: 0x607C:00 by 0x2506:01 (encoder 2)
− Reference offset: 0x2505:02 by 0x2506:02 (encoder 2)

Commissioning example 1
Requirements
The following requirements must have been fulfilled so that the safe reference
can be established using the command "0x2501:01, Homing control: C0600
Command drive-controlled procedure".

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Additional and auxiliary functions

● The requirements for the functional homing procedure for the standard drive
have been met (configuration completed, function successfully checked).
● An absolute or distance-coded measuring system is used.
● The home switch for the second reference is statically evaluated or manually
operated.
● The home switch for the second reference is actuated for at least 100 ms.

Presetting
The following parameter setting has to be made in the drive:
● "0x31B0:01, SMO safe homing: Configuration": Activate Safe homing proce-
dure

Safety functions
● "0x31B0:01, SMO safe homing: Configuration": Set "SMO reference signal"
to "Static evaluation"
● "0x31B0:02, SMO safe homing: Control word": Assign signal source using
"functional connector" in the IO mapper inputs
● "0x31B0:03, SMO safe homing: Reference position"="0x607C:00, Homing
configuration ENC_1: Home offset" (or "0x2506:01, Homing configuration
ENC_2: Home offset")
● "0x31B0:04, SMO safe homing: Tolerance window": "Positioning accuracy at
home switch +10%"
● "0x31B0:05, SMO safe homing: Maximum velocity": "Homing velocity +10%"
● "0x2500:02, Homing function: Configuration": Position drive at the reference
point at the end of homing procedure (0x607C:00 or 0x2506:01)
● 0x2500:02, Homing function: Configuration: Activate homing of safety tech-
nology in the command C0600

Implementation (chronological sequence)

Carry out the Safe homing procedure in the following order:
1. Start command "0x2501:01, Homing control: C0600 Command drive-con-
trolled procedure"; the drive establishes the functional reference of
the standard drive (first reference) and positions at reference distance
[0x607C:00 (or 0x2506:01)=0x31B0:03].
Note: Errors during the Safe homing procedure are signaled as command
errors C400x. In the case of error, the command "0x31B0:07, SMO safe
homing: C4000 Safe homing procedure command" has to be terminated
separately.
2. When the second reference position is reached, the reference signal either
has to be triggered automatically using a mounted switch or by manual
operation.
3. Complete command
"C0600 Drive-controlled homing procedure command".
If the Safe homing procedure was successful, this is signaled in "0x310E:01,
SMO encoder function: Evaluation status", and the safety functions with Safely-
monitored absolute position can be used.
Any position errors of the size of the tolerance window (0x31B0:04) will not be
detected!

Commissioning example 2
Requirements
The following requirements must have been fulfilled so that the safe reference
can be established using the command "0x2501:01, Homing control: C0600
Command drive-controlled procedure".

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● The requirements for the functional homing procedure for the standard drive
have been met (configuration completed, function successfully checked).
● An incremental measuring system is used.
● The home switch for the second reference is dynamically evaluated (without
reference mark).
● The home switch for the second reference has to be on the way to the
reference point of the first reference.
● The home switch for the second reference is actuated for at least 100 ms.
The minimum width of the home switch for the second reference is calcu-
lated as follows:
Home switch width > homing velocity × 100 ms
● The distance between the reference point of the first and second reference
has to be greater than twice the tolerance window (0x31B0:04, SMO safe
homing: Tolerance window)
The minimum distance of the reference points for Safe homing procedure is
calculated as follows:
|Reference 2 reference point - reference 1 reference point| > 2 × 0x31B0:04

Presetting
The following parameter setting has to be made in the drive:
● "0x31B0:01, SMO safe homing: Configuration": Activate Safe homing proce-
dure
● "0x31B0:01, SMO safe homing: Configuration": Set "SMO reference signal"
to "Dynamic evaluation" and select positive or negative "edge evaluation"
● "0x31B0:02, SMO safe homing: Control word": Assign signal source using
"functional connector" in the IO mapper inputs
● "0x31B0:03, SMO safe homing: Reference position": Enter home switch edge
position of the second reference
"0x31B0:03, SMO safe homing: Reference position" is calculated as follows:
Reference distance = reference 2 reference point ‑ reference 1 reference
point
0x31B0:03 = (0x607C:00) ‑ (0x2505:02) ‑ reference distance or
0x31B0:03 = (0x2506:01) ‑ (0x2506:02) ‑ reference distance
● Adjust "0x31B0:04, SMO safe homing: Tolerance window" (value depends on
delay of signals, as well as on homing velocity)
The minimum value for 0x31B0:04, SMO safe homing: Tolerance window is
calculated as follows:
0x31B0:04 > 2 × homing velocity × 1 ms
● "0x31B0:05, SMO safe homing: Maximum velocity": "Homing velocity +10%"
● "0x2500:02, Homing function: Configuration": Activate "Home switch evalua-
tion"
● "0x2500:02, Homing function: Configuration": Activate homing of safety tech-
nology in the command C0600

Implementation (chronological sequence)

Carry out the Safe homing procedure in the following order:
1. Start command "C0600 Drive-controlled homing procedure command";
the drive establishes the reference for the first reference (functional refer-
ence of the standard drive).
Note: Errors during the Safe homing procedure are signaled as command
errors C400x. In the case of error, the command "0x31B0:07, SMO safe
homing: C4000 Safe homing procedure command" has to be terminated
separately.

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Additional and auxiliary functions

2. During the concluding homing procedure, "SafeMotion" detects the edge

of the home switch for the second reference.
3. SafeMotion checks whether the position feedback difference between the
first and second reference is smaller than "0x31B0:04, SMO safe homing:
Tolerance window".
4. Complete command
"C0600 Drive-controlled homing procedure command".
If the Safe homing procedure was successful, this is signaled in "0x310E:01,
SMO encoder function: Evaluation status", and the safety functions with Safely-
monitored absolute position can be used.
Any position errors of the size of the tolerance window (0x31B0:04) will not be

Safety functions
detected!

Commissioning example 3
Requirements
The following requirements must have been fulfilled so that the safe reference
can be established using the command "0x31B0:07, SMO safe homing: C4000
Safe homing procedure command“.
● The requirements for the functional homing procedure for the standard drive
have been met (configuration completed, function successfully checked).
● An absolute measuring system is used.
● A travel motion by the control unit has to be possible to establish the refer-
ence.
● The home switch for the second reference is evaluated dynamically or stati-
cally.
● The home switch for the second reference is actuated for at least 100 ms.
The minimum width of the home switch for the second reference is calcu-
lated as follows:
Home switch width > homing velocity × 100 ms

Presetting
The following parameter setting has to be made in the drive:
● "0x31B0:01, SMO safe homing: Configuration": Activate Safe homing proce-
dure
● "0x31B0:01, SMO safe homing: Configuration": Evaluate home switch
dynamically or statically and select corresponding edge evaluation in the
case of dynamic evaluation
● "0x31B0:02, SMO safe homing: Control word": Assign signal source using
"functional connector" in the IO mapper inputs
● "0x31B0:03, SMO safe homing: Reference position": Enter home switch posi-
tion for the second reference
● "0x31B0:04, SMO safe homing: Tolerance window": Content depends on
home switch evaluation type of the second reference:
– Static evaluation of the home switch: Enter positioning accuracy at home
switch +10%
– Adjust Dynamic evaluation of the home switch: "0x31B0:04, SMO safe
homing: Tolerance window" (value depends on delay of signals, as well as
on homing velocity)
The minimum value for "0x31B0:04, SMO safe homing: Tolerance window" is
calculated as follows:
0x31B0:04, SMO safe homing: Tolerance window > 2 × homing velocity × 1 ms
● "0x31B0:05, SMO safe homing: Maximum velocity": "Homing velocity +10%"

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Additional and auxiliary functions

Implementation (chronological sequence)

Carry out the Safe homing procedure in the following order:
1. Establish the functional reference for the standard drive.
2. Start command "C4000 SMO: Safe homing procedure command".
3. The control moves the drive to (static home switch evaluation) or beyond
(dynamic home switch evaluation) the reference position for the second
reference (0x31B0:03).
4. In the case of manual operation of the home switch for the second refer-
ence, the reference signal has to be triggered when the drive is at the
reference position for the second reference.
5. The drive checks whether the position feedback difference between the
first and second reference is smaller than "0x31B0:04, SMO safe homing:
Tolerance window“.
6. Complete command "C4000 SMO: Safe homing procedure command".
If the Safe homing procedure was successful, this is signaled in "0x310E:01,
SMO encoder function: Evaluation status", and the safety functions with Safely-
monitored absolute position can be used.
Any position errors of the size of the tolerance window (0x31B0:04) will not be
detected!

Commissioning example 4
Requirements
The following requirements must have been fulfilled so that the safe reference
can be established in a drive‑/NC‑controlled way:
● The requirements for the functional homing procedure for the standard drive
have been met (configuration completed, function successfully checked).
● An incremental or distance-coded measuring system is used.
● The position data reference for the first reference (functional reference of
the standard drive) is established using the "drive-controlled homing proce-
dure" (0x2501:01).
● A travel motion by the control unit has to be possible to establish the refer-
ence.
● The home switch for the second reference is evaluated dynamically or stati-
cally.
● The home switch for the second reference is actuated for at least 100 ms.
The minimum width of the home switch for the second reference is calcu-
lated as follows:
Home switch width > homing velocity × 100 ms
● If an incremental measuring system is used, the distance between the refer-
ence point of the first and second reference has to be greater than twice the
tolerance window ("0x31B0:04, SMO safe homing: Tolerance window").
The minimum distance of the reference points for Safe homing procedure is
calculated as follows:
|Reference 2 reference point - reference 1 reference point| > 2 × 0x31B0:04

Presetting
The following parameter setting has to be made in the drive:

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Additional and auxiliary functions

● "0x31B0:01, SMO safe homing: Configuration": Activate Safe homing proce-

dure
● "0x31B0:01, SMO safe homing: Configuration": Evaluate home switch
dynamically or statically and select corresponding edge evaluation in the
case of dynamic evaluation
● "0x31B0:02, SMO safe homing: Control word": Assign signal source using
"functional connector" in the IO mapper inputs
● "0x31B0:03, SMO safe homing: Reference position": Enter home switch edge
position for the second reference
When using an incremental encoder, calculate the position as follows:
"0x31B0:03, SMO safe homing: Reference position" is calculated as follows:
Reference distance = reference 2 reference point ‑ reference 1 reference

Safety functions
point
0x31B0:03 = (0x607C:00) ‑ (0x2505:02) ‑ reference distance or
0x31B0:03 = (0x2506:01) ‑ (0x2506:02) ‑ reference distance
● "0x31B0:04, SMO safe homing: Tolerance window": Content depends on
whether home switch of the second reference is to be evaluated statically or
dynamically:
– Static evaluation of the home switch: Enter positioning accuracy at home
switch +10%
– Adjust Dynamic evaluation of the home switch: "0x31B0:04, SMO safe
homing: Tolerance window" (value depends on delay of signals, as well as
on homing velocity)
The minimum distance of the reference points for Safe homing procedure is
calculated as follows:
|Reference 2 reference point - reference 1 reference point| > 2 × 0x31B0:04
● "0x31B0:05, SMO safe homing: Maximum velocity": "Homing velocity +10%"

Implementation (chronological sequence)

Carry out the Safe homing procedure in the following order:
1. Start command "C0600 Drive-controlled homing procedure command";
the drive establishes the reference for the first reference (functional refer-
ence of the standard drive).
2. Complete command "C0600 Drive-controlled homing procedure com-
mand".
3. Start command "SMO: C4000 Safe homing procedure command".
4. The control moves the drive to (static home switch evaluation) or beyond
(dynamic home switch evaluation) the reference position for the second
reference (0x31B0:03).
5. In the case of manual operation of the home switch for the second refer-
ence, the reference signal has to be triggered when the drive is at the
reference position for the second reference.
6. SafeMotion checks whether the position feedback difference between the
first and second reference is smaller than "0x31B0:04, SMO safe homing:
Tolerance window".
7. Complete command "SMO: C4000 Safe homing procedure command".
If the Safe homing procedure was successful, this is signaled in "0x310E:01,
SMO encoder function: Evaluation status", and the safety functions with Safely-
monitored absolute position can be used.
Any position errors of the size of the tolerance window (0x31B0:04) will not be
detected!

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Additional and auxiliary functions

Commissioning example 5
Requirements
The following requirements must have been fulfilled so that the safe reference
can be established using the command "0x31B0:07, SMO safe homing: C4000
Safe homing procedure command“.
● The requirements for the functional homing procedure for the standard drive
have been met (configuration completed, function successfully checked).
● An incremental or distance-coded measuring system is used.
● The position data reference for the first reference (functional reference of
the standard drive) is established using the NC‑controlled homing proce-
dure.
● An additional travel motion by the control unit has to be possible to estab-
lish the reference for the second reference.
● The home switch for the second reference is evaluated dynamically or stati-
cally.
● The home switch for the second reference is actuated for at least 100 ms.
The minimum width of the home switch for the second reference is calcu-
lated as follows:
Home switch width > homing velocity × 100 ms
● If an incremental measuring system is used, the distance between the refer-
ence point of the first and second reference has to be greater than twice the
tolerance window (0x31B0:04, SMO safe homing: Tolerance window)
The minimum distance of the reference points for Safe homing procedure is
calculated as follows:
|Reference 2 reference point - reference 1 reference point| > 2 × 0x31B0:04

Presetting
The following parameter setting has to be made in the drive:
● "0x31B0:01, SMO safe homing: Configuration": Activate Safe homing proce-
dure
● "0x31B0:01, SMO safe homing: Configuration": Evaluate home switch
dynamically or statically and select corresponding edge evaluation in the
case of dynamic evaluation
● "0x31B0:02, SMO safe homing: Control word": Assign signal source using
"functional connector" in the IO mapper inputs
● "0x31B0:04, SMO safe homing: Tolerance window": Content depends on
home switch evaluation type of the second reference:
– Static evaluation of the home switch: Enter positioning accuracy at home
switch +10%
– Adjust Dynamic evaluation of the home switch: "0x31B0:04, SMO safe
homing: Tolerance window" (value depends on delay of signals, as well as
on homing velocity)
The minimum value for 0x31B0:04, SMO safe homing: Tolerance window is
calculated as follows:
0x31B0:04 > 2 × homing velocity × 1 ms
● "0x31B0:05, SMO safe homing: Maximum velocity": "Homing velocity +10%"
● "0x31B0:03, SMO safe homing: Reference position": Enter home switch posi-
tion for the second reference.
When using an incremental encoder, calculate the position as follows:
"0x31B0:03, SMO safe homing: Reference position" is calculated as follows:
Reference distance = reference 2 reference point ‑ reference 1 reference
point
0x31B0:03 = (0x607C:00) ‑ (0x2505:02) ‑ reference distance or

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General information

0x31B0:03 = (0x2506:01) ‑ (0x2506:02) ‑ reference distance

Implementation (chronological sequence)

Carry out the Safe homing procedure in the following order:
1. Establish the functional reference for the standard drive.
2. Start command "SMO: C4000 Safe homing procedure command".
The control moves the drive to (static home switch evaluation) or beyond
(dynamic home switch evaluation) the reference position for the second

Selection and acknowledgment

reference (0x31B0:03).
3. In the case of manual operation of the home switch for the second refer-
ence, the reference signal has to be triggered when the drive is at the
reference position for the second reference.
4. The drive checks whether the position feedback difference between the
first and second reference is smaller than "0x31B0:04, SMO safe homing:
Tolerance window“.
5. Complete command "SMO: C4000 Safe homing procedure command".
If the Safe homing procedure was successful, this is signaled in "0x310E:01,
SMO encoder function: Evaluation status", and the safety functions with Safely-
monitored absolute position can be used.
Any position errors of the size of the tolerance window (0x31B0:04) will not be
detected!

9 Selection and acknowledgment

9.1 General information
“Selection” basically is the “activation” of safety functions that were parameter-
ized and configured during commissioning.
The firmware supports the selection of the following options:
● safe selection via ctrlX SAFETYlink in connection with the SAFEX-C.1x safety
control
● Dual-channel “discrete selection” via safe digital inputs of the optional safety
technology module
● safe selection via the “safety bus” The safe transfer protocol "FSoE FailSafe
over EtherCat" (AXS-V-0304 and above) and "PROFIsafe" (ab AXS-V-0316)
are available

The available safety functions are independent of the interface used.

The firmware supports the following options for safety-related feedback:

● Dual-channel “discrete acknowledgment“ via the safe digital output of the
optional safety technology module
● Single-channel, non-safe acknowledgment via the digital outputs of the axis
● Single-channel, non-safe acknowledgment via the master communication of
the axis
● safe acknowledgment via the “safety bus”. The safe transfer protocol "FSoE
FailSafe over EtherCat" (AXS-V-0304 and above) and "PROFIsafe" (ab AXS-
V-0316) are available
● safe acknowledgement via ctrlX SAFETYlink in connection with the safety
control SAFEX-C.1x

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Discrete selection and acknowledgment

9.2 Discrete selection and acknowledgment

9.2.1 Brief description
Besides the selection and acknowledgment via the safety bus communication,
the integrated safety technology in the "Safe Motion" characteristic supports
the discrete selection and acknowledgment via digital inputs and outputs. The
safe selection can only be made via two channels.
In the case of discrete selection and acknowledgment, make sure that the
wiring and the safety unit, which generates the selection, comply at least with
the safety level required for the application.

9.2.2 Functional principle

Definition
SafeMotion supports the following types of wiring and selection via digital
inputs:
Dual-channel selection
Dual-channel selection means that SafeMotion reads in the selection signals
via two digital inputs and from these two signals internally generates one safe
selection signal. The wiring between the sensor required for the selection and
the two digital inputs can be implemented as a "single-channel wiring" (with
fault exclusion for the discrete wiring) or as a "dual-channel wiring". The two
figures below illustrate the wiring types in schematic form.

Fig. 66: Dual-channel selection with dual-channel wiring

Fig. 67: Dual-channel selection with single-channel wiring

When "single-channel wiring" is used to select SafeMotion, the following fault
exclusion is required:
The accidental deactivation of the safety function by short circuits with other
potentials must be excluded (see EN ISO 13849‑1:2012, table D.4). (Due to the
isolated inputs and possible potential shifts of the 24 V systems, the contact of
the selection channel with ground might cause a selection).
The dual-channel wiring must be preferred to the single-channel wiring with
fault exclusion.
The selection signals can be generated by active or passive safety units (see
chapter "Dynamization").
Dynamization monitoring to detect errors in the wiring has to be executed by
the dynamization source.

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ctrlX SAFETYlink

Discrete selection via the optional safety technology module

The optional safety technology module "M5" has two inputs, the optional safety
technology module "M8" has five inputs.
The digital inputs of the optional safety technology modules can be evaluated
functionally as well as in a safety-relevant way. The local inputs (functional or
safety-relevant use) are configured via 0x305C:01. The inputs can be read and
assigned to individual networks via 0x305C:02 in the" I/O mapper inputs".

Discrete acknowledgment via the optional safety technology module

Selection and acknowledgment

The optional safety technology modules make available dual-channel outputs
for safe acknowledgment of safety technology states. Different status bits of
SafeMotion can be assigned to the outputs via the "signal control of outputs".
The safe acknowledgment of the safety technology state (e.g., safe state of
the axis, status of the safety function, …) is effected by a high signal on both
outputs of the output pair. When one output or both outputs have a low signal,
the safe state is not acknowledged. The output pairs always have to be wired
via two channels. Single-channel wiring is only allowed for diagnostic purposes
(no safe acknowledgment).
The safe local outputs are intended for safety-relevant applications up to
Category 4 PL e according to EN ISO 13849-1 or up to SIL 3 according to
EN 61800–5–2 / EN 61508.

9.3 ctrlX SAFETYlink

Brief description
The integrated safety technology for ctrlX DRIVEplus drives in the "SafeMotion"
characteristics supports the selection and the acknowledgement of safety func-
tions via ctrlX SAFETYlink, apart from the discrete selection and acknowledge-
ment and the selection and acknowledgement via the safety bus communica-
tion. By means of the ctrlX SAFETYlink, safe communication between a safety
control [zone master e.g. ctrlX SAFETY (SAFEX-C.1*)] and multiple drives ctrlX
DRIVEplus (zone nodes) is possible with the optional safety technology module
"M5".

Features
● ctrlX SAFETYlink is suited for safety-relevant applications up to SIL 3
according to EN 61800–5–2 / EN 61508 and Category 4, PL e according to
EN ISO 13849–1.
● ctrlX SAFETYlink allows setting up a safety zone with up to 32 zone nodes
(ctrlX DRIVEplus) and a zone master (ctrlX SAFETY)
● Only axes of the ctrlX DRIVEplus drive range that have been equipped with
the optional safety technology module "M5" can be included in the safety
zone.
● A zone master [e.g., ctrlX SAFETY (SAFEX-C.1*)] with ctrlX SAFETYlink inter-
face is required
● ctrlX SAFETYlink allows up to 16 safe input signals to be transmitted from
the zone master to all zone nodes
● ctrlX SAFETYlink allows safe status signals to be transmitted from the zone
nodes to the zone master
● The cycle time of ctrlX SAFETYlink can be configured by the zone master.
Currently, 1 ms or 2 ms are supported. With a cycle time of 1 ms, the
number of zone nodes (ctrlX DRIVEplus) is limited to 16. (The cycle time is
shown in "0x3060:07, SMO SAFETYlink: Active cycle time".)

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ctrlX SAFETYlink

ctrlX SAFETYlink (XG42, XG43) is not compatible with the zone bus of the
IndraDrive range (X42, X43). Operating IndraDrive with the optional safety
technology module "S4" or "S5" and a safety zone module (HSZ01.1) as zone
node of ctrlX SAFETYlink is not possible. Conversely, operation of ctrlX DRIVE-
plus with the optional safety technology module “M5" as zone node at a safety
zone module (HSZ01.1) is not possible.
It is not possible to loop ctrlX SAFETYlink through axes that are not part of the
safety zone!
Axes within the safety zone with inactive safety technology or which have
not been configured as zone node, generate the error message F7035 when
receiving telegrams via the ctrlX SAFETYlink.

Functional principle
Via ctrlX SAFETYlink up to 32 drives ctrlX DRIVEplus with the optional safety
technology module "M5" (zone nodes) can be connected to a safety control
(zone master, e.g. ctrlX SAFEX-C.1*). All devices connected via ctrlX SAFETYlink
are automatically combined in a safety zone. The safety zone starts and ends at
the zone master; i.e. it is a ring structure.

Fig. 68: Zone setup with ctrlX SAFETYlink

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Safety bus communication

The zone master transmits up to 16 safe input signals via ctrlX SAFETYlink. The
input signals are always received by all zone nodes. The received input signals
can be used in the zone nodes as selection signals for safety functions. In ctrlX
DRIVE Engineering, the input signals in the “IO mapper inputs” can be mapped
to the corresponding safety functions.
Via ctrlX SAFETYlink, the zone nodes always report their safety status [safety
function "Safety zone acknowledge (SZA)"] and, depending on the configura-
tion, safety technology errors [safety function "Safe zone error (SZE)"] to the
zone master. The zone master determines the safety status (“SZA signal") and

Selection and acknowledgment

the error status (“SZE signal”) from the safety function signals.
With AXS-V-0504.1 and above, the zone nodes can transmit 12 more axis-spe-
cific status signals to the zone master via ctrlX SAFETYlink. In addition to the
safety status and safety technology errors, these status signals are mapped in
"0x3060:05, SMO SAFETYlink: Output signals", bit 0-11. The status signals are
configured via "0x3060:0D, SMO SAFETYlink: Output signals, IDN assignment"
and "0x3060:0E, SMO SAFETYlink: Output signals, bit number".
To unequivocally assign the status signals of the zone node in the zone master,
each zone node, that is to transmit axis-specific signals to the zone master, has
to have an unequivocal ctrlX SAFETYlink address (0x3060:0A).
A ctrlX SAFETYlink address only has to be assigned for the axis that is to
transmit the axis-specific signals to the zone master.
The ctrlX SAFETYlink address can be assigned once during commissioning (ini-
tial commissioning or serial commissioning); it cannot be subsequently modi-
fied. The allowed value range of 0x3060:0A is "1" to "4095". The vaue "0" locks
the transmission of the bits 0–11 in 0x3060:05.
Once the ctrlX SAFETYlink address has been assigned, it can only be modified
by completely resetting the safety technology to its condition as supplied (com-
mand C0750 or C0720). ATTENTION! By executing the command C0750 or
C0720, all safety-related parameter settings of the axis will get lost!

More information
For more information as how-to instructions, refer to the ⮫ ctrlX AUTOMATION
Community:
● "How-to" on the subject "⮫ ctrlX SAFETY to control the SafeMotion function
of ctrlX DRIVE"
A ⮫ collection of blogs and videos about ctrlX DRIVE which is continuously
updated is also available in the ctrlX AUTOMATION Community.
Information, instructions and notes on the ctrlX AUTOMATION Community can
be found in the ⮫ FAQ about the ctrlX AUTOMATION Community.

9.4 Safety bus communication

9.4.1 Brief description
Besides the discrete selection and acknowledgment, the integrated safety tech-
nology in the “Safe Motion“ characteristic supports the selection and acknowl-
edgment of the safety functions via safe channels of master communication
(Safety bus communication). For this purpose, the standard protocol of the
respective master communication is extended by a safe protocol. Thus, safe
information can be transmitted to and from a safety master, besides the
standard communication.

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Safety bus communication

Features
● The safety technology operating states of the active “Safe Motion“ profile
can be selected via the safety bus communication.
● Direct selection (in parallel with the Safety bus communication) is possible.
● The following safe protocol is supported:
– FSoE FailSafe over EtherCAT (AXS‑V‑0304 and above)
– PROFIsafe for master communication via PROFINET (AXS‑V‑0316 and
above)
● Configurable connections are available in addition to the permanently prede-
fined configurations. Defined signals and generic control or status signals
can be configured in the configurable connections.
Only one control word and one status word with signals defined by the config-
uration type can be transmitted via the Safety bus communication (see “Con-
sumer and producer connection configuration”). Other process data, such as
safe position feedback values, are not available.
The bus communication type has to be selected in the configuration
(0x3052:01).

9.4.2 Functional principle

To use the Safety bus communication, it has to be activated during commis-
sioning (0x3052:01). The safe protocol for safe communication is determined
upon activation.
The Safety bus communication can only be activated/deactivated in the "SMO
configuration mode (CM)".
Establishing a connection is possible in the "parameterization mode (PM)" and
in the "operating mode (OM)".
The current status of the connection can be read via 0x3056:01 (consumer
connection) and 0x3058:01 (producer connection).
The Safety bus communication only supports one consumer connection and
one producer connection per drive. The active predefined configuration defines
which data are transmitted via these connections. The content and use of the
configurations are independent of the master communication and the safety
protocol via and with which the data are transmitted.

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Safety bus communication

Selection and acknowledgment

Fig. 69: Safety bus communication

If discrete selection signals are to be evaluated in parallel with the Safety bus
communication, the corresponding bit in the predefined configuration of the
consumer connections can be masked (0x3052:03). Due to the masking, the
IO mapper block can be freely configured again in the corresponding network.
Thus, other signals can be processed in the network.
The function block type "Safe connector" (or "binary-to-bit decoder" for binarily
coded signals) is permanently assigned to all networks that are not masked via
0x3052:03.
Binary-coded signals have to be masked completely. It is not allowed to mask
individual bits in this case!
Depending on the active predefined configuration, the data for the producer
connection are copied from the corresponding status parameters for encoder
evaluation (0x310E:01) and for the "SafeMotion" profile (0x3082:04 and
0x3082:05), and are transmitted directly to the corresponding bit in 0x3052:04.

9.4.3 Configuring the consumer and producer connection

Introduction
For the Safety bus communication, 2 predefined configurations for the con-
sumer connection and 2 predefined configurations for the producer connection
have been defined. A predefined configuration defines the signal assembly to
be transmitted using the Safety bus communication and their default connec-
tion via target and/or source parameters with the SafeMotion profile. The pos-
sible predefined configurations are made available to the control unit via the
device data sheet.

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Safety bus communication

One freely configurable assembly for the consumer connection and two freely
configurable assemblies for the producer connection have been defined for the
Safety bus communication. A configuration defines the signal assembly to be
transmitted using the Safety bus communication and their default connection
via target and/or source parameters with the SafeMotion profile. The possible
configurations are provided to the control via the device data sheet.

Configuring the consumer connection

Predefined configurations for consumer connections

The consumer connection configuration has to be specified in 0x3056:02 with
the type number.
Table 27: Signals of the predefined configurations for consumer connections
Type number
Enabling control signal (EC)
EMERGENCY STOP (SMES)
Mode selection signal (MS)

SMO reference signal

Manual brake control

Functional output
Number of SMM

SMM coding
Hexadecimal
Decimal

780 0x030C √ √ √ 12 Bit-coded √

781 0x030D √ √ √ 16 Binary-coded √ √
Type number 780: “2-byte SMO control word, bit-coded SMM (780)”
Configuration Target assignment
Byte Bit Name IDN, bit number Signal name
0 0 ModeSelection- 0x3082:01, bit 0 Mode selection
Signal signal (MS)
1 EmergencyStop- 0x3082:01, bit 1 Emergency stop
Signal signal (SMES)
2 EnablingControl 0x3082:01, bit 2 Enabling control
signal (EC)
3 SMM1Signal 0x3082:01, bit 3 SMM1 signal
(A_SMM1)
4 SMM2Signal 0x3082:01, bit 4 SMM2 signal
(A_SMM2)
5 SMM3Signal 0x3082:01, bit 5 SMM3 signal
(A_SMM3)
6 SMM4Signal 0x3082:01, bit 6 SMM4 signal
(A_SMM4)
7 SMM5Signal 0x3082:01, bit 7 SMM5 signal
(A_SMM5)
1 0 SMM6Signal 0x3082:01, bit 8 SMM6 signal
(A_SMM6)
1 SMM7Signal 0x3082:01, bit 9 SMM7 signal
(A_SMM7)
2 SMM8Signal 0x3082:01, bit 10 SMM8 signal
(A_SMM8)

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Safety bus communication

Type number 780: “2-byte SMO control word, bit-coded SMM (780)”
Configuration Target assignment
3 SMM9Signal 0x3082:01, bit 11 SMM9 signal
(A_SMM9)
4 SMM10Signal 0x3082:01, bit 12 SMM10 signal
(A_SMM10)
5 SMM11Signal 0x3082:01, bit 13 SMM11 signal
(A_SMM11)

Selection and acknowledgment

6 SMM12Signal 0x3082:01, bit 14 SMM12 signal
(A_SMM12)
7 SafeOutput_local 0x305C:03, bit 0 Safe output at
local interface
Type number 781: “2-byte SMO control word, binary-coded SMM (781)”
Configuration Target assignment
Byte Bit Name IDN, bit number Signal name
0 0 ModeSelection- 0x3082:01, bit 0 Mode selection
Signal signal (MS)
1 EmergencyStop- 0x3082:01, bit 1 Emergency stop
Signal signal (SMES)
2 EnablingControl 0x3082:01, bit 2 Enabling control
signal (EC)
3 SMM1Signal_code 0x3082:01, bit SMM1 signal
d1) 3..18 (A_SMM1)
4 SMM2Signal_code ...
d1) SMM16 signal
5 SMM3Signal_code (A_SMM16)
d1)
6 SMM4Signal_code
d1)
7 Reserved - -
1 0..5 Reserved - -
6 ReleaseBrake 0x315C:03, bit 0 Manually release
holding brake
7 SafeOutput_local 0x305C:03, bit 0 Safe output at
local interface
1) The signals are binary-coded, i.e. instead of the bit being directly converted in the control word
to the target parameter via the IO mapper block Safe connector, the binary-coded selection bits are
decoded using the IO mapper block binary-to-bit decoder.

Freely configurable assemblies for consumer connections

The consumer connection configuration has to be specified in 0x3056:02 with
the type number.

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Safety bus communication

Table 28: Signals of the freely configurable assemblies for consumer connections
Type number

Enabling control signal (EC)

EMERGENCY STOP (SMES)
Mode selection signal (MS)

SMO reference signal

Manual brake control

Functional output
Number of SMM
Hexadecimal
Decimal

SMM coding

802 0x0322 √ √ √
Type number 802: “2-byte-SMO control word, configurable (802)”
Configuration Target assignment
Bit Name IDN, bit number Signal
0 ModeSelectionSignal 0x3082:01, bit 0 Mode selection signal
(MS)
1 EmergencyStopSignal 0x3082:01, bit 1 Emergency stop signal
(SMES)
2 EnablingControl 0x3082:01, bit 2 Enabling control signal
(EC)
3 SafeControl4 - Configurable
4 SafeControl5 - Configurable
5 SafeControl6 - Configurable
6 SafeControl7 - Configurable
7 SafeControl8 - Configurable
8 SafeControl9 - Configurable
9 SafeControl10 - Configurable
10 SafeControl11 - Configurable
11 SafeControl12 - Configurable
12 SafeControl13 - Configurable
13 SafeControl14 - Configurable
14 SafeControl15 - Configurable
15 SafeControl16 - Configurable

Configuring the producer connection

Predefined configurations for producer connections

The producer connection configuration has to be specified by entering the type
number (0x3056:02).
Only the following bits are used in the "parameterization mode" (PM):
− SafetyError (0x3082:04, bit 25)
− EncoderStandstill (0x310E:01, bit 6)
− SafetyStatus (0x3082:05, bit 0)

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Safety bus communication

Table 29: Signals of the predefined configurations for producer connections

Type number

Special mode Safe standstill (SMST)

EMERGENCY STOP (SMES)

Safety technology error

Encoder standstill

Functional inputs
Number of cams
Number of SMM

Safe reference
Safety status

Brake status
SMM coding

Parking axis

Cam coding
Hexadecimal
Decimal

Selection and acknowledgment

0x031
784 √ √ 12 Bit-coded √ √ 0 - -
0
0x031 Binary-
785 √ √ 16 √ √ √ √ 0 - -
1 coded1)
1) 0000 corresponds to SMM1. To differentiate whether SMM1 is active or not, the bits SMES-
Status, SMSTStatus, SafetyError and SafetyStatus have to be evaluated
Type number 784: “2-byte SMO status word, bit-coded SMM (784)”
Configuration Source assignment
Byte Bit Name IDN, bit number Signal name
0 0 SMESStatus 0x3082:04, bit 1 EMERGENCY STOP
(SMES)
1 SMSTStatus 0x3082:04, bit 2 Special mode Safe
standstill (SMST)
2 SMM1Status 0x3082:04, bit 3 Special mode Safe
motion 1 (SMM1)
3 SMM2Status 0x3082:04, bit 4 Special mode Safe
motion 2 (SMM2)
4 SMM3Status 0x3082:04, bit 5 Special mode Safe
motion 3 (SMM3)
5 SMM4Status 0x3082:04, bit 6 Special mode Safe
motion 4 (SMM4)
6 SMM5Status 0x3082:04, bit 7 Special mode Safe
motion 5 (SMM5)
7 SMM6Status 0x3082:04, bit 8 Special mode Safe
motion 6 (SMM6)
1 0 SMM7Status 0x3082:04, bit 9 Special mode Safe
motion 7 (SMM7)
1 SMM8Status 0x3082:04, bit 10 Special mode Safe
motion 8 (SMM8)
2 SMM9Status 0x3082:04, bit 11 Special mode Safe
motion 9 (SMM9)
3 SMM10Status 0x3082:04, bit 12 Special mode
Safe motion 10
(SMM10)

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Safety bus communication

Type number 784: “2-byte SMO status word, bit-coded SMM (784)”
Configuration Source assignment
4 SMM11Status 0x3082:04, bit 13 Special mode
Safe motion 11
(SMM11)
5 SMM12Status 0x3082:04, bit 14 Special mode
Safe motion 12
(SMM12)
6 EncoderStandstill 0x310E:01, bit 6 Encoder standstill
7 SafetyStatus 0x3082:05, bit 0 Safety status
Type number 785: “2-byte SMO status word, binary-coded SMM (785)”
Configuration Source assignment
Byte Bit Name IDN, bit number Signal name
0 0 SMESStatus 0x3082:04, bit 1 EMERGENCY STOP
(SMES)
1 SMSTStatus 0x3082:04, bit 2 Special mode Safe
standstill (SMST)
2 SMM1Status_code 0x3082:04, bit Special mode Safe
d1) 2) 3..18 motion 1 (SMM1)
3 SMM2Status_code ...
d1) 2) Special mode
4 SMM3Status_code Safe motion 16
d1) 2) (SMM16)
5 SMM4Status_code
d1) 2)
6..7 Reserved - -
1 0..3 Reserved - -
4 BrakeStatus 0x315C:01, bit 0 Acknowledgment
of holding brake
control
5 SafetyError 0x3082:04, bit 25 Safety technology
error
6 EncoderStandstill 0x315C:01, bit 6 Encoder standstill
7 SafetyStatus 0x3082:05, bit 0 Safety status
1) The signals are binary-coded.
2) The coded bits for the SMM status do not contain any state for no SMM active, since 0000
stands for SMM1 active. To be able to differentiate between no SMM active and SMM1 active, the
bits SafetyStatus, SafetyError and SMESStatus have to be evaluated. That is to say SMM1 is only
active, if: SMM bits=0000 and SafetyStatus=1 and SafetyError=1 and SMESStatus=0.

Freely configurable assemblies for producer connections

The producer connection configuration has to be specified in 0x3058:02 with
the type number.

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Safety bus communication

Table 30: Signals of the freely configurable assemblies for producer connections
Type number

Special mode Safe standstill (SMST)

EMERGENCY STOP (SMES)

Safety technology error

Encoder standstill

Functional inputs
Number of cams
Number of SMM

Safe reference
Safety status

Brake status
SMM coding

Parking axis

Cam coding
Hexadecimal
Decimal

Selection and acknowledgment

0x032
812 √ √ √ √
C
0x032
813 √ √ √ √
D
Type number 812: “2-byte SMO status word, configurable (812)"
Configuration Source assignment
Bit Name IDN, bit number Signal
0 SMESStatus 0x3082:04, bit 1 EMERGENCY STOP
(SMES)
1 SMSTStatus 0x3082:04, bit 2 Special mode Safe
standstill (SMST)
2 SafeStatus3 - Configurable
3 SafeStatus4 - Configurable
4 SafeStatus5 - Configurable
5 SafeStatus6 - Configurable
6 SafeStatus7 - Configurable
7 SafeStatus8 - Configurable
8 SafeStatus9 - Configurable
9 SafeStatus10 - Configurable
10 SafeStatus11 - Configurable
11 SafeStatus12 - Configurable
12 SafeStatus13 - Configurable
13 SafeStatus14 - Configurable
14 SafetyError 0x3082:04, bit 25 Safety technology error
15 SafetyStatus 0x3082:05, bit 0 Safety status
Type number 813: "2-byte SMO status, 3× 32 bit Producer Safe Values, configurable (813)"
Configuration Source assignment
Bit Name IDN, bit number Signal
0 SMESStatus 0x3082:04, bit 1 EMERGENCY STOP
(SMES)
1 SMSTStatus 0x3082:04, bit 2 Special mode Safe
standstill (SMST)
2 SafeStatus3 - Configurable

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Type number 813: "2-byte SMO status, 3× 32 bit Producer Safe Values, configurable (813)"
Configuration Source assignment
3 SafeStatus4 - Configurable
4 SafeStatus5 - Configurable
5 SafeStatus6 - Configurable
6 SafeStatus7 - Configurable
7 SafeStatus8 - Configurable
8 SafeStatus9 - Configurable
9 SafeStatus10 - Configurable
10 SafeStatus11 - Configurable
11 SafeStatus12 - Configurable
12 SafeStatus13 - Configurable
13 SafeValueStatus 0x3058:06, bit 0 Safe status values
14 SafetyError 0x3082:04, bit 25 Safety technology error
15 SafetyStatus 0x3082:05, bit 0 Safety status
In assembly 813 for the producer connection, it is possible, besides the 16
configurable status bits, to also configure 3 safe status values (Safe Feedback
Values), like for example a safe velocity or a safe position.
The following safe status values can be configured:
Source signal IDN Safe value 1 Safe value 2 Safe value 3
(0x3052:05) (0x3052:06) (0x3052:07)
Safe position 0x310E:02 x x x
Safe velocity 0x310E:03 x x x
Not assigned 0x2B6C:01 x x x
A validity check is run for the safe status values before they are transmitted to
the safety bus. In the case of invalid source signals, the default value configura-
tion decides on the value to be transmitted.
Default value configurations for the safe status values:
● Safe value 1 (0x3052:05): 0x3054:08
● Safe value 2 (0x3052:06): 0x3054:0B
● Safe value 3 (0x3052:07): 0x3054:0E
Table 31: Possible default value configurations
Value Function Comment
0 Deactivated (default) The "Deactivated" setting means that the source signal of
the safe status value is always transmitted independently
of its validity
1 "0" 0x00000000 is transmitted as the safe status value
2 Maximum positive value 0x7FFFFFFF is transmitted as the safe status value
3 Maximum negative value 0x80000000 is transmitted as the safe status value
The validity of the safe status values is made available in "0x3058:06, SMO
safety bus, producing connection: Safe values status" as a collective bit or a
corresponding individual bit. (The validity of the safe status values is also made
available in "0x3058:06, SMO safety bus, producing connection: Safe values
status" if the validity check has been deactivated.)
The table below describes the criteria for the validity check of the source
signals selected in the safe status values. An AND operation is carried out for
the different validity criteria for a source signal.

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Safety bus communication

If no source signal was configured for a safe value (Þ S–0–0000 selected),

the corresponding validity bit is set to "1" (Þ valid), and the value "0" is trans-
mitted as data to the safety bus.
Table 32: Criteria for the validity check of the source signals selected in the safe status values
Source signals Validity criterion Information source
0x310E:02, SMO encoder func- Encoder status (error / warning) 0x310E:01, bits 12…13
tion: Position Encoder evaluation active 0x310E:01, bits 14…15
Position homed *1) 0x310E:01, bit 5

Selection and acknowledgment

0x310E:03, SMO encoder func- Encoder status (error / warning) 0x310E:01, bits 12…13
tion: Velocity Encoder evaluation active 0x310E:01, bits 14…15
Legend:
*1): Generally, the validity criterion "Position homed" is only used if the Safe homing procedure is
active (0x31B0:01, bit 0="1") and then can be additionally activated or deactivated in "0x31B0:01,
SMO safe homing: Configuration" with bit 5

Profiles
The configurations of the producer connection and the consumer connection
can be summarized in a so-called profile.
For "FailSafe over EtherCAT" and "PROFIsafe", only those combinations of con-
figurations defined in a profile can be used:
Table 33: Defined combinations of configurations
Profile Configuration Bus communication
Consumer con- Producer con- FailSafe over PROFIsafe
nection nection EtherCAT
2-byte control / status, bit SMM (780/784) 780 784 Ö Ö
2-byte control / status, binary SMM (781/785) 781 785 Ö Ö
2-byte control / status, configurable (802/812) 802 812 Ö Ö
2-byte control / status, 3× 32 bit Producer Safe 802 813 Ö -
Values, configurable (802/813)

9.4.4 FailSafe over EtherCAT (FSoE)

Brief description
Features
“FailSafe over EtherCAT“ allows safe communication as an FSoE slave with
other EtherCAT-based SoE devices with integrated FSoE master. It contains
the safety bus transmission protocol FSoE which was specified by the
“EtherCAT Technology Group“ (ETG) and concept-tested by TÜV.
The bus transmission protocol FSoE specification is available from the ETG
(⮫ www.ethercat.org/en/safety.html) and consists of the following documents:
● ETG.5100 Safety over EtherCAT Specification (V1.2.0)
● ETG.5101 Safety over EtherCAT Implementation Guide (V1.3.0)
● ETG.5120 Safety over EtherCAT Protocol Enhancements (V1.3.0)
● In the AXS–V–03 and AXS–V–04 firmwares, FSoE is exclusively supported for
the "Servodrive profile over EtherCAT" (SoE).
With the firmware AXS–V–05 and above, FSoE is also supported for the
"CAN application protocol over EtherCAT" (CoE).
● The assemblies of the selected configuration are transmitted (see “Prede-
fined configurations” or “Freely configurable assemblies”).
In the AXS–V–03 and AXS–V–04 firmwares, only certain 2‑byte assemblies
(profiles) are supported.

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With the firmware AXS–V–05 and above, "safe status values" can also be
transmitted via an assembly for the producer connection.
● All pieces of information required to establish a connection are made avail-
able to the control unit via the device data sheet (XML).

Functional principle
Configuration
The FSoE connection to the axis is configured in the control. The information
required for this purpose is made available to the control via a device data
sheet in the XML format. The XML file describes the configurations that are
supported.
For error-free configuration of the FSoE connection to the axis, the XML file
used has to be consistent with the hardware and firmware.
Besides the configuration in the control, an "FSoE slave address" also has to
be assigned in the axis (0x30B8:02) so that the axis can be unequivocally and
safely addressed.
Furthermore, a profile for the configuration of the consumer connection
(0x3056:02) and producer connection (0x3058:02) has to be selected during
the commissioning of safety technology in the axis.
The settings made in the control and in the drive controller, for the FSoE slave
address and for the configurations of the consumer and producer connections,
have to match so that an error-free communication can be established.

FSoE slave address

To unequivocally identify all bus nodes via FSoE, each node has to have an
unequivocal "FSoE slave address" (0x30B8:02).
The “FSoE slave address" can be assigned once during commissioning (initial
commissioning or serial commissioning); it cannot be subsequently modified.
The FSoE address "0" (default value) is not allowed; allowed value range: 1 to
65535.
Once the FSoE address has been assigned, it can only be modified by com-
pletely resetting the safety technology to its condition as supplied (command
C0750 or C0720). When this is done, all safety-related parameter settings of
the axis will get lost!

FSoE watchdog time

The FSoE watchdog time has to be configured in the FSoE master. The allowed
value range for ctrlX DRIVE is min. 2 ms up to max. 500 ms.

FSoE system states

Overview
The FSoE state machine of the drive is controlled by the master via the cyclic
FSoE data. The following system states have been defined:
● ⮫ Reset
● ⮫ Session
● ⮫ Connection
● ⮫ Parameter
● ⮫ Data
Furthermore, the FSoE system states are linked to the SafeMotion state
machine and to the communication state machine.

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Safety bus communication

Since the FSoE data are transmitted with the cyclic command values / actual
values of EtherCAT, the FSoE connection is only running when the slave is in
the “Operational phase“. In the EtherCAT phases "Init", "PreOp" and "SafeOp",
the FSoE connection is in the "Reset" state.
Switching to the state CM (configuration mode) of the SafeMotion sate
machine inevitably entails switching to the FSoE system state "Reset".

System state "Reset"

In the system state "Reset" the connection is reset and the outputs are set to

Selection and acknowledgment

the "Fail Safe" state.
● The content "0" is supplied to the safety bus in accordance with the data
width.
● Protocols from the SoE connection layer are processed.

System state "Session"

The session IDs are exchanged in the system state “Session“.
● The content "0" is supplied to the safety bus in accordance with the data
width.
● Protocols from the SoE connection layer are processed.

System state "Connection"

The connection IDs and the slave addresses are exchanged in the system state
“Connection“.
● The content "0" is supplied to the safety bus in accordance with the data
width.
● Protocols from the SoE connection layer are processed.

System state "Parameters"

In the system state “Parameters“ the communication and application parame-
ters are transmitted. They were specified via the device data sheet and config-
ured in the control project.
● The content "0" is supplied to the safety bus in accordance with the data
width.
● Protocols from the SoE connection layer are processed.

System state "Data"

In the system state “Data“ the master transmits the safe outputs to the slave
and the slave responds with its safe inputs.
● The data of the connection are supplied to the slave as consumer data.
● The safe producer data from the safety bus are transmitted to the master.

Diagnostics
The current FSoE slave state can be read from 0x30B8:01 and by means of the
LEDs PF40 (device status) and PF41 (connection status) at the optional safety
technology module.

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9.4.5 PROFIsafe
Brief description
"PROFIsafe" is the protocol for transmitting safety-relevant signals via PRO-
FINET. The PROFIsafe protocol has no impacts on the PROFINET network.
Safety messages can thus be transmitted via PROFINET along with standard
messages.

Fig. 70: Overview

Features
The PROFIsafe communication has the following features:
● Implemented as F-Device according to PROFIsafe, version 2.6
● Supported with firmware version AXS-V-0316 and above
● PROFIsafe, address type 1 and 2
– If in ctrlX DRIVE only the F-destination address (0x30BA:02) is configured
and the F-source address (0x30BA:05) remains at default value "0", then
the address type 1 applies, i.e. only the F-destination address is checked
when the connection is established.
– If in ctrlX DRIVE the F-source address (0x30BA:05) is configured besides
the F-destination address (0x30BA:02), i.e. a value unequal to the default
value "0" is assigned, then the address type 2 is active, and both values
are compared to the F-parameters of the F-Host (safety control) when the
connection is established.
● Supports "FSCP Test Modus" (F_iPar_CRC = 0)
– For test purposes (e.g. commissioning), the F_iPar_CRC in the F-parame-
ters of the F-Host (safety control) can be set to "0". In this "test mode",
PROFIsafe communication is possible with valid process data.
– ctrlX DRIVE shows the active "test mode" (F_iPar_CRC = 0) at the SMO
LED PF41 "flashing green". No PROFINET alarm is transmitted.
– To complete the F-Device configuration or for the machine acceptance
test, the F_iPar_CRC has to be set in the F-Host with the value of the
safety configuration CRC (0x30F3:05, element 0…3). During the PROFI-
safe connection establishment, a check is run to make sure that the
appropriate checksum is present in ctrlX DRIVE.
● The "Device_Fault" bit in the PROFIsafe status byte is not used. In some
assemblies of safety bus communication, the useful data contain a "safety
technology error" bit.
● The residual fault rate meets the requirements of SIL3 and PL e and can be
assumed less than 10-9.

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Safety bus communication

● The assemblies of the configuration are transmitted. The selectable assem-

blies are defined in profiles (see "⮫ Profiles").
● Information on the configuration of the PROFIsafe communication in the
higher-level control is made available via the device data sheet (GSD).

Parameters involved
The following parameters are used in conjunction with "PROFIsafe":
● 0x30BA:02, SMO PROFIsafe: F-destination address
● 0x30BA:03, SMO PROFIsafe: Proposed F-destination address

Selection and acknowledgment

● 0x30BA:04, SMO PROFIsafe: Prop. F-destination address, auto comm.
● 0x30BA:05, SMO PROFIsafe: F-source address
● 0x30BA:06, SMO PROFIsafe: Proposed F-source address
● 0x30BA:07, SMO PROFIsafe: Prop. F-source address, auto comm.
● 0x30BA:09, SMO PROFIsafe: Maximum response time
● 0x30BA:01, SMO PROFIsafe: Current F-device state
● 0x30BA:08, SMO PROFIsafe: F-parameters

Diagnostic messages involved

The following diagnostic messages can be generated with "PROFIsafe":
● F3460: PROFIsafe general internal error, see detailed diagnostics
● F3461: PROFIsafe connection error, see detailed diagnostics
● F3462 .. F3467: PROFIsafe connection error for PROFINET alarms
● see "⮫ Diagnostic display of optional safety technology module "SafeMo-
tion"")

Configuration
Overview
In the PROFIsafe communication, the drive (F-Device) cyclically exchanges data
with a safety control (F-Host). The data to be transmitted are transmitted in a
PROFIsafe telegram which contains, besides the useful data (assemblies), con-
trol and status data as well as information on the verification of the integrity of
the useful data in the receiver.

Fig. 71: PROFIsafe communication

The protocol for the safe data exchange has been implemented in a so-called
PROFIsafe driver which uses the subordinate PROFINET communication to
transmit the PROFIsafe telegram to the other PROFIsafe node (see illustration).

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Safety bus communication

Fig. 72: PROFIsafe communication

The assembly of the "producer connection configuration" is transmitted to the
PROFIsafe driver of the drive and transmitted from there to the F-Host via the
safe PROFIsafe protocol. The safe data received by the F-Host are transmitted
by the PROFIsafe driver to target parameters according to the "consumer con-
nection configuration". The data exchange uses the cyclic data of PROFINET
communication.
Please pay attention to the byte order in the F-Host when programming the
access to 2‑byte assemblies! With PROFIsafe, bit information is transmitted in
bytes; transmission in words has not been provided for. The less significant
byte in the PROFIsafe telegram comes before the more significant byte. Thus,
bit information so to speak is transmitted in the Little Endian format.
The configuration of the PROFIsafe communication is divided into three steps:
● Configuring the F-Device (drive)
● Configuring the cyclic transmission of the PROFIsafe data via PROFINET
● Configuring the F-Host (safety control)

Configuring the F-Device (drive)

The drive has to be in configuration mode (CM) to configure the F-Device.
Activating the PROFIsafe communication
Via 0x3052:01="3", the PROFIsafe communication is activated in the drive.
Addressing
To unequivocally identify the F-Device within the PROFIsafe network, it has to
have an unequivocal address.
With the PROFIsafe address type 1, the F-destination address has to be
unequivocal.

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Safety bus communication

With the PROFIsafe address type 2, the combination of F-destination address

and F-source address has to be unequivocal.
The values "0" and "65535" are not allowed in the configuration in the F-Host. If
the F-source address in the drive remains at the default value "0", address type
1 is active; if the value is unequal "0", address type 2 is active.
The F-addresses can be assigned in the drive once during commissioning
(initial commissioning or serial commissioning); they cannot be subsequently
modified.
For the description of how to assign the address, see chapter "" of "Commis-

Selection and acknowledgment

sioning".
Once the F-address has been assigned, it can only be modified after completely
resetting the safety technology to its condition as supplied (command C0750 or
C0720). When this is done, all safety-related parameter settings of the axis will
get lost!
Setting the configuration
The respective setting of the configuration for the producer and consumer
connections in 0x3058:02 and 0x3056:02 defines the signal assembly for the
PROFIsafe transmission. Only specific combinations of configurations, so-called
profiles, can be used (see "⮫ Profiles" ).

Configuring the cyclic transmission of the PROFIsafe data via PROFINET

The data of the PROFIsafe communication are transported between F-Host
(safety control) and F-Device (drive) via the cyclic data of the PROFINET com-
munication. For this purpose, a corresponding slot has to be configured for
the PROFIsafe data in the PROFINET telegram. Corresponding F-modules are
provided via the device data sheet (GSD file) for the slot configuration for
a configuration tool of the PROFINET controller. An F-module from the GSD
corresponds to one specific profile for the producer and consumer connection.
When establishing the connection, it is checked in the drive whether the F-
module configured in the PROFINET controller fits the profile for the producer
and consumer connection configured in the drive, before the PROFINET com-
munication starts the cyclic data exchange (DATAEX). In the event of an error
with the PROFINET controller diagnostics, an incorrect module configuration is
displayed.

Configuring F-parameters in the F-Host (safety control)

With the F-parameters, the information required to establish a PROFIsafe con-
nection to an F-Device is provided in the F-Host. The F-parameters to be set
for the drive can be obtained from a GSD device data sheet by a configuration
tool of the F-Host. Upon connection establishment, the F-parameters set in the
F-Host are transmitted to the F-Device and checked for validity. The transmitted
F-parameters are displayed in 0x30BA:08.
Table 34: Description of the F-parameters in the F-Host (safety control)
F-parameters in the Parameter description
F-Host
F-destination The F-destination address of the drive has to be configured in the F-parameter
address "F_Dest_Add". This F-destination address has to be consistent with the F-desti-
"F_Dest_Add" nation address configured in the drive and be unequivocal in the PROFIsafe
network (PROFIsafe adress type 1).
F-source address The address of the F-Host is assigned in "F_Source_Add". In the drive, the
"F_Source_Add" F-source address can be optionally configured, i.e. assign a value unequal to
the default value 0 (PROFIsafe address type 2).

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IO mapper inputs

F-parameters in the Parameter description

F-Host
PROFIsafe The F_WD_Time" is transmitted along with the other F-parameters from the
watchdog F-Host to each F-Device and is used to monitor the time of the cyclic PROFIsafe
"F_WD_Time" telegrams. If not at least one new PROFIsafe telegram is received within the
"Watchdog Time", the PROFIsafe driver sets the data content of the assemblies
to "0" (Fail Safe) and triggers the error F34xx in the drive.
Checksum The checksum "F_iPar_CRC" is to ensure that the connection is established to
"F_iPar_CRC" only one F-Device with a specific safety configuration and parameterization.
To this end, the value from the parameter 0x30F3:05 (element 0..3) of the
drive has to be applied to this parameter. Upon connection establishment,
"F_iPar_CRC" is compared with the value from 0x30F3:05. In case the values
are not identical, the drive signals an F34xx error. If "F_iPar_CRC" contains
the value "0", verification will not take place ("FSCP Test Mode": only for test
purposes, e.g. commissioning).

PROFIsafe state machine

Overview
The PROFIsafe state machine of the F-Device displays the current state of the
PROFIsafe communication. The table below shows an overview of the states:
PROFIsafe F- Description Value in
Device state 0x30BA:01
PSD_RESET In the "PSD_RESET" state, the F-Device is in run-up and the PRO- 0x0001
FIsafe driver has not been initialized yet.
The outputs of the F-Device (assembly of the consumer connec-
tion) are set to "0" (Fail Safe).
After error-free initialization, the state changes to "PSD_INIT".
PSD_INIT In the "PSD_INIT" state, the PROFIsafe driver has been initialized 0x0032
in an error-free manner. The PROFIsafe driver is ready to receive
F-parameters from the F-Host.
The outputs of the F-Device (assembly of the consumer connec-
tion) are set to "0" (Fail Safe).
Switching to the SMO system state CM (configuration mode)
inevitably entails switching to the "PSD_INIT" state.
PSD_PARAM In the "PSD_PARAM" state, valid parameters from the F-Host are 0x0054
available.
The outputs of the F-Device (assembly of the consumer connec-
tion) are set to "0" (Fail Safe).
The PROFIsafe driver is ready for the cyclic data exchange.
PSD_DATAEX In the "PSD_DATAEX" state, the cyclic exchange of valid PROFIsafe 0x0067
data (assemblies) with the F-Host was started. The state can
only be reached if the PROFINET communication is in cyclic data
exchange (DATAEX).
PSD_HARD_FAIL In the "PSD_HARD_FAIL" state, an exception was detected. 0x00FF

9.5 IO mapper inputs

9.5.1 Introduction
Using the "IO mapper inputs" function, input signals can be processed and
assigned to the selection signals of the active SafeMotion profile. The inputs
are processed in so-called "IO mapper blocks". The following input signals can
be used to control the I/O mapper blocks:

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IO mapper inputs

Safe and functional input signals to control the I/O mapper blocks
"Functional signals" "Safe signals"
(Signals that cannot be used to select or dese- (Signals that can be used to select or deselect
lect safety functions, since they do not transmit safety functions)
safe information)
The functional discrete input signals (0x305C:04, The safe input signals (0x3060:04) transmitted
bit 0, 1) of the local interface of the optional via ctrlX SAFETYlink
safety technology module "M5"

Selection and acknowledgment

The functional discrete input signals (0x305C:04, The signals of the inputs of the local interface
bits 0...9) of the local interface of the optionalof the optional safety technology module "M5"
safety technology module "M8" configured as safe input signals (0x305C:02; bit
0, 1)
The functional inputs of the drive (0x305C:05) The signals of the inputs of the local interface
that are read in via functional interfaces of the of the optional safety technology module "M8"
drive (X31, X32, master communication,...). (The configured as safe input signals (0x305C:02; bits
bit assignment of 0x305C:05 can be configured.) 0...9)
The control word of the Safety bus communica-
tion (0x3052:02)
The following status signals of the encoder evalu-
ation (0x310E:01):
● Encoder standstill (bit 6)
● Direction of motion (bit 11)
The flags for the "IO mapper inputs" (0x3050:03)

Input signals of different sources (e.g., Safety bus communication and safety
zone module) can be used for an IO mapper block. The input signals of the
active SafeMotion profiles (0x3082:01, 0x315C:03) are assigned to the output
signals of the IO mapper blocks (see ⮫ SafeMotion profiles).
If a predefined configuration is active, the control word of the Safety bus com-
munication is directly and in a predefined manner linked to target parameters
of the SafeMotion profile (see ⮫ Safety bus communication). "0x3052:03, SMO
safety bus function: Control word mask" can be used to mask input signals
from the predefined configuration for a network. The IO mapper can then be
freely defined for this network. The figure below shows, in schematic form, the
signal sequence of the "IO mapper inputs":

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IO mapper inputs

Fig. 73: IO mapper inputs

1) Only takes effect with active Safety bus communication

The IO mapper blocks are called and configured via dialogs in ctrlX DRIVE
Engineering (see ⮫ Commissioning).
Depending on the selected IO mapper block type, a circuit diagram of the IO
mapper block is displayed in the corresponding dialog of the network.

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IO mapper inputs

Selection and acknowledgment

Fig. 74: Exemplary dialog: "IO mapper inputs"

The IO mapper blocks are assigned in the 16 so-called "networks”.

The maximum number of IO mapper blocks is limited and preset by so-called
"instances". If all instances of an IO mapper block are used, this IO mapper
block is not provided any more.

When an IO mapper block has been assigned to a network, the name of

the IO mapper block type is displayed in the Project Explorer; for example,
"Network 1: Safe connector".
If the predefined configuration "Safety bus communication" has been
pre-assigned to a network, the text of the corresponding branch is
grayed out and "(predefined configuration)" is added to it; for example,
"Network 2: Safe connector (predefined configuration)" (see ⮫ Safety bus com-
munication).
The "Emergency stop signal (SMES)" and the
"operation mode selection signal (MS)" always have to be assigned to a
selection signal in the I/O mapper inputs via a network. If the signals are
not used, they have to permanently deselected via the I/O mapper block
"safe constant selection" (signals are active when signals = 0 V). Otherwise,
the axis permanently is in SMES or SMST1/SMST2.
− When the IO mapper block type is changed, the allowed input/output sig-
nals change in many cases. The signals that were set are not changed, but
might possibly be displayed as invalid.
− Which input signals can be processed by an IO mapper block depends on
the IO mapper block type.
− The multiple use of inputs is possible, because source signals can be simul-
taneously assigned to several networks.
− IO mapper blocks have at least one input at which a signal has to be
applied. It is not necessary to apply a signal at optional inputs. If no signal
has been applied to an optional input (the input is not used), 0x2B6C:01
has to be configured as the source signal at the optional input.

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The parameter [ident number (IDN)] and bit to which the result of an IO
mapper block (output signal) can be assigned also depend on the IO mapper
block type.

Flag bits
0x3050:03" provides 16 flag bits for the "IO mapper inputs". The flag bits can
be used both as target signal and as source signal in an IO mapper network.
The IO mapper networks are processed in ascending order (1, 2, 3, …,16) .
That is to say, if, for example, a flag bit is to be read in IO mapper network 2, it
has to be written in IO mapper network 1. Otherwise, a time offset of one SMO
cycle occurs.

Parameters involved
The following parameters are used in conjunction with the "IO mapper inputs":
● 0x31B0:02, SMO safe homing: Control word
● 0x3082:01, SMO state machine: Control word, safety
● 0x315C:03, SMO safe braking and holding function: Control word
● 0x3060:04, SMO SAFETYlink: Input signals
● 0x305C:04, SMO local IOs: Functional input signals
● 0x305C:05, SMO local IOs: Functional input signals, drive
● "0x3030:01, SMO IO mapper 1: Type"..."0x303F:01, SMO IO mapper 16:
Type"
● "0x3030:02, SMO IO mapper 1: IDN source"..."0x303F:02, SMO IO mapper
16: IDN source"
● "0x3030:03, SMO IO mapper 1: Bit source"..."0x303F:03, SMO IO mapper
16: Bit source"
● "0x3030:04, SMO IO mapper 1: IDN target"..."0x303F:04, SMO IO mapper
16: IDN target"
● "0x3030:05, SMO IO mapper 1: Bit target"..."0x303F:05, SMO IO mapper 16:
Bit target"
● "0x3040:05, SMO IO mapper block type 1: Compact"..."0x3049:05, SMO IO
mapper block type 10: Compact"
● 0x3050:01, SMO IO mapper inputs: Minimum pulse duration
● 0x3052:02, SMO safety bus function: Control word

Diagnostic messages involved

The following diagnostic messages can be generated in conjunction with the
"IO mapper inputs":
● C8214 SMO: Incorrect configuration
● F3010 SMO: IO mapper inputs error

9.5.2 I/O mapper block types

“Inactive”
Using the I/O mapper block “inactive” (type 0), a logic block instance can be
deactivated. No data are written to an output signal.

"Safe connector"
The IO mapper block "Safe connector" provides a direct 1:1 connection
between the signal of a safe input and a target parameter.

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IO mapper inputs

Fig. 75: IO mapper block "Safe connector" (type 1)

Variables of the IO mapper block

Table 35: Input variable of the IO mapper block Safe connector

Selection and acknowledgment

Input variable Type of input
SAFE-In Safe input
Table 36: Output variable of the IO mapper block Safe connector
Output variable Possible target IDNs Possible target bits
SAFE-Out 0x3082:01, SMO state machine: Con- Bit 0 [mode selection signal
trol word, safety (MS)]
Bit 1 [emergency stop signal
(SMES)]
Bit 2 [enabling control signal
(EC)]
Bits 3...18 [SMMx signal
(A_SMMx), x=1..16]
0x315C:03, SMO safe braking and Bit 0 (release holding
holding function: Control word system)
0x3050:03, SMO IO mapper inputs: Bit 0...15
Flag word
Maximum number of instances: 16

"Safe inversion"
The IO mapper block "Safe inversion" safely connects a safe input to a target
parameter and inverts the signal.

Fig. 76: IO mapper block "Safe inversion" (type 2)

Variables of the IO mapper block

Table 37: Input variable of the IO mapper block "Safe inversion"
Input variable Type of input
SAFE-In Safe input
Table 38: Output variable of the IO mapper block "Safe inversion"
Output variable Possible target IDNs Possible target bits
SAFE-Out 0x3082:01, SMO state machine: Con- Bit 2 [enabling control signal
trol word, safety (EC)]
Bits 3...18 [SMMx signal
(A_SMMx), x=1..16]
0x3050:03, SMO IO mapper inputs: Bit 0...15
Flag word
Maximum number of instances: 16

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IO mapper inputs

“Safe constant selection”

With the IO mapper block “Safe constant selection“, a target parameter can be
safely, statically selected with logic 1.

Fig. 77: IO mapper block “Safe constant selection“ (type 3)

Variables of the IO mapper block

Table 39: Output variable of the IO mapper block Safe constant selection
Output variable Possible target IDNs Possible target bits
SAFE-Out 0x3082:01, SMO state machine: Con- Bit 0 [operating mode selec-
trol word, safety tion signal (MS)]
Bit 1 [EMERGENCY STOP
signal (SMES)]
Bits 3...18 [SMMx signal
(A_SMMx), x=1..16]
0x3050:03, SMO IO mapper inputs: Bit 0...15
Flag word
Maximum number of instances: 16

"Binary-to-bit decoder"
With the IO mapper block "binary-to-bit decoder", the binary-coded selection
signals of the Safety bus communication can be decoded for the special mode
"Safe motion".
As input variables, only selection signals of the Safety bus communication
(0x3052:02, bits 3 to 15) are allowed.
The decoding can be carried out for at least 2 bit, binary and a maximum of 4
bit, binary to 4-fold or 16-fold bit-coded for the selection of Safe motion.
Only the initial bit within the target parameter is required as the output signal.
The other target bits are used implicitly in ascending, consecutive order. All
source bits have to come from the same parameter.

Fig. 78: IO mapper block "binary-to-bit decoder" (type 4)

____ Obligatory input
_ _ _ Optional input

Variables of the IO mapper block

Table 40: Input variables of the IO mapper block "binary-to-bit decoder"
Input variable Type of input
SAFE-In 1 Safe input

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IO mapper inputs

Input variable Type of input

SAFE-In 2 Safe input
SAFE-In 3 Safe input
SAFE-In 4 Safe input
Table 41: Output variable of the IO mapper block "binary-to-bit decoder"
Output variable Possible target IDNs Possible target bits
SAFE-Out 0x3082:01, SMO state machine: Con- Bit 3 [SMM1 signal
trol word, safety (A_SMM1)]

Selection and acknowledgment

Maximum number of instances: 1

"Safe OR"
With the IO mapper block "Safe OR", the safe input signals of multiple enabling
control devices can be processed in parallel. At least 2 inputs have to be used;
a maximum of 4 input signals is allowed.

Fig. 79: IO mapper block "Safe OR" (type 5)

____ Obligatory input
_ _ _ Optional input

Variables of the IO mapper block

Table 42: Input variable of the IO mapper block Safe OR
Input variable Type of input
SAFE-In 1 Safe input
SAFE-In 2 Safe input
SAFE-In 3 Safe input
SAFE-In 4 Safe input
Table 43: Output variable of the IO mapper block Safe OR
Output variable Possible target IDNs Possible target bits
SAFE-Out 0x3082:01, SMO state machine: Con- Bit 2 [enabling control signal
trol word, safety (EC)]
0x3050:03, SMO IO mapper inputs: Bit 0...15
Flag word
Maximum number of instances: 1

"Safe AND with protection against restart"

The IO mapper block "Safe AND with protection against restart" is used for the
parallel processing of multiple emergency stop signals (ES) or multiple mode
selection signals (MS), and for protection against restart by reset and start
inputs or start input only.

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IO mapper inputs

Function
The "SAFE-In_W1" and "In_W2" to "In_W4" inputs are ANDed. The result is con-
nected with the input of the restart lockout block ( ).
When the AND operation of the "SAFE-In_W1" and "In_W2" to "In_W4" inputs
provides logic 0, the output of the restart lockout block is set to logic "0". To
set this output to logic "1" again, a 0‑1‑0 change (with trigger at the falling
edge) has to be detected at the "In_Start" input.
If the optional "In_Reset" input is used, a 0‑1‑0 change (with trigger at the
falling edge) has to be detected here and then at the "In_Start" input. When
this has happened and stable logic "1" is still applied at the output of the AND
operation, the output of the restart lockout block is logic "1".
If the optional safe input "SAFE_In" is used, it is ANDed with the result of the
restart lockout block and the result is applied to the "SAFE-Out" output.

Fig. 80: IO mapper block "Safe AND with protection against restart" (type 6)
____ Obligatory input
_ _ _ Optional input

Variables of the IO mapper block

Table 44: Input variable of the IO mapper block Safe AND with protection
against restart
Input variable Type of input
SAFE-In_W1 Safe input
In_W2 Functional input
In_W3 Functional input
In_W4 Functional input
In_Start Safe input
Functional input / Safe input1)
In_Reset Functional input
SAFE-In Safe input

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IO mapper inputs

● 1) Depending on the source signal of In_Start, a different performance level

(PL) is achieved: PL d with functional input signal as source of In_Start; PL e
with safe input signal as source of In_Start
Table 45: Output variable of the IO mapper block Safe AND with protection against restart
Output variable Possible target IDNs Possible target bits
SAFE-Out 0x3082:01, SMO state machine: Con- Bit 0 [mode selection signal
trol word, safety (MS)]
Bit 1 [emergency stop signal
(ES)]

Selection and acknowledgment

0x3050:03, SMO IO mapper inputs: Bit 0...15
Flag word
Maximum number of instances: 2

The pulse durations of the "In_Start" and "In_Reset" inputs are monitored with
regard to the value defined in "0x3050:01, SMO IO mapper inputs: Minimum
pulse duration". When the value falls below the minimum pulse duration,
"F3010 SMO: Error IO mapper inputs" is generated. When the maximum pulse
duration of 30 seconds is exceeded, F3010 is also generated.

Fig. 81: Pulse duration complied with

Fig. 82: Pulse duration not complied with

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IO mapper inputs

"Safe AND"
The IO mapper block "Safe AND" is used to additionally map activation sig-
nals [mode selection signal (MS), enabling control signal (EC), SMMx signal
(A_SSMx)] to other, also functional, signals from the machine/installation.
The output of the block can be used to control the operating states [normal
operation, Safe stop (SMST1 and SMST2), Safe motion (SMM1 to SMM16)],
the holding brake and/or the locking of the safety door locking device.

Function
Logic AND operation of the inputs SAFE-In 1, In 2, In 3 and In 4. At least 2
inputs have to be used; apart from that, two optional inputs are available. The
status TRUE is internally pre-assigned to optional inputs that are not used.

Fig. 83: IO mapper block "Safe AND" (type 8)

____ Obligatory input
_ _ _ Optional input

Variables of the IO mapper block

Table 46: Input variables of the IO mapper block Safe AND
Input variable Type of input
SAFE-In 1 Safe input
In 2 Functional input
In 3 Functional input
In 4 Functional input
Table 47: Output variables of the IO mapper block Safe AND
Output variable Possible target IDNs Possible target bits
SAFE-Out 0x3082:01, SMO state machine: Con- Bit 0 [mode selection signal
trol word, safety (MS)]
Bit 2 [enabling control signal
(EC)]
Bits 3...18 [SMMx signal
(A_SMMx), x=1..16]
0x315C:03, SMO safe braking and Bit 0 (release holding
holding function: Control word system)
0x3050:03, SMO IO mapper inputs: Bit 0...15
Flag word
Maximum number of instances: 16

"Safe AND with ES bypass and protection against restart"

The IO mapper block "Safe AND with ES bypass and protection against restart"
is used for parallel processing of multiple emergency stop signals (ES) and
the protection against automatic restart. The individual emergency stop signals
(ES) can be dynamically masked using bypass signals.

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IO mapper inputs

Function
The "SAFE-In_W1" and "In_W2" to "In_W4" inputs are ANDed. Via the optional
bypass inputs SAFE-In_Bypass_W1 and In_Bypass_W2 to In_Bypass_W4, these
inputs can be masked for the AND operation. The result of the AND operation is
connected with the input of the restart lockout block ( ).
If the AND operation of the inputs provides logic "0", the output of the restart
lockout block is set to logic "0”. To set this output to logic "1" again, a 0‑1‑0
change (with trigger at the falling edge) has to be detected at the "In_Start"
input.

Selection and acknowledgment

If the optional "In_Reset" input is used, a 0‑1‑0 change (with trigger at the
falling edge) has to be detected here and then at the "In_Start" input. When
this has happened and stable logic "1" is still applied at the output of the AND
operation, the output of the restart lockout block is logic "1".
If the optional safe input "SAFE_In" is used, it is ANDed with the result of the
restart lockout block and the result is applied to the "SAFE-Out" output.

0x3050:02 shows if the function block waits for a 1-0 edge at the "In_Reset"
(bit 2) or "In_Start" input (bit 3).

Fig. 84: IO mapper block "Safe AND with ES bypass and protection against restart" (type 10)
____ Obligatory input
_ _ _ Optional input

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IO mapper inputs

Variables of the IO mapper block

Table 48: Input variable of the IO mapper block "Safe AND with ES bypass and
protection against restart"
Input variable Type of input
SAFE-In_W1 Safe input
SAFE-In_Bypass_W1 Safe input
In_W2 Functional input
In_Bypass_W2 Functional input
In_W3 Functional input
In_Bypass_W3 Functional input
In_W4 Functional input
In_Bypass_W4 Functional input
In_Start Functional input / Safe input1)
In_Reset Functional input
SAFE-In Safe input
● 1) Depending on the source signal of "In_Start", a different performance
level (PL) is achieved: PL d with functional input signal as source of
"In_Start"; PL e with safe input signal as source of "In_Start"
Table 49: Output variable of the IO mapper block "Safe AND with ES bypass and protection against
restart"
Output variable Possible target IDNs Possible target bits
SAFE-Out 0x3082:01, SMO state machine: Con- Bit 0 [operating mode selec-
trol word, safety tion signal (MS)]
Bit 1 [emergency stop signal
(ES)]
0x3050:03, SMO IO mapper inputs: Bit 0...15
Flag word
Maximum number of instances: 2

The pulse durations of the "In_Start" and "In_Reset" inputs are monitored with
regard to the value defined in "0x3050:01, SMO IO mapper inputs: Minimum
pulse duration". When the value falls below the minimum pulse duration,
"F3010 SMO: Error IO mapper inputs" is generated. When the maximum pulse
duration of 30 seconds is exceeded, F3010 is also generated.

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Signal control of outputs

Selection and acknowledgment

Fig. 85: Pulse duration complied with (in addition, the selection of "SAFE-In_W1" is masked via the
"SAFE-In_Bypass_W1" signal)

Fig. 86: Pulse duration not complied with

9.6 Signal control of outputs

Using the "signal control of outputs", it is possible to specify which signal
is to be output via the safe local output pair (XG44 on the optional safety
technology module "M5" and XG45 on the optional safety technology module
"M8"). The safe local output pair is intended for safety-relevant applications up
to Category 4, PL e according to EN ISO 13849-1 or up to SIL 3 according to
EN 61800–5–2 / EN 61508.
The achievable safety level of the function depends on the signal that is to be
output via the safe local output pair; the entire safety chain is to be considered.
Example: If the encoder standstill signal is applied to the output pair, the safety
level is determined by the encoder detection (usually Category 3, PL d or SIL
2).

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Safety zone acknowledge (SZA)

ctrlX DRIVE Engineering supports the "signal control of outputs" via the entry
of the same name in the function tree of the Project Explorer, and within the
scope of the wizard for initial commissioning. The dialog is described in detail
in the chapter "Initial commissioning", "⮫ Signal control of outputs".
The parameters 0x305A:01 and 0x305A:02 can be used to determine which
signal is to be output via the safe local outputs. The available status parameters
and status bits are defined in the parameters 0x305A:03 and 0x305A:04.
− A local output on an optional safety technology module can also be used
as dynamization source, e.g. for the local safe inputs. For this purpose,
the signal "dynamization source local input" (0x3082:05, bit 15) has to be
assigned to the corresponding output.
− With the optional safety technology module "M8", the third output pair can
be switched to push-pull mode in its output characteristic (0x305C:06,
bit 0) (see also ⮫ Chapter Push-pull operation, XG45 output pair 3.1/3.2
on page 393).

9.7 Safety zone acknowledge (SZA)

9.7.1 Introduction
If there are multiple axes in a danger zone at a machine, it is useful to combine
them in a safety zone.
In ctrlX SAFETY "SafeMotion", this can be implemented as follows:
● On the basis of a safety control, the safety control and the axes being con-
nected via ctrlX SAFETYlink (optional safety technology module "M5")
● On the basis of 24V signals and a discrete wiring of the axes among one
another (optional safety technology module "M8")

9.7.2 Safety zone acknowledge (SZA) on the basis of ctrlX SAFETYlink

(optional safety technology module "M5")
Brief description
If there are multiple axes in a danger zone at a machine, it is useful to combine
them in a safety zone. With a safety control (e.g., ctrlX SAFETY (SAFEX-C.1*)), it
is possible to combine up to 32 axes in a safety zone via ctrlX SAFETYlink. The
zone setup is independent of the selection of the safety functions (e.g., ctrlX
SAFETYlink, discrete or via the safe master communication) at the individual
axes.
The safety of the entire safety zone is monitored by the safety control (zone
master). The zone master collects the "safety" status from all nodes and gener-
ates the sum signal "safety of the safety zone". This sum signal is provided to all
zone nodes.

Features
The safety function "Safety zone acknowledge" has the following features:
● The safety function is intended for safety-relevant applications up to
Category 4, PL e according to EN ISO 13849-1 or up to SIL 3 according
to EN 61800–5–2 / EN 61508.
● The safety level achieved for the safety function
"Safety zone acknowledge (SZA)" depends on the safety level achieved in
the zone nodes. The zone node with the lowest safety level determines the
safety level of the Safety zone acknowledge.
● The safety zone can consist of a maximum of 32 axes and the safety control
(e.g., ctrlX SAFETY (SAFEX-C.1*)).

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Safety zone acknowledge (SZA)

● To set up a safety zone, a safety control is always required which is con-

nected to the safety zone nodes via the ctrlX SAFETYlink.
● Only axes of the ctrlX DRIVEplus drive range that have been equipped with
the optional safety technology module "M5" can be included in the safety
zone.

Parameters involved
The following parameters can be used in conjunction with the safety function
"Safety zone acknowledge":

Selection and acknowledgment

● 0x3060:02, SMO SAFETYlink: Control word
● 0x3060:01, SMO SAFETYlink: Configuration
● 0x3060:05, SMO SAFETYlink: Output signals

Diagnostic message involved

The following diagnostic messages can be generated in conjunction with the
safety function "Safety zone acknowledge":
● F7035 SAFETYlink errror

Safety function
Using the function
To generate a safety zone via ctrlX SAFETYlink, a safety control (zone master
e.g., ctrlX SAFETY (SAFEX-C.1*)) is required. All axes that are included in the
safety zone (zone nodes) must be equipped with an optional safety technology
module "M5".
The zone master provides safe inputs to all zone nodes to select safety func-
tions via ctrlX SAFETYlink. The selection can be made individually for each ctrlX
SAFETYlink via discrete inputs (local inputs of the axis) or via the safety bus.
The zone master of the safety zone cyclically generates the safety status of the
zones and can acknowledge it via its outputs.
The zone master communicates with the zone nodes via ctrlX SAFETYlink. The
zone master and the zone nodes are connected in the ring and pass on the
information, transmitted via ctrlX SAFETYlink (output XG43 → input XG42), to
the next node.
A safety zone is set up by the wiring of ctrlX SAFETYlink; i.e. all drives wired in
ctrlX SAFETYlink have to be configured as zone nodes and have to inform the
zone of their safety states.
It is not possible to loop ctrlX SAFETYlink through axes that are not part of the
safety zone!
Axes within the safety zone with inactive safety technology or axes which have
not been configured as zone node, generate the error message F7035 when
receiving telegrams via ctrlX SAFETYlink.
It is not possible to set up multiple safety zones via ctrlX SAFETYlink. Only one
zone master is permitted per ctrlX SAFETYlink.
When it has been configured, the safety function "SZA" is active in the following
SMO operating states:
● Operating mode (OM)
● Parameterization mode (PM)
In the states "configuration mode (CM)" and with deactivated safety tech-
nology, the "SZA" safety function is not active; the "safety" status of each node
and the sum signal "safety of the safety zone" go to the "Safety Default" state,
i.e., safety is not acknowledged.

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Safety zone acknowledge (SZA)

Zone nodes in configuration mode do not acknowledge safety, they do not

transmit the zone telegrams of the previous zone node.

Fig. 87: Example of zone setup with zone acknowledgement via "SZA"
*1) A maximum of 32 zone nodes can be integrated

Requirement for zone acknowledgement

To be able to acknowledge the state of the safety zone, the zone master
receives the zone node status (safe or not safe) via ctrlX SAFETYlink. The zone
master generates the zone status (safe or not safe) of the safety zone from the
states of the zone nodes. The zone master acknowledges the safety of the zone
if all zone nodes acknowledge a safe state. As soon as one zone node does not
acknowledge safety, the zone master generates the zone status "not safe" for
the safety zone.

Notes on commissioning
To set up a safety zone, the zone nodes have to be configured accordingly. Axes
operated in a safety zone via ctrlX SAFETYlink have to be configured as zone
nodes.
The zone master provides 16 safe input signals configuration-independent to
the zone nodes via ctrlX SAFETYlink for evaluation purposes.

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Safety zone acknowledge (SZA)

For zone acknowledgement it is irrelevant whether the zone nodes are in one or
several master communication rings.
It is recommended to commission the safety zone in the following order:
● Connect the zone master and a zone node via ctrlX SAFETYlink
(XG42 / XG43) and commission it.
● Check whether the selection and acknowledgment via ctrlX SAFETYlink work
without error.
● Loop second zone node into the safety zone and commission it.
● Loop third zone node into the safety zone and commission it.

Selection and acknowledgment

● ...
● Loop last zone node into the safety zone and commission it.
If a safety technology error is present at a zone node, this node only acknowl-
edges safety via the zone bus under the following requirements:
● The node has reached a safe state and
● HFT (minimum hardware error tolerance)="1" can still be maintained (i.e.
the safe state is not endangered by the occurrence of another error, e.g.
error in output stage switch-off, encoder error, etc.).
If a zone node is switched to state “SMO configuration mode" (CM) in a safety
zone (change down from PM → CM), the zone node does not acknowledge
safety. ctrlX SAFETYlink continues to run, i.e. all other zone nodes continue to
receive input signals and can report their safety status to the zone master.
Since zone nodes have different booting times, the zone nodes report the error
F7035 only the first 30 seconds after switching the control voltage on if the
communication via ctrlX SAFETYlink has not been established.

9.7.3 Safety zone acknowledge (SZA) on the basis of 24V signals

(optional safety technology module "M8")
Brief description
In the case of Safety zone acknowledge (SZA) on the basis of 24V signals
(optional safety technology module "M8"), all axes of the zone are wired in a
safety zone via a discrete wiring via the interface XG45. One axis in this group
assumes the task of a zone master.
The zone setup is independent of the selection of the safety functions (discrete
or via the safe master communication) at the individual axes.
The safety of the entire safety zone is monitored by the zone master. The
zone master collects the "safety" status from all nodes and generates the sum
signal "safety of the safety zone" that is only available at the zone master in
0x3062:01, bit 4.

Features
The safety function "Safety zone acknowledge" has the following features:
● The safety function is intended for safety-relevant applications up to
Category 4, PL e according to EN ISO 13849-1 or up to SIL 3 according
to EN 61800–5–2 / EN 61508.
● The safety level achieved for the safety function
"Safety zone acknowledge (SZA)" depends on the safety level achieved in
the zone nodes. The zone node with the lowest safety level determines the
safety level of the Safety zone acknowledge.

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Safety zone acknowledge (SZA)

● The maximum number of axes in the safety zone is not limited. However,
take the reaction times into account that occur with a high number of nodes.
● Only axes of the ctrlX DRIVEplus drive range that have been equipped with
the optional safety technology module "M8" can be included in the safety
zone.

Parameters involved
The following parameters can be used in conjunction with the safety function
"Safety zone acknowledge":
● 0x3062:01, SMO local zone: Status word
● 0x3062:02, SMO local zone: Configuration

Diagnostic message involved

The following diagnostic messages can be generated in conjunction with the
safety function "Safety zone acknowledge":
● C8214 SMO: Incorrect configuration

Safety function
Using the function
All axes that are included in the safety zone must have been equipped with an
optional safety technology module "M8".
Via a discrete wiring, the axes of the safety zone are interconnected to form a
ring. For this purpose, output 1 at interface XG45 at each axis is connected to
input 1 at interface XG45 of the following axis via a dual-channel wiring. One
axis in the safety zone is configured as a zone master.

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Safety zone acknowledge (SZA)

Selection and acknowledgment

Fig. 88: Example of zone setup with zone acknowledgement via "SZA" on the basis of 24V signals
(discrete wiring of the inputs/outputs)
The zone master of the safety zone cyclically generates the safety status of the
zones and can acknowledge it via its outputs.
When it has been configured, the safety function "SZA" is active in the following
SMO operating states:
● Operating mode (OM)
● Parameterization mode (PM)
In the states "configuration mode (CM)" and with deactivated safety tech-
nology, the "SZA" safety function is not active; the "safety" status of each node
and the sum signal "safety of the safety zone" go to the "Safety Default" state,
i.e., safety is not acknowledged.

Requirement for zone acknowledgement

To be able to acknowledge the state of the safety zone, the zone master
receives the zone node status (safe or not safe) via the discrete wiring. The
zone master generates the zone status (safe or not safe) of the safety zone
from the states of the zone nodes. The zone master acknowledges the safety of
the zone if all zone nodes acknowledge a safe state. As soon as one zone node
does not acknowledge safety, the zone master generates the zone status "not
safe" for the safety zone.

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Safe zone error (SZE)

Notes on commissioning
To set up a safety zone, the zone nodes have to be configured accordingly. Axes
operated in a safety zone via the discrete wiring have to be configured as zone
nodes. One axis has to be configured as a zone master.
Due to the configuration as a zone node, the assignment of input 1 and output
1 is automatically defined.
For zone acknowledgement it is irrelevant whether the zone nodes are in one or
several master communication rings.
It is recommended to commission the safety zone in the following order:
● Only connect the zone master and a zone node via the discrete wiring
(XG45) and commission it.
● Check whether the acknowledgment of safety works without errors.
● Loop second zone node into the safety zone and commission it.
● Loop third zone node into the safety zone and commission it.
● ...
● Loop last zone node into the safety zone and commission it.
If a safety technology error is present at a zone node, this node only acknowl-
edges safety via the zone bus under the following requirements:
● The node has reached a safe state and
● HFT (minimum hardware error tolerance)="1" can still be maintained (i.e.
the safe state is not endangered by the occurrence of another error, e.g.
error in output stage switch-off, encoder error, etc.).
The maximum delay of acknowledgment of safety in the safety zone is calcu-
lated as follows:
Number of axes × maximum delay per axis
The delay depends on the configuration of the local inputs in "0x305C:01, SMO
local IOs: Input signals configuration".
Change of safety status "axis safe"→"axis not safe" (change of level from
high→low):
● Maximum delay per axis = 7 ms (test pulses ≤ 2 ms, 0x305C:01, bit 3="0")
● Maximum delay per axis = 10 ms (test pulses ≤ 5 ms, 0x305C:01, bit 3="1")
Change of safety status "axis not safe"→"axis safe" (change of level from
low→high):
● Maximum delay per axis = 5 ms (without debouncing, 0x305C:01, bit 3="0")
● Maximum delay per axis = 14 ms (with debouncing, 0x305C:01, bit 3="1")

9.8 Safe zone error (SZE)

9.8.1 Brief description
If there are multiple axes in a danger zone at a machine, it is useful to combine
them in a safety zone. With a safety control [e.g., ctrlX SAFETY (SAFEX-C.1*)], it
is possible to combine up to 32 axes in a safety zone via ctrlX SAFETYlink. The
zone setup is independent of the selection of the safety functions (e.g., ctrlX
SAFETYlink, discrete or via the safe master communication) at the individual
axes.
Using the "Safe zone error" (SZE) function, it is possible for zone nodes to
quickly signal locally present safety technology errors (errors of the categories
F3xxx, F7xxx or F83xx) to all zone nodes via ctrlX SAFETYlink. Depending on
their configuration, the zone nodes react to the zone error or not (for reaction
times see ⮫ Performance).

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Safe zone error (SZE)

Using the "Safe zone error" (SZE) function requires a safety zone generated
via ctrlX SAFETYlink with a zone master [e.g., ctrlX SAFETY (SAFEX-C.1*)] and
accordingly configured drives.
A pending zone error is transmitted to the zone master via ctrlX SAFETYlink and
is available for further processing as a sum signal via the error state for zone
nodes. This sum signal is provided to all zone nodes.

Features
The safety function "Safe zone error" (SZE) has the following features:

Selection and acknowledgment

● The safety function is intended for safety-relevant applications up to
Category 4, PL e according to EN ISO 13849-1 or up to SIL 3 according
to EN 61800–5–2 / EN 61508.
● The safety level achieved for the safety function "Safe zone error" (SZE)
depends on the safety level achieved in the zone nodes. The zone node with
the lowest safety level determines the safety level of the Safe zone error.
● To use the safety function "Safe zone error" (SZE), a safety zone generated
via ctrlX SAFETYlink is required.
● The safety function "Safe zone error" (SZE) can only be used in axes of the
ctrlX DRIVEplus drive range equipped with the optional safety technology
module "M5".
● The safety function "Safe zone error" (SZE) can only be used in connection
with the safe function "⮫ Safety zone acknowledge (SZA)".
● Quick transmission of safety technology error messages within the safety
zone.
● Free configuration option as regards error messages and error acknowledg-
ment.

Parameters involved
The following parameters can be used in conjunction with the safety function
"Safe zone error":
● 0x3060:02, SMO SAFETYlink: Control word
● 0x3060:01, SMO SAFETYlink: Configuration
● 0x3060:05, SMO SAFETYlink: Output signals

Diagnostic messages involved

The following diagnostic messages can be generated in conjunction with the
safety function "Safe zone error":
● F7035 SAFETYlink errror
● E8300 SMO: Error within the safety zone

9.8.2 Safety function

Configuration
To use the safety function "Safe zone error" (SZE), it has to be configured via
"0x3060:01, SMO SAFETYlink: Configuration" during the commissioning of the
safety technology. The following configurations can be set individually for each
zone node:
● Zone node signals zone error and reacts to zone error (type 1)
● Zone node only signals zone error (type 2)
● Zone node only reacts to zone error (type 3)
● Zone node does not signal any zone error and does not react to zone error
either (type 4)

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Safe zone error (SZE)

Monitoring function
According to the configuration, the zone nodes react differently to their own
errors and zone errors:
● Type 1
When a safety technology error is present at a zone node of type 1 (zone
node signals zone error and reacts to zone error), it signals a zone error to
the zone master via ctrlX SAFETYlink. The zone master reacts to the zone
error and reports it to all zone nodes via ctrlX SAFETYlink.
If the zone node is error-free, this is reported to the zone master via ctrlX
SAFETYlink.
When the zone node gets signaled a zone error via ctrlX SAFETYlink and
is not in a safety technology error itself, it acknowledges this error with
the warning "E8300 SMO: Error within the safety zone" and initiates the
configured error reaction. As long as the zone error is signaled via ctrlX
SAFETYlink, the warning "E8300" remains active.
● Type 2
When a safety technology error is present at a zone node of type 2 (zone
node only signals zone error), it signals a zone error to the zone master via
ctrlX SAFETYlink. The zone master reacts to the zone error and reports it to
all zone nodes via ctrlX SAFETYlink.
If the zone node is error-free, this is reported to the zone master via ctrlX
SAFETYlink.
When the zone node gets signaled a zone error via ctrlX SAFETYlink, it does
not react to the zone error.
● Type 3
When a safety technology error is present at a zone node of type 3 (zone
node only reacts to zone error), it does not signal any zone error to the zone
master via ctrlX SAFETYlink.
When the zone node gets signaled a zone error via ctrlX SAFETYlink and
is not in a safety technology error itself, it acknowledges this error with
the warning "E8300 SMO: Error within the safety zone" and initiates the
configured error reaction. As long as the zone error is signaled via the zone
bus, the warning "E8300" remains active.
● Type 4
When a safety technology error is present at a zone node of type 4 (zone
node does not signal any zone error and does not react to a zone error
either), it does not signal any zone error to the zone master via ctrlX SAFE-
TYlink.
When the zone node gets signaled a zone error via the zone bus, it does not
react to the zone error.

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Safe zone error (SZE)

Selection and acknowledgment

Fig. 89: Example of zone setup with zone error reaction
*1) A maximum of 32 zone nodes can be integrated
When a safety zone signals a zone error, the error remains active until the
safety technology error has been cleared at all axes currently signaling a safety
technology error via ctrlX SAFETYlink. All zone nodes that currently only signal
one zone error (E8300 active) automatically go to regular operation again, as
soon as there are no more zone errors signaled via ctrlX SAFETYlink.
A zone error is transmitted to the zone master via ctrlX SAFETYlink and is
available for further processing as a collective status via the error state for zone
nodes.

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Risk assessment

10 Commissioning
10.1 Risk assessment
Before a machine can be placed on the market, the manufacturer of the
machine must carry out a risk assessment in accordance with the Machinery
Directive 2006/42/EC in order to determine the hazards associated with the
use of the machine.
The risk assessment is a multilevel, iterative process.
The procedure is described in detail in "ISO 12100" ‑
"General principles for design - Risk assessment and risk reduction". This
documentation can only give you short overview on the subject of risk assess-
ment; users of integrated safety technology are obliged to intensively study the
respective standards and legal status.
The risk assessment carried out provides you the requirements for determining
the category for safety-related control units according to the valid C-standard
the safety-relevant parts of the machine control have to comply with.
For more detailed information on the required Safety Integrity Levels (SIL),
Performance Levels (PL) and Categories, please refer to the component- and
machine-relevant standards.

Procedure
To obtain the highest possible degree of safety, the machine manufacturer
when choosing the solutions has to apply the following basic principles in the
indicated order:
● Eliminate or minimize the hazards by design measures.
● Take the required protective measures against hazards that cannot be elimi-
nated.
● Document the remaining risks and inform the user of these risks.

Simplification by using the integrated safety technology

When using integrated safety technology, the machine manufacturer will benefit
from the following simplifications:
● The safety-related parts of the "ctrlX DRIVE" range with the "SafeMotion"
option are suited for applications up to SIL 2 (encoder-dependent safety
functions) or SIL3 (safety functions independent of an encoder) of
EN 61800-5-2.
● The safety functions integrated in ctrlX DRIVE were certified by TÜV Rhein-
land®; this guarantees the user that the solution complies with the state-of-
the-art / the conformity of the components in accordance with the Machi-
nery Directive 2006/42/EC is ensured.
Perform- Average probability of a dangerous Safety integ- Risk
ance failure [1/h] (PFH) rity level
Level (PL) (SIL)
a ≥10-5…<10-4 -
b ≥3×10-7…<10-6 1
c ≥10-7…<3×10-6 1
d ≥10-7…<10-6 2
e ≥10-8…<10-7 3

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Risks
Some safety functions and measures of "SafeMotion" must be taken into
account separately in the risk assessment. Amongst others, this includes the
following risks:
Activation time of enabling control
● The monitoring of the activation time of enabling control becomes inactive
when the value "0" has been set in "0x3140:02, SMO special mode 1: Max.
activation time enabling control"..."0x314F:02, SMO special mode 16: Max.
activation time enabling control".
The maximum configurable value of the activation time of enabling control
in "0x3140:02, SMO special mode 1: Max. activation time enabling con-
trol"..."0x314F:02, SMO special mode 16: Max. activation time enabling con-

Commissioning
trol" is not limited by SafeMotion. The allowed value must be defined for the
respective special mode in the risk assessment. Too high values increase the
risk of not being able to detect a fault in the enabling control early enough
(e.g., jamming in the activated state).
It is possible to do without the monitoring of the activation time, if it is not
common practice to use an enabling signal of an enabling control in an indus-
trial sector and if constant motion does not represent any danger. The machine
manufacturer is responsible for the monitoring of the activation time and their
risk analysis has to show their responsibility. Too long monitoring times cause
hazards, too. The machine manufacturer is obliged to conduct a risk assess-
ment of the application.
Velocity
● ACUROⓇlink encoder: The velocity is recorded at an interval of 1 ms with
a tolerance of ±0.5 %. The resulting tolerance of the actual value for the
velocity has to be taken into account for the risk assessment at the machine!
● EnDat–2.2 encoder, sin/cos encoder (1VPP) and HIPERFACE encoder: The
velocity is recorded at an interval of 1 ms with a tolerance of ±3 %. The
resulting tolerance of the actual value for the velocity has to be taken into
account for the risk assessment at the machine!

10.2 Initial commissioning

10.2.1 Safety instruction
Dangerous movements! Danger to life, risk of injury,
WARNING serious injury or property damage!
Do not commission the system without having it checked
by a qualified individual!
Before a system with integrated safety technology is
commissioned for the first time, the system must be
checked and approved in documented form by a quali-
fied individual.
Check the danger zone!
− Before commissioning, make sure that nobody is
staying in the danger zone.
− Check the danger zone and secure it against access
by individuals (e.g., put up warning signs, install bar-
riers or the like).
Observe the applicable laws and local regulations.

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10.2.2 Introduction
The integrated safety technology “SafeMotion“ is a dual-channel system in
which two processors redundantly carry out the safety-related monitoring func-
tions and monitor each other with regard to validation and correctness. When
a processor detects a problem or the cross data comparison is inconsistent,
the axis is safely decelerated. The behavior of the safety technology is based
on the configuration of the scaling and encoder settings, as well as on the
parameterization of the safety functions.
After the machine acceptance test has been successfully carried out, the safety
technology parameters must not be changed any more.
All safety technology parameters must be verified by the user during parameter-
ization.
Changes in the encoder and scaling settings (configuration parameters) require
that the axis be validated again and the machine acceptance test be repeated.
Changes in the safety technology parameterization require that the machine
acceptance test be repeated.
To commission the safety technology, always use the current release of the
corresponding firmware version as well as the ctrlX DRIVE Engineering commis-
sioning software.
Take the corresponding manufacturer information on detected and solved prob-
lems into account and verify their relevance for the machine application.
For information about the current release version and the manufacturer infor-
mation, refer to the “eBusiness Portal“ under ⮫ http://www.boschrexroth.com/
portal.

10.2.3 Prerequisites for using integrated safety technology

General information
The ctrlX DRIVE system (axis / spindle / roll) consists of the components con-
trol section, power section and motor. The control section is integrated in the
power section.
By the interaction of hardware and software components, ctrlX DRIVE provides
the Integrated Safety Technology.
The mechanical parts of power transmission, such as gearbox, motor, and
those of the safety devices (brakes, fall-down protection, arresting device, ...)
shall be designed to withstand the occurring static and dynamic stresses (e.g.,
dual load due to weight).
The safety factor and the sizing are application-specific and have to be defined
by the plant or machine manufacturer.
For the maximum gearbox input torque, too, a safety factor in relation to the
maximum motor torque has to be taken into account. This also applies to
motor-gearbox combinations by Bosch Rexroth.
In case of error, personal injury and material damages
WARNING possible due to impermissibly high voltage!
For the selection and the 24 V supply of devices with
integrated safety technology, use a 24V power supply
unit protected by SELV in accordance with IEC 60950‑1
or PELV in accordance with IEC 60204‑1.

Required drive firmware

The integrated safety functions can be used with the following firmware ver-
sions:

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● Optional safety technology module "M5":

– ctrlX DRIVEplus with AXS–V–0304: from AXS–V–0304.06
– ctrlX DRIVEplus with AXS–V–0308: from AXS–V–0308.01
● Optional safety technology module "M8":
– ctrlX DRIVEplus with AXS–V–0504
Only the listed firmware releases are certified and can be used as safety-related
firmware!
The functional scope of "SafeMotion" is defined by the SafeMotion function
packages. The following SafeMotion function packages are available:
− "SafeMotion Speed"
− "SafeMotion Position"

Commissioning
− "SafeMotion SIL3+"
See also ⮫ Chapter 6.4 SafeMotion function packages on page 26

Required controller configuration

General information
To use the integrated safety technology of ctrlX DRIVEplus controllers, the
drive controller has to be configured/equipped with the corresponding optional
safety technology module.

ctrlX SAFETYlink and FSoE

Selection via ctrlX SAFETYlink requires the optional safety technology module
"M5".
Using the integrated safety technology requires an optional safety technology
module "M5" per axis in conjunction with the firmware component.
For pin assignments and technical data of the optional safety technology
module "M5"lease refer to chapter ⮫ SafeMotion M5.

Optional safety technology modules "M5" and "M8"

The optional safety technology modules "M5" and "M8" can be ordered for the
following ctrlX DRIVEplus controllers:
● XCS2-W0***A**-02
● XCD2-W****A**-02
● XMS2-W0***AN*-02
● XMD2-W****AN*-02
For pin assignments and technical data of the optional safety technology
module "M5", please refer to chapter "⮫ SafeMotion M5".
For pin assignments and technical data of the optional safety technology
module "M8", please refer to chapter "⮫ SafeMotion M8".

Required motors and measuring systems

General information
It is recommended to configure and commission the encoder, which is evalu-
ated in “SafeMotion“, in the functional part of the drive first. This ensures that
all functions necessary for the operation of the encoder (e.g. encoder supply
voltage, terminating resistors for the encoder signals, etc.) are activated.
General requirements on measuring systems:
● The safe encoder has been connected at the allowed interface.
● The wiring of the safe encoder and the assignment of the encoder connector
have been correctly implemented.

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● The safe encoder may only be supplied via the encoder interface of the
drive.
● An external signal tap (outside of the device) at the encoder interface
XG20 / XG21 or XG20.n / XG21.n (e.g. for measuring) is not allowed.

Rexroth motors

General information
In conjunction with the optional safety technology modules "SafeMotion", the
following motors by Rexroth can be used:
● MS2N
● MS2E
Only motors with SI label are "SafeMotion"-compatible. The SI label can be
found on the type plate.

Fig. 90: Example of "SI" label on type plate

"Mission Time" and "Proof Test" interval
− The "Mission Time" of all components used has to be observed and com-
plied with. After the "Mission Time" of a component has elapsed, the com-
ponent has to be discarded or replaced. It is not allowed to continue oper-
ating the component!
The drive system ctrlX DRIVE does not monitor or log the "Mission Time".
− After the component was discarded ("Mission Time" has elapsed), it has to
be ensured that the component cannot be reused (e.g., by disabling it).
− If a component (with valid "Mission Time") is decommissioned, the
"Mission Time" has to be recorded and continued when the component is
commissioned again.
− The "Proof Test" has not been specified for Rexroth motors. Therefore, the
"Mission Time" cannot be reset by a "Proof Test".

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MS2N
Motor type code
Table 50: Motor type code and safety characteristics of the brake
MS2N Comment
"Don't care" positions in the
motor type code are iden-
tified by "x" but are irrele-
vant for the requirements of
integrated safety technology
according to IEC61508
Motor type
MS2Nxx-xxxxx-EE1)xxB2)-xxxxx-xx 1): "EE" is a placeholder for
code
the type code position at

Commissioning
which the encoder type is
encrypted
2): "B" is a placeholder for the

type code position at which

the brake type is encrypted

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Safety characteristics of the brakes

MS2N Comment
Brake type encrypted in type
Brake type 0, 1, 2, 3
code
Probability of all failures
λBrake 40 × 10-9 1/h of the brake, not only the
number of dangerous failures
MS2N03, MS2N04, MS2N05, MS2N06, MS2N07,
MS2N10B:
B10d value 20,000,000 switching cycles
MS2N10C, MS2N10D, MS2N10E, MS2N10F:
5,000,000 switching cycles

Motor encoder
Introduction
Safety Integrity Level (SIL)
MS2N motors are available with encoder systems of different Safety Integrity
Levels (SIL). All components of a safety-related system (e.g. motor, controller,
software ... ) have to be assessed together to execute a safety function and
thereby reach and maintain a defined safe state of a system.
Component is part of a safety-related system! Death,
WARNING serious injuries or property damage if these instructions
are not complied with.
Motors with encoder units for functional safety are part
of a safety-related system. All parts of a safety-related
system have to be assessed according to the standards
for functional safety that are used.
− Carry out a detailed risk analysis to determine an
appropriate Safety Integrity Level (SIL) for your spe-
cific application on the basis of all prevailing stand-
ards.
− Do not exceed any of the rated SIL data when using
this product.
For information on Integrated Safety Technology and the prerequisites for using
the motors with encoder systems for safety technology applications, please
refer to the descriptions of the controllers.

Single-turn
The single-turn design "S" enables absolute, indirect position detection within
one mechanical motor revolution.

Multiturn
The multiturn version "M" enables absolute, indirect position detection
within4096 mechanical motor revolutions (HIPERFACE®, ACURO®link),65,536
mechanical motor revolutions (ctrlX SENSE).

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HIPERFACE®
Encoder performance
BASIC
BASIC encoders with encoder performance "A_" use a capacitive sampling
method. Data output of process data happens analog via SinCos track. Data
output of parameter data (electronic type plate) happens digitally via Hiper-
face®-Protocol. The motor temperature is not transmitted via encoder interface.

STANDARD
STANDARD encoders with encoder performance “B" use an optical sampling
method. Data output of process data happens analog via SinCos track. Data

Commissioning
output of parameter data (electronic type plate) happens digitally via Hiper-
face®-Protocol. The encoder fulfills the specification for safety technique
according to SIL2 and category 3, PL d. The motor temperature is not trans-
mitted via encoder interface.

Functional data
Table 51: Technical data HIPERFACE® motor encoder
Description BASIC STANDARD
Performance Symbol Unit AM AS BM BS
Encoder interface - - HIPERFACE®
Encoder signal periods ~/⑀ - 16 128
Distinguishable revolutions Uturn - 4096 1 4096 1
Encoder system accuracy 1) ∢ '' ±520 ±120
System accuracy typical / maximum 2) ∢ '' ±360 / ±520 ±90 / ±120
Encoder output signal Vout 1Vpp
Encoder supply voltage VCCEncoder V 7...12
Encoder current consumption max. IEncoder mA 50 60
1) Where applicable, the mechanics of mounting has an effect on the overall system accuracy.
2) Achievable overall system accuracy taking the mechanics of mounting into account, typical and maximum value.

Safety-related data
Table 52: Technical data HIPERFACE® motor encoder
Safety-related characteristic values Symbol Unit AM AS BM BS
Safety Integrity Level - - SIL 2
Performance Level - - Category 3, PL d
Mission Time h - 175,200 (20 years)

Lethal injury and/or property damage caused by varia-

DANGER tions in the position detection
If an encoder of the HIPERFACE® type is used as safety
technology encoder, the safe position resolution of the
encoder may be lower than the actual encoder resolu-
tion. This may lead to an undetected position deviation
between detected and actual position for all safety func-
tions of the safe position. This must be considered in the
risk assessment of the machine.
The velocity of the HIPERFACE® encoder is recorded at an interval of 1 ms
with a tolerance of ±0.5 %. The resulting tolerance of the actual value for the
velocity has to be taken into account for the risk assessment at the machine!

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ACURO®link
Encoder performance
ADVANCED
ADVANCED encoders with the encoder performance "C" or "H" use an optical
sampling method. The process and parameter data (electronic type plate) are
output in digital form via the ACURO®link protocol. The encoders with the
encoder performance "C" comply with the requirements for safety technology
according to SIL 2 and Category 3, PL d, the encoders with the encoder per-
formance "H" comply with the requirements for safety technology according to
SIL 3 and Category 3, PL e. The motor temperature is transmitted in digital
form.

HIGH
HIGH encoders with the encoder performance "D" use an optical sampling
method. The process and parameter data (electronic type plate) are output
in digital form via the ACURO®link protocol. The encoder with the encoder per-
formance "D" complies with the requirements for safety technology according
to SIL 3 and Category 3, PL e. The motor temperature is transmitted in digital
form.

Functional data
Table 53: Technical data ACURO®link motor encoder
Description ADVANCED HIGH
Performance Symbol Unit CM CS HM HS DM DS
Encoder interface - - ACURO®link
Functional encoder resolution (single-
- 20 bit 24 bit
turn)
Distinguishable revolutions Uturn - 4096 1 4096 1 4096 1
Encoder system accuracy 1) ∢ '' ±36 ±20
System accuracy typical / maximum 2) ∢ '' ±50 / ±70 ±20 / ±30
Encoder supply voltage VCCEncoder V 7...12
Encoder current consumption max. IEncoder mA 60 130
1) Where applicable, the mechanics of mounting has an effect on the overall system accuracy.
2) Achievable overall system accuracy taking the mechanics of mounting into account, typical and maximum value.

Safety-related data
Table 54: Technical data ACURO®link motor encoder
Safety-related characteristic values Symbol Unit CM CS HM HS DM DS
Safety Integrity Level - SIL 2 SIL 3
Performance Level - Category 3, PL d Category 3, PL e
Position resolution for safe position - 9 bit
Mission Time h 175,200 (20 years)

Lethal injury and/or property damage caused by varia-

DANGER tions in the position detection
If an ACUROⓇlink encoder is used as safety technology
encoder, the Safe position resolution of the encoder
may be lower than the actual encoder resolution. This
may lead to an undetected positional variation between
detected and actual position with all safety functions of
the safe position. This must be considered in the risk
assessment of the machine.

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The velocity of the ACUROⓇlink encoder is recorded at an interval of 1 ms

with a tolerance of ±0.5 %. The resulting tolerance of the actual value for the
velocity has to be taken into account for the risk assessment at the machine!

Commissioning

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ctrlX SENSE
Encoder performance
STANDARD
STANDARD encoders with the encoder performance "J", "M" use a magnetic
sampling method. The process and parameter data (electronic type plate) are
output in digital form via the ctrlX SENSEmotor protocol. The encoder with the
encoder performance "J" complies with the requirements for safety technology
according to SIL 3 and Category 4, PL e. The encoder with the encoder per-
formance "M" complies with the requirements for safety technology according
to SIL 2 and Category 3, PL d. The motor temperature is transmitted in digital
form.

Functional data
Table 55: Technical data ctrlX SENSE motor encoder
Description STANDARD
Performance Symbol Unit MM MS JM JS
Resolution per revolution 22 bit
Encoder system accuracy ∢ '' ±150
System accuracy typical / maximum 1) ∢ '' tbd / ±150
Number of revolutions that can be
Uturn - 65.536 1 65.536 1
detected in absolute form
Measuring principle magnetic
1) Achievable overall system accuracy taking the mechanics of mounting into account, typical and maximum value.

Interfaces Symbol Unit MM MS JM JS

Communication interface - - ctrlX SENSEmotor
Initialization time maximum ms 500

Electrical data Symbol Unit MM MS JM JS

Supply voltage VCCEncoder V DC 8...14
Current consumption IEncoder mA 140
Encoder power maximum PEncoder mW 1200

● As regards the tolerance of the voltage, pay attention to the voltage drop on the line.
● The data in the table apply to the connection points at the encoder.
● The source of power supply has to be implemented by a power supply unit with protection by SELV according to IEC
60950-1 or PELV according to IEC 60204-1.

Mechanical data Symbol Unit MM MS JM JS

Rotor inertia kg*mm² 0.91

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Safety-related data
Safe absolute single-turn position
The safe position of ctrlX SENSE - STANDARD can represent one mechanical
revolution. The multi-turn position is not safe.

Table 56: Technical data ctrlX SENSE motor encoder

Safety-related characteristic values Symbol Unit MM MS JM JS
Safety Integrity Level (IEC 61508) - SIL 2 SIL 3
Category (EN ISO 13849) - 3 4
Performance Level - PL d PL e
Safety-relevant resolution - 19 bit

Commissioning
Safely representable position range - rev. 1
PFH: Probability of dangerous failure / h PFH 1/h 1E-09
Mission Time h 175,200 (20 years)
Available safe memory range kbytes 4
Cable length maximum 1) m 75
Accuracy of safe position (mechanical) ± 1.5°
Accuracy of safe velocity ± 6%
Encoder speed maximum 1) rpm 12000
Angular acceleration 1) rad/s² ≤ 250,000
Realizable safe functions according to SS1 Safe stop 1
EN 61800-5-2 SS2 Safe stop 2
SOS Safe operating stop
SDI Safe direction
SLS Safely-limited speed
SLI Safely-limited increment
SLA Safely-limited acceleration
SSR Safe speed range
SAR Safe acceleration range
Realizable safe functions according to SAP Safe absolute position (single-turn, within one
EN 61800-5-3 mechanical revolution)
Safe parameters
ctrlX SENSE can write and read safe parameters via the
non-safety-relevant parameter channel
1) Specified values may be limited by the design of motor or drive controller. Observe the data contained in the corre-
sponding documentation.

Lethal injury and/or property damage caused by varia-

DANGER tions in the position detection
If an encoder of the ctrlX SENSE type is used as safety
technology encoder, the safe position resolution of the
encoder may be lower than the actual encoder resolu-
tion. This may lead to an undetected positional variation
between detected and actual position with all safety
functions of the safe position. This must be considered
in the risk assessment of the machine.

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Death, serious injuries or property damage in case of

WARNING non-compliance with the ambient conditions
The safety-related data of the encoder are only valid if
the specified ambient conditions of the motor are com-
plied with. Non-compliance with these conditions may
cause malfunctions of the encoder that result in serious
injuries or property damage. Please observe the manu-
facturer's specification and make sure the ambient con-
ditions are complied with to ensure the safe use of the
encoder.
The velocity of ctrlX SENSE is recorded at an interval of 1 ms with a tolerance
of ±0.5 %. The resulting tolerance of the actual value for the velocity has to be
taken into account for the risk assessment at the machine!

Notes on maintenance and service measures

Maintenance measures at ctrlX SENSE encoders are possible with motors of
size 03-10, e.g. to exchange the battery of multi-turn encoders or to completely
replace the encoder. For this purpose, remove the motor cover.
If the battery is replaced improperly, this may result in a
WARNING loss of the safety function!
Only specialized technicians or skilled electricians are
allowed to replace the battery.
In the case of motors of sizes 03-10 with multi-turn
encoder, it is possible to replace the battery by opening
the motor cover, without changing the encoder calibra-
tion.
To maintain the alignment of the position sensor, it is
important to make sure that the mechanical connections
of the encoder PCB are not modified when the battery is
replaced.
Loss of safety function by opening the shielded box
WARNING (encoder)!
Opening the shielded box (e.g., for encoder replace-
ment) may result in a loss of the safety function.
Only the Rexroth Service or an authorized qualified work-
shop is allowed to replace the encoder.
After the screws of the shielded box were unscrewed, it
is required to recalibrate the encoder.
After the encoder was replaced, it is required to recali-
brate the encoder.

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Supported standards
ctrlX SENSE STANDARD was developed according to the following standards:
● IEC 61800-5-3:2021-02 Adjustable speed electrical power drive systems - Part 5-3: Safety
requirements - Functional, electrical and environmental requirements for encoders
● DIN EN 61800-5-2:2017-11 Adjustable speed electrical power drive systems - Part 5-2: Safety
requirements - Functional (IEC 61800-5-2:2016); German version EN 61800-5-2:2017
● EN ISO 13849-1:2015 Safety of machinery - Safety-related parts of control systems - Part 1:
General principles for design (ISO 13849-1:2015)
● EN ISO 13849-1:2023 Safety of machinery - Safety-related parts of control systems - Part 1:
General principles for design (ISO 13849-1:2023); German version EN ISO 13849-1:2023
● DIN EN IEC 61784-3:2022-02 Industrial communication networks - Profiles - Part 3: Functional

Commissioning
safety fieldbuses - General rules and profile definitions (IEC 61784-3:2021); German version
EN IEC 61784-3:2021

Related documentations:
Safety Manual ctrlX SENSE parameter, Document Version R02, 2024-05-06
⮫ Safety Manual ctrlX SENSE parameter
Safety Manual ctrlX SENSE communication, Document Version R05, 2024-05-06
⮫ Safety Manual ctrlX SENSE communication
The source of power supply has to be implemented by a power supply unit with
protection by SELV according to IEC 60950-1 or PELV according to IEC 60204-1.

MS2E
Motor type code
MS2E Comment
"Don't care" positions in the motor type code are identified by
"x" but are irrelevant for the requirements of integrated safety
technology according to IEC61508
MS2Exx-xxxxx-EE1) xxB2)
Motor type code 1):
"EE" is a placeholder for the type code position at which the
-xxxxx-xx
encoder type is encrypted
2):
"B" is a placeholder for the type code position at which the
brake type is encrypted

Safety characteristics of the brake

Table 57: Safety characteristics of the brake of the "MS2E" motor series
MS2E Comment
Brake type 0, 1, 2 Brake type encrypted in type code
Probability of all failures of the brake, not only the number of
λBrake 40 × 10-9 1/h
dangerous failures
B10d value upon request

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Technical data of the encoders

Description Encoder
Symbol Unit
CM CS DM DS
Encoder interface - - ACURO®link
Functional encoder resolution (single-turn) - 20 bit 24 bit
Distinguishable revolutions U turn - 4096 1 4096 1
Encoder system accuracy 1) ∢ '' ± 36 ± 20
System accuracy typical / maximum 2) ∢ '' ±50 / ± 70 ±20 / ± 30
Encoder supply voltage VCC Encoder V 7...12
Encoder current consumption max. I Encoder mA 60 130
Functional safety
Safety Integrity Level - SIL 2 SIL 3
Performance Level - PL d PL e

1) Where applicable, the mechanics of mounting has an effect on the overall system accuracy.
2) Achievable overall system accuracy taking the mechanics of mounting into account, typical and maximum value.

Lethal injury and/or property damage caused by varia-

DANGER tions in the position detection
If an ACUROⓇlink encoder is used as safety technology
encoder, the Safe position resolution of the encoder
may be lower than the actual encoder resolution. This
may lead to an undetected positional variation between
detected and actual position with all safety functions of
the safe position. This must be considered in the risk
assessment of the machine.
The velocity of the ACUROⓇlink encoder is recorded at an interval of 1 ms
with a tolerance of ±0.5 %. The resulting tolerance of the actual value for the
velocity has to be taken into account for the risk assessment at the machine!
ADVANCED encoders "Cx" use an optical sampling method. The process
and parameter data (electronic type plate) are output in digital form via
ACURO®link protocol. The encoders "Cx" comply with the requirements for
safety technology according to SIL 2 and PL d. Temperature signals are trans-
mitted in digital form via the encoder interface.
HIGH encoders "Dx" use an optical sampling method. The process and param-
eter data (electronic type plate) are output in digital form via ACURO®link pro-
tocol. The encoders "Dx" comply with the requirements for safety technology
according to SIL 3 and PL e. Temperature signals are transmitted in digital form
via the encoder interface.
The single-turn design enables absolute, indirect position detection within one
mechanical motor revolution.
The multi-turn design enables absolute, indirect position detection within 4096
mechanical motor revolutions.

Third-party motors/optional measuring systems

Third-party motors and optional measuring systems are only supported from
AXS–V–0308.01 in the integrated safety technology in ctrlX DRIVEplus.
If it is not a motor encoder but an optional encoder which has been connected
to the optional slot XG20 [XG20.1 and XG20.2 for the double-axis device] , this
encoder has to comply with the requirements below.

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Please make sure that the encoder can be evaluated by the corresponding
encoder option.
For "SafeMotion“, the evaluation of a safe encoder takes place at the XG20
interface [XG20.1 and XG20.2 for the double axis device] or at the XG21 inter-
face [XG21.1 and XG21.2 for the double axis device].
In conjunction with the optional safety technology module "SafeMotion", the
requirements on the measuring system used which are mentioned below must
be complied with for third-party motors/optional measuring systems so that the
measuring system can be used as a safety technology encoder:

ACUROⓇlink encoder
ACUROⓇlink encoders have to comply with the following requirements so that

Commissioning
they can be used as safety technology encoders in safety-related applications
up to SIL 3 or Category 3, PL e:
● Necessary encoder properties:
– Baud rate: 10 MBaud in cyclic operation
– Resolution: Only rotational encoders with a resolution which is a multiple
of 2n may be used.
● Limit speed: The encoder speed should not exceed the value of 15,000 rpm
in the application.
● Mechanics:Only rotary encoders are supported. The connection of encoder
shaft and motor shaft or encoder housing and motor housing has to be
dimensioned such that accidental loosening or breakage of the connection
can be excluded. The specifications of the encoder manufacturer regarding
the connection of encoder shaft and motor shaft or encoder housing and
motor housing have to be complied with.
Take remaining risks into consideration: see marginal note "Important instruc-
tions regarding inadequate connections of encoder shaft and motor shaft or
encoder housing and motor housing".
● Reliability: The "Mission Time" and the "Proof Test interval" of the encoder
have to be complied with. After the "Mission Time" has elapsed, the
encoder has to be decommissioned. When the "Proof Test interval" is over, a
"Proof Test" has to be carried out with the encoder or the encoder has to be
decommissioned.
Note: The drive system ctrlX DRIVE does not monitor or log the "Mission
Time".
Other encoder-specific parameters such as the maximum number of revolu-
tions/cycles have to be complied with (see EN 61800–5–3).
● "Encoder wiring ‑ ctrlX DRIVE":The ACUROⓇlink encoder has to be directly
connected to the respective interface [XG20 (or XG20.1 and XG20.2 for
double-axis devices]; mere plug-in connectors are allowed. Branches to
other evaluation devices, a third-party supply, interconnecting active units
or switching between encoders are not allowed.
Lethal injury and/or property damage caused by varia-
DANGER tions in the position detection
If an ACUROⓇlink encoder is used as safety technology
encoder, the Safe position resolution of the encoder
may be lower than the actual encoder resolution. This
may lead to an undetected positional variation between
detected and actual position with all safety functions of
the safe position. This must be considered in the risk
assessment of the machine.

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The velocity of the ACUROⓇlink encoder is recorded at an interval of 1 ms

with a tolerance of ±0.5 %. The resulting tolerance of the actual value for the
velocity has to be taken into account for the risk assessment at the machine!

EnDat–2.2 encoder
Encoders with an EnDat-2.2 interface have to comply with the following
requirements so that they can be used as safety technology encoders in safety-
related applications up to SIL 2 or Category 3, PL d:
● Measuring device types:
Functionally safe measuring instruments with serial data transfer via EnDat
2.2
– Absolute length measuring device
– Singleturn rotary encode
– Multiturn rotary encoders with gearbox
– Multiturn-rotary encoder with battery buffers
● Supply voltage: Only safe EnDat–2.2 encoders with a 12 V supply voltage are
supported.
● Resolution: Encoders with a resolution of a maximum of 48 bit are sup-
ported.
● Limit speed: Only rotary encoders with a maximum permissible speed of
20,000 rpm can be used. Rotary encoders with a permitted speed higher
than 20,000 rpm can be used in connection with a safety function as the
speed monitors for exceedance of the maximum value of 20,000 rpm (e.g.
"Safe maximum speed").
In this case, the maximum acceleration must not exceed 250 000 rad/s² if
the encoder supports this.
● Mechanics: The connection of encoder shaft and motor shaft or encoder
housing and motor housing, and the fixing device of the reading head of
linear encoders has to be dimensioned so that accidental loosening or
breakage of the connection can be excluded. The specifications of the
encoder manufacturer regarding the connection of encoder shaft and motor
shaft or encoder housing and motor housing or fixing the reading head the
for linear encoders have to be complied with.
Take remaining risks into consideration: see marginal note "Important instruc-
tions regarding inadequate connections of encoder shaft and motor shaft or
encoder housing and motor housing".
● Reliability: The "Mission Time" and the "Proof Test interval" of the encoder
have to be complied with. After the "Mission Time" has elapsed, the
encoder has to be decommissioned. When the "Proof Test interval" is over, a
"Proof Test" has to be carried out with the encoder or the encoder has to be
decommissioned.
Note: The drive system ctrlX DRIVE does not monitor or log the "Mission
Time".
Other encoder-specific parameters such as the maximum number of revolu-
tions/cycles have to be complied with (see EN 61800–5–3).
● "Encoder wiring ‑ ctrlX DRIVE": The EnDat–2.2 encoder has to be directly
connected to the respective interface [XG21 (or XG21.1 and XG21.2 for
double-axis devices]; mere plug-in connectors are allowed. Branches to
other evaluation devices, a third-party supply, interconnecting active units
or switching between encoders are not allowed.

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Initial commissioning

Lethal injury and/or property damage caused by varia-

DANGER tions in the position detection
If an EnDat-2.2 encoder is used as safety technology
encoder, the Safe position resolution of the encoder
may be lower than the actual encoder resolution. This
may lead to an undetected positional variation between
detected and actual position with all safety functions of
the safe position. This must be considered in the risk
assessment of the machine.
The velocity of the EnDat–2.2 encoder is recorded at an interval of 1 ms with
a tolerance of ±3 %. The resulting tolerance of the actual value for the velocity
has to be taken into account for the risk assessment at the machine!

Commissioning
EnDat 2.1 encoders
Encoders with an EnDat 2.1 interface must comply with the following require-
ments so that they can be evaluated by SafeMotion:
● Functional encoders with EnDat 2.1 interface must meet the requirements
for sin/cos encoders (see section "Sin/cos encoders").
● Encoders with EnDat 2.1 interface have to comply with the following require-
ments so that they can be used as safety technology encoders in safety-
related applications up to SIL 2 or Category 3, PL d:
– All requirements specified in the operating instructions of the safety
technology encoder with regard to assembly, electrical installation and
maintenance must be taken into account.
– Safety characteristics: The safe fault fraction (SFF) must be >90%
(according to DIN EN 61800–5–2 / EN 61508). The DCavg must be at least
90% and the MTTFd >30 years (according to DIN EN ISO 13849).
– Signal transmission: The analog position signals (sin, cos) have to be
transmitted in differential form. The differential signal amplitude levels
have to be between 0.8 Vpp and 1.2 Vpp.
– Resolution: It is only allowed to use rotary encoders with a resolution of
1..180000 DP/rev. or linear encoders with a resolution of 1 nm..100 mm.
– Cutoff frequency (-3 dB): The frequency of the encoder signals should not
be higher than a maximum of 400 kHz.
– Dynamic response: The frequency slope of the encoder signals should not
exceed 1.59E6 TP/s2.
– "Encoder - ctrlX DRIVE" wiring: The encoder has to be directly connected
to the respective interface [XG21 (or XG21.1 and XG21.2 for double-
axis devices]; mere plug-in connectors are allowed. Branches to other
evaluation devices, a third-party supply, interconnecting active units or
switching between encoders are not allowed.
− Take remaining risks into consideration: see marginal note "Important
instructions regarding inadequate connections of encoder shaft and motor
shaft or encoder housing and motor housing".
− The maximum error of the relative position in the safe evaluation of the
encoder can be one signal period (4 quadrants).
− The velocity of the encoderis recorded at an interval of 1 ms with a toler-
ance of ±3 %. The resulting tolerance of the actual value for the velocity has
to be taken into account for the risk assessment at the machine!
− Commissioning information: The zero point shifting of the safe encoder
must be set to "0" for encoders with EnDat 2.1 interface (0x3108:03="0").

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Sin/cos encoder
Sin/cos encoders have to comply with the following requirements so that they
can be used as safety technology encoders in safety-related applications up to
SIL 2 or Category 3, PL d:
● Signal generation: The analog position signals (sin, cos) have to be gen-
erated and processed in analog form. Synthetic signal generation is not
allowed.
Only optical encoders, or encoders that have been considered according to
DIN EN 61800-5-3 and whose error pattern has been taken into account in
the FMEA, may be used.
● Signal transmission: The analog position signals (sin, cos) have to be trans-
mitted in differential form. The differential signal amplitude levels have to be
between 0.8 Vpp and 1.2 Vpp.
A failure of the transmitter diode must result in invalid signal levels (e.g.
upper or lower threshold).
Stuck-at errors of the analog position signals (sin, cos) in the permitted
range cannot be detected by the SafeMotion. The suitability of the encoder
must be checked by the machine manufacturer in each individual case.
● Resolution: It is only allowed to use rotary encoders with a resolution of
1..180000 DP/rev. or linear encoders with a resolution of 1 nm..100 mm.
● Cutoff frequency (-3 dB): The frequency of the encoder signals should not
be higher than a maximum of 400 kHz.
● Dynamic response: The frequency slope of the encoder signals should not
exceed 1.59E6 TP/s2.
● Mechanics: The connection of encoder shaft and motor shaft or encoder
housing and motor housing, and the fixing device of the reading head of
linear encoders has to be dimensioned so that accidental loosening or
breakage of the connection can be excluded. The specifications of the
encoder manufacturer regarding the connection of encoder shaft and motor
shaft or encoder housing and motor housing or fixing the reading head the
for linear encoders have to be complied with.
Take remaining risks into consideration: see marginal note "Important instruc-
tions regarding inadequate connections of encoder shaft and motor shaft or
encoder housing and motor housing".
● Reliability: The "Mission Time" and the "Proof Test interval" of the encoder
have to be complied with. After the "Mission Time" has elapsed, the
encoder has to be decommissioned. When the "Proof Test interval" is over, a
"Proof Test" has to be carried out with the encoder or the encoder has to be
decommissioned.
Note: The drive system ctrlX DRIVE does not monitor or log the "Mission
Time".
Other encoder-specific parameters such as the maximum number of revolu-
tions/cycles have to be complied with (see EN 61800–5–3).
● "Encoder ‑ ctrlX DRIVE" wiring: The sin/cos encoder has to be directly con-
nected to the respective interface [XG21 (or XG21.1 and XG21.2 for double-
axis devices]; mere plug-in connectors are allowed. Branches to other evalu-
ation devices, a third-party supply, interconnecting active units or switching
between encoders are not allowed.
− The maximum error of the relative position in the safe evaluation of the
encoder can be one signal period (4 quadrants).
− The velocity of the sin/cos encoder is recorded at an interval of 1 ms with a
tolerance of ±3 %. The resulting tolerance of the actual value for the velocity
has to be taken into account for the risk assessment at the machine!

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Resolver encoders
Resolver encoders have to comply with the following requirements so that they
can be used as safety technology encoders in safety-related applications up to
SIL 3 or Category 4, PL e:
● Necessary encoder properties:
– Excitation voltage: 10 VPP (± 10 %)
– Excitation frequency: 8 kHz (± 10%)
Resolvers not sized for 8 kHz exciters require a separate check of the
resolver in combination with the cable used.
– Coupling factor: 0.5 (± 10%)
– Output characteristics: ohmic resistance R < 100 ohm and inductance L <

Commissioning
20 mH
– Phase shift: 90° between signal A and B
● Signal generation: The analog position signals have to be generated and
processed in analog form. Synthetic signal generation or any further signal
processing is not allowed. Only the excitation voltage generated by the drive
may be used.
● Signal transmission: The analog position signals have to be transmitted in
differential form. The allowed levels of the differential signal amplitudes are
between 4 VPP and 6 VPP [related to an excitation voltage of 10 VPP (± 10%)
and a coupling factor of 0.5 (± 10%)].
● Cables: The maximum allowed cable length is 75 m. The wires in the cable
have to be twisted pairwise (A+/A-), (B+/B-), (Vcc/Gnd) and shielded.
● Phase shift: The allowed phase shift between excitation voltage and the
track signals is in the range of -115°.. 20°. This phase shift takes the proper-
ties of the resolver and the cable into account.
● Cutoff frequency (-3 dB): The frequency of the encoder signals must not be
higher than a maximum of 675 Hz.
● Dynamics: The frequency slope of the encoder signals must not exceed
1.59E6 DP/s2.
● Mechanics: The connection of encoder shaft and motor shaft or encoder
housing and motor housing, and the fixing device of the reading head of
linear encoders has to be dimensioned so that accidental loosening or
breakage of the connection can be excluded. The specifications of the
encoder manufacturer regarding the connection of encoder shaft and motor
shaft or encoder housing and motor housing or fixing the reading head the
for linear encoders have to be complied with.
Take remaining risks into consideration: see marginal note "Important instruc-
tions regarding inadequate connections of encoder shaft and motor shaft or
encoder housing and motor housing".
● Reliability: The "Mission Time" and the "Proof Test interval" of the encoder
have to be complied with. After the "Mission Time" has elapsed, the
encoder has to be decommissioned. When the "Proof Test interval" is over, a
"Proof Test" has to be carried out with the encoder or the encoder has to be
decommissioned.
Note: The drive system ctrlX DRIVE does not monitor or log the "Mission
Time".
Other encoder-specific parameters such as the maximum number of revolu-
tions/cycles have to be complied with (see EN 61800–5–3).
● "Encoder ‑ ctrlX DRIVE" wiring: The encoder has to be directly connected
to the respective interface [XG21 (or XG21.1 and XG21.2 for double-axis
devices]; mere plug-in connectors are allowed. Branches to other evalua-
tion devices, a third-party supply, interconnecting active units or switching
between encoders are not allowed.

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− If a resolver is used as safety technology encoder, linearity errors in the

absolute position detection of the SafeMotion of up to 60° relating to one
division period cannot be discovered. These linearity errors may lead to an
undetected positional variation between detected and actual position with
all safety functions of the safe absolute position. This must be considered in
the risk assessment of the machine!
− The velocity of the encoderis recorded at an interval of 1 ms with a toler-
ance of ±3 %. The resulting tolerance of the actual value for the velocity has
to be taken into account for the risk assessment at the machine!

HIPERFACE encoders
HIPERFACE encoders must comply with the following requirements so that they
can be evaluated and used by SafeMotion:
● Functional encoders with HIPERFACE interface must meet the requirements
for sin/cos encoders (see section "Sin/cos encoders").
● HIPERFACE encoders have to comply with the following requirements so
that they can be used as safety technology encoders in safety-related appli-
cations up to SIL 2 or Category 3, PL d:
– All requirements specified in the operating instructions of the safety
technology encoder with regard to assembly, electrical installation and
maintenance must be taken into account.
– Safety characteristics: The safe fault fraction (SFF) must be >90%
(according to EN 61508). The DCavg must be at least 90% and the MTTFd
>30 years (according to EN ISO 13849-1).
– Signal transmission: The analog position signals (sin, cos) have to be
transmitted in differential form. The differential signal amplitude levels
have to be between 0.8 Vpp and 1.2 Vpp.
– Resolution: It is only allowed to use rotary encoders with a resolution of
1..180000 DP/rev. or linear encoders with a resolution of 1 nm..100 mm.
– Cutoff frequency (-3 dB): The frequency of the encoder signals must not
be higher than a maximum of 400 kHz.
– Dynamics: The frequency slope of the encoder signals must not exceed
1.59E6 DP/s2.
– "Encoder - ctrlX DRIVE" wiring: The HIPERFACE encoder has to be directly
connected to the respective interface [XG21 (or XG21.1 and XG21.2 for
double-axis devices]; mere plug-in connectors are allowed. Branches to
other evaluation devices, a third-party supply, interconnecting active units
or switching between encoders are not allowed.
− Take remaining risks into consideration: see marginal note "Important
instructions regarding inadequate connections of encoder shaft and motor
shaft or encoder housing and motor housing".
− The maximum error of the relative position in the safe evaluation of the
encoder can be one signal period (4 quadrants).
− The velocity of the HIPERFACE encoder is recorded at an interval of 1 ms
with a tolerance of ±3 %. The resulting tolerance of the actual value for
the velocity has to be taken into account for the risk assessment at the
machine!
− Commissioning information: The zero point shifting of the safe encoder
must be set to "0" for HIPERFACE encoders (0x3108:03="0").

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Initial commissioning

Important instructions regarding inadequate connections of encoder shaft and

motor shaft or encoder housing and motor housing
If it cannot be excluded that the connection of encoder shaft and motor shaft
or encoder housing and motor housing or the fixing device of the reading head
accidentally loosens or breaks, take the following remaining risks into consider-
ation:
● Combination "rotary or linear encoder with synchronous motor”: Possible
incorrect orientation of the commutation can cause positive feedback of
the current control loop. In this case, the velocity can inadmissibly increase
before the monitoring function triggers.
● "Optional load-side encoder" or combination "rotary encoder with asynchro-
nous motor": The encoder may move with the shaft by an angle limited

Commissioning
by the connection cable which causes an angle offset. This can result in
dangerous movements.
Loosening of the material measure (e.g., encoder shaft breakage) should
not cause any allowed signals; if this error cannot be excluded, take the
following remaining risk into consideration: The motor shaft may move at
maximum slip speed.

Brakes
Using the “Safe brake control (SBC)“ function, a motor holding brake can be
switched off safely. The following requirements have to be met for using the
safety function:
● ctrlX DRIVEplus
– Brake has to be connected to XZ03 or
– brake has to be connected to XG03
When the Safe brake control is used, the brake connected to the controller has
to comply with the following requirements:
● Control: The brake must have been designed is such a way that the holding
torque of the brake takes effect in the de-energized state (e.g., electrically
releasing friction surface brake).
● Electrical connection:
– The electrical connections of the brake should not have ground reference.
– The voltage range of the brake has to correspond to that of the supply
voltage.
– The output voltage of the power supply has to stay within the range
specified for the brake, even in the case of an error. The safety function
does not provide any protection against overvoltage!
– The brake current in the activated state has to be between 0.1 A and 2 A
(XG03) / 1 A (XZ03).
● Mechanics: Only friction surface brakes are allowed as brake. It is not
allowed to operate form-fitting brakes as motor holding brakes.
The static holding torque of the brake has to be dimensioned such that the
maximum load due to weight of the axis can be safely held. If necessary, the
brake has to be cyclically tested for proper functioning.
For more detailed information on the dimensioning of the brake, please refer
to the corresponding C-standard.
NOTE: In addition to the static holding torque of the brake, the required
dynamic braking torque of the brake has to be considered. The dynamic
braking torque of the brake has a direct influence on the behavior of the axis
in the case of error and needs to be taken into account in the risk analysis.

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In addition to the static holding torque of the brake, the required dynamic
braking torque of the brake has to be considered. The dynamic braking
torque of the brake has a direct influence on the behavior of the axis in the
case of error and needs to be taken into account in the risk analysis.
● Reliability: The brake must have been authorized for ambient temperatures
from 0 to 40°C.
● Testing: The brake has to tolerate test pulses (brake voltage switched off) ≤
1 ms without switching.

Required commissioning tools

To commission a safety technology option module "SafeMotion“, the commis-
sioning software ctrlX DRIVE Engineering or ctrlX WORKS is required.

The commissioning is only possible with corresponding hardware; offline simu-

lation is not possible.

10.2.4 Commissioning steps

Overview
The safety technology has to be commissioned using the safety technology
wizard in the ctrlX DRIVE Engineering commissioning software.
The following commissioning steps describe the commissioning using the
safety technology wizard on the basis of ctrlX DRIVE Engineering 01V16.
The commissioning is only possible with corresponding hardware; offline simu-
lation is not possible.
To commission the safety technology, always use the current release of the
corresponding firmware version as well as the ctrlX DRIVE Engineering commis-
sioning software.
Take the corresponding manufacturer information on detected and solved prob-
lems into account and verify their relevance for the machine application.
For information about the current release version and the manufacturer infor-
mation, refer to the “eBusiness Portal“ under ⮫ http://www.boschrexroth.com/
portal.

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Overview Commissioning SafeMotion

Step 0: ⮫ Condition as supplied
↓
Step 1: Connection ⮫ Connecting and wiring the inputs and outputs
↓
SafeMotion has been wired
↓
Step 2: Activation ⮫ Activating SafeMotion
↓
SafeMotion is active

Commissioning
↓
Step 3: Parameterization ⮫ Entering the SMO axis identifier
↓
Step 4: ⮫ Configuring the system behavior
↓
Step 5: ⮫ Parameterizing the safety functions
↓
SafeMotion has been configured and is active
↓
Step 6: Completion ⮫ Validating the axis
↓
Step 7: ⮫ Acceptance test of the machine
↓
SafeMotion is active and passed the acceptance test.
The drive is safe

Step 0: Condition as supplied

Establishing the condition as supplied

In the condition as supplied, SafeMotion is not active and the drive is in the
“Safety Default” state. “Safe state" (Safety Default) indicates:
● Output stage is locked (drive torque has been disabled)
● Brake output is deactivated, electrically releasing brake is applied
● Safety status: "Axis not safe"
● safe outputs are set to “0”
If "SafeMotion" had already been activated, the condition as supplied has to be
reestablished before initial commissioning by loading the SMO default values.
Via the menu item "Load SMO default values" in the context menu of the Safe-
Motion branch, the following dialog can be called. This dialog assists you with
the loading of the SMO default values:

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Fig. 91: Dialog for loading the SMO default values

Before the “Load defaults procedure for SMO” command is started, the SMO
axis identifier has to be entered for confirmation. This ensures that SafeMotion
is not deactivated at the wrong axis. After the SMO default values have been
loaded, the safety parameters are at their default values and the parameters
are write-protected. "INDRASAVE" has been entered as the default password in
"0x3018:02, SMO password: Entry".
In the condition as supplied, the safety parameters, too, can be loaded
from a parameter image (for copying drive configurations) (see chapter
“Serial commissioning“).
After the booting process, the drive system is in the "Safety Default" state. This
is signaled by "A0300 Condition as supplied SMO: Output stage locked".

Functional commissioning
If the axis is to be functionally commissioned before SafeMotion is acti-
vated, the axis can go from the “Safety Default” state to “functional commis-
sioning”. The functional commissioning is activated via the “Functional ena-
bling” dialog. The dialog can be called via ctrlX DRIVE Engineering “SafeMotion
🠂 Commissioning 🠂 Functional enabling”. It is only displayed as long as Safe-
Motion has not been activated yet.

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Commissioning
Fig. 92: Dialog for functional enabling
The bit for the functional commissioning "0x3010:04, SMO configuration: Func-
tional commissioning" has to be selected in the dialog. This disables the output
stage interlock and brake interlock and the axis can be moved. Also in this
mode, the safety status is “Axis not safe“ and digital local outputs remain set to
“0”.
Danger to life, risk of injury, serious injury or property
DANGER damage! With functional enabling of the drive, the output
stage and brake interlock are disabled by inactive Safe-
Motion! There is no protection provided in the danger
zone.
The safety has to be established by the commissioning
engineer.

Step 1: Connecting and wiring the inputs and outputs

The connection or wiring of the safety functions (selection, acknowledgment,
safety zone, safe door locking...) depends on the options used for selection
and acknowledgment and on the configuration of the device. There are the
following wiring options:
● Selection via ctrlX SAFETYlink
● Local I/Os at the drive
For axes connected via the ctrlX SAFETYlink, the ctrlX SAFETYlink (XG42,
XG43) should only be wired immediately before SafeMotion is activated. Other-
wise, the error “F7035 SAFETYlink error is permanently generated and the axis
cannot be operated.

Step 2: Activating SafeMotion

Starting the commissioning wizard

Before the wizard is called, the functional commissioning of the axis should
have been completed to the point that the axis can be operated under control.

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The wizard for initial commissioning is started via the ctrlX DRIVE Engineering
function tree “SafeMotion 🠂 Commissioning 🠂 Initial commissioning”. The fol-
lowing chapters describe the commissioning procedure with the commissioning
wizard. Using the commissioning wizard ensures that all steps and dialogs
required for configuring and parameterizing the axis are followed.
(Alternatively, the commissioning procedure can be conducted by calling indi-
vidual dialogs. In this case, the user must make sure that they have parameter-
ized, during the commissioning procedure, all dialogs relevant to the axis. The
individual dialogs can be accessed via the ctrlX DRIVE Engineering function tree
“SafeMotion 🠂 Commissioning”.)

Load defaults procedure for SMO

After the commissioning wizard has been started, the dialog for loading the
default values of SafeMotion is provided. Before the axis is parameterized,
SafeMotion can be reset to its default values using this dialog (see ⮫ Estab-
lishing the condition as supplied).
Afterwards, go to the next commissioning dialog using the “Next >>” button.

Assigning the safety technology password

Safety technology is activated and unlocked by entering the safety technology
password (0x3018:02, SMO password: Entry) and subsequently confirming it
using the “Activate” button.
In this state, it is possible to change the safety technology parameters without
entering the password.
Via the "Lock SMO" and "Change SMO password" menu items in the context
menu of the SafeMotion branch, the safety technology parameters can be write
protected (locked) and the password can be changed.
When the drive is switched off, safety technology is automatically locked.

Fig. 93: Assigning the safety technology password

Afterwards, go to the next commissioning dialog using the “Next >>” button.

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Step 3: Entering the SMO axis identifier

Using the dialog below, the SMO axis identifier can be assigned to the axis.
The SMO axis identifier (0x3014:01) is an unequivocal identifier in the entire
safety-related installation. It is used to unequivocally relate parameterization
actions to the corresponding machine axis. Therefore, an SMO axis identifier
may only be assigned once in each machine.
The SMO axis identifier cannot be simultaneously assigned at multiple axes.
This has to be ensured by the machine manufacturer through organizational
measures.
The SMO axis identifier can only be assigned once after the SMO default values
have been loaded. To reassign the SMO axis identifier, the condition as sup-
plied has to be reestablished.

Commissioning
Fig. 94: Dialog for assigning the SMO axis identifier
After the SMO axis identifier was entered, it has to be transmitted to the drive.
This is done by clicking the “Write axis identifier” button. Afterwards, the SMO
axis identifier has to be verified.
With the parameter verification, it is necessary to check/verify whether the
parameterization active in the drive complies with the parameters intended or
configured for this axis.
The parameter verification is carried out in ctrlX DRIVE Engineeringvia the
bottom sections of the SafeMotion dialogs (“verification display”).
All parameter values of the dialog are displayed which were changed but
have not yet been verified. For this purpose, the corresponding parameter con-
tent is read from the drive and displayed. In the main section of the dialog,
the entered value of the parameter is still displayed. Changed and unverified
parameter settings are marked with a yellow “!" in the dialog.
Parameter values that were written have to be verified by visual control and
confirmation (“Apply” button). This, too, applies when the parameter is written
again with the same value, because safety technology cannot distinguish
whether the same value is actually to be written, or whether the user had
entered a different value that was altered during transmission.
If more parameters need to be verified than can be displayed, the “Apply”
button is grayed out. The button only becomes active again when the user has
compared all parameter values by using the scrollbar.

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Fig. 95: Parameter verification

After the axis identifier was verified, the identification of the axis can be car-
ried out. After the “Identify SafeMotion” button was clicked, the diagnostic
LEDs PF40 and PF41 at the “SafeMotion” option are flashing at the connected
drive for which the axis identifier is set, with the flashing pattern “red - green -
green - red”. In addition, the display of the control panel shows the Confirm
SMO axis identifier:... message.

Fig. 96: Dialog for applying the axis identifier

The axis identifier has to be confirmed by pressing the [Enter] key at the
panel or by clicking the “Apply axis identifier” button in the dialog provided for
applying the axis identifier.
By pressing the [ESC] key at the panel or by clicking the “Cancel” button, the
assignment of the axis identifier can be aborted.

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For devices without panel, the axis identifier can only be confirmed using the
“Apply axis identifier” button in the corresponding dialog.
Pertinent parameters
● 0x3014:02, SMO identification: Proposed axis identifier
● 0x3014:03, SMO identification: C8500 Command Apply data
● 0x3014:04, SMO identification: Control word
Afterwards, go to the next commissioning dialog using the “Next >>” button.

Step 4: Configuring the system behavior

Configuring the SMO encoder

Commissioning
Overview (SMO encoder evaluation)
The "Overview" dialog for the SMO encoder evaluation shows the states of the
connected encoder and of the encoder evaluation.

Fig. 97: "SMO encoder" overview

Via the “Apply encoder data from standard firmware to SMO...” button, the
encoder data of the encoder connected to the optional slot XG20 or XG21
[double-axis devices at the XG20.1 or XG21.1 interfaces (axis 1) and XG20.2
or XG21.2 (axis 2)], can be applied from the standard firmware to the SMO
parameters (C8400 SMO: Apply encoder configuration command). Prior to
automatically apply data, select to which interface the SMO encoder is con-
nected to. Subsequently, start applying the data with the “Apply encoder
data ...” button. Not all encoders are approved for "safe encoder evaluation".
Therefore, only the data of approved encoder types are applied. If the encoder
configuration cannot be applied, a command error (C8401, C8402) is gener-
ated.

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Fig. 98: Applying encoder data from the standard firmware to SMO

After they were applied from the standard firmware, the SMO encoder parame-
ters have to be verified in the following dialogs.
It is recommended to use the same encoder settings in the standard firmware
and SafeMotion at the XG20 or XG21 interface [or for double axis devices at
the XG20.1 or XG21.1 interfaces (axis 1) and XG20.2 or XG21.2 (axis 2)]. Only
in this way is it possible to compare the command values and actual values of
both systems.
Afterwards, go to the next commissioning dialog using the “Next >>” button.

Basic encoder evaluation

Fig. 99: Basic settings of the SMO encoder

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The basic encoder properties are set in this dialog:

● In the "Encoder type" field, select the type of encoder, with regard to the
signal shape and, if necessary, the communication interface (ACUROlink
etc.) (0x3100:09). If SMO is to be operated without encoder evaluation, set
the encoder type to "No encoder".
● Via the encoder property "Type of design", set whether the encoder used is
a rotary encoder or a linear encoder (0x3100:08).
● In the "Absolute position range" field, the maximum absolute evaluable
travel range of the encoder has to be entered (0x3100:07).
NOTE: In the data sheets of rotatory encoders, this range is referred to as
multi-turn (MT) range/resolution and is specified in revolutions. In the case
of linear encoders, this value is typically "0".

Commissioning
● In the fields "Phys. encoder resolution (analog)" / "Phys. encoder resolution
(digital)", enter the physical resolution of the encoder ["0x3100:05, SMO
encoder config.: Resolution (analog), lower 32 bit" and "0x3100:06, SMO
encoder config.: Resolution (analog), upper 32 bit" or "0x3100:03, SMO
encoder config.: Resolution (digital), lower 32 bit" and "0x3100:04, SMO
encoder config.: Resolution (digital), upper 32 bit"].
NOTE: Regarding the encoder resolution, it has to be differentiated between
“safe resolution” and “functional resolution”. In this dialog, the functional
resolution has to be specified (see ⮫ Required motors and measuring sys-
tems).
● In the "Zero point shifting" field, a zero point offset of the encoder saved in
the encoder memory can be specified (0x3108:03). If no zero point offset is
saved in the encoder memory, enter "0" in the field.
● In the "Rotational direction" field, set whether the rotational direction of
the encoder is inverted or not with regard to the rotational direction of the
motor (0x3100:08).
It is recommended to use the same encoder settings in the standard firmware
and SafeMotion at the XG20 or XG21 interface [or for double axis devices at
the XG20.1 or XG21.1 interfaces (axis 1) and XG20.2 or XG21.2 (axis 2)]. Only
in this way is it possible to compare the command values and actual values of
both systems.
Afterwards, the settings that were made have to be verified. (If the SMO
encoder parameters were applied from the standard firmware using the com-
mand, they only need to be verified in this dialog.)
With the parameter verification, it is necessary to check/verify whether the
parameterization active in the drive complies with the parameters intended or
configured for this axis.
The parameter verification is carried out in ctrlX DRIVE Engineeringvia the
bottom sections of the SafeMotion dialogs (“verification display”).
Go to the next commissioning dialog by using the “Next >>” button.

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Extended encoder evaluation

Fig. 100: Extended settings of the SMO encoder

The "Extended encoder evaluation" dialog is only displayed when an encoder
was configured for the safety technology.
The extended encoder properties are set in this dialog:
● In the "Type of arrangement" field, parameterize whether the SMO encoder
has been mounted on the motor side or on the load side (0x3106:01, SMO
encoder mounting properties: Mounting position).
● Under the "Gear ratio" item, an encoder gearbox can be parameterized,
if available. For this purpose, enter the gear ratio via the values "Input
revolutions of encoder gearbox (encoder-side)" (0x3106:02, SMO encoder
mounting properties: Gearbox input revolutions) and "Output revolutions of
encoder gearbox (motor-side)" (0x3106:03, SMO encoder mounting proper-
ties: Gearbox output revolutions). If no encoder gearbox is used, set both
values to "1".
Afterwards, the settings that were made have to be verified. (If the SMO
encoder parameters were applied from the standard firmware using the com-
mand, they only need to be verified in this dialog.)
With the parameter verification, it is necessary to check/verify whether the
parameterization active in the drive complies with the parameters intended or
configured for this axis.
The parameter verification is carried out in ctrlX DRIVE Engineeringvia the
bottom sections of the SafeMotion dialogs (“verification display”).
Go to the next commissioning dialog by using the “Next >>” button.

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Scaling
Overview (SMO scaling)

Commissioning
Fig. 101: Applying scaling data from standard firmware to SafeMotion
The "SMO scaling " dialog is only displayed when an encoder was configured
for the safety technology.
The correct generation of position and velocity is
WARNING only ensured up to a limit velocity inherent in the
system. When the limit velocity is exceeded, the actual
velocity value (0x310E:03) and the actual position value
(0x310E:02) are incorrectly calculated.
Comply with the description of the limit velocity in the
chapter ⮫ Modulo scaling.
In the "Overview" dialog for the SMO scaling, the scaling settings, the settings
of the units and the settings of the mechanical system can be applied from
the standard firmware to the SMO parameters by using a command (C8000
SMO: Command Apply scaling ). The settings are applied via the “Apply scaling
data from the standard firmware to SMO…” button.
It is recommended that you use the same scaling settings in the standard firm-
ware and SafeMotion. Only in this way is it possible to compare the command
values and actual values of both systems.
In case the scaling settings are changed, all acceleration, velocity and position
thresholds are marked as unverified and have to be verified again. During com-
missioning, it is recommended to first parameterize the scaling and then the
monitoring threshold of the safety functions.
The "Scaling / units in the standard firmware" link opens a dialog in which
you can have a look at the scaling / units of the standard firmware and, if
necessary, change them before applying them:

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Fig. 102: Scaling / units of the standard firmware

After they were applied from the standard firmware, the SMO scaling parame-
ters have to be verified in the following dialogs.
Afterwards, go to the next commissioning dialog using the “Next >>” button.

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Setting the scaling and units

Commissioning
Fig. 103: Scaling / units
The "Scaling and units " dialog is only displayed when an encoder was config-
ured for the safety technology.
In this dialog, set the scalings and units.
Position scaling
For the position data scaling type, set either linear or rotary scaling. Besides
the data reference and the processing format, set whether the data are avail-
able in preferred scaling or user-defined scaling (parameter scaling).
With preferred scaling, only the unit needs to be parameterized (exponent and
rotational position resolution are grayed out).
With rotary parameter scaling, only the rotational position resolution and the
unit take effect, the exponent is grayed out.
With linear user-defined scaling, the exponent and the unit can be input and
the rotational position resolution is only displayed.
Pertinent parameters
● 0x3022:01, SMO position scaling: Type
● 0x3022:02, SMO position scaling: Exponent
● 0x3022:03, SMO position scaling: Resolution
Velocity scaling
For the velocity scaling, all edit fields can be edited, except for the exponent
that can only be changed with user-defined scaling.
Pertinent parameters
● 0x3024:01, SMO velocity scaling: Type
● 0x3024:02, SMO velocity scaling: Exponent
Acceleration scaling
For the acceleration scaling, the "ramp time " scaling type can be set besides
the linear and rotary scaling types. Only when the ramp time has been set can
a value for the ramp reference velocity be input. All other edit fields can always
be selected, except for the exponent that can only be edited with user-defined
scaling.

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Pertinent parameters
● 0x3026:01, SMO acceleration scaling: Type
● 0x3026:02, SMO acceleration scaling: Exponent
● 0x3026:03, SMO acceleration scaling: Ramp reference velocity
The following restrictions have to be observed for the parameter setting:
− Data reference at the motor shaft with load encoder: not permitted
− The data reference (motor or load) has to be the same for SMO scaling
types position, velocity and acceleration
Afterwards, the settings that were made have to be verified. (If the SMO
encoder parameters were applied from the standard firmware using the com-
mand, they only need to be verified in this dialog.)
With the parameter verification, it is necessary to check/verify whether the
parameterization active in the drive complies with the parameters intended or
configured for this axis.
The parameter verification is carried out in ctrlX DRIVE Engineeringvia the
bottom sections of the SafeMotion dialogs (“verification display”).
Go to the next commissioning dialog by using the “Next >>” button.

Setting the mechanical system

Fig. 104: Parameterizing the mechanical properties of the axis

The "Setting the mechanical system " dialog is only displayed when an encoder
was configured for the safety technology.
The mechanical properties of the axis are set in this dialog:
● In the "Maximum travel range" (0x3020:06) field, parameterize the
maximum possible travel range of the axis. According to the
"Position data processing format" that has been set, modulo format or
absolute format (see scaling dialog), the input is a unipolar value (modulo
format) or bipolar value (absolute format).
● In the "Feed constant" (0x3020:04) field, specify the distance traveled by
the axis when the gear output shaft or motor shaft makes one revolution.
The field is only active with linear axes driven by a rotary motor.

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● In the "Input revolutions of load gearbox" (0x3020:02) and

"Output revolutions of load gearbox" (0x3020:03) fields, parameterize a
gearbox present between motor and load. For this purpose, enter the gear
ratio by using the number of integral motor revolutions (input revolutions)
and the corresponding number of integral gear output revolutions (output
revolutions). If no encoder gearbox is used, set both values to "1".
The field is only active with a rotary motor.
● In the "Modulo value" (0x3020:05) field, specify at which numerical value the
position data overflow to "0" in the modulo mode. The entered value has to
be smaller than the value entered in "Maximum travel range".
The field is only active, when the "Position data processing format" has been
set to "Modulo format" (see scaling dialog).

Commissioning
● In the "Polarity (position, velocity, acceleration)" (0x3020:01) dialog section,
set the appropriate polarity for the machine axis depending on the mounting
situation.
– This applies to rotatory motors: Clockwise rotation of motor output shaft
(with view to the motor output shaft) causes positive velocity feedback
value (positive polarity).
– This applies to linear motors: Motion of primary part in the direction of
the cable connection side causes positive velocity feedback value (posi-
tive polarity).
The polarity can only be set consistently for all scaling types (position,
velocity, acceleration).
Afterwards, the settings that were made have to be verified. (If the SMO
encoder parameters were applied from the standard firmware using the com-
mand, they only need to be verified in this dialog.)
With the parameter verification, it is necessary to check/verify whether the
parameterization active in the drive complies with the parameters intended or
configured for this axis.
The parameter verification is carried out in ctrlX DRIVE Engineeringvia the
bottom sections of the SafeMotion dialogs (“verification display”).
Go to the next commissioning dialog by using the “Next >>” button.

Standstill monitoring
In the Standstill monitoring dialog, set the velocity threshold (0x310E:04)
below which SafeMotion is to detect and signal standstill. Set the value so high
that the encoder noise does not exceed the value when the axis is at standstill.

Fig. 105: Standstill monitoring

Afterwards, the value that was set has to be verified.

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With the parameter verification, it is necessary to check/verify whether the

parameterization active in the drive complies with the parameters intended or
configured for this axis.
The parameter verification is carried out in ctrlX DRIVE Engineeringvia the
bottom sections of the SafeMotion dialogs (“verification display”).
Go to the next commissioning dialog by using the “Next >>” button.

Safe brake control

Fig. 106: Safe brake control

In the "Safe brake control" dialog, the safety technology function of the same
name can be activated for one brake.
The used brakes/actuators have to be electrically releasing, i.e. of the holding
type brake "self-holding".
Use the “Safe brake control (SBC)” check box to select if the connected brake
is to be switched off safely.
If “Safe brake control (SBC)” has been activated (0x315C:02), the following
options can be additionally selected:
Using the check box “Allow "Release holding brake" with active "Safe torque
off (STO)"”, manual brake control is enabled with the "Release holding brake"
control signal
Lethal injury and/or property damage caused by unin-
WARNING tended axis motion!
If the brake is manually controlled via the
"Release holding brake" control signal, the drive is no
longer able to counteract external force influences. In
this state, the safety technology does not carry out any
monitoring function!
If external force influences are to be expected, e.g. in
the case of a vertical axis, this motion has to be safely
prevented by additional measures, e.g. a counterweight.
When no brake or an electrically clamping brake has been parameterized ("self-
releasing"), i.e. the brake is applied at 24 V, a warning with regard to the brake
is displayed. Via the "Brake configuration" link, the dialog for Configuring the
brake can be opened in the standard firmware.

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Configuring the brake

The "Brake configuration" link leads to the functional dialog for configuring
brake control.

Commissioning
Fig. 107: Configuring the brake

Diagnostics Safe brake control

Using the link "Diagnostics Safe brake control" the diagnostic dialog of the
same name can be opened.

Fig. 108: "Diagnostics Safe brake control" dialog

Afterwards, the defined values have to be verified.

With the parameter verification, it is necessary to check/verify whether the
parameterization active in the drive complies with the parameters intended or
configured for this axis.
The parameter verification is carried out in ctrlX DRIVE Engineeringvia the
bottom sections of the SafeMotion dialogs (“verification display”).
Go to the next commissioning dialog by using the “Next >>” button.

Safety zone
In the “Safety zone“ dialog, configure the properties and the behavior of the
axis in conjunction with a ctrlX SAFETYlink safety zone.

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Fig. 109: Safety zone

Via the drop-down list, select whether the axis is to be operated at a safety
zone (ctrlX SAFETYlink). The following settings are possible:
● Select “Axis acknowledges safety independently (no zone node)“ if the axis
is not included in a safety zone via the ctrlX SAFETYlink (XG42/XG43).
● Select “Axis is zone node“ if the axis is connected to the ctrlX SAFETYlink
(XG42/XG43).
For a zone node, it can be set whether the axis is to react with the warning
E8300 to zone errors signaled via ctrlX SAFETYlink (XG42/XG43). For this pur-
pose, activate the “Axis reacts to zone errors with warning E8300” check box.
Independent of the reaction to zone errors, it is possible to configure whether
or not the axis signals its own safety technology errors (F3xxx, F7xxx and
F83xx) as zone errors via the ctrlX SAFETYlink (XG42/XG43). To do this, acti-
vate the “Axis signals its own safety technology errors as zone errors” check
box.
Pertinent parameters
● 0x3060:01, SMO SAFETYlink: Configuration

Afterwards, the settings that were made have to be verified.

With the parameter verification, it is necessary to check/verify whether the
parameterization active in the drive complies with the parameters intended or
configured for this axis.
The parameter verification is carried out in ctrlX DRIVE Engineeringvia the
bottom sections of the SafeMotion dialogs (“verification display”).
Go to the next commissioning dialog by using the “Next >>” button.

Signal control of inputs

In the "Signal control of inputs" dialog, the local inputs of the interface XG44
at the optional safety technology module "M5" or XG45 at the optional safety
technology module "M8" can be configured as safe inputs.

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Commissioning
Fig. 110: Configuring the local inputs (here for interface XG44 at optional safety technology module
"M5")

Optional safety technology module "M5": In the dialog section

"Configuration of local inputs XG44", input 1 and input 2 can be selected as
safe input (0x305C:01, bits 0 and 1).
Optional safety technology module "M8": In the dialog section
"Configuration of local inputs XG45", input 1 to input 5 can be selected as
safe inputs (0x305C:01, bits 0, 1 and 5 to 8).

By selecting the test pulse width (< 2 ms or < 5 ms), the maximum allowed test
pulse width is specified. This setting has a direct effect on the reaction time to
a selection (signal change from "1" to "0"). Only after the specified test pulse
width (0x305C:01, bit 3) has elapsed, can SafeMotion decide between a test
pulse and a signal change from "1" to "0".

Selection via a passive safety unit: If bouncing of contacts and thus toggling of
the input signal occurs during a signal change due to the mechanical switches
in the passive safety unit, the option "“Waiting time for debouncing”" is avail-
able (0x305C:01, bit 4). The waiting time of 10 ms for debouncing is to be
taken into consideration in the deselection (0→1).
Afterwards, the settings that were made have to be verified.
With the parameter verification, it is necessary to check/verify whether the
parameterization active in the drive complies with the parameters intended or
configured for this axis.
The parameter verification is carried out in ctrlX DRIVE Engineeringvia the
bottom sections of the SafeMotion dialogs (“verification display”).

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Go to the next commissioning dialog by using the “Next >>” button.

IO mapper inputs

Fig. 111: IO mapper inputs: Example “Safe AND with protection against restart”
Via the “I/O mapper inputs“ dialogs, input signals for SafeMotion can be
mapped to the selection signals of the safety functions. For this purpose, there
are 16 IO mapper networks available in each axis.
Via the drop down list, select the type of network, i.e. the function block.

Fig. 112: Selecting the function block type

When a function block has been selected, a circuit diagram of the function
block is displayed. Using drop down lists, the signals can be set at the inputs/
outputs of the circuit diagram. If all instances of a function block are in
use, this function block is not provided any more. When the network type is
changed, the allowed input/output signals change in many cases. The signals
set until then are not changed, but might possibly be displayed as invalid.

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The input signals output signals are set via the drop down lists at the inputs/
outputs of the function block circuit diagram. The input types available in
"0x3030:01, SMO IO mapper 1: Type"..."0x303F:01, SMO IO mapper 16: Type"
limit the selection of possible input signals for each input of a function block.
Safe inputs/outputs are marked with the "SAFE" prefix. Only safe signals can be
applied to these inputs/outputs. Both safe and non-safe signals can be applied
to non-safe inputs/outputs (no prefix).
For networks of the function block type 6 (“Safe AND with protection against
restart”), an edit field exists for the minimum pulse duration of the reset and
start input. The entered value applies to all instances of function block 6.
The top right corner of the circuit diagram of all function blocks shows a button
that links to the functional description of the function block.

Commissioning
Pertinent parameters
● 0x305C:01, SMO local IOs: Input signals configuration
● "0x3030:01, SMO IO mapper 1: Type"..."0x303F:01, SMO IO mapper 16:
Type"
● "0x3030:02, SMO IO mapper 1: IDN source"..."0x303F:02, SMO IO mapper
16: IDN source"
● "0x3030:03, SMO IO mapper 1: Bit source"..."0x303F:03, SMO IO mapper
16: Bit source"
● "0x3030:04, SMO IO mapper 1: IDN target"..."0x303F:04, SMO IO mapper
16: IDN target"
● "0x3030:05, SMO IO mapper 1: Bit target"..."0x303F:05, SMO IO mapper 16:
Bit target"
● 0x3050:01, SMO IO mapper inputs: Minimum pulse duration
Afterwards, the settings that were made have to be verified.
With the parameter verification, it is necessary to check/verify whether the
parameterization active in the drive complies with the parameters intended or
configured for this axis.
The parameter verification is carried out in ctrlX DRIVE Engineeringvia the
bottom sections of the SafeMotion dialogs (“verification display”).
Go to the next commissioning dialog by using the “Next >>” button.

Signal control of outputs

Optional safety technology module "M5"
In the "Signal control of outputs" dialog, set via the drop-down list which
status signal is output to the safe local outputs XG44 1.1/1.3 (also
"Local safe interface") of the optional safety technology module "M5".
Possible combinations of parameter number with parameter name of a status
signal (e.g. "0x3082:05, SMO state machine: Status word") and a logic signal
name (e.g. "Safety status") are provided for selection.
If the local inputs of the XG44 interface have been configured as safe inputs,
the check box “Dynamization source for safe inputs at XG44” is displayed in the
“Signal control of outputs” dialog. By enabling the check box “Dynamization
source for safe inputs at the interface XG44”, the safe output is configured
as the dynamization source for the safe local inputs. Using the dynamization
source is optional, i.e. the dynamization of the input signals may also take place
from a different source.

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Fig. 113: Selecting the status signal of the safe local output with dynamization
option

Optional safety technology module "M8"

In the "Signalsteuerung Ausgänge" dialog, set via drop down lists which status
signal is output to the safe local outputs XG45 (also "Local safe interface") of
the optional safety technology module "M8".
Possible combinations of parameter number with parameter name of a status
signal (e.g. "0x3082:05, SMO state machine: Status word") and a logic signal
name (e.g. "Safety status") are provided for selection.
If the local inputs of the XG45 interface have been configured as safe inputs,
the check boxes “Dynamization source for safe inputs” are displayed in the
"Signal control of outputs" dialog. By activating the check box “Dynamization
source for safe inputs”, the respective safe output is configured as the dynam-
ization source for the safe local inputs. Using the dynamization source is
optional, i.e. the dynamization of the input signals may also take place from
a different source.
The safe local output 3 can also be configured for the push-pull mode.

Fig. 114: Selecting the status signal of the safe local outputs with dynamization
option

Pertinent parameters
● 0x305A:01, SMO signal control, discrete outputs: IDN assignment
● 0x305A:02, SMO signal control, discrete outputs: Bit number

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Afterwards, the settings that were made have to be verified.

With the parameter verification, it is necessary to check/verify whether the
parameterization active in the drive complies with the parameters intended or
configured for this axis.
The parameter verification is carried out in ctrlX DRIVE Engineeringvia the
bottom sections of the SafeMotion dialogs (“verification display”).
Go to the next commissioning dialog by using the “Next >>” button.

Step 5: Parameterizing the safety functions

Global monitoring functions

Commissioning
Fig. 115: Parameterizing global monitoring functions
Global monitoring functions are always active in special mode and in normal
operation.
The "Global monitoring functions" dialog is only displayed when an encoder
was configured for the safety technology.

Safe maximum speed

In the dialog section "Activating the Safe maximum speed (SMS)", activate
the "Safe maximum speed" (SMS) and parameterize the corresponding velocity
threshold. (The velocity threshold can only be changed when the monitoring
function has been activated.)
In the input field "Standstill window for Safe direction", parameterize a position
range that SafeMotion is to tolerate as a position deviation. Set the value so
high that the encoder noise does not exceed the value and the mechanics
backlash is taken into account. If safety functions with position monitoring are
not used, the value does not need to be adjusted.

Safe speed monitor

In the dialog section "Safe speed monitor (SSM)", the Safe speed monitor
can be enabled and the corresponding monitoring thresholds of the velocity
window can be parameterized.
Using the link "Velocity threshold for Safe standstill" in the dialog, the dialog
can be called in which the threshold value "0x310E:04, SMO encoder function:
Velocity threshold" is parameterized.

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"Velocity threshold for Safe standstill", prevents bit flickering of the message
"Axis is within the defined velocity window" during the transition of the velocity
from outside the velocity window to inside the velocity window, at axis veloci-
ties close to or equal to the monitoring thresholds of the velocity window.
Afterwards, the settings that were made have to be verified.
With the parameter verification, it is necessary to check/verify whether the
parameterization active in the drive complies with the parameters intended or
configured for this axis.
The parameter verification is carried out in ctrlX DRIVE Engineeringvia the
bottom sections of the SafeMotion dialogs (“verification display”).
Pertinent parameters
● 0x310E:04, SMO encoder function: Velocity threshold
● 0x3156:01, SMO global functions: Configuration
● 0x3156:02, SMO global functions: Safe max. speed
● 0x3156:03, SMO global functions: Standstill window for safe direction
● 0x3158:01, SMO safe speed monitor: Lower threshold
● 0x3158:02, SMO safe speed monitor: Upper threshold
Go to the next commissioning dialog by using the “Next >>” button.

Normal operation

Fig. 116: Parameterizing safety functions for normal operation

The “Normal operation” dialog is only displayed when an encoder was config-
ured for the safety technology.
In this dialog, parameterize the safety functions which only take effect in
normal operation.
In normal operation, it is possible to activate the monitoring of the
Safe direction (SDI) for the positive or negative direction. The standstill
window active for the safety function “Safe direction“ (SDI) is only dis-
played in this dialog. Via the “Standstill window for Safe direction“ link, the
“Global monitoring functions“ dialog can be called, and the standstill window
can be adjusted in this dialog.
Pertinent parameters
● 0x3159:01, SMO normal operation: Configuration (bit 0, bit 1)
● 0x3156:03, SMO global functions: Standstill window for safe direction
Afterwards, the settings that were made have to be verified.

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With the parameter verification, it is necessary to check/verify whether the

parameterization active in the drive complies with the parameters intended or
configured for this axis.
The parameter verification is carried out in ctrlX DRIVE Engineeringvia the
bottom sections of the SafeMotion dialogs (“verification display”).
Go to the next commissioning dialog by using the “Next >>” button.

Safe standstill

Commissioning
Fig. 117: Parameterizing safety functions for Safe standstill
In this dialog, parameterize the safety functions for the special mode
“Safe standstill (SMST)“. In SMST, the safety function “Safe torque off (STO)
“ or “Safe operating stop (SOS)“ can be alternatively configured.
If SMST is configured with Safe operating stop, the
“Monitoring window for Safe operating stop“ has to be additionally parameter-
ized. Set the value so high that the encoder noise does not exceed the value
and the mechanics backlash is taken into account.
The velocity threshold for safe standstill active for the SMST is only displayed
in this dialog. Via the “Velocity threshold for Safe standstill“ link, the “Standstill
monitoring” dialog can be called, and the velocity threshold can be adjusted in
this dialog.
Pertinent parameters
● 0x3155:01, SMO safe standstill: Configuration,
SMO: Safe standstill configuration
● 0x3155:02, SMO safe standstill: Monitoring window safe operational stop,
SMO: Monitoring window for Safe operating stop
● 0x310E:04, SMO encoder function: Velocity threshold,
SMO: Velocity threshold for Safe standstill
Afterwards, the settings that were made have to be verified.
With the parameter verification, it is necessary to check/verify whether the
parameterization active in the drive complies with the parameters intended or
configured for this axis.
The parameter verification is carried out in ctrlX DRIVE Engineeringvia the
bottom sections of the SafeMotion dialogs (“verification display”).

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Go to the next commissioning dialog by using the “Next >>” button.

Safe motion 1...16

Fig. 118: Parameterizing Safe motion 1...16

The "Safe motion 1...16" dialogs are only displayed if an encoder was config-
ured for the safety technology.
Via the dialogs of the safe motions, configure the safety functions of the special
mode Safe motion (SMM). In SafeMotion, 16 switchable operating states are
available for special mode SafeMotion (SMM1 to SMM16). The SMM can be
independently configured.
Via the “Safe motion n active” check box (n stands for 1…16), the safe motion
is activated and can then be configured.
Via the “Copy the data from a different special mode…” button, it is possible
to apply the configuration of a different Safe motion. Via the drop down list in
the dialog, the desired motion mode can be selected (only the activated motion
modes are displayed). After the selection was made, a preview of the values is
displayed at first. By clicking the “Copy” button, the values are applied to the
configuration of the motion mode and can be edited there.

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Commissioning
Fig. 119: Copying the data to a different special mode
In text field "Max. activation time of enabling control", enter the maximum
allowed time for activating the enabling control. By the latest when the entered
time has elapsed, the enabling control has to be deactivated; i.e. the special
mode "Safe motion" is temporary.
Dangerous movements! Danger to life, risk of injury,
WARNING serious injury or property damage by switching off the
monitoring of the activation time!
It is possible to do without the monitoring of the activa-
tion time, if it is not common practice to use an enabling
control in an industrial sector and if constant motion
does not represent any danger. The machine manufac-
turer is responsible for the monitoring of the activation
time and their risk analysis has to show their responsi-
bility. With "0x3140:02, SMO special mode 1: Max. acti-
vation time enabling control"..."0x314F:02, SMO special
mode 16: Max. activation time enabling control"="0", the
time monitoring of the special mode "Safe motion" is
deactivated.
In the "Safely-limited speed" field, define a speed threshold (bipolar)
for the safety function "Safely-limited speed". The safety function
"Safely-limited speed" is always active in the special mode "Safe motion".
If the safety function "Safely-monitored transient oscillation (SLS-LT)" is to
be used, it has to be activated via the check box "Safely-monitored transient
oscillation (SLS-LT) active". Afterwards, the maximum time of the occurring

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overshooting has to be entered in the "Tolerance time for overshooting" field.

In the "Safely-reduced speed" field, parameterize the velocity threshold with
regard to which monitoring is to take place after the overshooting time is over.
The monitoring of the direction for the SMM can be configured via the "Safe
direction (SDI)" drop down list. The safety function "Safe direction (SDI)" can
be individually configured for each SMM. The standstill window active for the
SDI safety function is only displayed in this dialog. Via the “Standstill window
for Safe direction“ link, the “Global monitoring functions“ dialog can be called,
and the standstill window can be adjusted in this dialog.
If the safety function "Safely-limited increment (SLI)" is to be used, it has
to be activated via the check box "Safely-limited increment (SLI) active". In
the "Safely-limited increment" field, a relative position window for the SMMx
(x=1...16) then has to be defined. The position window is defined with the start
of the SMMx. For the duration of the SMMx, the drive can be freely moved
within this position window.
Pertinent parameters
● "0x3140:01, SMO special mode 1: Configuration"..."0x314F:01, SMO special
mode 16: Configuration"
● "0x3160:01, SMO safely-limited speed 1: Velocity"..."0x316F:01, SMO safely-
limited speed 16: Velocity"
● "0x3170:01, SMO safely-limited increment 1: Increment"..."0x317F:01, SMO
safely-limited increment 16: Increment"
● "0x3140:02, SMO special mode 1: Max. activation time enabling con-
trol"..."0x314F:02, SMO special mode 16: Max. activation time enabling con-
trol"
● "0x3160:03, SMO safely-limited speed 1: Tolerance time for over-
shooting"..."0x316F:03, SMO safely-limited speed 16: Tolerance time for
overshooting"
● "0x3160:02, SMO safely-limited speed 1: Reduced velocity"..."0x316F:02,
SMO safely-limited speed 16: Reduced velocity"
● "0x3156:03, SMO global functions: Standstill window for safe direction"
Afterwards, the settings that were made have to be verified.
With the parameter verification, it is necessary to check/verify whether the
parameterization active in the drive complies with the parameters intended or
configured for this axis.
The parameter verification is carried out in ctrlX DRIVE Engineeringvia the
bottom sections of the SafeMotion dialogs (“verification display”).
Go to the next commissioning dialog by using the “Next >>” button.

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Changing the operating status

Commissioning
Fig. 120: Parameterizing the change in the operating status
Via the "Change in operating status" dialog, parameterize the transitions
between the operating states of SafeMotion (normal operation, Emer-
gency stop (SMES), special mode "Safe standstill (SMST)", special mode
"Safe motion (SMM)").
In the Transition to standstill section, configure whether the transition to the
new operating status is to be carried out in an "NC-controlled" way (i.e. the
control unit actively has to perform the transition of the axis) or in a "drive-con-
trolled" way (i.e. the drive performs the transition independent of the control
unit).
Drive-controlled transition processes can only be carried out to standstill.
Transitions to the special mode "Safe motion" are always NC-controlled, inde-
pendent of the configuration.
With drive-controlled transition configured, the dialogs of the standard firm-
ware, in which the axis reactions for the drive-controlled transition have been
configured, can be called via the “Error reaction drive” and “Drive Halt” links.
In the Transition to STO section, configure the transition processes (SMES,
SMST1) in which the STO safety function is active. It is possible to choose
between two transition types:
● SS1 time-prioritized: When the transition time is over, STO always becomes
active; this is independent of whether the axis standstill was reached or not;
deceleration can be achieved up to SIL3.

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The SMD deceleration monitoring can be optionally activated (“With

deceleration monitoring in SIL2” check box); this does not increase the tran-
sition time, and considered as a whole the deceleration can still be achieved
up to SIL3.
● SS1 deceleration / standstill-prioritized: The SMD deceleration monitoring
is active. Through the escalation strategy, SafeMotion tries to reach axis
standstill even in the case of error which may cause the deceleration time to
be increased; deceleration can be achieved up to SIL2.
In the Transition to SMM section, select additional settings
for the transition to the special mode "Safe motion". In the
"Max. Tolerance time for differing selection SMM" field, enter the maximum
time during which the selection of SMMx (x=1...16) is allowed to be invalid
(e.g., multiple SMM mode selectors simultaneously activated) without an error
being generated. If no special mode "Safe motion" is used in the axis, the value
does not need to be adjusted.
When the “Immediate switching within SMM” check box is activated, the axis,
for transition processes from one SMM to another SMM, switches to the new
SMM before the transition time is over, as soon as all conditions (velocity,
direction of motion,..) have been fulfilled.
When the “Immediate switching NO to SMM” check box is activated, the axis,
for transition processes from normal operation (NO) to an SMM, switches to
the SMM before the transition time is over, as soon as all conditions (velocity,
direction of motion,..) have been fulfilled. When SafeMotion has been config-
ured without an encoder, the "Transition to SMM" section is not active (grayed
out).
In the Safely-monitored deceleration (SMD) section, configure the SMD safety
function. The SMD safety function allows transition processes to a special
mode to be monitored.
The SMD does not become active in the following cases:
● If SafeMotion has been configured without an encoder. In this case, the
"Safely-monitored deceleration (SMD)" section is not active (grayed out).
● In the case of transitions to standstill, when only "SS1 time-prioritized
(SIL3)" has been configured, without the option "With deceleration moni-
toring in SIL 2".
The type of SMD monitoring can be separately configured for transitions to
standstill (SMES, SMST1, SMST2) and to the safe motions (SMMx, x=1...16). It
is possible to choose between the following options:
● With trend monitoring: The drive calculates the deceleration ramp in such a
way that at the end of the transition time it complies with the new velocity
window. The following fields have to be configured:
– In the "SMD delay" field, configure the value of the monitored decelera-
tion below which the axis cannot fall in the case of a transition. The
actual deceleration of the axis during the transition should be greater.
● Trend monitoring on time basis: The drive uses the velocity thresholds of
the active operating status and of the selected operating status as the basis
of the deceleration ramp and calculates the ramp. In the section Reaction
times for trend monitoring on time basis, parameterize times by which the

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start of deceleration monitoring is delayed, so that the command value

system can react to the selection. Enter the value "0" if the delay is not
required.
– The time in the "normal operation to Safe standstill" field takes effect
for all transition processes from normal operation to the special mode
"Safe standstill" (SMES, SMST1, SMST2).
– The time in the "normal operation to Safe motion" field takes effect
for all transition processes from normal operation to the special mode
"Safe motion" (SMMx, x=1...16). If no special mode "Safe motion" is used
in the axis, the value does not need to be adjusted.
– The time in the "between safe operation" field takes effect for all transi-
tion processes that start and end in the special mode.

Commissioning
● Based on actual velocity: The drive uses the actual velocity at selection as
the basis of the deceleration ramp and calculates the ramp. The following
parameters have to be configured:
– In the "Oscillation velocity window of SMD" field, a tolerance velocity can
be parameterized by which the velocity may increase after the selection,
until the command value system has adjusted to the transition. The field
is only provided when values unequal 0 have been parameterized in the
"SMD reaction time" field.
– In the "SMD delay time" field, a time can be parameterized by which the
deceleration monitoring has to be delayed so that the command value
system can react to the selection. Enter the value "0" if the delay is not
required.
– In the "Velocity window of SMD" field, parameterize the velocity tolerance
that at the start of the deceleration ramp is added to the current actual
velocity. The value has to be greater than the velocity noise during the
operation of the axis. The field can also be used to mask possible oscilla-
tion until the new target velocity has been reached.
– In the "SMD jerk" field, parameterize the jerk that is to be used to calcu-
late the deceleration ramp. This makes sense if the actual deceleration
shows jerk.
– In the "SMD delay" field, configure the value of the monitored decelera-
tion below which the axis cannot fall in the case of a transition. The
actual deceleration of the axis during the transition should be greater.
In the section Drive reaction when deceleration monitoring triggers, select how
SafeMotion is to react to any violation of deceleration monitoring:
● The "Direct F7051/F8351" error reaction option immediately triggers the
parameterized error reaction when the monitoring function is violated.
● With "Warning E3151 with monitoring of incorrect distance", the warning
E3151 is generated when the monitoring function is violated, and monitoring
of the incorrect distance is activated. Parameterize the corresponding max-
imum incorrect distance via the "Monitoring window for Safe operating stop"
link.
The settings in the section "Drive reaction when deceleration monitoring trig-
gers" take effect both when the operating status changes and in the case of
error reactions.
In the Max. transition times for transition ... section, configure the times
with which SafeMotion monitors the transitions between the operating states.
Within the times set here, the command value system of the drive must have
been adjusted to the new operating status.

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● The time in the "normal operation to Safe standstill" field takes effect
for all transition processes from normal operation to the special mode
"Safe standstill" (SMES, SMST1, SMST2).
● The time in the "normal operation to Safe motion" field takes effect
for all transition processes from normal operation to the special mode
"Safe motion" (SMMx, x=1...16). If no special mode "Safe motion" is used
in the axis, the value does not need to be adjusted. If SafeMotion has been
configured without an encoder, the "normal operation to Safe motion“ field
is not active (grayed out).
● The time in the "between safe operation" field takes effect for all transition
processes that start and end in the special mode. If SafeMotion has been
configured without an encoder, the "between safe operation“ field is not
active (grayed out).
Pertinent parameters
● 0x3084:01, SMO state machine prof. 1: Config operation mode transitions
● 0x3084:02, SMO state machine prof. 1: Max. trans. time, NO to SMST/SMES
● 0x3084:03, SMO state machine prof. 1: Max. trans. time, between SMxx
● 0x3084:04, SMO state machine prof. 1: Max. trans. time, NO to SMM
● 0x3084:05, SMO state machine prof. 1: Max. tol. time for dif. selection
● 0x315A:01, SMO safely-monitored decel.: Oscillation velocity window
● 0x315A:02, SMO safely-monitored decel.: Reaction time
● 0x315A:03, SMO safely-monitored decel.: Velocity window
● 0x315A:05, SMO safely-monitored decel.: Deceleration
● 0x315A:04, SMO safely-monitored decel.: Jerk
● 0x315A:06, SMO safely-monitored decel.: Trans. time, NO to standstill
● 0x315A:07, SMO safely-monitored decel.: Trans. time, SMD between SMx
● 0x315A:08, SMO safely-monitored decel.: Trans. time, NO to SMM
Afterwards, the settings that were made have to be verified.
With the parameter verification, it is necessary to check/verify whether the
parameterization active in the drive complies with the parameters intended or
configured for this axis.
The parameter verification is carried out in ctrlX DRIVE Engineeringvia the
bottom sections of the SafeMotion dialogs (“verification display”).
Go to the next commissioning dialog by using the “Next >>” button.

Error reaction
Via the "Error reaction" dialog, parameterize the reaction of SafeMotion to F3
errors, F7 errors and E83 warnings.

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Commissioning
Fig. 121: Parameterizing the error reaction
In the Safety technology error reaction section, configure the SafeMotion error
reaction. The upper part displays the configured error reaction of the standard
firmware. Via the “Apply for SMO” button, the error reaction of the standard
firmware can be applied to Save Motion. If it is impossible to apply the
error reaction to SafeMotion due to invalid settings, the error reaction of the
standard firmware can be adjusted accordingly via the "Error reaction drive"
link.
The configuration of the error reactions in the standard firmware and of Safe-
Motion has to be identical!
The table shows the possible error reaction combinations for SafeMotion. As
an alternative to applying the error reaction of the standard firmware, the error
reaction can be configured using the table.
In the" Error reaction F3 tolerance time" field, configure the time in which the
F3 error reaction or E83 warning reaction has to be completed. The selected
time has to allow the axis to be decelerated by an F3 error reaction (or an E83
warning reaction) even in the worst case (e.g., maximum velocity and maximum
load).
In the "Error reaction F7 tolerance time" field, configure the time in which the
F7 error reaction has to be completed. The selected time has to allow the
axis to be decelerated by an F7 error reaction even in the worst case (e.g.,
maximum velocity and maximum load).
In the SMD during the error reaction section, configure the SMD safety function
for the error reaction. The SMD monitoring of the error reaction always takes
place "based on the actual velocity". Thus, the following parameters have to be
configured:

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● In the "Oscillation velocity window of SMD" field, a tolerance velocity can

be parameterized by which the velocity may increase after an error was trig-
gered, until the command value system has adjusted to the error reaction.
The field is only provided when values unequal 0 have been parameterized in
the "SMD reaction time" field.
● In the "SMD reaction time" field, a time can be parameterized by which
the deceleration monitoring has to be delayed so that the command value
system can react to an error occurring. Enter the value "0" if the delay is not
required.
● In the "Velocity window of SMD" field, parameterize the velocity tolerance
that at the start of the deceleration ramp is added to the current actual
velocity. The value has to be greater than the velocity noise during the opera-
tion of the axis. The field can also be used to mask possible oscillation until
standstill has been reached.
● In the "SMD delay" field, configure the value of the monitored deceleration
below which the axis cannot fall in the case of an error reaction. The actual
deceleration of the axis during the error reaction should be greater.
● In the "Jerk" field, configure the jerk below which the axis cannot fall in the
case of an error reaction. The actual jerk value of the axis during the error
reaction should be greater.
The value parameterized in the "Jerk" field is also taken into account in the
deceleration monitoring of the safety functions SLE/SLP.
If no encoder has been configured for SafeMotion or "torque disable" has been
configured as the error reaction, SMD is not active (grayed out) during the
error reaction.
The section Drive reaction when deceleration monitoring triggers displays the
settings made in the dialog for changing the operating status, since these set-
tings also take effect in the SMD-E error reaction. For any adjustments use the
dialog for changing the operating status.
Pertinent parameters
● 0x315E:01, SMO error reaction: Configuration stopping process
● 0x315E:02, SMO error reaction: F3 tolerance time
● 0x315E:03, SMO error reaction: F7 tolerance time
● 0x315F:01, SMO safely-monitored decel. error: Oscillation vel. window
● 0x315F:02, SMO safely-monitored decel. error: Reaction time
● 0x315F:03, SMO safely-monitored decel. error: Velocity window
● 0x315F:04, SMO safely-monitored decel. error: Deceleration
● 0x315F:05, SMO safely-monitored decel. error: Jerk
● 0x2872:01, Externally controlled error reaction: Configuration
● 0x2870:01, Axis shutdown: Best possible shutdown
Afterwards, the settings that were made have to be verified.
With the parameter verification, it is necessary to check/verify whether the
parameterization active in the drive complies with the parameters intended or
configured for this axis.
The parameter verification is carried out in ctrlX DRIVE Engineeringvia the
bottom sections of the SafeMotion dialogs (“verification display”).
Go to the next commissioning dialog by using the “Next >>” button.

Support functions
Via the "Support functions" dialog, the following support functions of SafeMo-
tion can be activated and parameterized:

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● Limiting the positioning velocity

● Scaling setting validation check
● Command value monitoring in Safe operating stop (SOS)
The support functions affect the configuration and parameterization of
SafeMotion, and therefore do not need to be verified.

Commissioning
Fig. 122: Activating and parameterizing support functions of SafeMotion

Limiting the positioning velocity

To use the support function "Limiting the positioning velocity", activate the
function via the check box “Limitation of positioning velocity active”. After-
wards, a scaling factor for the positioning velocity limit value (0x3010:03) can
be entered. The limit value for the positioning velocity results from the product
of the active velocity threshold of Safe Motion (0x3156:04) and the scaling
factor.
The limit value for the positioning velocity is reduced by at least "0x310E:04,
SMO encoder function: Velocity threshold" as compared to the active velocity
threshold.
The scaling factor for the positioning velocity limit value can also be changed
during operation, without entering the SafeMotion password.
Pertinent parameters
● 0x3010:03, SMO configuration: Rating factor for velocity limit values
● 0x3010:02, SMO configuration: Support functions
● 0x3156:04, SMO global functions: Velocity threshold

Scaling setting validation check

For SafeMotion, the polarity for position, velocity, acceleration, force/torque is
set to an identical value.

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When the parameterization level is exited (C0200), the SafeMotion scaling set-
tings can be compared to the standard firmware by ticking the “Validation
check active” check box (0x3010:02, bit 1). If the validation check is active, a
message signals that the configuration is incorrect (C8214 with corresponding
detailed diagnostics) in the case of deviating settings.
● If the validation check is active (0x3010:02, bit 1), it is expected and
checked that the position polarities (0x3010:02) and velocity polarities
(0x290A:02) are set to an identical value.
– The check of the velocity polarities can be deactivated by ticking the
“Without checking the polarity of velocity scaling” check box (0x3010:02,
bit 2).
– The check of the position polarities can be deactivated by ticking the
“Without checking the polarity of position scaling” check box (0x3010:02,
bit 3).
Pertinent parameter
● 0x3010:02, SMO configuration: Support functions

Command value monitoring in Safe operating stop (SOS)

If the safety function "Safe operating stop (SOS)" is active, the standard
firmware monitors that no velocity command values are specified for the
drive (0x2220:09) that cause the drive to leave the parameterized position
window for Safe operating stop (SOS) (0x3155:02). The value defined in
"0x2212:01, Velocity status: Standstill window" is used as the monitoring limit.
By default, monitoring is active. It can be deactivated using the “Command
value monitoring active” check box (0x3010:02, bit 4) to tolerate, for example,
axis motions due to torque changes at the load with the activated safety func-
tion "Safe operating stop (SOS)".
Pertinent parameter
● 0x3010:02, SMO configuration: Support functions

Go to the next commissioning dialog by using the “Next >>” button.

Completing the commissioning

After all SafeMotion dialogs relevant to the axis have been configured, the
SafeMotion report is generated and displayed:

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Commissioning
Fig. 123: SafeMotion report
In the “Comments” field, it is possible to add further information to the report
as free text.
In the “Commissioning engineer” field, enter the person in charge of the Safe-
Motion commissioning of the axis. Afterwards, the report can be saved and
printed (“Save” / “Print” buttons above the report).
The SafeMotion report has to be signed by the person in charge of the commis-
sioning and included in the machine documentation.
NOTE: If not all parameters have been verified, the SafeMotion report cannot
be generated:

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Fig. 124: SafeMotion report: Incomplete parameter verification

Via the “Non-verified parameters” link displayed in the dialog, call the list of
non-verified parameters. From there, the dialogs containing non-verified param-
eters can be directly opened. Afterwards, the report can be generated in the
“SafeMotion report” dialog via the “Refresh” button.
Each time the configuration or parameters of SafeMotion are changed, a new
SafeMotion report has to be generated, signed and added to the machine docu-
mentation.
The SafeMotion report contains the counts of both SafeMotion change coun-
ters and the corresponding counts of the operating hours counters. In the
event of damage, the counters allow verifying whether or not SafeMotion was
subsequently modified.
Now exit the wizard via the “Finish” button.
SafeMotion has now been configured and is active.
Dangerous movements! Danger to life, risk of injury,
DANGER serious injury or property damage!
− First of all, carry out the axis validation before you
use the safety functions of the axis!
− Do not access the danger zone before the axis is vali-
dated successfully!
When closing the commissioning wizard, the user is reminded that the axis has
not yet been validated:

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Commissioning
Fig. 125: Safety technology warning with non-validated axis
Via the “Yes” button, the axis validation can be directly started.

Step 6: Validating the axis

Fig. 126: Axis validation: Selecting the command value input

Within the scope of axis validation, a check is run to find out whether the
motion detection of "SafeMotion" (encoder and scaling settings) complies with
the real motion of the axis mechanics and the expected values. The axis val-
idation always has to be carried out when the scaling settings or encoder
settings were changed. Before it is allowed to use an axis in a safety-relevant
way, the axis validation must have been successfully completed. To satisfy all
applications, there are three options of axis validation:
● Easy startup mode
● External command value input and external drive enable
● Manual motion

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Dangerous movements! Danger to life, risk of injury,

DANGER serious injury or property damage!
− First of all, carry out the axis validation before you
use the safety functions of the axis!
− Do not access the danger zone before you have car-
ried out the axis validation!
For axes without an encoder for safety technology, the axis validation does not
need to be carried out. The dialogs for axis validation are not displayed (grayed
out) for these axes.
The axis validation always has to be carried out when scaling settings or
encoder settings were set for the first time or modified in SafeMotion.
The following paragraphs describe the "manual motion" configuration, because
it is possible in most of the cases and describes the procedure very well. All
other configurations have to be carried out in an analogous way and addition-
ally are explained in the form of instructions in the dialogs for axis validation.
In step 1, select "Manual motion (without drive enable)" via the dialog for this
case and then click “Next >>”. Axis validation without drive enable is possible
if the axis or mechanics can be moved manually without drive enable. The
decisive factor is the function of the measuring system/encoder.

Fig. 127: Axis validation: Setting the start position

In step 2, the axis has to be manually moved to the desired start position.
When the start position has been reached, it has to be marked at the axis
mechanics so that the travel distance can be measured later on. The position
feedback value is displayed for information purposes in the dialog.

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Commissioning
Fig. 128: Axis validation: Carrying out the measurement
After the start position has been set, the axis measurement can be started
in step 3. Start the "measure position difference" command (C8600) via the
“Start measurement” button.

Fig. 129: Axis validation: Measuring the position difference

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When the command was started, the axis has to be manually moved from the
start position by a feasible distance (at least half the possible travel range
should be used). When the axis motion is finished, the procedure is completed
via the “Stop measurement” button. Afterwards use the “Next >>” button to go
to the next dialog.

Fig. 130: Axis validation: Getting the result of the measurement and confirming
the validation

Fig. 131: Schematic setup

After the measurement has been completed by SafeMotion, the commis-
sioning engineer has to measure the traveled distance at the mechanics.
With the appropriate measuring equipment, the distance from the start
marker to the analog end position from step 3 is measured (see "Schematic
setup"). The measured value now has to be entered in the dialog under
"Distance measured at mechanical axis system". The axis configuration vali-
dation check has been successful if the traveled distance at the machine
mechanics equals the detected position difference of "SafeMotion" with regard
to the distance and polarity. By clicking the “Confirm axis validation” button,
the commissioning engineer bindingly confirms the successful execution of the

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axis validation. The confirmation of the successful axis validation is saved in the
parameter 0x302E:03 and has to be confirmed in the verification window that
opens.
With the parameter verification, it is necessary to check/verify whether the
parameterization active in the drive complies with the parameters intended or
configured for this axis.
The parameter verification is carried out in ctrlX DRIVE Engineeringvia the
bottom sections of the SafeMotion dialogs (“verification display”).
The machine manufacturer has to define the deviation, between the travel dis-
tance determined via the command and the one measured at the mechanics,
that can still be accepted for an axis. It is not possible to specify a general
value, since it depends on many factors (e.g., mounting position and precision

Commissioning
of the SafeMotion encoder, backlash in the mechanics and gearbox).
Make sure that the validation is carried out over a measuring distance appro-
priate to the machine.
If the deviation between the travel distance determined via the command and
the one measured at the mechanics is too big for the axis, the axis validation
cannot be confirmed. The scaling and encoder settings of "SafeMotion" have to
be checked and modified. Afterwards, the axis validation has to be carried out
again.
The axis validation has to be recorded and added to the safety-relevant docu-
mentation of the machine. The axis validation record can be generated via the
“Report” button.

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Fig. 132: Axis validation report

In the "Comments" field, it is possible to add further information to the report
as free text. In the "Commissioning engineer" field, enter the person in charge
of the "SafeMotion" commissioning of the axis. Afterwards, the report can be
saved or printed (“Save” or “Print” button above the report).
The axis validation report has to be signed by the person in charge of the
commissioning and added to the machine documentation.

Step 7: Acceptance test of the machine

The axis commissioning has been completed with the axis validation. The
machine acceptance test can now be carried out via the dialogs supporting
the machine acceptance test.
See ⮫ Machine acceptance test

SafeMotion report
See ⮫ Complete commissioning

10.3 Serial commissioning

Brief description
For commissioning series machines, a simplified procedure for axes with
SafeMotion can be used. To do this, the following requirements have to be
fulfilled:

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● The wiring of the I/Os has not changed compared to the first series
machine.
● The mechanical design (axis, motor, gearbox, brake and encoder) is identical
to the first serial machine.
● The parameterization of the "encoder and scaling setting" (SMO configura-
tion image) is the same compared to the first series machine.
When these requirements have been fulfilled, series machines can be commis-
sioned using the following simplified procedure without repeated axis valida-
tion. (This means that for serial commissioning the status of axis validation is
applied from the pattern axis.)
During serial commissioning, the complete axis parameterization including the
functional part of the pattern axis is always applied to the series axis. There are

Commissioning
different options of serial commissioning:
● Option 1a: Copying an axis (1:1 copy), supported by ctrlX DRIVE Engineering
● Option 1b: Copying an axis (1:1 copy), not supported by
ctrlX DRIVE Engineering
● Option 2: Copying an axis (with new identifiers)
● Option 3: Copying an axis as a template (with new identifiers and changed
parameterization)
● Option 4: Automated serial commissioning (with new identifiers)
The prerequisite for all options is a parameter backup of the pattern axis that
is loaded to the series axis. This parameter backup can be generated via the
ctrlX DRIVE Engineering function “Saving parameter values”, it is required to
save the "backup parameters".

Option 1a: Copying an axis (1:1 copy), supported by ctrlX DRIVE Engineering
The option 1a of serial commissioning is a 1:1 copy of an existing axis without
any changes. That is to say both the SMO axis identifier, addressing of the
Safety bus communication and the parameterization of the pattern axis are
applied. This procedure is suited for the following cases:
● For series machine engineering of independent installations, because the
SMO axis identifier and the addressing of the Safety bus communication are
applied.
The prerequisite of use is a completely commissioned and validated pattern
axis, as well as the corresponding identical axis that is to be commissioned.
In the first step, a connection to the series axis has to be established via
ctrlX DRIVE Engineering.
The “SafeMotion 🠂 Commissioning 🠂 Serial commissioning” dialog in the
ctrlX DRIVE Engineering function tree provides the possibility of assisted serial
commissioning. For option 1 select “Copying an axis (1:1 copy)”.
Carry out the following steps:
1. Select the parameter backup that is to be loaded.
2. Load SMO default values (for details see ⮫ Step 0: Condition as supplied).
Subsequently, the selected parameter backup is automatically loaded to
the axis.
3. Confirm SMO axis identifier and identification of the axis (for details see
⮫ Step 3: Entering the SMO axis identifier).
4. Create a new Safe Motion report (for details see ⮫ "Completing the com-
missioning"), and, together with a copy of the SafeMotion report and the
validation report of the pattern axis, add it to the safety-relevant docu-
mentation of the machine.

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5. Carry out the machine acceptance test of the entire machine (for details
see ⮫ Machine acceptance test).
The serial commissioning of the axis ensures that the behavior of
Safe Motion is identical to the one of the pattern axis. Therefore, parts
of the machine acceptance test, where applicable, can be omitted or
abridged. The machine manufacturer has to define the scope of the
machine acceptance test for series machines, depending on the type and
complexity of the machine.

Option 1b: Copying an axis (1:1 copy), not supported by

ctrlX DRIVE Engineering
The option 1b of serial commissioning is a 1:1 copy of an existing axis without
any changes. That is to say both the SMO axis identifier, addressing of the
Safety bus communication and the parameterization of the pattern axis are
applied. This procedure is suited for the following cases:
● For series machine engineering of independent installations, because the
SMO axis identifier and the addressing of the Safety bus communication are
applied.
The prerequisite of use is a completely commissioned and validated pattern
axis, as well as the corresponding identical axis that is to be commissioned and
that is in its condition as supplied (Safe Motion not active and parameters are
at default values).
At first, the communication between the control unit and the series axis has to
be established.
Afterwards, the following steps have to be carried out:
1. Switch axis to the parameterization mode (PM or P2).
2. Select parameter backup and load it to the axis via the control unit.
Activate safety technology
3. Start the command "0x3012:02, SMO parameterization: C8300 Command
Activate parameter image" via the control and afterwards, after successful
command acknowledgment, exit the command.
Identify axis and confirm identifier
4. The axis identification should not be carried out simultaneously at mul-
tiple axes. This has to be ensured by the machine manufacturer with
organizational measures.
Select the type of axis identification via "0x3014:04, SMO identification:
Control word". It is possible to choose between the following settings:
● Bit 1, 0= 01: Confirm SMO axis identifier, for axes without and with
Safety bus communication
Afterwards the axis has to be identified. For this purpose,
Confirm SMO axis identifier:... is automatically, by selecting the
type of axis identification, shown on the drive panel, and the diagnostic
LEDs H25 and H26 at the "SafeMotion" option flash with the flashing pat-
tern "red ‑ green ‑ green ‑ red". By pressing “Enter” at the control panel,
it is necessary to confirm that the parameter backup was loaded to the
correct axis.
For devices without panel, the confirmation can only be carried out via
the control. After the diagnostic LEDs H25 and H26 have been checked,
the command "0x3014:03, SMO identification: C8500 Command Apply
data" has to be started and exited, upon successful command acknowl-
edgment, via the control.

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5. Compile new record with contents listed below and add it to safety-
relevant documentation of the machine, together with a copy of the
Safe Motion report and the validation report of the pattern axis:
● Commissioning of series machine carried out on basis of safety tech-
nology report "SMO axis identifier (0x3014:01) of first series machine"
of (date of report)
● SMO axis identifier (0x3014:01) is at (value)
● Configuration parameters checksum (0x3012:03) is at (value)
● Operating hours at last change of configuration (0x3012:04) is at
(value)
● Configuration parameters change counter (0x3012:05) is at (value)
● Safety technology parameters checksum (0x3012:06) is at (value)

Commissioning
● Operating hours at last change of parameterization (0x3012:07) is at
(value)
● Safety technology parameters change counter (0x3012:08) is at (value)
● Serial number of control section (see type plate at device)
● Serial number of power section (see type plate at device)
● (date), (name), (signature)
NOTE: The parameter values required for the log can only be read via the
control.
6. Carry out the machine acceptance test of the entire machine (for details
see ⮫ Machine acceptance test).
The serial commissioning of the axis ensures that the behavior of
Safe Motion is identical to the one of the pattern axis. Therefore, parts
of the machine acceptance test, where applicable, can be omitted or
abridged. The machine manufacturer has to define the scope of the
machine acceptance test for series machines, depending on the type and
complexity of the machine.

Option 2: Copying an axis (with new identifiers)

The option 2 of serial commissioning is a copy of an existing axis with a change
in the SMO axis identifier and, if necessary, the addressing of the Safety bus
communication. The parameterization of the pattern axis is applied. This proce-
dure is suited for the following cases:
● For axes of identical machine modules within an installation.
● In the case of loss or defect of the programming module.
The prerequisite of use is a completely commissioned and validated pattern
axis, as well as the corresponding identical axis that is to be commissioned.
In the first step, a connection to the series axis has to be established via
ctrlX DRIVE Engineering.
The “SafeMotion 🠂 Commissioning 🠂 Serial commissioning” dialog in the
ctrlX DRIVE Engineering function tree provides the possibility of assisted serial
commissioning. For option 2 select “Copying an axis (with new identifiers)”.
Carry out the following steps:
1. Select the parameter backup that is to be loaded.
2. Load SMO default values (for details see ⮫ Step 0: Condition as supplied).
Afterwards, the selected parameter backup is automatically loaded to the
axis.
3. Adjust the SMO axis identifier and identification of the axis (for details
see ⮫ Step 3: Entering the SMO axis identifier).

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4. Create a new Safe Motion report (for details see ⮫ "Completing the com-
missioning") and, together with a copy of the SafeMotion report pattern
axis, add it to the safety-relevant documentation of the machine.
5. Carry out the machine acceptance test of the entire machine (for details
see ⮫ Machine acceptance test).
The serial commissioning of the axis ensures that the behavior of
Safe Motion is identical to the one of the pattern axis. Therefore, parts
of the machine acceptance test, where applicable, can be omitted or
abridged. The machine manufacturer has to define the scope of the
machine acceptance test for series machines, depending on the type and
complexity of the machine.

Option 3: Copying an axis as a template (with new identifiers and changed

parameterization)
With option 3 of serial commissioning, an existing pattern axis is the template
for the commissioning of an axis. The parameterization, the SMO axis identifier
and, if necessary, the addressing of the Safety bus communication are adjusted
in this case.
This procedure is suited for axes with identical axis mechanics, but with a
modified safety parameterization (e.g., axis-specific monitoring thresholds).
The prerequisite for using option 3 is a completely commissioned and validated
pattern axis, as well as an axis with identical axis mechanics that is to be
commissioned.
In the first step, a connection to the series axis has to be established via
ctrlX DRIVE Engineering.
The “SafeMotion 🠂 Commissioning 🠂 Serial commissioning” dialog in the
ctrlX DRIVE Engineering function tree provides the possibility of assisted serial
commissioning. For option 3 select “Copying an axis as a template (with new
identifiers and changed parameterization)”.
Carry out the following steps:
1. Select the parameter backup that is to be loaded.
2. Load SMO default values (for details see ⮫ Step 0: Condition as supplied).
Afterwards, the selected parameter backup is automatically loaded to the
axis.
3. Adjust the SMO axis identifier and identification of the axis (for details
see ⮫ Step 3: Entering the SMO axis identifier).
4. Adjust safety parameterization to the new axis (for details see ⮫ Parame-
terizing the safety functions).
5. Create a new Safe Motion report (for details see ⮫ "Completing the com-
missioning") and together with a copy of the SafeMotion report and the
validation report of the pattern axis, add it to the safety-relevant docu-
mentation of the machine.
6. Carry out the machine acceptance test of the entire machine (for details
see ⮫ Machine acceptance test).

Option 4: Automated serial commissioning (with new identifiers)

With option 4, the automated serial commissioning , an existing pattern axis is
the template for the commissioning of an axis. The SMO axis identifier and, if
necessary, the addressing of the Safety bus communication are adjusted in this
case. The parameterization of the pattern axis is applied.
The automated serial commissioning can be carried out without
ctrlX DRIVE Engineering, e.g. with a functional control.

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Serial commissioning

Direct access to the drive controller is not necessary.

There are special acceptance criteria for the series axis, which are described in
more detail further down in these instructions. This procedure is suited for the
following cases:
● For axes of identical machine modules within an installation.
The prerequisite for using option 4 is a completely commissioned and validated
pattern axis, as well as an axis with identical axis mechanics that is to be
commissioned. For the automated commissioning, ctrlX DRIVE Engineering is
not required. This commissioning option is exclusively effected via parameter
access to parameters that are not password-protected and do not have to be
verified.
● 0x3018:02, SMO password: Entry

Commissioning
● 0x3012:02, SMO parameterization: C8300 Command Activate parameter
image
● 0x3014:03, SMO identification: C8500 Command Apply data
● 0x3014:04, SMO identification: Control word
● 0x3014:06, SMO identification: Proposed axis identifier, auto comm.
● 0x30B8:04, SMO FSoE: Prop. address, auto commissioning
● 0x30BA:04, SMO PROFIsafe: Prop. F-destination address, auto comm. (PRO-
FIsafe only)
● 0x2B62:02, Application data default: Configuration
● 0x2B62:01, Application data default: C07_x Procedure command
The parameters of the automated commissioning are accessed via a higher-level
control unit.
It has to be ensured with organizational measures that the drive address and/or
IP address at the drive controller has been set correctly. This is the prerequisite
for automated commissioning. The following steps are to be carried out for the
automated serial commissioning:
1. Load SMO default values (for details see ⮫ Step 0: Condition as supplied).
"Load SMO default values" can be executed using a higher-level control. To
do so, proceed as follows:
● Enter active axis identifier (0x3014:01) in "0x3018:02, SMO password:
Entry".
⇒ Safe Motion is in password level "3" (0x3018:01).
● Enter value "5" in "0x2B62:02, Application data default: Configuration“.
● Start the command "C0720 SMO: Load defaults procedure command"
via parameter "0x2B62:01, Application data default: C07_x Procedure
command".
⇒ Safe Motion is reset to default values.
2. Load the parameter backup of the pattern axis to the series axis.
3. Activate the parameter image via command "C8300
SMO: Command Activate parameter image" (0x3012:02).
4. Activate the configuration mode [C0400 (coupled command C8100)].
5. Enter the identification data in the parameters of the automatic commis-
sioning.
Enter the new axis identifier in parameter 0x3014:06, SMO identification:
Proposed axis identifier, auto comm.".
6. Set "0x3014:04, SMO identification: Control word", bit 2 to "1".
7. Apply with command "C8500 SMO: Apply identification data command"
(0x3014:03) and apply the values written in item 6 to the axis.

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8. Exit the configuration mode [C1100 (coupled command C8200)].

9. Verify the identification data of the automated commissioning as
described below.
Due to the omitted assignment of the SMO axis identifier and the address
for the Safety bus communication via ctrlX DRIVE Engineering, if appli-
cable, the identification data have to be verified in a separate step. The
verification is to ensure the following aspects:
● The correct parameters have been loaded to the axis.
● The identification data have been correctly assigned to the axis.
In a Safe Motion report for the automated commissioning, the following
information is to be checked and compared to the specifications:
● 0x3012:06, SMO parameterization: Parameterization checksum
● 0x3012:03, SMO parameterization: Configuration checksum
● 0x3014:02, SMO identification: Proposed axis identifier
● 0x3014:01, SMO identification: Active axis identifier
● 0x30B8:02, SMO FSoE: Active address
● 0x30BA:02, SMO PROFIsafe: F-destination address (PROFIsafe only)
Via the parameter 0x3014:02, SMO identification: Proposed axis identi-
fier" and the two checksums (0x3012:03, 0x3012:06), it is possible to
prove after the automated serial commissioning whether the correct SMO
image has been loaded to the axis.
The parameter "0x3014:02, SMO identification: Proposed axis identifier"
still contains the value from the pattern axis.
By comparing the active identification data (0x3014:01, SMO identifica-
tion: Active axis identifier) and the active address of the Safety bus com-
munication (0x30B8:02), if applicable, to the specified values, correct exe-
cution of the command "C8500 SMO: Apply identification data command"
can be verified. Apart from that, the correct assignment of the SMO axis
identifier to the address of the Safety bus communication is ensured.
The assignment of the identification data to the physical axis has to be
verified using the safety control. To this end, an action is triggered at the
axis to be verified via the safety control and/or an action at the axis to
be verified triggered by the functional control is monitored by the safety
control and compared to an expectation. Depending on the application
environment, different procedures can be used here:
● Axis-specific selection by the safety control and verification at the
panel and/or diagnostics at an HMI
‑ or ‑
● "Enabling normal operation" at only one axis by the safety control
and execution of an NC-controlled motion. Check whether "F2025
Drive not ready for control" is generated at the corresponding axis.
‑ or ‑
● Triggering "F3100 F3 test error during machine acceptance test" via the
functional control at one axis and checking via Safe status at the safety
control.

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10. Compile new record with contents listed below and add it to safety-
relevant documentation of the machine, together with a copy of the
SafeMotion report of the pattern axis:
● Commissioning of series machine carried out on basis of safety tech-
nology report "SMO axis identifier (0x3014:01) of first series machine"
of (date of report)
● SMO axis identifier (0x3014:01) is at (value)
● Configuration parameters checksum (0x3012:03) is at (value)
● Operating hours at last change of configuration (0x3012:04) is at
(value)
● Configuration parameters change counter (0x3012:05) is at (value)
● Safety technology parameters checksum (0x3012:06) is at (value)

Commissioning
● Operating hours at last change of parameterization (0x3012:07) is at
(value)
● Safety technology parameters change counter (0x3012:08) is at (value)
● Serial number of control section (see type plate at device)
● Serial number of power section (see type plate at device)
● (date), (name), (signature)
NOTE: For devices without control panel, the parameter values required
for the log can only be read via the control unit.
11. Carry out the machine acceptance test of the entire machine (for details
see ⮫ Machine acceptance test).
The serial commissioning of the axis ensures that the behavior of
SafeMotion is identical to the one of the pattern axis. Therefore, parts
of the machine acceptance test, where applicable, can be omitted or
abridged. The machine manufacturer has to define the scope of the
machine acceptance test for series machines, depending on the type and
complexity of the machine.

10.4 Axis acceptance

See ⮫ Validating the axis.

10.5 Machine acceptance test

10.5.1 Overview
A machine acceptance test from the drive's point of view is always required
when the safety technology of an axis was parameterized for the first time
(initial commissioning) or modified
The acceptance tests for the machine described here typically are not com-
plete for a machine acceptance test, because they are exclusively limited to
the axis-related safety functions. The machine might have more safety parts
and safety functions which are not taken into consideration in the acceptance
tests described here. Therefore, the acceptance tests described below are only
recommendations that can be used to check the axis-related safety functions
within the scope of the machine acceptance test.
In every case, the changes and tests carried out must be recorded.

To commission the safety technology, always use the current release of the
corresponding firmware version. If not using the current release, take the
corresponding manufacturer information on detected and solved problems
into account and verify their relevance for the machine application. For the
manufacturer information, see the ”Rexroth eBusiness Portal“ under ⮫ http://
www.boschrexroth.com/portal.

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The support functions are divided into different topics. The corresponding
acceptance test dialog is available for each topic in ctrlX DRIVE Engineering:
● Selection
● Global monitoring functions
● Monitoring functions in normal operation
● Special mode “Safe standstill”
● Special mode “Safe motions”
● Error reaction
● Safety zone
● Signal control of outputs
The dialogs can be called in the function tree in ctrlX DRIVE Engineering via the
branch “SafeMotion 🠂 Commissioning 🠂 Machine acceptance test”.

10.5.2 Selection
In ctrlX DRIVE Engineering, the “Selection“ dialog can be opened via the “...
🠂 Machine acceptance test 🠂 Selection” node.
The dialog is not provided if the default settings of the IO mapper inputs are
active.

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Commissioning
Fig. 133: Machine acceptance test: Selection
In this dialog, the processing of the safe and functional input signals at the
"IO mapper inputs" can be checked. For this purpose, it is necessary to check
whether the output signals of the network are switching as intended. If net-
works that have more than one input signal have been activated, the complete
provided input signal combinations should be checked to make sure that there
is no inadmissible input-output combination for the machine.
Via the drop down list "Check network", select the network to be checked.
After the selection was made, the circuit diagram of the function block is
displayed. The assigned signals are provided with check boxes displaying the
current states of the corresponding bit signals. The logic signal names of inputs
and outputs are displayed as tooltips. Via the “Confirm the check” button, the
currently displayed input-output combination will be marked as "OK" on the
memo. If no memo exists at this point, the memo is created.
The name of the memo is generated from the axis identifier. When the memo
is created, the user can choose the directory in which the memos are to be
saved. The default directory for memos is the "My Documents" directory of the
logged-on user. This directory is also used for further memos. The active axis

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identifier is entered in the header of the memo. In addition, the time at which
the memo was created and the time of the last modification are stored. The
"Comment" edit field allows entering a free text.
In the "Not relevant" column, the commissioning engineer can mark combina-
tions irrelevant due to the system configuration and thereby document why
these combinations were not checked. Changes made to the OK column and
the "Not relevant" column of the memo or to the comment are immediately
written to the memo file.
With the "Screenshot" button, a screenshot of the section highlighted below is
copied to the clipboard for the purpose of documentation:

Fig. 134: Machine acceptance test: Selection

The corresponding parameters are:
● "0x3030:01, SMO IO mapper 1: Type"..."0x303F:01, SMO IO mapper 16:
Type"
● "0x3030:02, SMO IO mapper 1: IDN source"..."0x303F:02, SMO IO mapper
16: IDN source"
● "0x3030:03, SMO IO mapper 1: Bit source"..."0x303F:03, SMO IO mapper
16: Bit source"

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● "0x3030:04, SMO IO mapper 1: IDN target"..."0x303F:04, SMO IO mapper

16: IDN target"
● "0x3030:05, SMO IO mapper 1: Bit target"..."0x303F:05, SMO IO mapper 16:
Bit target"

10.5.3 Global monitoring functions

In ctrlX DRIVE Engineering, the "Global monitoring functions" dialog can be
opened via the “... 🠂 Machine acceptance test 🠂 Global monitoring functions”
node
The dialog is not provided if no encoder has been configured in Safe Motion
("0x3100:09, SMO encoder config.: Phys. encoder type" equals "0").

Commissioning
Fig. 135: Machine acceptance test: Global monitoring functions
In this dialog, the function of the global monitoring function can be checked.
For this purpose, the configured monitoring functions with the corresponding
thresholds are displayed in the top section of the dialog. The following checks
have to be run:
● Checking the Safe maximum speed
● Checking the velocity threshold for Safe standstill

Checking the Safe maximum speed

The "Safe maximum speed" is active in all operating states. To check
the safety function, the axis has to be switched to the operating status
"normal operation", because only in this operating status is it possible to accel-
erate the axis up to the Safe maximum speed. In all other operating states,
moving the axis is completely prevented (SMES and SMSTx operating states) or
other velocity monitoring functions are active in parallel and already trigger at
lower velocities (SMMx operating states).

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Personal injury or property damage caused by insuffi-

WARNING cient overrun distance of the axis!
Before starting to check the Safe maximum speed, make
sure that the braking ability and the overrun distance
are sufficient. If this is not the case, the test cannot be
carried out. If necessary, adjust the velocity threshold for
this axis.
First of all, call the oscilloscope function via the link in the dialog. When the
oscilloscope is started, the measuring signals already are automatically config-
ured.
● Trigger: "0x1002:00, Diagnostic message: Manufacturer status register" at
F7020
● Measuring signals:
– 0x1002:00, Diagnostic message: Manufacturer status register
– 0x3156:04, SMO global functions: Velocity threshold
– 0x310E:03, SMO encoder function: Velocity
After the configuration, the oscilloscope has to be activated via the “Start”
button. Afterwards, move the axis in such a way that the threshold of the
"Safe maximum speed" is exceeded and the error "F7020 Safe maximum speed"
is generated. With the corresponding oscilloscope measurement, the check can
be accordingly documented.
In normal operation, the threshold of the "Safe maximum speed" is displayed in
the recorded parameter "0x3156:04, SMO global functions: Velocity threshold".

Checking the velocity threshold for Safe standstill

The "velocity threshold for Safe standstill" is active in all operating states. It can
be checked in each operating status in which the axis can be moved.
First of all, call the oscilloscope function via the link in the dialog. When the
oscilloscope is started, the measuring signals already are automatically config-
ured.
● Trigger: "0x310E:01, SMO encoder function: Evaluation status", bit 6="1"
● Measuring signals:
– 0x1002:00, Diagnostic message: Manufacturer status register
– 0x310E:01, SMO encoder function: Evaluation status
– 0x310E:03, SMO encoder function: Velocity
After the configuration, the oscilloscope has to be activated via the “Start”
button. Afterwards, the axis has to be decelerated from a velocity greater than
the "velocity threshold for Safe standstill". With the corresponding oscilloscope
measurement, the check can be accordingly documented.
At the point in time when the measurement is triggered, Safe Motion has
safely detected the axis standstill and acknowledges this in the parameter
"0x310E:01, SMO encoder function: Evaluation status", bit 6. Via the recorded
parameter "0x310E:03, SMO encoder function: Velocity", the exact velocity can
be determined below which Safe Motion safely detects the axis standstill.

10.5.4 Monitoring functions in normal operation

In ctrlX DRIVE Engineering, the dialog “Monitoring in normal operation“ can be
opened in via the node “... 🠂 Machine acceptance test 🠂 Monitoring functions
in normal operation” .

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The dialog is not provided in the following cases:

− No encoder has been configured in SafeMotion ("0x3100:09, SMO encoder
config.: Phys. encoder type" equals "0")
‑ or ‑
− No "Safe direction" has been configured for normal operation (0x3159:01,
SMO normal operation: Configuration).

Commissioning
Fig. 136: Machine acceptance test: Monitoring functions in normal operation
In this dialog, the function of the safety functions that are only active in normal
operation can be checked. For this purpose, the configured monitoring func-
tions with the corresponding thresholds are displayed in the top section of the
dialog. The following check has to be run:
● Checking the Safe direction
To check the Safe direction, the axis has to be switched to the operating status
"normal operation" and the oscilloscope function has to be called via the link in
the dialog. When the oscilloscope is started, the measuring signals already are
automatically configured.

Checking the Safe direction

To check the safety function, the axis has to be switched to the operating
status "normal operation" and the oscilloscope function has to be called via
the link in the dialog. When the oscilloscope is started, the measuring signals
already are automatically configured. The oscilloscope can be activated via the
“Start” button. Afterwards, move the axis in the forbidden direction until the
“Standstill window for Safe direction” (0x3156:03) is exceeded and the error
"F7031 Incorrect direction of motion" is generated. With the corresponding
oscilloscope measurement, the check can be accordingly documented.

10.5.5 Special mode "EMERGENCY STOP" and special mode "Safe stand-
still"
The "Special mode Safe standstill" dialog can be opened
inctrlX DRIVE Engineering via the “... 🠂 Machine acceptance test 🠂 Special
mode Safe standstill” node.

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Fig. 137: Machine acceptance test: Special mode "EMERGENCY STOP" and special mode
"Safe standstill"
In this dialog, it is possible to check whether the axis can go without
error to the special mode "EMERGENCY STOP" (SMES) or the special mode
"Safe standstill" (SMST), and whether the monitoring functions work correctly
in the special mode "Safe standstill" (SMST). The following checks have to be
run:
● Checking the SMST1 and SMES transitions
● Checking the SMST2 transition
● Checking the monitoring windows for Safe operating stop

Checking the SMST1 and SMES transitions

The operating states SMST and SMES cannot be deactivated in the Bosch
Rexroth Safe Motion profile; it is possible, however, to mask them via safe
constant selection in the "IO mapper inputs". In this case, it is impossible to
check the transition to the respective operating status.

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Personal injury or property damage caused by insuffi-

WARNING cient overrun distance of the axis!
Before starting to check the transition, make sure that
the braking ability and the overrun distance are suffi-
cient. If this is not the case, the test cannot be carried
out. If necessary, adjust the deceleration for this axis.
To check the transition, the axis has to be switched to the operating status
"normal operation" and the oscilloscope function has to be called via the link in
the dialog. When the oscilloscope is started, the measuring signals already are
automatically configured.
● Trigger: "0x3082:04, SMO state machine: Operating status", bit 1 or bit 2="1"
● Measuring signals:

Commissioning
– 0x1002:00, Diagnostic message: Manufacturer status register
– 0x3082:04, SMO state machine: Operating status
– 0x3156:04, SMO global functions: Velocity threshold
– 0x310E:03, SMO encoder function: Velocity
The oscilloscope can be activated via the “Start” button. Afterwards, move the
axis with maximum velocity and load and go to SMST1 or SMES via the selec-
tion. Make sure that the transition does not cause delay monitoring functions
or time monitoring functions to trigger. With the corresponding oscilloscope
measurement, the check can be accordingly documented.
The following error messages signal incorrect transition:
● F7051 Safely-monitored deceleration exceeded
● F8351 Safely-monitored deceleration exceeded
● F7050 Maximum transition time exceeded
● F8350 Maximum transition time exceeded
During the transition, the threshold of deceleration monitoring is displayed in
the recorded parameter "0x3156:04, SMO global functions: Velocity threshold".

Checking the SMST2 transition

The SMST operating status cannot be deactivated in the Bosch Rexroth Safe
Motion profile; it is possible, however, to mask it via safe constant selection in
the "IO mapper inputs". In this case, it is impossible to check the transition to
the operating status.
If SMST2 with the safety function "Safe operating stop" has not been config-
ured for the special mode "Safe standstill" (SMST), this check is not required
(the section is grayed out).
Personal injury or property damage caused by insuffi-
WARNING cient overrun distance of the axis!
Before starting to check the transition, make sure that
the braking ability and the overrun distance are suffi-
cient. If this is not the case, the test cannot be carried
out. If necessary, adjust the deceleration for this axis.
To check the transition, the axis has to be switched to the operating status
"normal operation" and the oscilloscope function has to be called via the link in
the dialog. When the oscilloscope is started, the measuring signals already are
automatically configured.
● Trigger: "0x3082:04, SMO state machine: Operating status", bit 2="1"
● Measuring signals:
– 0x1002:00, Diagnostic message: Manufacturer status register
– 0x3082:04, SMO state machine: Operating status

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– 0x3156:04, SMO global functions: Velocity threshold

– 0x310E:03, SMO encoder function: Velocity
The oscilloscope can be activated via the “Start” button. Afterwards, move the
axis with maximum velocity and load and go to SMST2 via the selection. Make
sure that the transition does not cause delay monitoring functions or time mon-
itoring functions to trigger. With the corresponding oscilloscope measurement,
the check can be accordingly documented.
The following error messages signal incorrect transition:
● F7051 Safely-monitored deceleration exceeded
● F8351 Safely-monitored deceleration exceeded
● F7050 Maximum transition time exceeded
● F8350 Maximum transition time exceeded
During the transition, the threshold of deceleration monitoring is displayed in
the recorded parameter "0x3156:04, SMO global functions: Velocity threshold".

Checking the monitoring windows for Safe operating stop

The SMST operating status cannot be deactivated in the Bosch Rexroth Safe
Motion profile; it is possible, however, to mask it via safe constant selection in
the "IO mapper inputs". In this case, it is impossible to check the transition to
the operating status.
If SMST2 with the safety function "Safe operating stop" has not been config-
ured for the special mode "Safe standstill" (SMST), this check is not required
(section is grayed out).
To check the transition, the axis has to be switched to the operating status
"special mode Safe standstill" (SMST) and the oscilloscope function has to be
called via the link in the dialog. When the oscilloscope is started, the measuring
signals already are automatically configured.
● Trigger: "0x1002:00, Diagnostic message: Manufacturer status register" at
F7030
● Measuring signals:
– 0x1002:00, Diagnostic message: Manufacturer status register
– 0x3082:04, SMO state machine: Operating status
– 0x310E:02, SMO encoder function: Position
– 0x310E:03, SMO encoder function: Velocity
The oscilloscope can be activated via the “Start” button. Afterwards, the axis
has to be moved, and it is necessary to check that the axis is decelerated with
the error F7030 Position window for safe operating stop exceeded if the axis
motion is greater than the "monitoring window for safe operating stop".
The "monitoring window for Safe operating stop" is only active in the special
mode "Safe standstill 2". First of all, it is necessary to switch to the special
mode "Safe standstill 2" and the oscilloscope function has to be called via the
link in the dialog. Afterwards, the trigger and the measuring signals have to be
configured. It is recommended that you use the following settings:

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The procedure for moving the axis depends on the configured transition to Safe
standstill (0x3084:01):
− NC-controlled:
The axis can be moved via the command value input of the control
unit or via the command value box integrated in the drive. The velocity
has to be smaller than the value parameterized in "0x310E:04, SMO
encoder function: Velocity threshold" since with higher velocities, the com-
mand value monitoring function of the drive generates the error "F6200
Velocity command value > standstill window in SOS".
− Drive-controlled:
The axis cannot be moved via a command value input. Instead, the axis
motion triggered via the “Jog +” and “Jog -” buttons. The axis then is moved

Commissioning
with half the value of the threshold parameterized in "0x310E:04, SMO
encoder function: Velocity threshold". The jog velocity is displayed in the
"Jog velocity" field.

10.5.6 Special mode "Safe motion"

The "Special mode Safe motion" dialog can be opened
inctrlX DRIVE Engineering via the “... 🠂 Machine acceptance test 🠂 Special
mode Safe motion” node.
The dialog is not provided if no special mode "Safe motion" (SMM1…16) has
been configured.

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Fig. 138: Machine acceptance test: Special mode "Safe motion"

In this dialog, it is possible to check whether the axis can go to the special
mode "Safe motion" without error. In the special mode "Safe motion", it is
possible to check whether the safety functions configured in this mode are
limiting as intended.
The top section of the dialog refers to the configuration dialogs in which the
operating states and operating state transitions can be parameterized.
The following checks have to be run:
● Transition to the special mode "Safe motion"
● Monitoring the activation time of enabling control
● "Safely-limited speed"
● "Safely-monitored transient oscillation"

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● "Safe direction"
● "Safely-limited increment"

Checking the transition to the special mode "Safe motion"

Personal injury or property damage caused by insuffi-
WARNING cient overrun distance of the axis!
Before starting to check the transition, make sure that
the braking ability and the overrun distance are suffi-
cient. If this is not the case, the test cannot be carried
out. If necessary, adjust the deceleration for this axis.
At the beginning of the check, select, in the drop down list

Commissioning
"Check for transition to SMM:", the special mode "Safe motion" (SMM) for
which the transition is to be checked. Afterwards, call the oscilloscope function
via the link in the dialog. When the oscilloscope is started, the measuring
signals for the selected SMM already are automatically configured.
● Trigger: "0x3082:03, SMO state machine: Selected operating status", bit
3..18
● Measuring signals:
– 0x3082:04, SMO state machine: Operating status
– 0x3156:04, SMO global functions: Velocity threshold
– 0x310E:03, SMO encoder function: Velocity
– 0x3082:03, SMO state machine: Selected operating status
The oscilloscope can be activated via the “Start” button. It is now necessary
to go to an operating status (normal operation or another special mode
"Safe motion") from which the chosen SMM can be selected. In this status,
the axis has to be moved with the maximum allowed velocity and load and go
to the chosen SMM via the selection. Make sure that the transition does not
cause delay monitoring functions or time monitoring functions to trigger. With
the corresponding oscilloscope measurement, the check can be accordingly
documented.
The following error messages signal incorrect transition:
● F7051 Safely-monitored deceleration exceeded
● F8351 Safely-monitored deceleration exceeded
● F7050 Maximum transition time exceeded
● F8350 Maximum transition time exceeded
During the transition, the threshold of deceleration monitoring is displayed in
the recorded parameter "0x3156:04, SMO global functions: Velocity threshold".
This check should be repeated for all other operating states from which the
chosen SMM can be selected.
It is not necessary to check the transition from the special mode
"Emergency stop" (SMES) and the special mode "Safe standstill" (SMST1 or
SMST2) to the special mode "Safe motion", because in these cases direct
switching (without transition) is always carried out.
If multiple special modes "Safe motion" have been configured, the check should
be repeated for each configured SMM.
In the bottom section of the dialog ("Transitions check" tab page), the test
progress can be documented using the memo. The "Transitions check" tab
page contains one row for each possible change in the operating status. In
the "Used" column, the commissioning engineer marks all changes in the oper-
ating states relevant to the axis and only checks these changes. The successful
checks can be documented in the "OK" column in the corresponding transi-
tions.

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Via the “Screenshot” button, a screenshot of the tab page can be copied to the
clipboard for the purpose of documentation.

Checking the monitoring of activation time of enabling control

To verify the safety function, select the special mode Safe motion (SMM), that
is to be checked, in the drop down list "Motion mode check:". Afterwards, the
oscilloscope function can be called via the link in the dialog. When the oscillo-
scope is started, the measuring signals already are automatically configured.
● Trigger: "0x1002:00, Diagnostic message: Manufacturer status register",
Diagnostic message number at F3142
● Measuring signals:
– 0x1002:00, Diagnostic message: Manufacturer status register
– 0x3082:04, SMO state machine: Operating status
– 0x3156:04, SMO global functions: Velocity threshold
– 0x3082:03, SMO state machine: Selected operating status
The oscilloscope can be activated via the “Start” button. Afterwards, the
chosen SMM should be selected from normal operation until the "maximum
activation time of enabling control" ("0x3140:02, SMO special mode 1:
Max. activation time enabling control"..."0x314F:02, SMO special mode 16:
Max. activation time enabling control") is exceeded and the error " F3142
Activation time of enabling control exceeded" is generated. With the cor-
responding oscilloscope measurement, the check can be accordingly docu-
mented.
If multiple special modes "Safe motion" have been configured, the check should
be repeated for each configured SMM.
In the bottom section of the dialog ("Motion mode check" tab page), the test
progress can be documented using the memo. The "Motion mode check" tab
page contains one row for each configured special mode "Safe motion". The
successful check of all monitoring functions for an SMM can be accordingly
documented in the "OK" column.
Via the “Screenshot” button, a screenshot of the tab page can be copied to the
clipboard for the purpose of documentation.

Checking the "Safely-limited speed"

To verify the safety function, select the special mode Safe motion (SMM), that
is to be checked, in the drop down list "Motion mode check:".
If the safety function "Safely-monitored transient oscillation" has
been configured for the selected special mode "Safe motion", the
"Safely-limited speed" does not need to be checked, because the
"Safely-limited speed" is automatically checked, too, when the safety function
"Safely-monitored transient oscillation" is checked.
First of all, the oscilloscope function must be called via a link in the dialog.
When the oscilloscope is started, the measuring signals already are automati-
cally configured.
● Trigger: "0x1002:00, Diagnostic message: Manufacturer status register" at
F7013
● Measuring signals:
– 0x1002:00, Diagnostic message: Manufacturer status register
– 0x3082:04, SMO state machine: Operating status
– 0x3156:04, SMO global functions: Velocity threshold
– 0x310E:03, SMO encoder function: Velocity

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After the configuration, the oscilloscope has to be activated via the “Start”
button. Afterwards, activate the selected SMM and move the axis so that the
parameterized "Safely-limited speed" ("0x3160:01, SMO safely-limited speed
1: Velocity"..."0x316F:01, SMO safely-limited speed 16: Velocity") is exceeded
and the error "F7013 Velocity threshold exceeded" is generated. With the
corresponding oscilloscope measurement, the check can be accordingly docu-
mented.
In normal operation, the threshold of the "Safely-limited speed" is displayed in
the recorded parameter "0x3156:04, SMO global functions: Velocity threshold".

Checking the "Safely-monitored transient oscillation"

If the safety function "Safely-monitored transient oscillation" has not been con-

Commissioning
figured for the selected special mode "Safe motion", this check does not need
to be run (the link is grayed out).
To verify the safety function, select the special mode Safe motion (SMM), that
is to be checked, in the drop down list "Motion mode check:".
Afterwards, the oscilloscope function can be called via the link in the dialog.
When the oscilloscope is started, the measuring signals already are automati-
cally configured.
● Trigger: "0x1002:00, Diagnostic message: Manufacturer status register" at
F7014
● Measuring signals:
– 0x1002:00, Diagnostic message: Manufacturer status register
– 0x3156:04, SMO global functions: Velocity threshold
– 0x310E:02, SMO encoder function: Position
– 0x310E:03, SMO encoder function: Velocity
The oscilloscope can be activated via the “Start” button. Afterwards,
activate the selected SMM and move the axis so that either the
parameterized "Safely-limited speed" ("0x3160:01, SMO safely-limited
speed 1: Velocity"..."0x316F:01, SMO safely-limited speed 16: Velocity")
is exceeded or the "Safely-reduced speed" ("0x3160:02, SMO safely-
limited speed 1: Reduced velocity"..."0x316F:02, SMO safely-limited
speed 16: Reduced velocity") is exceeded for a longer time than
the "Tolerance time for overshooting" ("0x3160:03, SMO safely-limited
speed 1: Tolerance time for overshooting"..."0x316F:03, SMO safely-lim-
ited speed 16: Tolerance time for overshooting") and the error
"F7014 Timeout in safely-monitored transient oscillation" or "F7013
Velocity threshold exceeded" is generated. With the corresponding oscilloscope
measurement, the check can be accordingly documented.
If the Safely-monitored transient oscillation is to be checked by triggering
"F7013 Velocity threshold exceeded", the trigger value and trigger mask in the
oscilloscope have to be changed from F7014 to F7013.
During the check, the threshold of the Safely-monitored transient oscillation
is displayed in the recorded parameter "0x3156:04, SMO global functions:
Velocity threshold".
If multiple special modes "Safe motion" have been configured, the check should
be repeated for each configured SMM.
In the bottom section of the dialog, the test progress can be documented on
the "Motion mode check" tab page of the memo. The "Motion mode check" tab
page contains one row for each configured special mode "Safe motion". The
successful check of the monitoring function can be accordingly documented for
each SMM in the "OK" column.
Via the “Screenshot” button, a screenshot of the tab page can be copied to the
clipboard for the purpose of documentation.

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Checking the "Safe direction"

To verify the safety function, select the special mode Safe motion (SMM), that
is to be checked, in the drop down list "Motion mode check:".
If the safety function "Safe direction" has not been configured for the selected
special mode "Safe motion", this check does not need to be run.
First of all, the oscilloscope function must be called via a link in the dialog.
When the oscilloscope is started, the measuring signals already are automati-
cally configured.
● Trigger: "0x1002:00, Diagnostic message: Manufacturer status register" at
F7031
● Measuring signals:
– 0x1002:00, Diagnostic message: Manufacturer status register
– 0x3082:04, SMO state machine: Operating status
– 0x310E:02, SMO encoder function: Position
– 0x310E:03, SMO encoder function: Velocity
After the configuration, the oscilloscope has to be activated via the “Start”
button. Afterwards, activate the selected SMM and move the axis in the for-
bidden direction (e.g., via the command value box integrated in the drive)
until the "Standstill window for Safe direction" (0x3156:03) is exceeded and
the error "F7031 Incorrect direction of motion" is generated. With the cor-
responding oscilloscope measurement, the check can be accordingly docu-
mented.
If multiple special modes "Safe motion" have been configured, the check should
be repeated for each configured SMM.
In the bottom section of the dialog, the test progress can be documented on
the "Motion mode check" tab page of the memo. The "Motion mode check" tab
page contains one row for each configured special mode "Safe motion". The
successful check of all monitoring functions for an SMM can be accordingly
documented in the "OK" column.
Via the “Screenshot” button, a screenshot of the tab page can be copied to the
clipboard for the purpose of documentation.

Checking the "Safely-limited increment"

To verify the safety function, select the special mode Safe motion (SMM), that
is to be checked, in the drop down list "Motion mode check:".
If the safety function "Safely-limited increment" has not been configured for the
selected special mode "Safe motion", this check does not need to be run (the
link is grayed out).
Afterwards, the oscilloscope function can be called via the link in the dialog.
When the oscilloscope is started, the measuring signals already are automati-
cally configured.
● Trigger: "0x1002:00, Diagnostic message: Manufacturer status register" at
F7010
● Measuring signals:
– 0x1002:00, Diagnostic message: Manufacturer status register
– 0x3082:04, SMO state machine: Operating status
– 0x310E:02, SMO encoder function: Position
– 0x310E:03, SMO encoder function: Velocity
The oscilloscope can be activated via the “Start” button. Afterwards, acti-
vate the selected SMM and move the axis so that the parameterized
"Safely-limited increment" ("0x3170:01, SMO safely-limited increment 1: Incre-
ment"..."0x317F:01, SMO safely-limited increment 16: Increment") is exceeded

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an the error "F7010 Safely-limited increment exceeded" is generated. With the

corresponding oscilloscope measurement, the check can be accordingly docu-
mented.
If multiple special modes "Safe motion" have been configured, the check should
be repeated for each configured SMM.
In the bottom section of the dialog ("Motion mode check" tab page), the test
progress can be documented using the memo. The "Motion mode check" tab
page contains one row for each configured special mode "Safe motion". The
successful check of all monitoring functions for an SMM can be accordingly
documented in the "OK" column.
Via the “Screenshot” button, a screenshot of the tab page can be copied to the
clipboard for the purpose of documentation.

Commissioning
10.5.7 Error reaction
In ctrlX DRIVE Engineering, the “Error reaction“ dialog can be opened via the
“... 🠂 Machine acceptance test 🠂 Error reaction” node.
In this dialog, it is possible to check whether the axis can be decelerated as
configured when a safety technology error occurs, and that Safe Motion does
not go to "escalation”. This means, during standstill in case of an F3 error, no
F7 or F83 is triggered. In case of an F7 error, no F83 is triggered (also see the
following dialog).

Fig. 139: Machine acceptance test: Error reaction

The top section of the dialog displays the current axis status allowing to mon-
itor the error reaction, and refers to the dialog for configuring the error reac-
tion. The error reaction can be checked as follows:

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1. Call the oscilloscope function via the link

“Configure oscilloscope for recording the error reaction“. When the oscil-
loscope is started, the measuring signals already are automatically config-
ured.
● Trigger: "0x3082:04, SMO state machine: Operating status", bit 25="0"
● Measuring signals:
– 0x1002:00, Diagnostic message: Manufacturer status register
– 0x3082:04, SMO state machine: Operating status
– 0x3156:04, SMO global functions: Velocity threshold
– 0x310E:03, SMO encoder function: Velocity
2. After the configuration, the oscilloscope has to be activated via the
“Start” button.

3. DANGER Dangerous movements! Danger to life, risk of injury,

serious injury or property damage! Make sure that when the error reaction
is triggered, the axis has sufficient overrun distance for a possible error
escalation.
Afterwards, the axis has to be moved with the maximum velocity and load
that the mechanical properties of the axis tolerate. Via the “Trigger F3100
error” button, an F3 error reaction has to be triggered. After the error
reaction has been completed, make sure that none of the following safety
technology errors has been entered in the axis status:
● F7051 Safely-monitored deceleration exceeded
● F8351 Safely-monitored deceleration exceeded
● F7050 Maximum transition time exceeded
● F8350 Maximum transition time exceeded
4. Document the escalation-free error reaction by saving the oscil-
loscope measurement via the "Save oscillosc. measurement"
link or by copying a screenshot to the clipboard via the
"Screenshot of oscilloscope measurement" link.
5. Repeat the steps 1 to 4 for the error reaction of the "F7xxx" error class.
For step 3, the “Trigger F7100 error” button has to be used. After the
error reaction has been completed, make sure that none of the following
safety technology errors has been entered in the axis status:
● F8351 Safely-monitored deceleration exceeded
● F8350 Maximum transition time exceeded

10.5.8 Safety zone

In ctrlX DRIVE Engineering, the “Safety zone“ dialog can be opened via the “...
🠂 Machine acceptance test 🠂 Safety zone” node.
The dialog is not provided if the following requirements apply:
− The axis is no zone node
- and -
− No zone errors are generated or no reaction to zone errors takes place (see
0x3060:01)
In this dialog, it is possible to check whether the axis, as configured, generates
a zone error or reacts to zone errors.

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Commissioning
Fig. 140: Machine acceptance test: Safety zone
The top section of the dialog displays the current axis status and refers to the
dialog for configuring the axis behavior in the safety zone. The generation of
zone errors and the reaction to zone errors can be checked as follows:

Checking the generation of zone errors

If the axis has not been configured in such a way that it signals its own safety
technology errors as zone errors, this check does not need to be run (steps 1 to
4 are grayed out in the dialog).
1. Call the oscilloscope function via the link
"Configure oscilloscope for checking the zone error generation". When the
oscilloscope is called, the measuring signals are automatically configured.
● Trigger: "0x3082:04, SMO state machine: Operating status", bit 25="0"
● Measuring signals:
– 0x1002:00, Diagnostic message: Manufacturer status register
– 0x3060:02, SMO SAFETYlink: Control word
2. After the configuration, the oscilloscope has to be activated via the
“Start” button.

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3. Before triggering the F3 test error, make sure that there is no warning or
error present at the nodes of the safety zone. Possibly existing warnings
or errors must be removed before the zone error reaction can be checked.
Afterwards, an F3 error reaction has to be triggered via the “Trigger F3
test error during machine acceptance test” button. In this context, it is
necessary to check whether the other zone nodes, which are to react to
zone errors, signal the warning "E8300 SMO: Error within the safety zone"
after the F3 test error has been triggered.
4. Document the generation of zone errors by saving the oscilloscope meas-
urement via the "Save oscillosc. measurement" link or by copying it to the
clipboard via the "Screenshot of oscilloscope measurement" link.

Checking the reaction to zone errors

If the axis has not been configured in such a way that it reacts to zone errors,
this check does not need to be run (steps 5 to 8 are grayed out).
1. Call the oscilloscope function via the link
"Configure oscilloscope for checking the zone error reaction". When the
oscilloscope is called, the measuring signals are automatically configured.
● Trigger: "0x2802:02, Axis state machine: Status word, axis", bit 2="1"
● Measuring signals:
– 0x1002:00, Diagnostic message: Manufacturer status register
– 0x3060:02, SMO SAFETYlink: Control word
2. After the configuration, the oscilloscope has to be activated via the
“Start” button.
Trigger F3 test error
Before triggering the F3 test error, verify whether the following requirements
have been met:
− No warning or error is allowed to be present at the nodes of the safety
zone. Possibly existing warnings or errors must be removed before the zone
error reaction can be checked.
− The zone node to be checked has to be in the operating mode (OM).
If it is impossible to establish a valid communication connection to other
zone nodes via ctrlX DRIVE Engineering, the dialog will not provide the option
to trigger an F3 test error. In this case, ctrlX DRIVE Engineering has to be man-
ually connected to the respective axis to generate the F3 test error, and then
the error has to be triggered via the “... 🠂 Machine acceptance test 🠂 Error
reaction” branch.

3. DANGER Dangerous movements! Danger to life, risk of injury,

serious injury or property damage! Make sure that when the error reaction
is triggered, the axis has sufficient overrun distance for a possible error
escalation.
Trigger the F3 test error at a node of the safety zone. Verify whether the
warning "E8300 SMO: Error within the safety zone is generated at the axis
to be checked.
4. Document the axis reaction to zone errors by saving the oscilloscope
measurement via the "Save oscillosc. measurement" link or by copying it
to the clipboard via the "Screenshot of oscilloscope measurement" link.

10.5.9 Signal control of outputs

The “Signal control of outputs“ dialog can be opened in
ctrlX DRIVE Engineering via the “... 🠂 Machine acceptance test 🠂 Signal
control of outputs” node.

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The dialog is not provided if no source signal has been assigned to the safe
output in "0x305A:02, SMO signal control, discrete outputs: Bit number".
In this dialog, it is possible to check whether the signal applied to the safe local
output is correctly processed.

Maintenance
Fig. 141: Machine acceptance test: Signal control of outputs
Parameters involved:
● 0x305A:01, SMO signal control, discrete outputs: IDN assignment
● 0x305A:02, SMO signal control, discrete outputs: Bit number

11 Maintenance
11.1 Repairing safety-relevant components
Safety technology is a fixed component of the device. A separate repair is not
possible. In case the device is defective, please send in the entire device. Spare
parts are not available.

11.2 Replacing drive components

11.2.1 Replacing the motor
When replacing motors, comply with the safety instructions in the chapter
“Safety instructions for electric drives and controls”!
Electric shock due to live parts with more than 50 V!
WARNING
Replacement may only be performed by personnel
trained and qualified to work on or with electrical equip-
ment.

The motor has to be replaced by a motor of an identical type. Only if the motor
is replaced by a motor of an identical type, is it ensured that all parameter
settings may remain unchanged. Moreover, it is not required to repeat the
acceptance test within the scope of the integrated safety technology.

1. If necessary, note down the last absolute value

2. Open the main switch
3. Make sure the main switch cannot be switched back on
4. Disconnect the plug-in connectors
When replacing the motor, cover the open mating sites of power lines
with protective caps if sprinkling with cooling liquid/lubricant or pollution
may occur (admissible pollution degree according to EN50178: 2).

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5. Exchange the motor

To mechanically replace the AC servo motor, observe the instructions of
the machine manufacturer.
6. Reconnect the plug-in connectors
7. WARNING! Risk of accident caused by unintended axis motion! Servo axes
with indirect distance measuring system via the motor encoder lose their
position data reference when the motor is replaced!
Therefore, the position data reference to the machine coordinate system
has to be reestablished after the motor was replaced.
8. WARNING! Risk of accident caused by unintended axis motion! When
replacing the motor make sure that the encoder assignment of the axis
is not interchanged.
If replacing of the axis encoder assignment cannot be prevented due to
organizational measures, the axis has to be validated again after replacing
the motor.
9. Log the replacement in the safety-related documentation of the machine
(serial number, type, …).

11.2.2 Replacing the optional brake

When replacing optional brakes, comply with the safety instructions in the
chapter “Safety instructions for electric drives and controls”!
Electric shock due to live parts with more than 50 V!
WARNING
Replacement may only be performed by personnel
trained and qualified to work on or with electrical equip-
ment.

The brake has to be replaced by a brake of an identical type. Only if the brake
is replaced by a brake of an identical type, is it ensured that all parameter
settings may remain unchanged. Moreover, it is not required to repeat the
acceptance test within the scope of the integrated safety technology.

1. Protect the axis against dropping

DANGER Dangerous movements! Danger to life, risk of injury,

serious injury or property damage! While the brake is replaced, secure the
axis by a blocking device or by moving the axis to a safe end position.
2. Open the main switch
3. Make sure the main switch cannot be switched back on
4. Disconnect the plug-in connectors
When replacing the brake, cover the open mating sites of power lines
with protective caps if sprinkling with cooling liquid/lubricant or pollution
may occur (admissible pollution degree according to EN50178: 2).
5. Replace the brake
To mechanically replace the brake, observe the instructions of the
machine manufacturer.
6. Reconnect the plug-in connectors
7. Log the replacement in the safety-related documentation of the machine
(serial number, type, …).

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11.2.3 Replacing the optional encoder

When replacing optional encoders, comply with the safety instructions in the
chapter “Safety instructions for electric drives and controls”!
Electric shock due to live parts with more than 50 V!
WARNING
Replacement may only be performed by personnel
trained and qualified to work on or with electrical equip-
ment.

The encoder may only be replaced by an encoder of an identical type. Only if

the encoder is replaced by an encoder of an identical type, is it ensured that all
parameter settings remain unchanged. Moreover, it is not required to repeat the
acceptance test within the scope of the integrated safety technology.

Maintenance
1. If necessary, note down the last absolute value
2. Open the main switch
3. Make sure the main switch cannot be switched back on
4. Disconnect the plug-in connectors
5. Replace the encoder
To mechanically replace the optional encoder, observe the mounting
instructions of the encoder manufacturer.
If the optional encoder is used as safety technology encoder, it has to be
ensured that the replacement encoder complies with the requirements of
safety technology! (see ⮫ Required motors and measuring systems).
6. Reconnect the plug-in connectors
If the optional encoder is used as safety technology encoder, make sure
it is plugged into XG20 (XG20.n) or XG21 (XG21.n).
7. WARNING! Risk of accident caused by unintended axis motion! Axes with
absolute measuring systems lose their position data reference when the
encoder is replaced!
Therefore, the position data reference to the machine coordinate system
has to be reestablished after replacement.
8. WARNING! Risk of accident caused by unintended axis motion! When
replacing the encoder, make sure that the encoder assignment to the axis
is not interchanged.
If replacing of the axis encoder assignment cannot be prevented due to
organizational measures, the axis has to be validated again after replacing
the encoder.
9. Log the replacement in the safety-related documentation of the machine
(serial number, type, …).

11.2.4 Replacing the controller

Overview
A controller of the ctrlX DRIVE range consists of the power section and control
section components. The control section can be configured with additional
components (e.g., optional safety technology module). Control section and
power section are firmly connected to each other.

The controller has to be replaced by a device of an identical type. This is

the only way to ensure that the originally configured functions can be used in
unchanged form.

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A device intended for replacement that has already been in operation (thus is
not in the factory-new condition as supplied), has to be brought to the condi-
tion as supplied before it is used ["Load defaults procedure (factory settings)",
command C0750].

Fig. 142: Sequence of controller replacement

*) Instead of loading the parameter backup, the protocol and profile can also
be loaded manually.

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Replacing drive components

How to proceed when replacing a controller

Replacing the controller

How to proceed when replacing a controller, saving parameters
. Save backup parameters of the device to be replaced:

Maintenance
Fig. 143: Saving parameters
Legend:

1 Call "Save parameters" dialog

2 Assign name and storage location for the parameter file

3 Select axis/axes of which the data are to be saved in the parameter file

4 Select "Backup parameters"

5 Click "Save" button

How to proceed when replacing a controller

1. Stop ctrlX DRIVE Technology Function (only available if P‑0‑1350 is active
for Sercos, or 0x3400:01 is active for CoE):
For each axis of the device
Set “PLC control word“, (P‑0‑1350, Sercos; 0x3400:01, CoE) RUN (bit 0)
to “0”
Wait for “PLC status word”, (P‑0‑1350, Sercos; 0x3400:01, CoE) RUN (bit
0) = “0”
2. Execute the command “Application data: C2300 Load procedure com-
mand” (S‑0‑0263, Sercos; 0x2B60:09, CoE) to reset the working memory
to the content of the backup memory for each axis of the device.
3. Save parameters
Note: With "backup parameters" selected, ctrlX DRIVE Engineering auto-
matically saves the parameters from the lists S‑0‑0192 (0x2B60:03 for
CoE) and P‑0‑0195 (0x2B6E:01 for CoE).
4. Open the main switch
5. Make sure the main switch cannot be switched back on.

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6. Make sure the drive controller has been de-energized.

WARNING WARNING! Lethal electric shock from live parts with

more than 50 V! Before working with live parts: De-energize installation
and secure power switch against unintentional or unauthorized reconnec-
tion. Wait at least 30 minutes after switching off the supply voltages
to allow discharging. Make sure voltage has fallen below 50 V before
touching live parts!
DC bus short circuit (ZKS) function can discharge the DC bus faster!
7. Disconnect the connection lines from the controller.
8. Dismount the controller in the control cabinet.
9. Mount the new controller.
Note: The controller has to be replaced by a device of an identical type.
This is the only way to ensure that the originally configured functions can
be used in unchanged form.
10. Connect the device according to the machine circuit diagram

Putting controller and machine into ready-for-operation state

Putting controller and machine into ready-for-operation state (restoring the
control voltage)
. Restore the control voltage.

Fig. 144: Loading the parameter data

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Legend:

1 Call "Load parameters" dialog

2 Select parameter file to be loaded

3 If applicable, select which axis of the parameter file content is to be loaded to which axis (only
multi-axis devices)

4 Select whether the retain data of "P‑0‑0195 (0x2B6E:01), Process data, retain: IDN list of retain data"
are also to be loaded, e. g. for applying the absolute position

5 Click "Load" button

Putting controller and machine into ready-for-operation state (control voltage

has been restored)
1. The following steps are required if the device is not in the condition as

Maintenance
supplied:
● Load basic parameters
● If Safe Motion is available, carry out "load defaults procedure for safety
technology" (S‑0‑0262, Sercos; 0x2B62:01, CoE) via "Configuration for
loading default values" (P‑0‑4090, Sercos; 0x2B62:02, CoE) = „0x0005"
2. Loading the parameter data
2.1 Load the parameter data
2.2 Reboot the device
2.3 Reload the parameter data
Note: 2.2 and 2.3 can be omitted if the protocol and profile in the new
controller correspond to the parameter backup from the old controller
3. If Safe Motion is available:
● Activate parameter image via „SMO parameterization: C8300 Com-
mand Activate parameter image" (P‑0‑3231.0.3 / P‑0‑2467, Sercos;
0x3012:02, CoE)
● Confirm SMO axis identifier via „SMO identification: C8500 Command
Apply data" (P‑0‑3235.0.3 / P‑0‑2535, Sercos; 0x3014:03, CoE)

NOTICE Safely checking the correct axis assignment is

required!
4. Put machine into ready-for-operation state again according to machine
manufacturer's instructions.
5. Check the functions of the drive.

11.2.5 Replacing the cables

Comply with the safety instructions in the chapter “Safety instructions for elec-
tric drives and controls” when replacing cables!
Lethal electric shock from live parts with more than
WARNING 50 V!
Only disconnect or connect power connectors of the
cables if the system is de-energized.

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Note the following before replacing cables:

− Comply with the instructions of the machine manufacturer.
− If ready-made cables by Rexroth are used, only replace defective cables
with cables of an identical type.
− If no ready-made cables by Rexroth are used, check the assignment of new
cables for compliance with the connection diagram of the machine manu-
facturer; the cable cross section and the shielding also have to match!
− WARNING! Risk of accident caused by unintended axis motion! When
replacing the encoder cables make sure that the encoder assignment of
the axis is not interchanged.
If the mentioned points are complied with, within the scope of the
“Integrated safety technology“ function, it is not required to repeat the accept-
ance test.
● Open the main switch
● Make sure the main switch cannot be switched back on
● Disconnect the connections
When replacing the cables, cover the open ends of power lines with protective
caps if sprinkling with cooling liquid/lubricant or pollution may occur (admis-
sible pollution degree according to EN50178: 2).
● Replace cables
Material damage due to faulty power connectors!
NOTICE
Only connect or disconnect power connectors in clean
and dry state.
● Reconnect the connections

11.2.6 Firmware replacement

General information

Explanation of terms
Firmware version:
A new firmware version comprises basic changes in the scope of functions
compared to the previous version. The scope of functions may also contain
incompatible changes. The firmware version is encoded in the type code at the
"VS" position in AXS–V–VSRS.
Firmware release:
A new firmware release provides compatible functional enhancements or firm-
ware bugs were fixed in the release. The firmware release is encoded in the
type code at the "RS" position in AXS–V–VSRS.
Different firmware replacement types:
● Release update
An old firmware release contained in the device (e.g. AXS–V–0402) is
replaced by a new firmware release (e.g. AXS–V–0404).
● Version upgrade
The old firmware version contained in the device is replaced by a new firm-
ware version (example: AXS–V–0402 is replaced by AXS–V–0502).
● Release downgrade
A new firmware release contained in the device (e.g. AXS–V–0404) is
replaced by an old firmware release (e.g. AXS–V–0402).
● Version downgrade
The new firmware version contained in the device is replaced by an old
firmware version (example: AXS–V–0502 is replaced by AXS–V–0404).

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Tools for firmware replacement

Firmware for ctrlX DRIVE and ctrlX DRIVEplus can be replaced using the fol-
lowing hardware and software:
● Computer with "ctrlX DRIVE Engineering" software or
● Device with ctrlX DRIVE Panel or
● Computer with TFTP client

The firmware replacement using the "ctrlX DRIVE Engineering" software is

Maintenance
described under ⮫ Commissioning.
For the description of the "Firmware replacement using a TFTP client" variant
please see ⮫ Additional information and details.
For the description of the "Device with ctrlX DRIVE Panel" variant please see
"ctrlX DRIVE Panel".

Commissioning

Preparations and conditions for firmware replacement

General information on how to proceed
Comply with the following points when replacing the firmware:
● Ethernet communication with the device has to be ensured when replacing
the firmware via ctrlX DRIVE Engineering (see Application Manual "TCP/IP
communication").
● Do not switch off the 24V control voltage while replacing the firmware.
● Always complete the firmware replacement.
Also refer to the “How-to instruction" to the ⮫ firmware replacement for ctrlX
DRIVE on the community platform of ctrlX AUTOMATION.

Preparing the firmware replacement

Firmware replacement requirements:
● The device has to be in the configuration mode (CM).
● It is recommended to save the backup parameters before replacing the firm-
ware (see Application Manual "Loading, storing and saving parameters").

Firmware release update or firmware release downgrade

It is recommended to save the backup parameters of the device before a firm-
ware release update or a firmware release downgrade (see Application Manual
"Loading, storing and saving parameters").
If the firmware is replaced for a device with active SafeMotion, this procedure
has to be recorded in the machine logbook, together with the axis identifier
(0x3014:01), configuration type data (0x3012:03) and parameterization type
data (0x3012:06).

R911426737– Edition 01 Bosch Rexroth AG

340 / 420 ctrlX SAFETY "SafeMotion" (CAN Parameters)
Replacing drive components

If a device with optional safety technology module "M5" is used, the system
checks whether firmware and parameter set are compatible. This prevents
the safety technology from being operated with an incompatible parameter
set (the diagnostic messages "C8213 SMO: Incorrect parameterization" or
"C8214 SMO: Incorrect configuration" will be generated). Incompatible param-
eter sets are caused by SafeMotion functions being used that are no longer
available in the currently loaded firmware (old firmware release).
In the case of an incompatibility between firmware and parameter set, there
are two options:
− Either continue with the existing parameterization by reloading the origi-
nally available firmware, or
− perform the complete initial commissioning with the new firmware,
including the loading of the basic parameters for SMO.

To carry out a firmware release update or a firmware release downgrade, pro-

ceed as follows:
Replacing firmware with ctrlX DRIVE Engineering
1. Connect the device to the computer.
2. ● Start "ctrlX DRIVE Engineering".
● Load project for the corresponding device or create new project. To do
this, address the device via Ethernet.
● Switch project "online".
● Select/highlight device and open "Firmware update" in the context
menu.
⇒A new window opens and the firmware currently available in the
device is displayed (see "Firmware update" dialog in "ctrlX DRIVE Engi-
neering")
● Select new firmware (*.fwa file) in the upper part of the dialog and
start firmware replacement via the "Update" button.
⇒The firmware is automatically replaced. All required firmware compo-
nents are loaded to the device.
● After the firmware replacement has been completed, close the "Firm-
ware update" window.
3. Restart the device.
At the end of the firmware replacement, "ctrlX DRIVE Engineering" pro-
vides the option to restart the device via the reboot command 0x2BD0:01.
As an alternative, the device can be restarted by resetting the control
voltage.
4. Put the machine back into ready-for-operation state according to machine
manufacturer's instructions.
5. Check device functions.
6. For drive controllers with active SafeMotion: Record the firmware
replacement in the machine logbook, together with the axis identifier
(0x3014:01), configuration type data (0x3012:03) and parameterization
type data (0x3012:06).

Bosch Rexroth AG R911426737– Edition 01

 ctrlX SAFETY "SafeMotion" (CAN Parameters) 341 / 420
Replacing drive components

Maintenance
Fig. 145: "Firmware update" dialog in ctrlX DRIVE Engineering

Additional information and details

Replacing firmware with a TFTP client

To replace firmware with a TFTP client, proceed as follows:
1. Connect the device to the computer.
2. The firmware update service is made available via a TFTP server. The
command for transmitting the firmware is the "put" command. The TFTP
client has to transmit the file in the binary format.
It is possible to execute a firmware replacement without ctrlX DRIVE
Engineering using any TFTP client supporting the "put" command (e.g.,
Windows command prompt program "tftp.exe").
Example (with "Microsoft Windows console TFTP client"):
To execute a firmware replacement, only a "put" request is transmitted.
Leave the optional alternative file name (<destination>) on the target
blank. Specify the IP address of the device as target (<host>) (the default
IP address of the device is 192.168.0.1): tftp -i 192.168.0.1 put
FWA-XD1-AXS-V-0306N.fwa. (The parameter "-i" indicates that the file is
to be transmitted as a binary file.)
3. Restart the device. There are the following options:
● Restart the device by resetting the control voltage.
● Restart the device by executing the reboot command 0x2BD0:01.
4. Put the machine back into ready-for-operation state according to machine
manufacturer's instructions.
5. Check device functions.
6. For drive controllers with active SafeMotion: Record the firmware
replacement in the machine logbook, together with the axis identifier
(0x3014:01), configuration type data (0x3012:03) and parameterization
type data (0x3012:06).

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342 / 420 ctrlX SAFETY "SafeMotion" (CAN Parameters)

Possible issues during firmware replacement

After an incomplete firmware replacement, the device possibly is no longer
operable.
The firmware replacement is carried out incompletely, if one of the following
situations occurs while the firmware is replaced:
● 24V supply of control section is switched off
● Instable/poor connection to the drive (e. g. due to interferences)
● Connection to the device is interrupted (e.g., defective interface cable)
● Crash of the update software or of the computer
A reboot or reset of the control voltage is required after each failed firmware
replacement.
In case of a failed firmware replacement, different errors (e. g. F8115, F8122,
F8131) can be reported. In individual cases, the control voltage has to be reset
three times until the firmware can be downloaded.
Following a successful firmware replacement, restart the device.

11.3 Decommissioning drive components

Before the drive or a component is decommissioned, an impact and hazard
analysis must be prepared. The impact and hazard analysis has to assess how
decommissioning affects the safety of the installation.
Furthermore, the impact and hazard analysis must contain a risk assessment of
the process of decommissioning.
On the basis of this impact and hazard analysis, decommission the drive or
component (see also IEC 61508-1:2010, 7.17).

12 Declarations of conformity
All converters and inverters of the ctrlX DRIVE range comply with the protection
goals of the Low-Voltage Directive 2014/35/EU. We declare conformity with the
Machinery Directive for the optional safety technology modules "Mx" (SafeMo-
tion).
For the latest editions of the declarations of conformity please refer to the
Bosch Rexroth Download Center.
● ⮫ Declaration of conformity "DCTC-30136-004" with XCS… according to
Machinery, EMC and EcoDesign Directive
● ⮫ Declaration of conformity "DCTC-30136-006" with XCD…, XMS… and
XMD… according to Machinery and EMC Directive

Bosch Rexroth AG R911426737– Edition 01

DocuSign Envelope ID: 3BEC6180-A771-4107-94BD-A0530E1ADEB6

EU-Konformitätserklärung - Original [1] Dok.-Nr. / Doc. No.: DCTC-30136-004 [1.1]

EU Declaration of Conformity Datum / Date: 2024-04-16 [1.2]

nach Maschinenrichtlinie 2006/42/EG / in accordance with Machinery Directive 2006/42/EC [2.1]

(ABl. L 157, 09.06.2006, S. 24 / OJ L 157, 09/06/2006, p. 24)

nach Niederspannungsrichtlinie 2014/35/EU / in accordance with Low Voltage Directive 2014/35/EU [2.2]
(ABl. L 96, 29.03.2014, S. 357 / OJ L 96, 29/03/2014, p. 357)

nach EMV-Richtlinie 2014/30/EU / in accordance with EMC Directive 2014/30/EU [2.3]

(ABl. L 96, 29.03.2014, S. 79 / OJ L 96, 29/03/2014, p. 79)

nach ATEX-Richtlinie 2014/34/EU / in accordance with ATEX Directive 2014/34/EU [2.4]

(ABl. L 96, 29.03.2014, S. 309 / OJ L 174, 1/07/2011, p. 88)

nach Ökodesign-Richtlinie (ErP) 2009/125/EG / in accordance with Ecodesign Directive (ErP) 2009/125/EC [2.5]
(ABl. L 285, 31.10.2009, S. 10 / OJ L 285, 31/10/2009, p. 10

und nach Ökodesign-Verordnung (EU) 2019/1781 / and in accordance with the Ecodesign Regulation
(EU) 2019/1781 (ABl. L 272, 25.10.2019, S. 74 /; OJ L L272, 25/10/2019, p. 74)
und nach Ökodesign-Verordnung (EU) 2019/2021 / and in accordance with the Ecodesign Regulation
(EU) 2019/2021 (ABl. L 315, 05.12.2019, S. 241 /; OJ L L315, 05/12/2019, p. 241)
Produkt im Geltungsbereich der RoHS-Richtlinie 2011/65/EU / Product in the scope of RoHS Directive 2011/65/EU: [2.6]
nach RoHS-Richtlinie 2011/65/EU / in accordance with RoHS Directive 2011/65/EU
(ABl. L 174, 01.07.2011, S. 88 / OJ L 174, 1/07/2011, p. 88)
© Bosch Rexroth AG 2024

Produkt nicht im Geltungsbereich der RoHS-Richtlinie 2011/65/EU / Product not in the scope of RoHS Directive [2.7]
2011/65/EU:
Produkt erfüllt die Anforderungen zur Stoffbeschränkung der Richtlinie / Product meets the substance
restriction requirements of the Directive

Geltungsbereich RoHS-Richtlinie für Produkte des Herstellers: DCTC-30806-006 „Herstellererklärung zur [2.8]
RoHS-Richtlinie 2011/65/EU & 2015/863/EU“ / Scope of RoHS Directive for products of the manufacturer:
DCTC-30806-006 “Declaration of compliance to the RoHS Directive 2011/65/EU & 2015/863/EU"
DCTC 30136-004_KOE_N_D0_2024-04-16.docx

Seite / Page: 1 / 10
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Der Hersteller / the manufacturer: Bosch Rexroth AG [3]

Bgm.-Dr.-Nebel-Str. 2
97816 Lohr a.Main / Germany

erklärt hiermit, dass das nachstehende Produkt / hereby declares that the product below [4]

Elektrische Antriebe „ctrlX DRIVE“ und „ctrlX DRIVEplus“ [5]

Bezeichnung / Name:
(zweite Generation) mit Sicherheitstechnik-Optionsmodul M5
und M8 (SafeMotion) /

Electrical Drives “ctrlX DRIVE” and “ctrlX DRIVEplus”

(second generation) with optional safety function module M5
and M8 (SafeMotion)

XCS2-********-02***M5****-************** [5.2]
Bestellbezeichnung / ordering code:
XCS2-********-02***M5EC**-**************
* = 0-9, A-Z, “blank” or “-“
XCS2-********-02***M8****-**************
XCS2-********-02***M8EC**-**************

Handelsbezeichnung / Trade name: Rexroth [5.4]

ab Herstelldatum / from the date of manufacture: 2024-04-16 [5.5]

in Übereinstimmung mit oben genannte(n) Richtlinie(n) entwickelt, konstruiert und gefertigt wurde. / [6]
was developed, designed, and manufactured in compliance with the above-mentioned directive(s).

Die alleinige Verantwortung für die Ausstellung dieser EU-Konformitätserklärung trägt der Hersteller. / [6.1]
This EU Declaration of Conformity is issued under the sole responsibility of the manufacturer.
[7]

Angewendete harmonisierte Normen bzw. sonstige technische Normen und Vorschriften /

Applied harmonized standards or other technical standards and regulations:

Norm / Standard [8] Titel / Name [8.1] Ausgabe / Issue [8.2]

Sicherheit von Maschinen – Sicherheitsbezogene Teile von

Steuerungen – Teil 1: Allgemeine Gestaltungsleitsätze /
EN ISO 13849-1 Safety of machinery – Safety-related parts of control systems – Part 1:
2023
General principles for design

Elektrische Leistungsantriebssysteme mit einstellbarer Drehzahl –

Teil 5-2: Anforderungen an die Sicherheit – Funktionale Sicherheit /
EN 61800-5-2 Adjustable speed electrical power drive systems – Part 5-2: Safety
2017
requirements - Functional

Funktionale Sicherheit sicherheitsbezogener

elektrischer/elektronischer/programmierbarer elektronischer
Systeme /
EN 61508-1 bis -7 2010
Functional safety of electrical/electronic/programmable electronic
safety-related systems

Elektrische Leistungsantriebssysteme mit einstellbarer Drehzahl – Teil 2007

2007/A1:2017
5-1: Anforderungen an die Sicherheit – Elektrische, thermische und
2007/A11:2021
EN 61800-5-1 energetische Anforderungen
Adjustable speed electrical power drive systems – Part 5-1: Safety Kapitel 4.3 /
requirements – Electrical, thermal and energy Chapter 4.3
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Drehzahlveränderbare elektrische Antriebe – Teil 9-2: Ökodesign für

Antriebssysteme, Motorstarter, Leistungselektronik und deren
angetriebene Einrichtungen – Indikatoren für die Energieeffizienz von
EN IEC 61800-3 Antriebssystemen und Motorstartern /
2018
Adjustable speed electrical power drive systems – Part 9-2: Ecodesign
for power drive systems, motor starters, power electronics and their
driven applications – Energy efficiency indicators for power drive
systems and motor starters

Drehzahlveränderbare elektrische Antriebe – Teil 9-2: Ökodesign für

Antriebssysteme, Motorstarter, Leistungselektronik und deren
angetriebene Einrichtungen – Indikatoren für die Energieeffizienz von
Antriebssystemen und Motorstartern /
EN 61800-9-2 2017
Adjustable speed electrical power drive systems – Part 9-2: Ecodesign
for power drive systems, motor starters, power electronics and their
driven applications – Energy efficiency indicators for power drive
systems and motor starters

Benannte Stelle, die das Baumusterprüfverfahren nach oben genannter Richtlinie durchgeführt hat: / [10]
Notified body that has conducted the type-examination procedure in accordance with the above-mentioned
directive:

Name / Name: TÜV Rheinland Industrie Service GmbH [10.1]

Anschrift / Address: Am Grauen Stein, 51105 Köln / Germany [10.2]

Kennnummer / Identification number: 0035 [10.3]

EG-Baumusterprüfbescheinigungs-Nr. / 01/205/5862.01/24 [10.4]

No. of EC type-examination certificate:

Nachfolgende Person ist bevollmächtigt, die relevanten technischen Unterlagen zusammenzustellen: / [11]
The individual below is authorized to compile the relevant technical files:

Name / Name: Christian Russo, DC-AE/EPI3 [11.1]

Anschrift / Address: Bürgermeister-Dr.-Nebel-Str. 2, 97816 Lohr a.Main / Germany [11.2]

Weitere Erläuterungen / Further explanations:

Das Sicherheitstechnik-Optionsmodul M5, das Sicherheitstechnik-Optionsmodul M8 und die Multigeber-
Anschlussstelle EC sind entsprechend SIL 3 nach EN 61800-5-2 / EN 61508 und Kategorie 4 / PL e nach EN ISO
13849-1 ausgeführt /
The optional safety function module M5, the optional safety function module M8 and the multi encoder interface
EC fulfils the requirements of SIL 3 according to EN 61800-5-2 / EN 61508 and Category 4 / PL e according to EN
ISO 13489-1.
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Lohr a.Main 2024-04-16 ppa.

Ort / place [14] Datum / date [14.1] Dr. Falk Zwicker [14.2]

Kaufmännische Werkleitung /
Commercial Plant Management

ppa.

Dr. Maik Rabe [14.3]

Produktbereichsleitung /
Senior Vice President

Änderungen im Inhalt der EU-Konformitätserklärung sind vorbehalten. Die aktuelle Version finden Sie im Bosch Rexroth Medienverzeichnis als [15]
Download oder erhalten diese auf Anfrage über Ihren Bosch Rexroth Ansprechpartner /
We reserve the right to make changes to the content of the EU Declaration of Conformity. The current issue is available as download in Bosch
Rexroth Media Directory or on request from your Bosch Rexroth contact person
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de (Deutsch) en (English) es (Español) fr (Français)

1 EU-Konformitätserklärung EU Declaration of Conformity Declaración de conformidad UE Déclaration de conformité UE
1.1 Dok.-Nr. Doc. No. N.º de doc. N° doc.
1.2 Datum Date Fecha Date
in accordance with Machinery Directive Según la Directiva relativa a las máquinas
2.1 nach Maschinenrichtlinie 2006/42/EG selon la directive Machines 2006/42/CE
2006/42/EC 2006/42/CE
in accordance with Low Voltage Directive:
2.2 nach Niederspannungsrichtlinie: 2014/35/EU Según la Directiva de baja tensión: 2014/35/UE selon la directive Basse tension: 2014/35/UE
2014/35/EU
Según la Directiva sobre compatibilidad
2.3 nach EMV-Richtlinie: 2014/30/EU in accordance with EMC Directive: 2014/30/EU selon la directive CEM: 2014/30/UE
electromagnética: 2014/30/UE

2.4 nach ATEX-Richtlinie 2014/34/EU in accordance with ATEX Directive 2014/34/EU Según la Directiva ATEX: 2014/34/UE selon la directive ATEX: 2014/34/UE
in accordance with Ecodesign Directive (ErP) Según la Directiva de ecodiseño (ErP) selon la directive sur l’écoconception (ErP)
nach Ökodesign-Richtlinie (ErP) 2009/125/EG
2009/125/EC 2009/125/CE 2009/125/CE
und nach Ökodesign-Verordnung (EU)
and in accordance with the Ecodesign y según el Reglamento (UE) de ecodiseño et selon le règlement (UE) Écoconception
2.5 2019/1781
Regulation (EU) 2019/1781 2019/1781 2019/1781
und nach Ökodesign-Verordnung (EU)
and in accordance with the Ecodesign y según el Reglamento (UE) de ecodiseño et selon le règlement (UE) Écoconception
2019/2021 Regulation (EU) 2019/2021 2019/2021 2019/2021

Produkt im Geltungsbereich der RoHS-Richtlinie Product in the scope of RoHS Directive Producto en el ámbito de aplicación de la Produit dans le champ d’application de la
2.6 2011/65/EU: 2011/65/EU: Directiva RoHS 2011/65/UE: según la Directiva directive RoHS 2011/65/UE: selon la directive
nach RoHS-Richtlinie 2011/65/EU in accordance with RoHS Directive 2011/65/EU RoHS 2011/65/UE RoHS 2011/65/UE

Produit hors du champ d’application de la

Produkt nicht im Geltungsbereich der RoHS- Product not in the scope of RoHS Directive Producto que no entra en el ámbito de
directive RoHS 2011/65/UE:
Richtlinie 2011/65/EU: 2011/65/EU: aplicación de la Directiva RoHS 2011/65/UE:
2.7 le produit est conforme aux exigences en
Produkt erfüllt die Anforderungen zur product meets the substance restriction el producto cumple los requisitos sobre
matière de restrictions concernant les matières
Stoffbeschränkung der Richtlinie requirements of the Directive restricciones de materiales de la Directiva
énoncées dans la directive

Champ d’application de la directive RoHS aux

Geltungsbereich RoHS-Richtlinie für Produkte Scope of RoHS Directive for products of the Ámbito de aplicación de la Directiva RoHS para
produits du fabricant: DCTC-30806-006
des Herstellers: DCTC-30806-006 manufacturer: DCTC-30806-006 “Declaration of productos del fabricante: DCTC-30806-006
2.8 "Déclaration de conformité du fabricant
„Herstellererklärung zur RoHS-Richtlinie compliance to the RoHS Directive 2011/65/EU "Declaración del fabricante sobre la Directiva
concernant la directive RoHS 2011/65/UE &
2011/65/EU & 2015/863/EU“ & 2015/863/EU" RoHS 2011/65/UE y 2015/863/UE"
2015/863/UE"

3 Der Hersteller The manufacturer El fabricante le fabricant

erklärt hiermit, dass das nachstehende hereby declares that the product por la presente declara que el siguiente
4 déclare par la présente que le désignation
Produkt below producto
Bezeichnung Name Designación de produit
5 (Übersetzung der Bezeichnung nur in DE / EN (translation of the Name in DE / EN available (traducción de la designación solo disponible en suivant (traduction de la désignation disponible
verfügbar) only) DE/EN) uniquement en DE / EN)
5.1 Baureihen Series Series Séries
5.2 Bestellbezeichnung ordering code Designación para el pedido Référence de commande
5.3 Materialnummer material number Número de material Numéro de référence
5.4 Handelsbezeichnung Trade name Designación comercial Dénomination commerciale
5.5 ab Herstelldatum from the date of manufacture A partir de la fecha de fabricación à partir de la date de fabrication

in Übereinstimmung mit oben genannte(n) was developed, designed and manufactured in ha sido desarrollado, diseñado y fabricado de a été conçu, développé et fabriqué en
6 Richtlinie(n) entwickelt, konstruiert und gefertigt compliance with the above-mentioned conformidad con la(s) Directiva(s) citada(s) conformité avec la/les directive(s) UE
wurde Directive(s) arriba susmentionnée(s).
Die alleinige Verantwortung für die Ausstellung El fabricante es el único responsable de la Le fabricant est seul responsable de
This EU Declaration of Conformity is issued
6.1 dieser EU-Konformitätserklärung trägt der expedición de la presente Declaración de l’établissement de cette déclaration de
under the sole responsibility of the manufacturer
Hersteller conformidad UE conformité UE

Angewendete harmonisierte Normen bzw. Applied harmonized standards or other technical Normas armonizadas aplicadas y otras Normes harmonisées appliquées ou autres
7
sonstige technische Normen und Vorschriften. standards and regulations normas y disposiciones técnicas. normes et règles techniques.
8 Norm Standard Norma Norme
Name Titre
Titel Título
8.1 (translation of the Name in DE / EN available (traduction des titres disponible uniquement en
(Übersetzung der Titel nur in DE / EN verfügbar) (traducción del título solo disponible en DE/EN)
only) DE / EN)
8.2 Ausgabe Issue Edición Édition

Kennzeichnung der Motoren Markings of the motors Identificación de los motores Marquage des moteurs
9
(ATEX-Richtlinie) (ATEX directive) (Directiva ATEX) (directive ATEX)

„X“ weist auf besondere "X" hace referencia a condiciones de uso "X" signifie des conditions d’utilisation
„X“ indicates special conditiones of use,
9.1 Verwendungsbedingungen especiales particulières
defined in the manual
hin, die in der Betriebsanleitung definiert sind definidas en el manual de instrucciones définies dans le mode d’emploi
Benannte Stelle, die das EU- Notified body that has conducted the EU type- Organismo notificado que ha ejecutado el Organisme désigné ayant réalisé l’examen de
Baumusterprüfverfahren nach oben genannter examination procedure in accordance with the procedimiento de homologación de tipo CE type UE selon la directive susmentionnée, qui a
10 Richtlinie durchgeführt hat - die das umfassende above-mentioned directive - approved the full según la Directiva anteriormente citada/que ha approuvé le système d’assurance de la qualité
Qualitätssicherungssystem nach oben quality assurance system in accordance with autorizado el sistema de control de calidad global conformément à la directive
genannter Richtlinie genehmigt hat the above-mentioned directive integral según la Directiva anteriormente citada susmentionnée
10.1 Name Name Nombre Nom
10.2 Anschrift Address Dirección Adresse
10.3 Kennnummer Identification number Número de identificación Numéro d’identification

10.4 EG-Baumusterprüfbescheinigungs-Nr. No. of EC type-examination certificate N.º de certificado de homologación de tipo CE N° de certificat d’examen CE
Nachfolgende Person ist bevollmächtigt, die La persona que aparece a continuación cuenta
The individual below is authorized to compile La personne suivante est autorisée à composer
11 relevanten technischen Unterlagen con autorización para elaborar la documentación
zusammenzustellen the relevant technical files técnica relevante le dossier technique pertinent

11.1 Name Name Nombre Nom

11.2 Anschrift Address Dirección Adresse
12 Weitere Erläuterungen Further explanations Otras explicaciones Explications supplémentaires
Deben tenerse en cuenta las indicaciones de Respecter les consignes de montage et
Die Montage- und Installationshinweise gemäß The assembling and installation instructions
13 montaje e instalación de la documentación del d’installation selon la documentation relative au
Produktdokumentation sind zu beachten according to the manual must be followed.
producto produit
14 Ort place Lugar Lieu
14.1 Datum date Fecha Date

Alternativen: Vertriebsleitung, kaufmännischer Alternatives: Sales management, commercial or Alternativas: Dirección de ventas, responsable Alternatives: Direction commerciale,
14.2
oder technischer Werkleiter technical plant manager comercial o técnico de planta responsable d'usine commerciale ou technique

Alternativen: Product Owner oder Alternatives: Product Owner or Head of Alternativas: Propietario del producto o Alternatives: Propriétaire du produit ou
14.3
Entwicklungsleitung Development Responsable de desarrollo Responsable du produit
Reservado el derecho a realizar modificaciones
Änderungen im Inhalt der EU- Sous réserve de modifications du contenu de la
We reserve the right to make changes to the en el contenido de la declaración de
Konformitätserklärung sind vorbehalten. Die déclaration de conformité UE. La version
content of the EU Declaration of Conformity. conformidad UE. Encontrará la versión
aktuelle Version finden Sie im Bosch Rexroth actuelle peut être téléchargée dans le répertoire
15 The current issue is available as download in actualizada para descargar en el directorio de
Medienverzeichnis als Download oder erhalten média de Bosch Rexroth ou demandée auprès
Bosch Rexroth Media Directory or on request medios de Bosch Rexroth o podrá solicitarla a
diese auf Anfrage über Ihren Bosch Rexroth de l’interlocuteur de Bosch Rexroth
from your Bosch Rexroth contact person través de su persona de contacto de Bosch
Ansprechpartner correspondant
Rexroth
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it (Italiano) bg (български) cs (čeština) da (Dansk)

1 Dichiarazione di conformità UE Декларация за съответствие на ЕС EU prohlášení o shodě EU-overensstemmelseserklæring
1.1 N. doc. Номер на документ Č. dok. Dok.-nr.
1.2 Data Дата Datum Dato
съгласно Директивата относно машините podle směrnice o strojních zařízeních
2.1 secondo la Direttiva Macchine 2006/42/CE i henhold til maskindirektiv 2006/42/EF
2006/42/ЕО 2006/42/ES
secondo la Direttiva sulla bassa tensione: съгласно Директивата за ниско напрежение:
2.2 podle směrnice o nízkém napětí: 2014/35/EU i henhold til lavspændingsdirektiv 2014/35/EU
2014/35/UE 2014/35/ЕС
secondo la Direttiva sulla compatibilità
2.3 съгласно Директивата за ЕМС: 2014/30/ЕС podle směrnice EMC: 2014/30/EU i henhold til EMC-direktiv 2014/30/EU
elettromagnetica: 2014/30/UE

2.4 secondo la Direttiva ATEX: 2014/34/UE съгласно ATEX директива 2014/34/ЕС podle směrnice ATEX 2014/34/EU i henhold til ATEX-direktiv 2014/34/EU
secondo la Direttiva sulla progettazione съгласно Директивата за екодизайна (ErP) i henhold til direktiv 2009/125/EF om
ecocompatibile (Erp) 2009/125/CE 2009/125/ЕО podle směrnice o ekodesignu (ErP) miljøvenligt design
e secondo il Regolamento (UE) sulla и съгласно Регламент (ЕС) за екодизайна 2009/125/ES og i henhold til forordning (EU) 2019/1781 om
2.5
progettazione ecocompatibile 2019/1781 2019/1781 a podle nařízení o ekodesignu (EU) 2019/1781 miljøvenligt design
e secondo il Regolamento (UE) sulla и съгласно Регламент (ЕС) за екодизайна a podle nařízení o ekodesignu (EU) 2019/2021 og i henhold til forordning (EU) 2019/2021 om
progettazione ecocompatibile 2019/2021 2019/2021 miljøvenligt design
Produkt inden for anvendelsesområdet for
Prodotto nel campo di validità della Direttiva Продукт в обхвата на Директива RoHS direktiv 2011/65/EU om begrænsning af
Produkt v rozsahu směrnice RoHS 2011/65/EU:
2.6 RoHS 2011/65/UE: secondo la Direttiva 2011/65/ЕС: anvendelsen af visse farlige stoffer i elektrisk
podle směrnice RoHS 2011/65/EU
2011/65/UE съгласно RoHS директива 2011/65/ЕС og elektronisk udstyr (RoHS); i henhold til RoHS-
direktiv 2011/65/EU

Продуктът не попада в обхвата на

Prodotto non nel campo di validità della Direttiva výrobek není v rozsahu platnosti směrnice Produkt inden for anvendelsesområdet for RoHS-
Директивата за ограничаване на опасните
RoHS 2011/65/UE: RoHS 2011/65/EU; direktiv 2011/65/EU;
2.7 вещества (RoHS) 2011/65/ЕС:
il prodotto soddisfa i requisiti per la restrizione výrobek vyhovuje požadavkům směrnice na produktet opfylder kravene til direktivets krav
продуктът отговаря на изискванията на
delle sostanze della direttiva omezení látek om begrænsning af visse stoffer
директивата за ограничаване на веществата.
Anvendelsesområde for RoHS-direktiv
Campo di validità della Direttiva RoHS per Обхват на директивата RoHS за продуктите vedrørende producentens produkter: DCTC-
rozsah platnosti pro výrobky výrobce: DCTC-
prodotti del produttore: DCTC-30806-006 на производителя: DCTC-30806-006 30806-006 "Producentens
2.8 30806-006 „Prohlášení výrobce ke směrnici
"Dichiarazione del fabbricante sulla Direttiva „Декларация на производителя относно overensstemmelseserklæring i
RoHS 2011/65/EU a 2015/863/EU“
RoHS 2011/65/UE e 2015/863/UE" директива RoHS 2011/65/EU & 2015/863/EU“ overensstemmelse med RoHS-direktiv
2011/65/EU og 2015/863/EU"
3 il produttore производителят výrobce erklærer
с настоящото декларира, че посоченият по-
4 dichiara che il seguente prodotto tímto prohlašuje, že níže uvedený výrobek producenten hermed, at nedenstående produkt
долу продукт
Denominazione Обозначение Betegnelse
název
5 (traduzione della denominazione disponibile solo (превод на обозначението е наличен само на (oversættelsen af betegnelsen findes kun på
(překlad názvu je k dispozici jen v DE / EN)
in DE / EN) немски и английски език) tysk og engelsk)
5.1 Serie Серии konstrukční řady Serier
5.2 Codice di ordinazione Обозначение на поръчката objednací název Bestillingsbetegnelse
5.3 Codice materiale Номер на материала číslo materiálu Materialenummer
5.4 Denominazione commerciale Търговско обозначение obchodní název Handelsbetegnelse
5.5 a partire dalla data di fabbricazione от датата на производство od data výroby fra produktionsdato

е разработен, проектиран и произведен в byl vyvinut, zkonstruován a vyroben v souladu er udviklet, designet og fremstillet i
è stato sviluppato, costruito e realizzato in
6 съответствие с посочената/ите по-горе s výše uvedenou směrnicí (výše uvedenými overensstemmelse med ovennævnte
conformità con la/e direttiva/e sopra citata/e
директива/и směrnicemi) direktiv(er).
Il rilascio della presente dichiarazione di Цялата отговорност за изготвянето на тази
Výhradní odpovědnost za vystavení tohoto Denne overensstemmelseserklæring udstedes
6.1 conformità UE è di responsabilità esclusiva del Декларация за съответствие на ЕС се носи
EU prohlášení o shodě nese výrobce på producentens ansvar:
produttore от производителя
Norme armonizzate applicate e/o altre Приложени хармонизирани стандарти или Aplikované harmonizované normy, resp. Anvendte harmoniserede standarder eller andre
7
norme e disposizioni tecniche. други технически стандарти и разпоредби. jiné technické normy a předpisy. tekniske standarder og forskrifter.
8 Norma Стандарт Norma Standard
Заглавие Titel
Titolo název
8.1 (превод на заглавието е налично само на (oversættelsen af titlen findes kun på tysk og
(traduzione del titolo disponibile solo in DE / EN) (překlad názvu je k dispozici jen v DE / EN)
немски и английски език) engelsk)
8.2 Edizione Издание vydání Udgave

Identificazione dei motori Обозначения на двигателите označení motorů Motorernes mærkning

9
(Direttiva ATEX) (директива ATEX) (směrnice ATEX) (ATEX-direktivet)

„X“ указва специални условия на употреба,

La "X" indica particolari condizioni di utilizzo „X“ upozorňuje na zvláštní podmínky použití, "X" angiver særlige brugsbetingelser, der er
9.1 които са определени в инструкциите за
definite nel manuale d’uso které jsou definovány v návodu k obsluze defineret i driftsvejledningen
експлоатация
Нотифициран орган, който е извършил
Notifikovaná osoba, která provedla postup EU Bemyndiget organ, der udførte EU-
Organismo nominato che ha eseguito il collaudo процедурата за типово одобрение на ЕС в
přezkoušení typu podle výše uvedené směrnice typegodkendelsen i henhold til ovenstående
di omologazione CE secondo la direttiva sopra съответствие с горепосочената директива,
10 - která schválila systém komplexního direktiv - som godkendte det omfattende
citata - che ha approvato il sistema di qualità който е одобрил системата за цялостно
zabezpečení jakosti podle výše uvedené kvalitetssikringssystem i henhold til
completo secondo la direttiva sopra citata осигуряване на качеството в съответствие с
горепосочената директива směrnice ovenstående direktiv
10.1 Nome Име jméno Navn
10.2 Indirizzo Адрес adresa Adresse
10.3 Numero di identificazione Шифър identifikační číslo Identifikation
Номер на удостоверението за типово č.certifikátu ES přezkoušení typu
10.4 N.attestato di certificazione CE EU-typegodkendelsesattestens nr.
одобрение на ЕО
Посоченото по-долу лице е упълномощено
La seguente persona è autorizzata a raccogliere Následující osoba je zplnomocněna sestavovat Følgende person er bemyndiget til at udarbejde
11 да състави съответната техническа
i documenti tecnici rilevanti relevantní technické podklady de relevante tekniske bilag
документация
11.1 Nome Име jméno Navn
11.2 Indirizzo Адрес adresa Adresse
12 Ulteriori informazioni Други пояснения další vysvětlivky Yderligere forklaringer
Osservare le note per il montaggio e per Да се спазват указанията за монтаж и Monterings- og installeringsvejledningen, der
Je třeba dodržovat pokyny k montáži a instalaci
13 l’installazione secondo la documentazione del инсталация съгласно продуктовата fremgår af produktdokumentationen, skal
podle dokumentace výrobku
prodotto документация overholdes
14 Luogo Населено място místo Sted
14.1 Data Дата datum Dato
Алтернативи: Управление на продажбите,
Alternative: Direzione di vendita, commerciale o Alternativy: Vedení prodeje, obchodní nebo Alternativer: Salgsledelse, kommerciel eller
14.2 търговски или технически мениджър на
tecnico direzione di fabbrica technický ředitel závodu teknisk anlægschef
завода
Alternative: Proprietario del prodotto o direzione Алтернативи: Собственик на продукта или Alternativy: Majitel výrobku nebo Alternativer: Produktets ejer eller
14.3
dello sviluppo ръководител на развойната дейност Vedoucí vývoje Udviklingsledelse

Sono riservate modifiche del contenuto della Съдържанието на ЕС декларацията за

Změny obsahu EU prohlášení o shodě jsou Der tages forbehold for ændringer i EU-
dichiarazione di conformità UE. La versione съответствие подлежи на промяна. Можете
vyhrazeny. Aktuální verzi najdete v seznamu overensstemmelseserklæringens indhold. Den
attuale è disponibile nella Media Directory di да намерите текущата версия като изтегляне
15 médií Bosch Rexroth jako dokument ke stažení aktuelle version kan findes i Bosch Rexroths
Bosch Rexroth come download oppure può в медийната директория на Bosch Rexroth
nebo jej na vyžádání obdržíte prostřednictvím mediebibliotek som download eller kan
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EU Declaration of Conformity DCTC-30136-004 : 2024-04-16

el (Ελληνικά) et (Eesti keel) fi (Suomalainen) ga (Gaeilge)

1 Δήλωση συμμόρφωσης ΕΕ ELi vastavusdeklaratsioon EU-vaatimustenmukaisuusvakuutus Dearbhú Comhréireachta AE
1.1 Έγγραφο αριθ. Dok.-nr Asiakirjanro Doc. Uimh.
1.2 Ημερομηνία Kuupäev Päivämäärä Dáta
σύμφωνα με την οδηγία 2006/42/EΚ για τα
2.1 vastavalt masinadirektiivile 2006/42/EÜ konedirektiivin 2006/42/EY i gcomhréir le Treoir Innealra 2006/42/CE
µηχανήµατα
σύμφωνα με την οδηγία για τη χαμηλή τάση: i gcomhréir leis an Treoir Ísealvoltais:
2.2 vastavalt madalpingedirektiivile: 2014/35/EL pienjännitedirektiivin 2014/35/EU
2014/35/ΕΕ 2014/35/AE
σύμφωνα με την οδηγία για την ΗΜΣ: vastavalt elektromagnetilise ühilduvuse
2.3 EMC-direktiivin 2014/30/EU i gcomhréir le Treoir EMC: 2014/30/AE
2014/30/ΕΕ direktiivile: 2014/30/EL

2.4 σύμφωνα με την οδηγία ATEX 2014/34/ΕΕ vastavalt ATEXi direktiivile 2014/34/EL ATEX-direktiivin 2014/34/EU i gcomhréir le Treoir ATEX 2014/34/AE
σύμφωνα με την οδηγία για τον οικολογικό vastavalt ökodisaini direktiivile (ErP) ekologista suunnittelua koskevan direktiivin i gcomhréir le Treoir Éicidhearthóireachta (ERP)
σχεδιασμό (ErP) 2009/125/ΕΚ 2009/125/EÜ 2009/125/EY 2009/125/CE
και σύμφωνα με τον κανονισμό (ΕΕ) για τον ja vastavalt määrusele (EL) Ökodisain ja ekologisesta suunnittelusta annetun agus i gcomhréir le Rialachán
2.5
οικολογικό σχεδιασμό 2019/1781 2019/1781 asetuksen (EU) 2019/1781 Éicidhearthóireachta 2019/1781
και σύμφωνα με τον κανονισμό (ΕΕ) για τον ja vastavalt määrusele (EL) Ökodisain ja ekologisesta suunnittelusta annetun agus i gcomhréir le Rialachán
οικολογικό σχεδιασμό 2019/2021 2019/2021 asetuksen (EU) 2019/2021 Éicidhearthóireachta 2019/2021

Toode, mis kuulub RoHS (ohtlike ainete

Προϊόν που εμπίπτει στο πεδίο εφαρμογής της Táirge faoi raon feidhme Threoir RoHS
kasutamise piiramise) direktiivi 2011/65/EL Tuote kuuluu RoHS-direktiivin 2011/65/EU
2.6 Οδηγίας RoHS 2011/65/ΕΕ: 2011/65/AE;
reguleerimisalasse; vastavalt RoHS direktiivile soveltamisalaan; RoHS-direktiivin 2011/65/EU
σύμφωνα με την οδηγία RoHS 2011/65/ΕΕ i gcomhréir le Treoir RoHS 2011/65/AE
2011/65/EL

Προϊόν που δεν εμπίπτει στο πεδίο εφαρμογής

Tuote ei kuulu RoHS-direktiivin 2011/65/EU Táirge nach bhfuil faoi raon feidhme Threoir
της οδηγίας 2011/65/ΕΕ Toode, mis ei kuulu RoHS direktiivi 2011/65/EL
soveltamisalaan; RoHS 2011/65/AE;
2.7 για τον περιορισμό των επικίνδυνων ουσιών, το reguleerimisalasse.
tuote täyttää direktiivin materiaalirajoituksia comhlíonann an táirge ceanglais na Treorach
προϊόν πληροί τις προϋποθέσεις περιορισμού Toode vastab direktiivi ainepiirangute nõuetele
koskevat vaatimukset maidir le srianadh substaintí
χρήσης ουσιών της οδηγίας

Πεδίο εφαρμογής της οδηγίας RoHS για τα RoHS-direktiivin soveltamisala valmistajan Raon feidhme na Treorach RoHS do tháirgí an
RoHS direktiivi kohaldamisala tootja toodetele:
προϊόντα του κατασκευαστή: DCTC-30806-006 tuotteissa: DCTC-30806-006 ”Valmistajan RoHS- mhonaróra: DCTC-30806-006 "Dearbhú
2.8 DCTC-30806-006 „Tootja deklaratsioon RoHS
"Δήλωση κατασκευαστή σχετικά με την οδηγία direktiivejä 2011/65/EU ja 2015/863/EU koskeva comhlíonta le Treoir RoHS 2011/65/AE &
direktiivi 2011/65/EL ja 2015/863/EL kohta“
RoHS 2011/65/EU & 2015/863/EU" vakuutus” 2015/863/AE"

3 Ο κατασκευαστής tootja valmistaja Dearbhaíonn an monaróir,

4 δηλώνει με το παρόν ότι το ακόλουθο προϊόν deklareerib käesolevaga, et alltoodud toode vakuuttaa täten, että jäljempänä esitetty tuote leis seo gur forbraíodh,
Ονομασία Nimetus Nimi
Ainm
5 (Η μετάφραση της ονομασίας είναι διαθέσιμη (nimetuse tõlge on saadaval ainult DE/EN (nimen käännös saatavilla vain kielillä DE ja
(aistriúchán ar an Ainm ar fáil i DE / EN amháin)
μόνο στις γλώσσες DE / EN) keeltes) EN)
5.1 Σειρές Seeriad Valmistussarjat Sraith
5.2 Ονομασία προϊόντος Tellimuse tähistus Tilausnimi Cód ordú
5.3 Αριθμούς υλικού Materjalinumber Materiaalinumero Uimhir ábhair
5.4 Εμπορική ονομασία Kaubamärk Kauppanimi Ainm trádála
5.5 από την ημερομηνία κατασκευής alates tootmiskuupäevast alkaen valmistuspäivämäärästä ón dáta monaraithe

αναπτύχθηκε, σχεδιάστηκε και gur dearadh agus gur monaraíodh an táirge

on välja töötatud, kavandatud ja toodetud on kehitetty, suunniteltu ja valmistettu edellä
6 κατασκευάστηκε σύμφωνα με τις παραπάνω thíos i gcomhréir leis an Treoir/na Treoracha
ülaltoodud direktiivi(de) kohaselt. mainittujen direktiivien mukaisesti
οδηγίες. thuasluaite.
Η παρούσα δήλωση συμμόρφωσης ΕΕ Valmistaja on yksin vastuussa tämän EU-
Tootja vastutab ainuisikuliselt selle Eli Eisítear an Dearbhú Comhréireachta AE seo
6.1 εκδίδεται με αποκλειστική ευθύνη του vaatimustenmukaisuusvakuutuksen
vastavusdeklaratsiooni väljastamise eest faoi fhreagracht an mhonaróra amháin
κατασκευαστή laatimisesta

Εφαρμοσμένα εναρμονισμένα πρότυπα ή άλλα Rakendatud harmoneeritud standardid või muud Sovelletut yhdenmukaistetut standardit tai muut Caighdeáin chomhchuibhithe nó caighdeáin
7
τεχνικά πρότυπα και διατάξεις. tehnilised standardid ja eeskirjad. tekniset standardit ja määräykset. agus rialacháin theicniúla eile curtha i bhfeidhm
8 Πρότυπο Standard Standardi Caighdeán
Τίτλος Pealkiri Otsikko Ainm
8.1 (Η μετάφραση της ονομασίας είναι διαθέσιμη (pealkirja tõlge on saadaval ainult DE/EN (otsikon käännös saatavilla vain kielillä DE ja (aistriúchán ar an Ainm ar fáil i DE / EN
μόνο στις γλώσσες DE / EN) keeltes) EN) amháin)
8.2 Έκδοση Väljaanne Versio Eisiúint

Σήμανση κινητήρων Mootorite tähistus Moottoreiden merkinnät Marcáil na mótar

9
(Οδηγία ATEX) (ATEX direktiiv) (ATEX-direktiivi) (treoir ATEX)

Το σύμβολο «Χ» υποδηλώνει ειδικούς όρους

„X“ tähistab erilisi kasutustingimusi, X viittaa erityisiin käyttöolosuhteisiin, Léiríonn "X" coinníollacha speisialta úsáide, atá
9.1 χρήσης, οι οποίοι καθορίζονται στις οδηγίες
mis on määratletud kasutusjuhendis jotka on määritelty käyttöohjeessa. sainmhínithe sa lámhleabhar
χρήσης
Κοινοποιημένος οργανισμός, ο οποίος
Teavitatud asutus, kes viis läbi ELi Ilmoitettu tarkastuslaitos, joka on suorittanut Comhlacht dá dtugtar fógra a sheol nós
πραγματοποίησε τη διαδικασία εξέτασης τύπου
tüübihindamismenetluse vastavalt ülaltoodud EU:n tyyppitarkastusmenettelyn edellä mainitun imeachta scrúdú cineáil an AE i gcomhréir leis
ΕΕ σύμφωνα με την οδηγία που αναφέρεται
10 direktiivile – kes kiitis heaks kõikehõlmava direktiivin mukaisesti - joka on hyväksynyt an treoir thuasluaite - d’fhormheas sé an córas
παραπάνω, ο οποίος ενέκρινε το πλήρες
kvaliteedi tagamise süsteemi vastavalt täydellisen laadunvarmistusjärjestelmän edellä iomlán um dhearbhú cáilíochta i gcomhréir leis
σύστημα διαχείρισης ποιότητας σύμφωνα με την
οδηγία που αναφέρεται παραπάνω ülaltoodud direktiivile mainitun direktiivin mukaisesti an treoir thuasluaite
10.1 Όνομα Nimi Nimi Ainm
10.2 Διεύθυνση Aadress Osoite Seoladh
10.3 Αριθμός αναγνώρισης Tunnuskood Tunnusnumero Uimhir Aitheantais
Líon an deimhnithe cineáil CE
10.4 Αρ. πιστοποιητικών εξέτασης τύπου CE EÜ tüübihindamistõendi nr EY-tyyppitarkastusmenettelyn nro

Το παρακάτω άτομο είναι εξουσιοδοτημένο, να Asjakohaste tehniliste dokumentide Seuraava henkilö on valtuutettu kokoamaan Tá an duine aonair thíos údaraithe chun na
11
συγκεντρώνει τα σχετικά τεχνικά έγγραφα koostamiseks on volitatud järgmine isik asianmukaiset tekniset asiakirjat comhaid theicniúla ábhartha a thiomsú

11.1 Όνομα Nimi Nimi Ainm

11.2 Διεύθυνση Aadress Osoite Seoladh
12 Περαιτέρω διευκρινίσεις Täiendavad selgitused Lisäselvitykset Mínithe breise
Πρέπει να λαμβάνονται υπόψη οι οδηγίες για τη
Järgida tuleb tootedokumentatsioonile vastavaid Tuoteasiakirjojen mukaisia kiinnitys- ja Ní mór na treoracha tionóil agus suiteála de réir
13 συναρμολόγηση και την τοποθέτηση σύμφωνα
montaaži- ja paigaldusjuhiseid asennusohjeita on noudatettava an lámhleabhair a leanúint.
με την τεκμηρίωση του προϊόντος
14 Τοποθεσία Koht Paikka áit
14.1 Ημερομηνία Kuupäev Päivämäärä dáta

Εναλλακτικές λύσεις: Διοίκηση πωλήσεων, Alternatiivid: Müügijuhtimine, kaubandus- või Vaihtoehdot: Myynnin johto, kaupallinen tai Roghainnean eile: Riaghladh reic, manaidsear
14.2
εμπορικός ή τεχνικός διευθυντής εργοστασίου tehnikatehase juht tekninen tehdaspäällikkö planntrais malairteach no teicnigeach

Εναλλακτικές λύσεις: ιδιοκτήτης προϊόντος ή Vaihtoehdot: Tuotteen omistaja tai Roghainnean eile: Sealbhadair toraidh no
14.3 Alternatiivid: Toote omanik või arendusjuht
επικεφαλής ανάπτυξης kehityspäällikkö ceannard leasachaidh

Διατηρούμε το δικαίωμα να κάνουμε αλλαγές

Muudatused ELi vastavusdeklaratsiooni sisus Oikeus EU-vaatimustenmukaisuusvakuutuksen Coimeádaimid an ceart chun athruithe a
στο περιεχόμενο της δήλωσης συμμόρφωσης
on õigustatud. Praeguse versiooni leiate Bosch sisällön muuttamiseen pidätetään. Ajantasainen dhéanamh ar ábhar Dhearbhú Comhréireachta
ΕΕ. Η τρέχουσα έκδοση διατίθεται για λήψη
15 Rexrothi meediumikataloogist allalaaditava versio on ladattavissa Bosch Rexrothin an AE. Tá an t-eagrán reatha ar fáil le híoslódáil
στον κατάλογο πολυμέσων της Bosch Rexroth
dokumendina või saate selle nõudmisel oma mediahakemistosta tai saatavissa Bosch in Eolaire Meán Bosch Rexroth nó ar iarratas ó
ή κατόπιν αιτήματος από τον υπεύθυνο
Bosch Rexrothi kontaktisikult Rexroth -yhteyshenkilön kautta do theagmhálaí Bosch Rexroth
επικοινωνίας της Bosch Rexroth
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EU-Konformitätserklärung - Original Seite / Page: 8 / 10

EU Declaration of Conformity DCTC-30136-004 : 2024-04-16

hr (Hrvatski) hu (Magyar) lt (Lietuvių) lv (Latviski)

1 EU izjava o sukladnosti EU-megfelelőségi nyilatkozat ES atitikties deklaracija ES atbilstības deklarācija
1.1 Dok. br. Dok. sz. Dok. Nr. Dok. nr.
1.2 Datum Dátum Data Datums

2.1 u skladu s Direktivom o strojevima 2006/42/EG a 2006/42/EK gépekről szóló irányelv szerint pagal Mašinų direktyvą 2006/42/EB Saskaņā ar Mašīnu direktīvu 2006/42/EK
u skladu s Direktivom o niskom naponu: a 2014/35/EU kisfeszültségi villamossági Saskaņā ar Zemsprieguma direktīvu:
2.2 pagal Žemosios įtampos direktyvą 2014/35/ES
2014/35/EU termékekről szóló irányelv szerint 2014/35/ES
u skladu s Direktivom o elektromagnetskoj
2.3 a 2014/30/EU EMC-irányelv szerint pagal EMS direktyvą 2014/30/ES Saskaņā ar EMS direktīvu: 2014/30/ES
kompatibilnosti: 2014/30/EU

2.4 u skladu s Direktivom ATEX 2014/34/EU A 2014/34/EU ATEX-irányelv szerint pagal ATEX direktyvą 2014/34/ES Saskaņā ar ATEX direktīvu: 2014/34/ES
u skladu s Direktivom o ekološkom dizajnu a 2009/125/EC környezetbarát tervezési
pagal Ekologinio projektavimo direktyvą (ErP) Saskaņā ar Ekodizaina direktīvu (ErP)
(ErP) 2009/125/EG irányelv (ErP) szerint 2009/125/EB 2009/125/EK
i prema Uredbi o ekološkom dizajnu (EU) és a környezetbarát tervezésről szóló (EU)
ir pagal (ES) Ekologinio projektavimo un saskaņā ar Ekodizaina Regulu (ES)
2.5
2019/1781 2019/1781 rendelet szerint reglamentą 2019/1781 2019/1781
i prema Uredbi o ekološkom dizajnu (EU) és a környezetbarát tervezésről szóló (EU)
ir pagal (ES) Ekologinio projektavimo un saskaņā ar Ekodizaina Regulu (ES)
2019/2021 2019/2021 rendelet szerint reglamentą 2019/2021 2019/2021
Produktas, kuriam taikoma direktyva dėl tam
Proizvod unutar područja primjene Direktive tikrų pavojingų medžiagų elektros ir Izstrādājums, uz ko attiecas RoHS direktīva
A 2011/65/EU RoHS-irányelv hatálya alá tartozó
2.6 RoHS 2011/65/EU; u skladu s Direktivom RoHS elektroninėje įrangoje naudojimo apribojimo 2011/65/ES; saskaņā ar RoHS direktīvu
termék; a 2011/65/EU RoHS-irányelv szerint
2011/65/EU (RoHS) 2011/65/ES; pagal RoHS direktyvą 2011/65/ES
2011/65/ES

Proizvod nije unutar područja primjene Direktive A termék nem tartozik a 2011/65/EU RoHS- Produktas, kuriam netaikoma RoHS direktyva Uz izstrādājumu neattiecas RoHS direktīva
RoHS 2011/65/EU; irányelv hatálya alá; 2011/65/ES: 2011/65/ES;
2.7
proizvod ispunjava zahtjeve u pogledu a termék megfelel az irányelv anyagkorlátozási Produktas atitinka direktyvos medžiagų izstrādājums atbilst direktīvā noteiktajām vielu
ograničenja tvari u Direktivi követelményeinek apribojimo reikalavimus ierobežošanas prasībām.

Područje primjene Direktive RoHS za proizvode RoHS direktyva taikoma produktams, Ražotāja izstrādājumiem atbilstošā RoHS
A RoHS-irányelv hatálya a gyártó termékeire:
proizvođača: DCTC-30806-006 „Izjava gaminamiems gamintojo: DCTC-30806-006 direktīvas sadaļa: DCTC-30806-006 “Ražotāja
2.8 DCTC-30806-006 „Gyártói nyilatkozat a
proizvođača o Direktivi RoHS 2011/65/EU i „Gamintojo deklaracija dėl RoHS direktyvos deklarācija saskaņā ar RoHS direktīvu
2011/65/EU és 2015/863/EU RoHS-irányelvről”.
2015/863/EU” 2011/65/ES ir 2015/863/ES“ 2011/65/ES un 2015/863/ES”.

3 proizvođač a gyártó gamintojas Ražotājs

šiuo dokumentu patvirtina, kad toliau nurodytas
4 ovime izjavljuje da je sljedeći proizvod ezennel kijelenti, hogy a következő terméket ar šo apliecina, ka turpmākais produkts,
produktas
megnevezés
oznaka Pavadinimas Apzīmējums
5 (a megnevezés fordítása csak DE/EN nyelven
(prijevod oznake dostupan samo na DE / EN) érhető el) (pavadinimo vertimas yra tik DE / EN kalbomis) (apzīmējuma tulkojums pieejams tikai DE/EN)
5.1 serija széria Serijos Sērijas
5.2 oznaka narudžbe rendelési azonosító Užsakymo pavadinimas Pasūtījuma kods
5.3 broj materijala anyagszám Medžiagos numeris Materiāla numurs
5.4 trgovački naziv kereskedelmi megnevezés Prekybinis pavadinimas Tirdzniecības kods
5.5 od datuma proizvodnje a következő gyártási időponttól nuo pagaminimo datos sākot ar ražošanas datumu

razvijen, dizajniran i proizveden u skladu s gore

a fent említett irányelv(ek)nek megfelelően buvo sukurtas, sukonstruotas ir pagamintas ir izstrādāts, konstruēts un sagatavots saskaņā
6 navedenom(im) direktivom(ama)
fejlesztették ki, tervezték és gyártották le pagal anksčiau minėtą (-as) direktyvą (-as). ar iepriekš minēto(-ajām) direktīvu(-ām)

Za izdavanje ove EU izjave sukladnosti Az EU-megfelelőségi nyilatkozat elkészítéséért Už šios ES atitikties deklaracijos parengimą Ražotājs uzņemas vienpusēju atbildību par šī
6.1
odgovoran je isključivo proizvođač kizárólag a gyártó felel atsako tik gamintojas. ES atbilstības deklarācijas izsniegšanu

Primijenjene usklađene norme ili druge Alkalmazott harmonizált szabványok, ill. egyéb Taikyti darnieji standartai ir kiti Saistītās harmonizētās normas vai citas
7
tehničke norme i propisi. műszaki szabványok és előírások. techniniai standartai bei potvarkiai. tehniskās normas un noteikumi.
8 Norma Szabvány Standartas Norma

Naslov Név Pavadinimas Apzīmējums

8.1
(prijevod naslova dostupan samo na DE / EN) (A név fordítása csak DE/EN nyelven érhető el) (pavadinimo vertimas yra tik DE / EN kalbomis) (nosaukumu tulkojums pieejams tikai DE/EN)

8.2 Izdanje Kiadás Leidimas Izdevums

Oznaka motora A motorok jelölése Variklio ženklinimas Motoru kods

9
(Direktiva ATEX) (ATEX-irányelv) (ATEX direktyva) (ATEX direktīva)

Az „X” a használati utasításban

„X” označava posebne uvjete uporabe „X“ nurodo specialiąsias naudojimo sąlygas, “X” norāda uz īpašiem lietošanas nosacījumiem,
9.1 meghatározott különleges használati
koji su definirani u uputama za uporabu apibrėžtas naudojimo instrukcijoje kas definēti lietošanas instrukcijā.
feltételeket jelzi
Paziņotā iestāde, kas ir veikusi ES tipa
Prijavljeno tijelo koje je provelo postupak EU A fent említett irányelv szerinti EU- Paskelbtoji įstaiga, atlikusi ES tipo tyrimo
pārbaudes procedūru saskaņā ar iepriekš
ispitivanja tipa prema gore navedenoj direktivi – típusvizsgálati eljárást lefolytató megnevezett procedūrą pagal anksčiau minėtą direktyvą, ir
10 minēto direktīvu – kas ir apstiprinājusi
koje je odobrilo sveobuhvatni sustav osiguranja szerv – amely a fent említett irányelv szerinti patvirtinusi visiško kokybės užtikrinimo sistemą
aptverošu kvalitātes nodrošinājuma sistēmu
kvalitete prema gore navedenoj direktivi teljes minőségbiztosítási rendszert jóváhagyta. pagal anksčiau minėtą direktyvą.
saskaņā ar iepriekš minēto direktīvu.
10.1 Naziv Név Pavardė Vārds, uzvārds
10.2 Adresa Cím Parašas Adrese
10.3 Identifikacijski broj Azonosítószám Kodas Kods

10.4 Potvrda o EU ispitivanju tipa br EK-típusvizsgálati tanúsítvány sz. EB tipo tyrimo sertifikato Nr. EK tipa pārbaudes nr.

Sljedeća osoba je ovlaštena za sastavljanje A következő személy jogosult a vonatkozó Toliau nurodytas asmuo yra įgaliotas paruošti Turpmākā persona ir pilnvarota sastādīt
11
relevantne tehničke dokumentacije műszaki dokumentumok összeállítására susijusius techninius dokumentus attiecīgo tehnisko dokumentāciju

11.1 Naziv Név Pavardė Vārds, uzvārds

11.2 Adresa Cím Parašas Adrese
12 Dodatna objašnjenja További megjegyzések Kiti paaiškinimai Papildu skaidrojums
A termékdokumentációban szereplő
Pridržavajte se uputa za sastavljanje i ugradnju Laikykitės montavimo ir įrengimo nuorodų, Jāievēro izstrādājuma dokumentācijā apkopotās
13 összeszerelési és telepítési utasítást be kell
prema dokumentaciji proizvoda pateiktų gaminio dokumentuose montāžas un uzstādīšanas norādes
tartani.
14 Mjesto Hely Vieta Vieta
14.1 Datum Dátum Data Datums

Alternative: Upravljanje prodajom, komercijalni Alternatívák: Értékesítési menedzsment, Alternatyvos: Pardavimų vadyba, komercinės ar Alternatīvas: Pārdošanas vadība, komerciālās
14.2
ili tehnički voditelj pogona kereskedelmi vagy műszaki üzemvezető techninės gamyklos vadovas vai tehniskās rūpnīcas vadītājs

Alternatívák: Terméktulajdonos vagy fejlesztési Alternatyvos: produkto savininkas arba kūrimo Alternatīvas: produkta īpašnieks vai izstrādes
14.3 Alternative: Vlasnik proizvoda ili voditelj razvoja
vezető vadovas vadītājs

Sadržaj EU izjave o sukladnosti podliježe

Az EU-megfelelőségi nyilatkozat tartalma Pasiliekame teisę keisti ES atitikties Paturētas tiesības veikt ES atbilstības
promjenama. Trenutačnu verziju možete pronaći
változhat. Az aktuális változat letölthető a deklaracijos turinį. Naujausią versiją galima deklarācijas satura izmaiņas. Pašreizējo versiju
u direktoriju medija društva Bosch Rexroth u
15 Bosch Rexroth médiakönyvtárból, vagy kérésre atsisiųsti iš „Bosch Rexroth“ medijų katalogo varat lejupielādēt no Bosch Rexroth mediju
obliku za preuzimanje ili ga možete dobiti na
beszerezhető a Bosch Rexroth arba užklausti savo „Bosch Rexroth“ kontaktinio mapes vai pēc pieprasījuma saņemt no jūsu
zahtjev od svoje osobe za kontakt pri društvu
kapcsolattartójától. partnerio. Bosch Rexroth kontaktpersonas.
Bosch Rexroth
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EU Declaration of Conformity DCTC-30136-004 : 2024-04-16

mt (Malti) nl (Nederlands) pl (Polski) pt (Português)

1 Dikjarazzjoni ta' Konformità tal-UE EU-conformiteitsverklaring Deklaracja zgodności UE Declaração de Conformidade da UE
1.1 Nru tad-dokument Doc.nr. Nr dokumentu N.º de doc.
1.2 Data Datum Data Data

2.1 skont id-Direttiva 2006/42/UE dwar il-makkinarju overeenkomstig machinerichtlijn 2006/42/EG wg dyrektywy maszynowej 2006/42/WE conforme a diretiva de máquinas 2006/42/CE
skont id-Direttiva 2014/35/UE dwar il-vultaġġ overeenkomstig laagspanningsrichtlijn conforme a diretiva de baixa tensão:
2.2 wg dyrektywy niskonapięciowej 2014/35/UE
baxx 2014/35/EU 2014/35/UE
skont id-Direttiva 2014/30/UE dwar il-
2.3 overeenkomstig EMC-richtlijn 2014/30/EU wg dyrektywy EMC 2014/30/UE conforme a diretiva CEM: 2014/30/UE
kompatibbiltà elettromanjetika

2.4 skont id-Direttiva ATEX 2014/34/UE overeenkomstig ATEX-richtlijn 2014/34/EU wg dyrektywy ATEX 2014/34/UE conforme a diretiva ATEX: 2014/34/UE
overeenkomstig Ecodesign-richtlijn (ErP) wg dyrektywy dotyczącej ekoprojektu (ErP) conforme a diretiva de conceção ecológica
skont id-Direttiva 2019/125/KE dwar l-ekodisinn
2009/125/EG 2009/125/WE (ErP) 2009/125/CE
u skont ir-Regolament (UE) 2019/1781 dwar l-
en overeenkomstig Verordening (EU) Ecodesign i wg rozporządzenia (UE) dotyczącego e conforme o regulamento (UE) relativo à
2.5 ekodisinn
2019/1781 ekoprojektu 2019/1781 conceção ecológica 2019/1781
u skont ir-Regolament (UE) 2019/2021 dwar l-
en overeenkomstig Verordening (EU) Ecodesign i wg rozporządzenia (UE) dotyczącego e conforme o regulamento (UE) relativo à
ekodisinn ekoprojektu 2019/2021
2019/2021 conceção ecológica 2019/2021

Il-prodott jaqa' fl-ambitu tad-Direttiva RoHS Product binnen het toepassingsgebied van de Wyrób objęty zakresem obowiązywania Produto no âmbito de aplicação da diretiva
2.6 2011/65/UE; skont id-Direttiva RoHS RoHS-richtlijn 2011/65/EU; overeenkomstig dyrektywy RoHS 2011/65/UE; wg dyrektywy RoHS 2011/65/UE; conforme a diretiva RoHS
2011/65/UE RoHS-richtlijn 2011/65/EU RoHS 2011/65/UE 2011/65/UE

Produto não abrangido pelo âmbito de aplicação

Il-prodott ma jaqax fl-ambitu tad-Direttiva RoHS Product niet binnen het toepassingsgebied van Wyrób nieobjęty zakresem obowiązywania
da diretiva RoHS 2011/65/UE;
2011/65/UE; de RoHS-richtlijn 2011/65/EU; dyrektywy RoHS 2011/65/UE;
2.7 o produto está em conformidade com os
il-prodott jissodisfa r-rekwiżiti għar-restrizzjoni product voldoet aan de eisen van de richtlijn wyrób spełnia wymagania dyrektywy w zakresie
requisitos de restrição de substâncias da
ta' sustanzi perikolużi tad-Direttiva betreffende de beperking van stoffen ograniczenia wykorzystania substancji
diretiva

Ambitu tad-Direttiva RoHS għall-prodotti tal- Toepassingsgebied RoHS-richtlijn voor Zakres obowiązywania dyrektywy RoHS dla Âmbito da diretiva RoHS para os produtos do
manifattur: DCTC-30806-006 "Dikjarazzjoni tal- producten van de fabrikant: DCTC-30806-006 wyrobów producenta: DCTC-30806-006 fabricante: DCTC-30806-006 "Declaração do
2.8
manifattur li tikkonċerna d-Direttiva RoHS “Verklaring van de fabrikant bij de RoHS-richtlijn "Deklaracja producenta w sprawie dyrektywy fabricante sobre a diretiva RoHS 2011/65/UE &
2011/65/UE u 2015/863/UE" 2011/65/EU & 2015/863/EU” RoHS 2011/65/UE i 2015/863/UE" 2015/863/UE"

3 Il-manifattur de fabrikant Producent O fabricante

jiddikjara hawn li l-prodott li ġej
4 verklaart hierbij dat het onderstaande product niniejszym oświadcza, że poniższy wyrób declara que o seguinte produto
Isem Benaming Designação
Nazwa
5 (it-traduzzjoni tal-isem hija disponibbli fil-lingwi (vertaling van de benaming alleen beschikbaar (tradução da designação apenas disponível em
(tłumaczenie nazwy dostępne tylko w DE/EN)
DE / EN biss) in DE/EN) DE / EN)
5.1 Serje Series Typoszeregi Série
5.2 Kodiċi tal-ordni Bestelcode Kod zamówienia Designação do pedido
5.3 Numru tal-materjal Materiaalnummer Numer materiału Número de material
5.4 Isem kummerċjali Handelsnaam Nazwa handlowa Nome comercial
5.5 mid-data tal-manifattura vanaf productiedatum od daty produkcji A partir da data de fabrico

został zaprojektowany, skonstruowany foi desenvolvido, concebido e fabricado em

ġie żviluppat, iddisinjat u mmanifatturat is ontwikkeld, geconstrueerd en vervaardigd
6 i wyprodukowany zgodnie z wymienionymi conformidade com a(s) diretiva(s) acima
f'konformità mad-Direttiva(i) msemmija hawn fuq overeenkomstig bovengenoemde richtlijn(en)
powyżej dyrektywami mencionada(s)
Din id-Dikjarazzjoni ta' Konformità tal-UE Voor het opstellen van deze EU- Wyłączną odpowiedzialność za publikację A única responsabilidade pela elaboração desta
6.1 tinħareġ taħt ir-responsabbiltà unika tal- conformiteitsverklaring is uitsluitend de fabrikant niniejszej deklaracji zgodności UE ponosi Declaração de Conformidade da UE cabe ao
manifattur verantwoordelijk producent fabricante
Standards armonizzati applikati jew standards u Toegepaste geharmoniseerde normen en Zastosowane normy zharmonizowane lub inne Normas harmonizadas aplicadas ou outras
7
regolamenti tekniċi oħra. overige technische normen en voorschriften. normy i przepisy techniczne. normas e regulamentos técnicos.
8 Standard Norm Norma Norma
Titlu Titel Título
Tytuł
8.1 (it-traduzzjoni tat-titlu hija disponibbli fil-lingwi (vertaling van de titel alleen beschikbaar in (tradução do título apenas disponível em DE /
(tłumaczenie tytułu dostępne tylko w DE/EN)
DE / EN biss) DE/EN) EN)
8.2 Ħarġa Uitgave Wydanie Edição

Marka tal-muturi Markering van de motoren Oznaczenie silników Identificação dos motores
9
(Direttiva ATEX) (ATEX-richtlijn) (dyrektywa ATEX) (diretiva ATEX)

“X” verwijst naar speciale „X” sygnalizuje wyjątkowe warunki

Il-marka "X" tindika kundizzjonijiet speċjali tal- "X" indica condições especiais de utilização
9.1 gebruiksomstandigheden die in de zastosowania, które zostały zdefiniowane
użu speċifikati fil-manwal definidas no manual de instruções
gebruiksaanwijzing gedefinieerd zijn w instrukcji obsługi
Aangemelde instantie die de procedure van de
Korp notifikat li wettaq il-proċedura tal-eżami tat- Jednostka notyfikowana, która przeprowadziła Organismo notificado que realizou o
EU-typegoedkeuring overeenkomstig
tip tal-UE skont id-Direttiva elenkata hawn fuq – procedurę badania typu UE według wymienionej procedimento de exame UE de tipo de acordo
10 li approva s-sistema komprensiva ta'
bovengenoemde richtlijn heeft uitgevoerd - die
powyżej dyrektywy – która zatwierdziła com a diretiva supracitada - que aprovou o
het volledige kwaliteitsborgingssysteem
assigurazzjoni tal-kwalità skont id-Direttiva kompleksowy system zapewniania jakości sistema de garantia de qualidade total de
krachtens voornoemde richtlijn heeft
t'hawn fuq goedgekeurd według wymienionej powyżej dyrektywy acordo com a diretiva supracitada
10.1 Isem Naam Nazwa Nome
10.2 Indirizz Adres Adres Endereço
10.3 Numru tal-identifikazzjoni Identificatienummer Numer identyfikacyjny Número de identificação
Certyfikat badania typu WE
10.4 Nru taċ-ċertifikat tal-eżami tat-tip tal-KE EG-typegoedkeuringscertificaat-nr N.ºde certificado de exame CE de tipo
De onderstaande persoon is gemachtigd de Wymieniona poniżej osoba jest uprawniona do
Il-persuna li ġejja hija awtorizzata biex tiġbor id- A seguinte pessoa está autorizada a compilar a
11 relevante technische documentatie samen te sporządzania odpowiedniej dokumentacji
dokumenti tekniċi rilevanti documentação técnica relevante
stellen technicznej
11.1 Isem Naam Nazwa Nome
11.2 Indirizz Adres Adres Endereço
12 Aktar spjegazzjonijiet Aanvullende toelichting Dalsze objaśnienia Esclarecimentos adicionais
L-istruzzjonijiet għall-assemblaġġ u l- De montage- en installatie-instructies volgens Należy przestrzegać wskazówek dotyczących As instruções de montagem e instalação, de
13 installazzjoni skont id-dokumentazzjoni tal- de productdocumentatie moeten worden montażu i instalacji podanych w dokumentacji acordo com a documentação do produto, devem
prodott għandhom jiġu osservati nageleefd produktu ser respeitadas
14 Post Plaats Miejscowość Local
14.1 Data Datum Data Data

Alternattivi: Ġestjoni tal-bejgħ, maniġer tal- Alternatieven: Verkoopdirecteur commercieel of Alternatywy: Zarządzanie sprzedażą, kierownik Alternativas: Gestão de vendas, gestão
14.2
impjant kummerċjali jew tekniku technisch productiemanager zakładu handlowego lub technicznego comercial ou técnica da planta

Alternatieven: Producteigenaar of Alternatywy: Właściciel produktu lub szef Alternativas: Proprietário do produto ou chefe de
14.3 Alternattivi: Sid tal-prodott jew kap tal-iżvilupp
hoofd ontwikkeling rozwoju desenvolvimento

Aħna nirriżervaw id-dritt li nagħmlu bidliet fil- O conteúdo da Declaração de Conformidade da

Wijzigingen in de inhoud van de EU- Zastrzegamy sobie prawo do dokonywania
kontenut tad-Dikjarazzjoni ta' Konformità tal-UE. UE está sujeito a alterações. A versão atual
conformiteitsverklaring zijn voorbehouden. De zmian w treści deklaracji zgodności UE.
Il-ħarġa attwali hija disponibbli bħala download pode ser descarregada a partir do diretório de
15 actuele versie vindt u als download in de Bosch Aktualna wersja jest dostępna do pobrania
fid-direttorju tal-medja ta' Bosch Rexroth jew fuq média da Bosch Rexroth ou obtida, sob
Rexroth Medialijst of ontvangt u op aanvraag via w katalogu mediów Bosch Rexroth oraz na
talba mill-persuna ta' kuntatt tiegħek ta' Bosch solicitação, do seu parceiro de contacto Bosch
uw Bosch Rexroth-contactpersoon życzenie u przedstawiciela firmy Bosch Rexroth
Rexroth Rexroth
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EU-Konformitätserklärung - Original Seite / Page: 10 / 10

EU Declaration of Conformity DCTC-30136-004 : 2024-04-16

ro (Română) sl (Slovenščina) sk (Slovenský) sv (Svenska)

1 Declarație de conformitate UE Izjava o skladnosti EU EÚ vyhlásenie o zhode Deklaration om EU-överensstämmelse
1.1 Nr. document Št. dok. Č. dok. Dok.nr
1.2 Data Datum Dátum Datum
conform Directivei 2006/42/CE privind podľa smernice 2006/42/ES o strojových
2.1 po Direktivi o strojih 2006/42/ES enligt maskindirektivet 2006/42/EG
echipamentele tehnice zariadeniach
conform Directivei 2014/35/UE privind joasa podľa smernice pre nízkonapäťové elektrické
2.2 po Direktivi o nizki napetosti: 2014/35/EU enligt lågspänningsdirektivet 2014/35/EU
tensiune zariadenia: 2014/35/EÚ
conform Directivei 2014/30/UE privind po Direktivi o elektromagnetni združljivosti: podľa smernice pre elektromagnetickú
2.3 enligt EMC-direktivet 2014/30/EU
compatibilitatea electromagnetică 2014/30/EU kompatibilitu: 2014/30/EÚ

2.4 conform Directivei ATEX 2014/34/UE po Direktivi ATEX: 2014/34/EU v skladu z ATEX direktivo 2014/34/EU enligt ATEX-direktivet 2014/34/EU
în conformitate cu Directiva privind proiectarea v skladu z Direktivo o okoljsko primerni zasnovi
enligt ekodesigndirektivet 2009/125/EG
ecologică (ErP) 2009/125/CE (ErP) 2009/125/ES
podľa smernice o ekodizajne (ErP) 2009/125/ES och enligt förordningen (EU) för ekodesign
și în conformitate cu Regulamentul (UE) privind in v skladu z Uredbo o okoljsko primerni
2.5 a podľa nariadenia o ekodizajne (EÚ) 2019/1781 2019/1781
proiectarea ecologică 2019/1781 zasnovi (EU) 2019/1781
a podľa nariadenia o ekodizajne (EÚ) 2019/2021 och enligt förordningen (EU) för ekodesign
și în conformitate cu Regulamentul (UE) privind in v skladu z Uredbo o okoljsko primerni
2019/2021
proiectarea ecologică 2019/2021 zasnovi (EU) 2019/2021

Produs care intră în domeniul de aplicare al

Izdelek v okviru direktive RoHS 2011/65/EU; po Produkt v rámci smernice RoHS 2011/65/EÚ: Produkt i giltighetsområdet för RoHS-direktivet
2.6 Directivei RoHS 2011/65/UE; în conformitate cu
Direktivi RoHS 2011/65/EU podľa smernice RoHS 2011/65/EÚ 2011/65/EU; enligt RoHS-direktivet 2011/65/EU
Directiva RoHS 2011/65/UE

Produs care nu intră în domeniul de aplicare al Izdelek ne spada v področje uporabe direktive Produkt, ktorý nespadá do pôsobnosti smernice Produkt ej i giltighetsområdet för RoHS-
Directivei RoHS 2011/65/UE; RoHS 2011/65/EU; RoHS 2011/65/EÚ: direktivet 2011/65/EU;
2.7
produsul îndeplinește cerințele de restricție a izdelek izpolnjuje zahteve glede omejitve snovi Produkt spĺňa požiadavky smernice na produkten uppfyller kraven för
substanțelor din directivă iz direktive obmedzenie látok ämnesbegränsning i direktivet

Domeniul de aplicare a Directivei RoHS pentru Področje uporabe direktive RoHS za izdelke Giltighetsområdet för RoHS-direktivet för
Rozsah smernice RoHS pre produkty výrobcu:
produsele producătorului: DCTC-30806-006 proizvajalca: DCTC-30806-006 »Izjava produkter från tillverkaren: DCTC-30806-006
2.8 DCTC-30806-006 „Vyhlásenie výrobcu o
„Declarația producătorului privind Directiva proizvajalca k direktivi RoHS 2011/65/EU in ”Tillverkardeklaration för RoHS-direktivet
smernici RoHS 2011/65/EU & 2015/863/EU“
RoHS 2011/65/UE și 2015/863/UE”. 2015/863/EU« 2011/65/EU & 2015/863/EU”

3 producătorul Proizvajalec Výrobca från tillverkaren

declară prin prezenta, că produsul menționat
4 s tem izjavlja, da je naslednji izdelek týmto vyhlasuje, že nižšie uvedený výrobok deklarerar här med att nedanstående produkt
mai jos
Poimenovanje Beteckning
Denumirea Označenie
5 (prevod poimenovanja je na voljo samo v (översatt beteckning endast tillgänglig på
(traducerea denumirii disponibilă doar în DE/EN) (preklad označenia k dispozícii len v GE/EN)
DE/EN) DE/EN)
5.1 Seria Serije Konštrukčné rady Modeller
5.2 Codul comenzii Koda za naročanje Označenie objednávky Beställningsnamn
5.3 Numărul materialului Številka materiala Číslo materiálu Materialnummer
5.4 Denumirea comercială Trgovsko ime Obchodný názov Handelsnamn
5.5 începând cu data fabricației Od datuma proizvodnje od dátumu výroby från tillverkningsdatum
bol vyvinutý, skonštruovaný a vyrobený v
je bil razvit, zasnovan in izdelan v skladu z
a fost dezvoltat, construit și fabricat în súlade s vyššie uvedenou(-ými) smernicou(- har utvecklats, konstruerats och tillverkats i
6 zgornjimi direktivami
conformitate cu directivele menționate mai sus ami) överensstämmelse med direktiven ovan
.
Producătorul își asumă întreaga responsabilitate Tillverkaren ansvarar helt på egen hand för
Za izdajo te izjave o skladnosti EU je izključno Výhradnú zodpovednosť za vystavenie tohto
6.1 pentru emiterea acestei declarații de utställandet av den här deklaration om EU-
odgovoren proizvajalec EÚ vyhlásenia o zhode nesie výrobca
conformitate överensstämmelse

Standardele armonizate utilizate, respectiv alte Uporabljeni usklajeni standardi ali drugi Harmonizované aplikované normy, príp. Ostatné Tillämpade harmoniserade standarder eller
7
standarde și reglementări tehnice tehnični standardi in predpisi. technické normy a predpisy. andra tekniska standarder och föreskrifter.
8 Standard Standard Norma Standard
Namn
Titlu Naslov Názov
8.1 (översättning av namn endast tillgänglig på
(traducerea titlului disponibilă doar în DE/EN) (prevod naslovov je na voljo samo v DE/EN) (preklad názvu k dispozícii len v GE/EN)
DE/EN)
8.2 Ediția Izdaja Vydanie Utgåva
Označenia motorov
Marcajul motoarelor Oznake motorjev (smernica pre zariadenia a ochranné systémy Motormärkning
9
(directiva ATEX) (Direktiva ATEX) určené na použitie v potenciálne výbušnej (ATEX-direktivet)
atmosfére)
„X“ znamená upozornenie na osobitné
„X” face referire la condiții speciale de utilizare, »X« označuje posebne pogoje uporabe, ki so ”X” indikerar särskilda användningsvillkor
9.1 podmienky používania, ktoré sú definované v
definite în instrucțiunile de utilizare opredeljeni v navodilih za uporabo som redovisas i bruksanvisningen
návode na obsluhu
Organism notificat care a efectuat procedura de Poverené miesto, ktoré vykonalo proces
Priglašeni organ, ki je izvedel postopek EU Anmält organ som genomfört EU-typprovningen
examinare UE de tip în conformitate cu directiva posudzovania EÚ pre typ konštrukcie v súlade
pregleda tipa po zgornji direktivi – ki je odobril enligt direktivet ovan och godkänt det
10 menționată anterior - care a aprobat sistemul s vyššie uvedenou smernicou a schválilo
celovit sistem zagotavljanja kakovosti po omfattande kvalitetssäkringssystemet enligt
complet de asigurare a calității în conformitate rozsiahly systém kontroly kvality v súlade s
zgornji direktivi direktivet ovan
cu directiva menționată anterior vyššie uvedenou smernicou.
10.1 Nume Ime Názov Namn
10.2 Adresa Naslov Adresa Befattning
10.3 Număr de identificare Identifikacijska številka Identifikačné číslo Nummer

10.4 Certificat CE de examinare a tipului Nr Št.potrdila o pregledu tipa ES ES osvedčenie o typovej skúške č. EG-typprovnings-nummer
Nižšie uvedená osoba je splnomocnená na
Următoarea persoană este autorizată să Naslednja oseba je pooblaščena za pripravo Personen nedan är befullmäktigad att
11 vypracovanie relevantnej technickej
întocmească documentele tehnice relevante ustrezne tehnične dokumentacije sammanställa de relevanta tekniska underlagen
dokumentácie
11.1 Nume Ime Názov Namn
11.2 Adresa Naslov Adresa Befattning
12 Alte explicații Dodatna pojasnila Ďalšie vysvetlenia Mer detaljer
Trebuie avute în vedere indicațiile privind
Upoštevati je treba navodila za montažo in Zohľadnite pokyny k montáži a inštalácii podľa Monterings- och installationsinstruktionerna i
13 montajul și instalarea conform documentației
namestitev v skladu z dokumentacijo izdelka dokumentácie k výrobku produktdokumentationen måste följas
produsului
14 Localitatea Kraj Miesto Ort
14.1 Data Datum Dátum Datum

Alternative: management de vânzări, director de Alternative: Vodja prodaje, komerciala ali Alternatívy: Vedenie predaja, obchodný alebo Alternativ: Försäljningsledning, kommersiell eller
14.2
fabrică comercial sau tehnic tehnični vodja obrata technický manažér závodu teknisk anläggningschef

Alternative: proprietar de produs sau șef de Alternatívy: Produktový vlastník alebo vedúci
14.3 Alternative: lastnik izdelka ali vodja razvoja Alternativ: Produktägare eller utvecklingschef
dezvoltare vývoja

Innehållet i deklarationen om EU-

Conținutul Declarației de conformitate UE poate Pridržujemo si pravico do sprememb vsebine Zmeny v obsahu EÚ vyhlásenia o zhode sú
överensstämmelse kan komma att ändras. Den
fi modificat. Versiunea actuală poate fi izjave o skladnosti EU. Trenutno različico lahko vyhradené. Aktuálnu verziu nájdete v časti pre
senaste versionen finns i Bosch Rexroths
15 descărcată din directorul media Bosch Rexroth najdete v imeniku medijev Bosch Rexroth na médiá Bosch Rexroth ako dokument na
mediekatalog i nerladdningsbar form, och du
sau poate fi obținută la cerere de la persoana de voljo za prenos ali pa jo na zahtevo dobite pri stiahnutie alebo vám ho na požiadanie zašle
kan också begära den från din Bosch Rexroth-
contact Bosch Rexroth. kontaktni osebi družbe Bosch Rexroth vaša kontaktná osoba v Bosch Rexroth
kontaktperson
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EU-Konformitätserklärung - Original [1] Dok.-Nr. / Doc. No.: DCTC-30136-006 [1.1]

EU Declaration of Conformity Datum / Date: 2024-04-16 [1.2]

nach Maschinenrichtlinie 2006/42/EG / in accordance with Machinery Directive 2006/42/EC [2.1]

(ABl. L 157, 09.06.2006, S. 24 / OJ L 157, 09/06/2006, p. 24)

nach Niederspannungsrichtlinie 2014/35/EU / in accordance with Low Voltage Directive 2014/35/EU [2.2]
(ABl. L 96, 29.03.2014, S. 357 / OJ L 96, 29/03/2014, p. 357)

nach EMV-Richtlinie 2014/30/EU / in accordance with EMC Directive 2014/30/EU [2.3]

(ABl. L 96, 29.03.2014, S. 79 / OJ L 96, 29/03/2014, p. 79)

nach ATEX-Richtlinie 2014/34/EU / in accordance with ATEX Directive 2014/34/EU [2.4]

(ABl. L 96, 29.03.2014, S. 309 / OJ L 174, 1/07/2011, p. 88)

nach Ökodesign-Richtlinie (ErP) 2009/125/EG / in accordance with Ecodesign Directive (ErP) 2009/125/EC [2.5]
(ABl. L 285, 31.10.2009, S. 10 / OJ L 285, 31/10/2009, p. 10

und nach Ökodesign-Verordnung (EU) 2019/1781 / and in accordance with the Ecodesign Regulation
(EU) 2019/1781 (ABl. L 272, 25.10.2019, S. 74 /; OJ L L272, 25/10/2019, p. 74)
und nach Ökodesign-Verordnung (EU) 2019/2021 / and in accordance with the Ecodesign Regulation
(EU) 2019/2021 (ABl. L 315, 05.12.2019, S. 241 /; OJ L L315, 05/12/2019, p. 241)
Produkt im Geltungsbereich der RoHS-Richtlinie 2011/65/EU / Product in the scope of RoHS Directive 2011/65/EU: [2.6]
nach RoHS-Richtlinie 2011/65/EU / in accordance with RoHS Directive 2011/65/EU
(ABl. L 174, 01.07.2011, S. 88 / OJ L 174, 1/07/2011, p. 88)
© Bosch Rexroth AG 2024

Produkt nicht im Geltungsbereich der RoHS-Richtlinie 2011/65/EU / Product not in the scope of RoHS Directive [2.7]
2011/65/EU:
Produkt erfüllt die Anforderungen zur Stoffbeschränkung der Richtlinie / Product meets the substance
restriction requirements of the Directive

Geltungsbereich RoHS-Richtlinie für Produkte des Herstellers: DCTC-30806-006 „Herstellererklärung zur [2.8]
RoHS-Richtlinie 2011/65/EU & 2015/863/EU“ / Scope of RoHS Directive for products of the manufacturer:
DCTC-30806-006 “Declaration of compliance to the RoHS Directive 2011/65/EU & 2015/863/EU"
DCTC 30136-006_KOE_N_D0_2024-04-16.docx

Seite / Page: 1 / 10
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Der Hersteller / the manufacturer: Bosch Rexroth AG [3]

Bgm.-Dr.-Nebel-Str. 2
97816 Lohr a.Main / Germany

erklärt hiermit, dass das nachstehende Produkt / hereby declares that the product below [4]

Elektrische Antriebe „ctrlX DRIVE“ und „ctrlX DRIVEplus“ [5]

Bezeichnung / Name:
(zweite Generation) mit Sicherheitstechnik-Optionsmodul M5
und M8 (SafeMotion) /

Electrical Drives “ctrlX DRIVE” and “ctrlX DRIVEplus”

(second generation) with optional safety function module M5
and M8 (SafeMotion)

XCD2-********-02***M5****-************** [5.2]
Bestellbezeichnung / ordering code:
XCD2-********-02***M5EC**-**************
XCD2-********-02***M8****-**************
XCD2-********-02***M8EC**-**************
XMS2-********-02***M5****-**************
XMS2-********-02***M5EC**-**************
XMS2-********-02***M8****-**************
XMS2-********-02***M8EC**-**************
* = 0-9, A-Z, “blank” or “-“
XMD2-********-02***M5****-**************
XMD2-********-02***M5EC**-**************
XMD2-********-02***M8****-**************
XMD2-********-02***M8EC**-**************

Handelsbezeichnung / Trade name: Rexroth [5.4]

ab Herstelldatum / from the date of manufacture: 2024-04-16 [5.5]

[6]

in Übereinstimmung mit oben genannte(n) Richtlinie(n) entwickelt, konstruiert und gefertigt wurde. /
was developed, designed, and manufactured in compliance with the above-mentioned directive(s).

Die alleinige Verantwortung für die Ausstellung dieser EU-Konformitätserklärung trägt der Hersteller. / [6.1]
This EU Declaration of Conformity is issued under the sole responsibility of the manufacturer.
[7]

Angewendete harmonisierte Normen bzw. sonstige technische Normen und Vorschriften /

Applied harmonized standards or other technical standards and regulations:

Norm / Standard [8] Titel / Name [8.1] Ausgabe / Issue [8.2]

Sicherheit von Maschinen – Sicherheitsbezogene Teile von

Steuerungen – Teil 1: Allgemeine Gestaltungsleitsätze /
EN ISO 13849-1
Safety of machinery – Safety-related parts of control systems – Part 1:
2023
General principles for design

Elektrische Leistungsantriebssysteme mit einstellbarer Drehzahl –

Teil 5-2: Anforderungen an die Sicherheit – Funktionale Sicherheit /
EN 61800-5-2 Adjustable speed electrical power drive systems – Part 5-2: Safety 2017
requirements - Functional
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Funktionale Sicherheit sicherheitsbezogener

elektrischer/elektronischer/programmierbarer elektronischer
Systeme /
EN 61508-1 bis -7 2010
Functional safety of electrical/electronic/programmable electronic
safety-related systems

Elektrische Leistungsantriebssysteme mit einstellbarer Drehzahl – Teil 2007

2007/A1:2017
5-1: Anforderungen an die Sicherheit – Elektrische, thermische und
2007/A11:2021
EN 61800-5-1 energetische Anforderungen
Adjustable speed electrical power drive systems – Part 5-1: Safety Kapitel 4.3 /
requirements – Electrical, thermal and energy Chapter 4.3

Drehzahlveränderbare elektrische Antriebe – Teil 9-2: Ökodesign für

Antriebssysteme, Motorstarter, Leistungselektronik und deren
angetriebene Einrichtungen – Indikatoren für die Energieeffizienz von
EN IEC 61800-3 Antriebssystemen und Motorstartern /
2018
Adjustable speed electrical power drive systems – Part 9-2: Ecodesign
for power drive systems, motor starters, power electronics and their
driven applications – Energy efficiency indicators for power drive
systems and motor starters

Benannte Stelle, die das Baumusterprüfverfahren nach oben genannter Richtlinie durchgeführt hat: / [10]
Notified body that has conducted the type-examination procedure in accordance with the above-mentioned
directive:

Name / Name: TÜV Rheinland Industrie Service GmbH [10.1]

Anschrift / Address: Am Grauen Stein, 51105 Köln / Germany [10.2]

Kennnummer / Identification number: 0035 [10.3]

EG-Baumusterprüfbescheinigungs-Nr. / 01/205/5862.01/24 [10.4]

No. of EC type-examination certificate:

Nachfolgende Person ist bevollmächtigt, die relevanten technischen Unterlagen zusammenzustellen: / [11]
The individual below is authorized to compile the relevant technical files:

Name / Name: Christian Russo, DC-AE/EPI3 [11.1]

Anschrift / Address: Bürgermeister-Dr.-Nebel-Str. 2, 97816 Lohr a.Main / Germany [11.2]

Weitere Erläuterungen / Further explanations:

Das Sicherheitstechnik-Optionsmodul M5, das Sicherheitstechnik-Optionsmodul M8 und die Multigeber-
Anschlussstelle EC sind entsprechend SIL 3 nach EN 61800-5-2 / EN 61508 und Kategorie 4 / PL e nach EN ISO
13849-1 ausgeführt /
The optional safety function module M5, the optional safety function module M8 and the multi encoder interface
EC fulfil the requirements of SIL 3 according to EN 61800-5-2 / EN 61508 and Category 4 / PL e according to EN
ISO 13489-1.
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Lohr a.Main 2024-04-16 ppa.

Ort / place [14] Datum / date [14.1] Dr. Falk Zwicker [14.2]

Kaufmännische Werkleitung /
Commercial Plant Management

ppa.

Dr. Maik Rabe [14.3]

Produktbereichsleitung /
Senior Vice President

Änderungen im Inhalt der EU-Konformitätserklärung sind vorbehalten. Die aktuelle Version finden Sie im Bosch Rexroth Medienverzeichnis als [15]
Download oder erhalten diese auf Anfrage über Ihren Bosch Rexroth Ansprechpartner /
We reserve the right to make changes to the content of the EU Declaration of Conformity. The current issue is available as download in Bosch
Rexroth Media Directory or on request from your Bosch Rexroth contact person
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de (Deutsch) en (English) es (Español) fr (Français)

1 EU-Konformitätserklärung EU Declaration of Conformity Declaración de conformidad UE Déclaration de conformité UE
1.1 Dok.-Nr. Doc. No. N.º de doc. N° doc.
1.2 Datum Date Fecha Date
in accordance with Machinery Directive Según la Directiva relativa a las máquinas
2.1 nach Maschinenrichtlinie 2006/42/EG selon la directive Machines 2006/42/CE
2006/42/EC 2006/42/CE
in accordance with Low Voltage Directive:
2.2 nach Niederspannungsrichtlinie: 2014/35/EU Según la Directiva de baja tensión: 2014/35/UE selon la directive Basse tension: 2014/35/UE
2014/35/EU
Según la Directiva sobre compatibilidad
2.3 nach EMV-Richtlinie: 2014/30/EU in accordance with EMC Directive: 2014/30/EU selon la directive CEM: 2014/30/UE
electromagnética: 2014/30/UE

2.4 nach ATEX-Richtlinie 2014/34/EU in accordance with ATEX Directive 2014/34/EU Según la Directiva ATEX: 2014/34/UE selon la directive ATEX: 2014/34/UE
in accordance with Ecodesign Directive (ErP) Según la Directiva de ecodiseño (ErP) selon la directive sur l’écoconception (ErP)
nach Ökodesign-Richtlinie (ErP) 2009/125/EG
2009/125/EC 2009/125/CE 2009/125/CE
und nach Ökodesign-Verordnung (EU)
and in accordance with the Ecodesign y según el Reglamento (UE) de ecodiseño et selon le règlement (UE) Écoconception
2.5 2019/1781
Regulation (EU) 2019/1781 2019/1781 2019/1781
und nach Ökodesign-Verordnung (EU)
and in accordance with the Ecodesign y según el Reglamento (UE) de ecodiseño et selon le règlement (UE) Écoconception
2019/2021 Regulation (EU) 2019/2021 2019/2021 2019/2021

Produkt im Geltungsbereich der RoHS-Richtlinie Product in the scope of RoHS Directive Producto en el ámbito de aplicación de la Produit dans le champ d’application de la
2.6 2011/65/EU: 2011/65/EU: Directiva RoHS 2011/65/UE: según la Directiva directive RoHS 2011/65/UE: selon la directive
nach RoHS-Richtlinie 2011/65/EU in accordance with RoHS Directive 2011/65/EU RoHS 2011/65/UE RoHS 2011/65/UE

Produit hors du champ d’application de la

Produkt nicht im Geltungsbereich der RoHS- Product not in the scope of RoHS Directive Producto que no entra en el ámbito de
directive RoHS 2011/65/UE:
Richtlinie 2011/65/EU: 2011/65/EU: aplicación de la Directiva RoHS 2011/65/UE:
2.7 le produit est conforme aux exigences en
Produkt erfüllt die Anforderungen zur product meets the substance restriction el producto cumple los requisitos sobre
matière de restrictions concernant les matières
Stoffbeschränkung der Richtlinie requirements of the Directive restricciones de materiales de la Directiva
énoncées dans la directive

Champ d’application de la directive RoHS aux

Geltungsbereich RoHS-Richtlinie für Produkte Scope of RoHS Directive for products of the Ámbito de aplicación de la Directiva RoHS para
produits du fabricant: DCTC-30806-006
des Herstellers: DCTC-30806-006 manufacturer: DCTC-30806-006 “Declaration of productos del fabricante: DCTC-30806-006
2.8 "Déclaration de conformité du fabricant
„Herstellererklärung zur RoHS-Richtlinie compliance to the RoHS Directive 2011/65/EU "Declaración del fabricante sobre la Directiva
concernant la directive RoHS 2011/65/UE &
2011/65/EU & 2015/863/EU“ & 2015/863/EU" RoHS 2011/65/UE y 2015/863/UE"
2015/863/UE"

3 Der Hersteller The manufacturer El fabricante le fabricant

erklärt hiermit, dass das nachstehende hereby declares that the product por la presente declara que el siguiente
4 déclare par la présente que le désignation
Produkt below producto
Bezeichnung Name Designación de produit
5 (Übersetzung der Bezeichnung nur in DE / EN (translation of the Name in DE / EN available (traducción de la designación solo disponible en suivant (traduction de la désignation disponible
verfügbar) only) DE/EN) uniquement en DE / EN)
5.1 Baureihen Series Series Séries
5.2 Bestellbezeichnung ordering code Designación para el pedido Référence de commande
5.3 Materialnummer material number Número de material Numéro de référence
5.4 Handelsbezeichnung Trade name Designación comercial Dénomination commerciale
5.5 ab Herstelldatum from the date of manufacture A partir de la fecha de fabricación à partir de la date de fabrication

in Übereinstimmung mit oben genannte(n) was developed, designed and manufactured in ha sido desarrollado, diseñado y fabricado de a été conçu, développé et fabriqué en
6 Richtlinie(n) entwickelt, konstruiert und gefertigt compliance with the above-mentioned conformidad con la(s) Directiva(s) citada(s) conformité avec la/les directive(s) UE
wurde Directive(s) arriba susmentionnée(s).
Die alleinige Verantwortung für die Ausstellung El fabricante es el único responsable de la Le fabricant est seul responsable de
This EU Declaration of Conformity is issued
6.1 dieser EU-Konformitätserklärung trägt der expedición de la presente Declaración de l’établissement de cette déclaration de
under the sole responsibility of the manufacturer
Hersteller conformidad UE conformité UE

Angewendete harmonisierte Normen bzw. Applied harmonized standards or other technical Normas armonizadas aplicadas y otras Normes harmonisées appliquées ou autres
7
sonstige technische Normen und Vorschriften. standards and regulations normas y disposiciones técnicas. normes et règles techniques.
8 Norm Standard Norma Norme
Name Titre
Titel Título
8.1 (translation of the Name in DE / EN available (traduction des titres disponible uniquement en
(Übersetzung der Titel nur in DE / EN verfügbar) (traducción del título solo disponible en DE/EN)
only) DE / EN)
8.2 Ausgabe Issue Edición Édition

Kennzeichnung der Motoren Markings of the motors Identificación de los motores Marquage des moteurs
9
(ATEX-Richtlinie) (ATEX directive) (Directiva ATEX) (directive ATEX)

„X“ weist auf besondere "X" hace referencia a condiciones de uso "X" signifie des conditions d’utilisation
„X“ indicates special conditiones of use,
9.1 Verwendungsbedingungen especiales particulières
defined in the manual
hin, die in der Betriebsanleitung definiert sind definidas en el manual de instrucciones définies dans le mode d’emploi
Benannte Stelle, die das EU- Notified body that has conducted the EU type- Organismo notificado que ha ejecutado el Organisme désigné ayant réalisé l’examen de
Baumusterprüfverfahren nach oben genannter examination procedure in accordance with the procedimiento de homologación de tipo CE type UE selon la directive susmentionnée, qui a
10 Richtlinie durchgeführt hat - die das umfassende above-mentioned directive - approved the full según la Directiva anteriormente citada/que ha approuvé le système d’assurance de la qualité
Qualitätssicherungssystem nach oben quality assurance system in accordance with autorizado el sistema de control de calidad global conformément à la directive
genannter Richtlinie genehmigt hat the above-mentioned directive integral según la Directiva anteriormente citada susmentionnée
10.1 Name Name Nombre Nom
10.2 Anschrift Address Dirección Adresse
10.3 Kennnummer Identification number Número de identificación Numéro d’identification

10.4 EG-Baumusterprüfbescheinigungs-Nr. No. of EC type-examination certificate N.º de certificado de homologación de tipo CE N° de certificat d’examen CE
Nachfolgende Person ist bevollmächtigt, die La persona que aparece a continuación cuenta
The individual below is authorized to compile La personne suivante est autorisée à composer
11 relevanten technischen Unterlagen con autorización para elaborar la documentación
zusammenzustellen the relevant technical files técnica relevante le dossier technique pertinent

11.1 Name Name Nombre Nom

11.2 Anschrift Address Dirección Adresse
12 Weitere Erläuterungen Further explanations Otras explicaciones Explications supplémentaires
Deben tenerse en cuenta las indicaciones de Respecter les consignes de montage et
Die Montage- und Installationshinweise gemäß The assembling and installation instructions
13 montaje e instalación de la documentación del d’installation selon la documentation relative au
Produktdokumentation sind zu beachten according to the manual must be followed.
producto produit
14 Ort place Lugar Lieu
14.1 Datum date Fecha Date

Alternativen: Vertriebsleitung, kaufmännischer Alternatives: Sales management, commercial or Alternativas: Dirección de ventas, responsable Alternatives: Direction commerciale,
14.2
oder technischer Werkleiter technical plant manager comercial o técnico de planta responsable d'usine commerciale ou technique

Alternativen: Product Owner oder Alternatives: Product Owner or Head of Alternativas: Propietario del producto o Alternatives: Propriétaire du produit ou
14.3
Entwicklungsleitung Development Responsable de desarrollo Responsable du produit
Reservado el derecho a realizar modificaciones
Änderungen im Inhalt der EU- Sous réserve de modifications du contenu de la
We reserve the right to make changes to the en el contenido de la declaración de
Konformitätserklärung sind vorbehalten. Die déclaration de conformité UE. La version
content of the EU Declaration of Conformity. conformidad UE. Encontrará la versión
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EU Declaration of Conformity DCTC-30136-006 : 2024-04-16

it (Italiano) bg (български) cs (čeština) da (Dansk)

1 Dichiarazione di conformità UE Декларация за съответствие на ЕС EU prohlášení o shodě EU-overensstemmelseserklæring
1.1 N. doc. Номер на документ Č. dok. Dok.-nr.
1.2 Data Дата Datum Dato
съгласно Директивата относно машините podle směrnice o strojních zařízeních
2.1 secondo la Direttiva Macchine 2006/42/CE i henhold til maskindirektiv 2006/42/EF
2006/42/ЕО 2006/42/ES
secondo la Direttiva sulla bassa tensione: съгласно Директивата за ниско напрежение:
2.2 podle směrnice o nízkém napětí: 2014/35/EU i henhold til lavspændingsdirektiv 2014/35/EU
2014/35/UE 2014/35/ЕС
secondo la Direttiva sulla compatibilità
2.3 съгласно Директивата за ЕМС: 2014/30/ЕС podle směrnice EMC: 2014/30/EU i henhold til EMC-direktiv 2014/30/EU
elettromagnetica: 2014/30/UE

2.4 secondo la Direttiva ATEX: 2014/34/UE съгласно ATEX директива 2014/34/ЕС podle směrnice ATEX 2014/34/EU i henhold til ATEX-direktiv 2014/34/EU
secondo la Direttiva sulla progettazione съгласно Директивата за екодизайна (ErP) i henhold til direktiv 2009/125/EF om
ecocompatibile (Erp) 2009/125/CE 2009/125/ЕО podle směrnice o ekodesignu (ErP) miljøvenligt design
e secondo il Regolamento (UE) sulla и съгласно Регламент (ЕС) за екодизайна 2009/125/ES og i henhold til forordning (EU) 2019/1781 om
2.5
progettazione ecocompatibile 2019/1781 2019/1781 a podle nařízení o ekodesignu (EU) 2019/1781 miljøvenligt design
e secondo il Regolamento (UE) sulla и съгласно Регламент (ЕС) за екодизайна a podle nařízení o ekodesignu (EU) 2019/2021 og i henhold til forordning (EU) 2019/2021 om
progettazione ecocompatibile 2019/2021 2019/2021 miljøvenligt design
Produkt inden for anvendelsesområdet for
Prodotto nel campo di validità della Direttiva Продукт в обхвата на Директива RoHS direktiv 2011/65/EU om begrænsning af
Produkt v rozsahu směrnice RoHS 2011/65/EU:
2.6 RoHS 2011/65/UE: secondo la Direttiva 2011/65/ЕС: anvendelsen af visse farlige stoffer i elektrisk
podle směrnice RoHS 2011/65/EU
2011/65/UE съгласно RoHS директива 2011/65/ЕС og elektronisk udstyr (RoHS); i henhold til RoHS-
direktiv 2011/65/EU

Продуктът не попада в обхвата на

Prodotto non nel campo di validità della Direttiva výrobek není v rozsahu platnosti směrnice Produkt inden for anvendelsesområdet for RoHS-
Директивата за ограничаване на опасните
RoHS 2011/65/UE: RoHS 2011/65/EU; direktiv 2011/65/EU;
2.7 вещества (RoHS) 2011/65/ЕС:
il prodotto soddisfa i requisiti per la restrizione výrobek vyhovuje požadavkům směrnice na produktet opfylder kravene til direktivets krav
продуктът отговаря на изискванията на
delle sostanze della direttiva omezení látek om begrænsning af visse stoffer
директивата за ограничаване на веществата.
Anvendelsesområde for RoHS-direktiv
Campo di validità della Direttiva RoHS per Обхват на директивата RoHS за продуктите vedrørende producentens produkter: DCTC-
rozsah platnosti pro výrobky výrobce: DCTC-
prodotti del produttore: DCTC-30806-006 на производителя: DCTC-30806-006 30806-006 "Producentens
2.8 30806-006 „Prohlášení výrobce ke směrnici
"Dichiarazione del fabbricante sulla Direttiva „Декларация на производителя относно overensstemmelseserklæring i
RoHS 2011/65/EU a 2015/863/EU“
RoHS 2011/65/UE e 2015/863/UE" директива RoHS 2011/65/EU & 2015/863/EU“ overensstemmelse med RoHS-direktiv
2011/65/EU og 2015/863/EU"
3 il produttore производителят výrobce erklærer
с настоящото декларира, че посоченият по-
4 dichiara che il seguente prodotto tímto prohlašuje, že níže uvedený výrobek producenten hermed, at nedenstående produkt
долу продукт
Denominazione Обозначение Betegnelse
název
5 (traduzione della denominazione disponibile solo (превод на обозначението е наличен само на (oversættelsen af betegnelsen findes kun på
(překlad názvu je k dispozici jen v DE / EN)
in DE / EN) немски и английски език) tysk og engelsk)
5.1 Serie Серии konstrukční řady Serier
5.2 Codice di ordinazione Обозначение на поръчката objednací název Bestillingsbetegnelse
5.3 Codice materiale Номер на материала číslo materiálu Materialenummer
5.4 Denominazione commerciale Търговско обозначение obchodní název Handelsbetegnelse
5.5 a partire dalla data di fabbricazione от датата на производство od data výroby fra produktionsdato

е разработен, проектиран и произведен в byl vyvinut, zkonstruován a vyroben v souladu er udviklet, designet og fremstillet i
è stato sviluppato, costruito e realizzato in
6 съответствие с посочената/ите по-горе s výše uvedenou směrnicí (výše uvedenými overensstemmelse med ovennævnte
conformità con la/e direttiva/e sopra citata/e
директива/и směrnicemi) direktiv(er).
Il rilascio della presente dichiarazione di Цялата отговорност за изготвянето на тази
Výhradní odpovědnost za vystavení tohoto Denne overensstemmelseserklæring udstedes
6.1 conformità UE è di responsabilità esclusiva del Декларация за съответствие на ЕС се носи
EU prohlášení o shodě nese výrobce på producentens ansvar:
produttore от производителя
Norme armonizzate applicate e/o altre Приложени хармонизирани стандарти или Aplikované harmonizované normy, resp. Anvendte harmoniserede standarder eller andre
7
norme e disposizioni tecniche. други технически стандарти и разпоредби. jiné technické normy a předpisy. tekniske standarder og forskrifter.
8 Norma Стандарт Norma Standard
Заглавие Titel
Titolo název
8.1 (превод на заглавието е налично само на (oversættelsen af titlen findes kun på tysk og
(traduzione del titolo disponibile solo in DE / EN) (překlad názvu je k dispozici jen v DE / EN)
немски и английски език) engelsk)
8.2 Edizione Издание vydání Udgave

Identificazione dei motori Обозначения на двигателите označení motorů Motorernes mærkning

9
(Direttiva ATEX) (директива ATEX) (směrnice ATEX) (ATEX-direktivet)

„X“ указва специални условия на употреба,

La "X" indica particolari condizioni di utilizzo „X“ upozorňuje na zvláštní podmínky použití, "X" angiver særlige brugsbetingelser, der er
9.1 които са определени в инструкциите за
definite nel manuale d’uso které jsou definovány v návodu k obsluze defineret i driftsvejledningen
експлоатация
Нотифициран орган, който е извършил
Notifikovaná osoba, která provedla postup EU Bemyndiget organ, der udførte EU-
Organismo nominato che ha eseguito il collaudo процедурата за типово одобрение на ЕС в
přezkoušení typu podle výše uvedené směrnice typegodkendelsen i henhold til ovenstående
di omologazione CE secondo la direttiva sopra съответствие с горепосочената директива,
10 - která schválila systém komplexního direktiv - som godkendte det omfattende
citata - che ha approvato il sistema di qualità който е одобрил системата за цялостно
zabezpečení jakosti podle výše uvedené kvalitetssikringssystem i henhold til
completo secondo la direttiva sopra citata осигуряване на качеството в съответствие с
горепосочената директива směrnice ovenstående direktiv
10.1 Nome Име jméno Navn
10.2 Indirizzo Адрес adresa Adresse
10.3 Numero di identificazione Шифър identifikační číslo Identifikation
Номер на удостоверението за типово č.certifikátu ES přezkoušení typu
10.4 N.attestato di certificazione CE EU-typegodkendelsesattestens nr.
одобрение на ЕО
Посоченото по-долу лице е упълномощено
La seguente persona è autorizzata a raccogliere Následující osoba je zplnomocněna sestavovat Følgende person er bemyndiget til at udarbejde
11 да състави съответната техническа
i documenti tecnici rilevanti relevantní technické podklady de relevante tekniske bilag
документация
11.1 Nome Име jméno Navn
11.2 Indirizzo Адрес adresa Adresse
12 Ulteriori informazioni Други пояснения další vysvětlivky Yderligere forklaringer
Osservare le note per il montaggio e per Да се спазват указанията за монтаж и Monterings- og installeringsvejledningen, der
Je třeba dodržovat pokyny k montáži a instalaci
13 l’installazione secondo la documentazione del инсталация съгласно продуктовата fremgår af produktdokumentationen, skal
podle dokumentace výrobku
prodotto документация overholdes
14 Luogo Населено място místo Sted
14.1 Data Дата datum Dato
Алтернативи: Управление на продажбите,
Alternative: Direzione di vendita, commerciale o Alternativy: Vedení prodeje, obchodní nebo Alternativer: Salgsledelse, kommerciel eller
14.2 търговски или технически мениджър на
tecnico direzione di fabbrica technický ředitel závodu teknisk anlægschef
завода
Alternative: Proprietario del prodotto o direzione Алтернативи: Собственик на продукта или Alternativy: Majitel výrobku nebo Alternativer: Produktets ejer eller
14.3
dello sviluppo ръководител на развойната дейност Vedoucí vývoje Udviklingsledelse

Sono riservate modifiche del contenuto della Съдържанието на ЕС декларацията за

Změny obsahu EU prohlášení o shodě jsou Der tages forbehold for ændringer i EU-
dichiarazione di conformità UE. La versione съответствие подлежи на промяна. Можете
vyhrazeny. Aktuální verzi najdete v seznamu overensstemmelseserklæringens indhold. Den
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el (Ελληνικά) et (Eesti keel) fi (Suomalainen) ga (Gaeilge)

1 Δήλωση συμμόρφωσης ΕΕ ELi vastavusdeklaratsioon EU-vaatimustenmukaisuusvakuutus Dearbhú Comhréireachta AE
1.1 Έγγραφο αριθ. Dok.-nr Asiakirjanro Doc. Uimh.
1.2 Ημερομηνία Kuupäev Päivämäärä Dáta
σύμφωνα με την οδηγία 2006/42/EΚ για τα
2.1 vastavalt masinadirektiivile 2006/42/EÜ konedirektiivin 2006/42/EY i gcomhréir le Treoir Innealra 2006/42/CE
µηχανήµατα
σύμφωνα με την οδηγία για τη χαμηλή τάση: i gcomhréir leis an Treoir Ísealvoltais:
2.2 vastavalt madalpingedirektiivile: 2014/35/EL pienjännitedirektiivin 2014/35/EU
2014/35/ΕΕ 2014/35/AE
σύμφωνα με την οδηγία για την ΗΜΣ: vastavalt elektromagnetilise ühilduvuse
2.3 EMC-direktiivin 2014/30/EU i gcomhréir le Treoir EMC: 2014/30/AE
2014/30/ΕΕ direktiivile: 2014/30/EL

2.4 σύμφωνα με την οδηγία ATEX 2014/34/ΕΕ vastavalt ATEXi direktiivile 2014/34/EL ATEX-direktiivin 2014/34/EU i gcomhréir le Treoir ATEX 2014/34/AE
σύμφωνα με την οδηγία για τον οικολογικό vastavalt ökodisaini direktiivile (ErP) ekologista suunnittelua koskevan direktiivin i gcomhréir le Treoir Éicidhearthóireachta (ERP)
σχεδιασμό (ErP) 2009/125/ΕΚ 2009/125/EÜ 2009/125/EY 2009/125/CE
και σύμφωνα με τον κανονισμό (ΕΕ) για τον ja vastavalt määrusele (EL) Ökodisain ja ekologisesta suunnittelusta annetun agus i gcomhréir le Rialachán
2.5
οικολογικό σχεδιασμό 2019/1781 2019/1781 asetuksen (EU) 2019/1781 Éicidhearthóireachta 2019/1781
και σύμφωνα με τον κανονισμό (ΕΕ) για τον ja vastavalt määrusele (EL) Ökodisain ja ekologisesta suunnittelusta annetun agus i gcomhréir le Rialachán
οικολογικό σχεδιασμό 2019/2021 2019/2021 asetuksen (EU) 2019/2021 Éicidhearthóireachta 2019/2021

Toode, mis kuulub RoHS (ohtlike ainete

Προϊόν που εμπίπτει στο πεδίο εφαρμογής της Táirge faoi raon feidhme Threoir RoHS
kasutamise piiramise) direktiivi 2011/65/EL Tuote kuuluu RoHS-direktiivin 2011/65/EU
2.6 Οδηγίας RoHS 2011/65/ΕΕ: 2011/65/AE;
reguleerimisalasse; vastavalt RoHS direktiivile soveltamisalaan; RoHS-direktiivin 2011/65/EU
σύμφωνα με την οδηγία RoHS 2011/65/ΕΕ i gcomhréir le Treoir RoHS 2011/65/AE
2011/65/EL

Προϊόν που δεν εμπίπτει στο πεδίο εφαρμογής

Tuote ei kuulu RoHS-direktiivin 2011/65/EU Táirge nach bhfuil faoi raon feidhme Threoir
της οδηγίας 2011/65/ΕΕ Toode, mis ei kuulu RoHS direktiivi 2011/65/EL
soveltamisalaan; RoHS 2011/65/AE;
2.7 για τον περιορισμό των επικίνδυνων ουσιών, το reguleerimisalasse.
tuote täyttää direktiivin materiaalirajoituksia comhlíonann an táirge ceanglais na Treorach
προϊόν πληροί τις προϋποθέσεις περιορισμού Toode vastab direktiivi ainepiirangute nõuetele
koskevat vaatimukset maidir le srianadh substaintí
χρήσης ουσιών της οδηγίας

Πεδίο εφαρμογής της οδηγίας RoHS για τα RoHS-direktiivin soveltamisala valmistajan Raon feidhme na Treorach RoHS do tháirgí an
RoHS direktiivi kohaldamisala tootja toodetele:
προϊόντα του κατασκευαστή: DCTC-30806-006 tuotteissa: DCTC-30806-006 ”Valmistajan RoHS- mhonaróra: DCTC-30806-006 "Dearbhú
2.8 DCTC-30806-006 „Tootja deklaratsioon RoHS
"Δήλωση κατασκευαστή σχετικά με την οδηγία direktiivejä 2011/65/EU ja 2015/863/EU koskeva comhlíonta le Treoir RoHS 2011/65/AE &
direktiivi 2011/65/EL ja 2015/863/EL kohta“
RoHS 2011/65/EU & 2015/863/EU" vakuutus” 2015/863/AE"

3 Ο κατασκευαστής tootja valmistaja Dearbhaíonn an monaróir,

4 δηλώνει με το παρόν ότι το ακόλουθο προϊόν deklareerib käesolevaga, et alltoodud toode vakuuttaa täten, että jäljempänä esitetty tuote leis seo gur forbraíodh,
Ονομασία Nimetus Nimi
Ainm
5 (Η μετάφραση της ονομασίας είναι διαθέσιμη (nimetuse tõlge on saadaval ainult DE/EN (nimen käännös saatavilla vain kielillä DE ja
(aistriúchán ar an Ainm ar fáil i DE / EN amháin)
μόνο στις γλώσσες DE / EN) keeltes) EN)
5.1 Σειρές Seeriad Valmistussarjat Sraith
5.2 Ονομασία προϊόντος Tellimuse tähistus Tilausnimi Cód ordú
5.3 Αριθμούς υλικού Materjalinumber Materiaalinumero Uimhir ábhair
5.4 Εμπορική ονομασία Kaubamärk Kauppanimi Ainm trádála
5.5 από την ημερομηνία κατασκευής alates tootmiskuupäevast alkaen valmistuspäivämäärästä ón dáta monaraithe

αναπτύχθηκε, σχεδιάστηκε και gur dearadh agus gur monaraíodh an táirge

on välja töötatud, kavandatud ja toodetud on kehitetty, suunniteltu ja valmistettu edellä
6 κατασκευάστηκε σύμφωνα με τις παραπάνω thíos i gcomhréir leis an Treoir/na Treoracha
ülaltoodud direktiivi(de) kohaselt. mainittujen direktiivien mukaisesti
οδηγίες. thuasluaite.
Η παρούσα δήλωση συμμόρφωσης ΕΕ Valmistaja on yksin vastuussa tämän EU-
Tootja vastutab ainuisikuliselt selle Eli Eisítear an Dearbhú Comhréireachta AE seo
6.1 εκδίδεται με αποκλειστική ευθύνη του vaatimustenmukaisuusvakuutuksen
vastavusdeklaratsiooni väljastamise eest faoi fhreagracht an mhonaróra amháin
κατασκευαστή laatimisesta

Εφαρμοσμένα εναρμονισμένα πρότυπα ή άλλα Rakendatud harmoneeritud standardid või muud Sovelletut yhdenmukaistetut standardit tai muut Caighdeáin chomhchuibhithe nó caighdeáin
7
τεχνικά πρότυπα και διατάξεις. tehnilised standardid ja eeskirjad. tekniset standardit ja määräykset. agus rialacháin theicniúla eile curtha i bhfeidhm
8 Πρότυπο Standard Standardi Caighdeán
Τίτλος Pealkiri Otsikko Ainm
8.1 (Η μετάφραση της ονομασίας είναι διαθέσιμη (pealkirja tõlge on saadaval ainult DE/EN (otsikon käännös saatavilla vain kielillä DE ja (aistriúchán ar an Ainm ar fáil i DE / EN
μόνο στις γλώσσες DE / EN) keeltes) EN) amháin)
8.2 Έκδοση Väljaanne Versio Eisiúint

Σήμανση κινητήρων Mootorite tähistus Moottoreiden merkinnät Marcáil na mótar

9
(Οδηγία ATEX) (ATEX direktiiv) (ATEX-direktiivi) (treoir ATEX)

Το σύμβολο «Χ» υποδηλώνει ειδικούς όρους

„X“ tähistab erilisi kasutustingimusi, X viittaa erityisiin käyttöolosuhteisiin, Léiríonn "X" coinníollacha speisialta úsáide, atá
9.1 χρήσης, οι οποίοι καθορίζονται στις οδηγίες
mis on määratletud kasutusjuhendis jotka on määritelty käyttöohjeessa. sainmhínithe sa lámhleabhar
χρήσης
Κοινοποιημένος οργανισμός, ο οποίος
Teavitatud asutus, kes viis läbi ELi Ilmoitettu tarkastuslaitos, joka on suorittanut Comhlacht dá dtugtar fógra a sheol nós
πραγματοποίησε τη διαδικασία εξέτασης τύπου
tüübihindamismenetluse vastavalt ülaltoodud EU:n tyyppitarkastusmenettelyn edellä mainitun imeachta scrúdú cineáil an AE i gcomhréir leis
ΕΕ σύμφωνα με την οδηγία που αναφέρεται
10 direktiivile – kes kiitis heaks kõikehõlmava direktiivin mukaisesti - joka on hyväksynyt an treoir thuasluaite - d’fhormheas sé an córas
παραπάνω, ο οποίος ενέκρινε το πλήρες
kvaliteedi tagamise süsteemi vastavalt täydellisen laadunvarmistusjärjestelmän edellä iomlán um dhearbhú cáilíochta i gcomhréir leis
σύστημα διαχείρισης ποιότητας σύμφωνα με την
οδηγία που αναφέρεται παραπάνω ülaltoodud direktiivile mainitun direktiivin mukaisesti an treoir thuasluaite
10.1 Όνομα Nimi Nimi Ainm
10.2 Διεύθυνση Aadress Osoite Seoladh
10.3 Αριθμός αναγνώρισης Tunnuskood Tunnusnumero Uimhir Aitheantais
Líon an deimhnithe cineáil CE
10.4 Αρ. πιστοποιητικών εξέτασης τύπου CE EÜ tüübihindamistõendi nr EY-tyyppitarkastusmenettelyn nro

Το παρακάτω άτομο είναι εξουσιοδοτημένο, να Asjakohaste tehniliste dokumentide Seuraava henkilö on valtuutettu kokoamaan Tá an duine aonair thíos údaraithe chun na
11
συγκεντρώνει τα σχετικά τεχνικά έγγραφα koostamiseks on volitatud järgmine isik asianmukaiset tekniset asiakirjat comhaid theicniúla ábhartha a thiomsú

11.1 Όνομα Nimi Nimi Ainm

11.2 Διεύθυνση Aadress Osoite Seoladh
12 Περαιτέρω διευκρινίσεις Täiendavad selgitused Lisäselvitykset Mínithe breise
Πρέπει να λαμβάνονται υπόψη οι οδηγίες για τη
Järgida tuleb tootedokumentatsioonile vastavaid Tuoteasiakirjojen mukaisia kiinnitys- ja Ní mór na treoracha tionóil agus suiteála de réir
13 συναρμολόγηση και την τοποθέτηση σύμφωνα
montaaži- ja paigaldusjuhiseid asennusohjeita on noudatettava an lámhleabhair a leanúint.
με την τεκμηρίωση του προϊόντος
14 Τοποθεσία Koht Paikka áit
14.1 Ημερομηνία Kuupäev Päivämäärä dáta

Εναλλακτικές λύσεις: Διοίκηση πωλήσεων, Alternatiivid: Müügijuhtimine, kaubandus- või Vaihtoehdot: Myynnin johto, kaupallinen tai Roghainnean eile: Riaghladh reic, manaidsear
14.2
εμπορικός ή τεχνικός διευθυντής εργοστασίου tehnikatehase juht tekninen tehdaspäällikkö planntrais malairteach no teicnigeach

Εναλλακτικές λύσεις: ιδιοκτήτης προϊόντος ή Vaihtoehdot: Tuotteen omistaja tai Roghainnean eile: Sealbhadair toraidh no
14.3 Alternatiivid: Toote omanik või arendusjuht
επικεφαλής ανάπτυξης kehityspäällikkö ceannard leasachaidh

Διατηρούμε το δικαίωμα να κάνουμε αλλαγές

Muudatused ELi vastavusdeklaratsiooni sisus Oikeus EU-vaatimustenmukaisuusvakuutuksen Coimeádaimid an ceart chun athruithe a
στο περιεχόμενο της δήλωσης συμμόρφωσης
on õigustatud. Praeguse versiooni leiate Bosch sisällön muuttamiseen pidätetään. Ajantasainen dhéanamh ar ábhar Dhearbhú Comhréireachta
ΕΕ. Η τρέχουσα έκδοση διατίθεται για λήψη
15 Rexrothi meediumikataloogist allalaaditava versio on ladattavissa Bosch Rexrothin an AE. Tá an t-eagrán reatha ar fáil le híoslódáil
στον κατάλογο πολυμέσων της Bosch Rexroth
dokumendina või saate selle nõudmisel oma mediahakemistosta tai saatavissa Bosch in Eolaire Meán Bosch Rexroth nó ar iarratas ó
ή κατόπιν αιτήματος από τον υπεύθυνο
Bosch Rexrothi kontaktisikult Rexroth -yhteyshenkilön kautta do theagmhálaí Bosch Rexroth
επικοινωνίας της Bosch Rexroth
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EU Declaration of Conformity DCTC-30136-006 : 2024-04-16

hr (Hrvatski) hu (Magyar) lt (Lietuvių) lv (Latviski)

1 EU izjava o sukladnosti EU-megfelelőségi nyilatkozat ES atitikties deklaracija ES atbilstības deklarācija
1.1 Dok. br. Dok. sz. Dok. Nr. Dok. nr.
1.2 Datum Dátum Data Datums

2.1 u skladu s Direktivom o strojevima 2006/42/EG a 2006/42/EK gépekről szóló irányelv szerint pagal Mašinų direktyvą 2006/42/EB Saskaņā ar Mašīnu direktīvu 2006/42/EK
u skladu s Direktivom o niskom naponu: a 2014/35/EU kisfeszültségi villamossági Saskaņā ar Zemsprieguma direktīvu:
2.2 pagal Žemosios įtampos direktyvą 2014/35/ES
2014/35/EU termékekről szóló irányelv szerint 2014/35/ES
u skladu s Direktivom o elektromagnetskoj
2.3 a 2014/30/EU EMC-irányelv szerint pagal EMS direktyvą 2014/30/ES Saskaņā ar EMS direktīvu: 2014/30/ES
kompatibilnosti: 2014/30/EU

2.4 u skladu s Direktivom ATEX 2014/34/EU A 2014/34/EU ATEX-irányelv szerint pagal ATEX direktyvą 2014/34/ES Saskaņā ar ATEX direktīvu: 2014/34/ES
u skladu s Direktivom o ekološkom dizajnu a 2009/125/EC környezetbarát tervezési
pagal Ekologinio projektavimo direktyvą (ErP) Saskaņā ar Ekodizaina direktīvu (ErP)
(ErP) 2009/125/EG irányelv (ErP) szerint 2009/125/EB 2009/125/EK
i prema Uredbi o ekološkom dizajnu (EU) és a környezetbarát tervezésről szóló (EU)
ir pagal (ES) Ekologinio projektavimo un saskaņā ar Ekodizaina Regulu (ES)
2.5
2019/1781 2019/1781 rendelet szerint reglamentą 2019/1781 2019/1781
i prema Uredbi o ekološkom dizajnu (EU) és a környezetbarát tervezésről szóló (EU)
ir pagal (ES) Ekologinio projektavimo un saskaņā ar Ekodizaina Regulu (ES)
2019/2021 2019/2021 rendelet szerint reglamentą 2019/2021 2019/2021
Produktas, kuriam taikoma direktyva dėl tam
Proizvod unutar područja primjene Direktive tikrų pavojingų medžiagų elektros ir Izstrādājums, uz ko attiecas RoHS direktīva
A 2011/65/EU RoHS-irányelv hatálya alá tartozó
2.6 RoHS 2011/65/EU; u skladu s Direktivom RoHS elektroninėje įrangoje naudojimo apribojimo 2011/65/ES; saskaņā ar RoHS direktīvu
termék; a 2011/65/EU RoHS-irányelv szerint
2011/65/EU (RoHS) 2011/65/ES; pagal RoHS direktyvą 2011/65/ES
2011/65/ES

Proizvod nije unutar područja primjene Direktive A termék nem tartozik a 2011/65/EU RoHS- Produktas, kuriam netaikoma RoHS direktyva Uz izstrādājumu neattiecas RoHS direktīva
RoHS 2011/65/EU; irányelv hatálya alá; 2011/65/ES: 2011/65/ES;
2.7
proizvod ispunjava zahtjeve u pogledu a termék megfelel az irányelv anyagkorlátozási Produktas atitinka direktyvos medžiagų izstrādājums atbilst direktīvā noteiktajām vielu
ograničenja tvari u Direktivi követelményeinek apribojimo reikalavimus ierobežošanas prasībām.

Područje primjene Direktive RoHS za proizvode RoHS direktyva taikoma produktams, Ražotāja izstrādājumiem atbilstošā RoHS
A RoHS-irányelv hatálya a gyártó termékeire:
proizvođača: DCTC-30806-006 „Izjava gaminamiems gamintojo: DCTC-30806-006 direktīvas sadaļa: DCTC-30806-006 “Ražotāja
2.8 DCTC-30806-006 „Gyártói nyilatkozat a
proizvođača o Direktivi RoHS 2011/65/EU i „Gamintojo deklaracija dėl RoHS direktyvos deklarācija saskaņā ar RoHS direktīvu
2011/65/EU és 2015/863/EU RoHS-irányelvről”.
2015/863/EU” 2011/65/ES ir 2015/863/ES“ 2011/65/ES un 2015/863/ES”.

3 proizvođač a gyártó gamintojas Ražotājs

šiuo dokumentu patvirtina, kad toliau nurodytas
4 ovime izjavljuje da je sljedeći proizvod ezennel kijelenti, hogy a következő terméket ar šo apliecina, ka turpmākais produkts,
produktas
megnevezés
oznaka Pavadinimas Apzīmējums
5 (a megnevezés fordítása csak DE/EN nyelven
(prijevod oznake dostupan samo na DE / EN) érhető el) (pavadinimo vertimas yra tik DE / EN kalbomis) (apzīmējuma tulkojums pieejams tikai DE/EN)
5.1 serija széria Serijos Sērijas
5.2 oznaka narudžbe rendelési azonosító Užsakymo pavadinimas Pasūtījuma kods
5.3 broj materijala anyagszám Medžiagos numeris Materiāla numurs
5.4 trgovački naziv kereskedelmi megnevezés Prekybinis pavadinimas Tirdzniecības kods
5.5 od datuma proizvodnje a következő gyártási időponttól nuo pagaminimo datos sākot ar ražošanas datumu

razvijen, dizajniran i proizveden u skladu s gore

a fent említett irányelv(ek)nek megfelelően buvo sukurtas, sukonstruotas ir pagamintas ir izstrādāts, konstruēts un sagatavots saskaņā
6 navedenom(im) direktivom(ama)
fejlesztették ki, tervezték és gyártották le pagal anksčiau minėtą (-as) direktyvą (-as). ar iepriekš minēto(-ajām) direktīvu(-ām)

Za izdavanje ove EU izjave sukladnosti Az EU-megfelelőségi nyilatkozat elkészítéséért Už šios ES atitikties deklaracijos parengimą Ražotājs uzņemas vienpusēju atbildību par šī
6.1
odgovoran je isključivo proizvođač kizárólag a gyártó felel atsako tik gamintojas. ES atbilstības deklarācijas izsniegšanu

Primijenjene usklađene norme ili druge Alkalmazott harmonizált szabványok, ill. egyéb Taikyti darnieji standartai ir kiti Saistītās harmonizētās normas vai citas
7
tehničke norme i propisi. műszaki szabványok és előírások. techniniai standartai bei potvarkiai. tehniskās normas un noteikumi.
8 Norma Szabvány Standartas Norma

Naslov Név Pavadinimas Apzīmējums

8.1
(prijevod naslova dostupan samo na DE / EN) (A név fordítása csak DE/EN nyelven érhető el) (pavadinimo vertimas yra tik DE / EN kalbomis) (nosaukumu tulkojums pieejams tikai DE/EN)

8.2 Izdanje Kiadás Leidimas Izdevums

Oznaka motora A motorok jelölése Variklio ženklinimas Motoru kods

9
(Direktiva ATEX) (ATEX-irányelv) (ATEX direktyva) (ATEX direktīva)

Az „X” a használati utasításban

„X” označava posebne uvjete uporabe „X“ nurodo specialiąsias naudojimo sąlygas, “X” norāda uz īpašiem lietošanas nosacījumiem,
9.1 meghatározott különleges használati
koji su definirani u uputama za uporabu apibrėžtas naudojimo instrukcijoje kas definēti lietošanas instrukcijā.
feltételeket jelzi
Paziņotā iestāde, kas ir veikusi ES tipa
Prijavljeno tijelo koje je provelo postupak EU A fent említett irányelv szerinti EU- Paskelbtoji įstaiga, atlikusi ES tipo tyrimo
pārbaudes procedūru saskaņā ar iepriekš
ispitivanja tipa prema gore navedenoj direktivi – típusvizsgálati eljárást lefolytató megnevezett procedūrą pagal anksčiau minėtą direktyvą, ir
10 minēto direktīvu – kas ir apstiprinājusi
koje je odobrilo sveobuhvatni sustav osiguranja szerv – amely a fent említett irányelv szerinti patvirtinusi visiško kokybės užtikrinimo sistemą
aptverošu kvalitātes nodrošinājuma sistēmu
kvalitete prema gore navedenoj direktivi teljes minőségbiztosítási rendszert jóváhagyta. pagal anksčiau minėtą direktyvą.
saskaņā ar iepriekš minēto direktīvu.
10.1 Naziv Név Pavardė Vārds, uzvārds
10.2 Adresa Cím Parašas Adrese
10.3 Identifikacijski broj Azonosítószám Kodas Kods

10.4 Potvrda o EU ispitivanju tipa br EK-típusvizsgálati tanúsítvány sz. EB tipo tyrimo sertifikato Nr. EK tipa pārbaudes nr.

Sljedeća osoba je ovlaštena za sastavljanje A következő személy jogosult a vonatkozó Toliau nurodytas asmuo yra įgaliotas paruošti Turpmākā persona ir pilnvarota sastādīt
11
relevantne tehničke dokumentacije műszaki dokumentumok összeállítására susijusius techninius dokumentus attiecīgo tehnisko dokumentāciju

11.1 Naziv Név Pavardė Vārds, uzvārds

11.2 Adresa Cím Parašas Adrese
12 Dodatna objašnjenja További megjegyzések Kiti paaiškinimai Papildu skaidrojums
A termékdokumentációban szereplő
Pridržavajte se uputa za sastavljanje i ugradnju Laikykitės montavimo ir įrengimo nuorodų, Jāievēro izstrādājuma dokumentācijā apkopotās
13 összeszerelési és telepítési utasítást be kell
prema dokumentaciji proizvoda pateiktų gaminio dokumentuose montāžas un uzstādīšanas norādes
tartani.
14 Mjesto Hely Vieta Vieta
14.1 Datum Dátum Data Datums

Alternative: Upravljanje prodajom, komercijalni Alternatívák: Értékesítési menedzsment, Alternatyvos: Pardavimų vadyba, komercinės ar Alternatīvas: Pārdošanas vadība, komerciālās
14.2
ili tehnički voditelj pogona kereskedelmi vagy műszaki üzemvezető techninės gamyklos vadovas vai tehniskās rūpnīcas vadītājs

Alternatívák: Terméktulajdonos vagy fejlesztési Alternatyvos: produkto savininkas arba kūrimo Alternatīvas: produkta īpašnieks vai izstrādes
14.3 Alternative: Vlasnik proizvoda ili voditelj razvoja
vezető vadovas vadītājs

Sadržaj EU izjave o sukladnosti podliježe

Az EU-megfelelőségi nyilatkozat tartalma Pasiliekame teisę keisti ES atitikties Paturētas tiesības veikt ES atbilstības
promjenama. Trenutačnu verziju možete pronaći
változhat. Az aktuális változat letölthető a deklaracijos turinį. Naujausią versiją galima deklarācijas satura izmaiņas. Pašreizējo versiju
u direktoriju medija društva Bosch Rexroth u
15 Bosch Rexroth médiakönyvtárból, vagy kérésre atsisiųsti iš „Bosch Rexroth“ medijų katalogo varat lejupielādēt no Bosch Rexroth mediju
obliku za preuzimanje ili ga možete dobiti na
beszerezhető a Bosch Rexroth arba užklausti savo „Bosch Rexroth“ kontaktinio mapes vai pēc pieprasījuma saņemt no jūsu
zahtjev od svoje osobe za kontakt pri društvu
kapcsolattartójától. partnerio. Bosch Rexroth kontaktpersonas.
Bosch Rexroth
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1 Dikjarazzjoni ta' Konformità tal-UE EU-conformiteitsverklaring Deklaracja zgodności UE Declaração de Conformidade da UE
1.1 Nru tad-dokument Doc.nr. Nr dokumentu N.º de doc.
1.2 Data Datum Data Data

2.1 skont id-Direttiva 2006/42/UE dwar il-makkinarju overeenkomstig machinerichtlijn 2006/42/EG wg dyrektywy maszynowej 2006/42/WE conforme a diretiva de máquinas 2006/42/CE
skont id-Direttiva 2014/35/UE dwar il-vultaġġ overeenkomstig laagspanningsrichtlijn conforme a diretiva de baixa tensão:
2.2 wg dyrektywy niskonapięciowej 2014/35/UE
baxx 2014/35/EU 2014/35/UE
skont id-Direttiva 2014/30/UE dwar il-
2.3 overeenkomstig EMC-richtlijn 2014/30/EU wg dyrektywy EMC 2014/30/UE conforme a diretiva CEM: 2014/30/UE
kompatibbiltà elettromanjetika

2.4 skont id-Direttiva ATEX 2014/34/UE overeenkomstig ATEX-richtlijn 2014/34/EU wg dyrektywy ATEX 2014/34/UE conforme a diretiva ATEX: 2014/34/UE
overeenkomstig Ecodesign-richtlijn (ErP) wg dyrektywy dotyczącej ekoprojektu (ErP) conforme a diretiva de conceção ecológica
skont id-Direttiva 2019/125/KE dwar l-ekodisinn
2009/125/EG 2009/125/WE (ErP) 2009/125/CE
u skont ir-Regolament (UE) 2019/1781 dwar l-
en overeenkomstig Verordening (EU) Ecodesign i wg rozporządzenia (UE) dotyczącego e conforme o regulamento (UE) relativo à
2.5 ekodisinn
2019/1781 ekoprojektu 2019/1781 conceção ecológica 2019/1781
u skont ir-Regolament (UE) 2019/2021 dwar l-
en overeenkomstig Verordening (EU) Ecodesign i wg rozporządzenia (UE) dotyczącego e conforme o regulamento (UE) relativo à
ekodisinn ekoprojektu 2019/2021
2019/2021 conceção ecológica 2019/2021

Il-prodott jaqa' fl-ambitu tad-Direttiva RoHS Product binnen het toepassingsgebied van de Wyrób objęty zakresem obowiązywania Produto no âmbito de aplicação da diretiva
2.6 2011/65/UE; skont id-Direttiva RoHS RoHS-richtlijn 2011/65/EU; overeenkomstig dyrektywy RoHS 2011/65/UE; wg dyrektywy RoHS 2011/65/UE; conforme a diretiva RoHS
2011/65/UE RoHS-richtlijn 2011/65/EU RoHS 2011/65/UE 2011/65/UE

Produto não abrangido pelo âmbito de aplicação

Il-prodott ma jaqax fl-ambitu tad-Direttiva RoHS Product niet binnen het toepassingsgebied van Wyrób nieobjęty zakresem obowiązywania
da diretiva RoHS 2011/65/UE;
2011/65/UE; de RoHS-richtlijn 2011/65/EU; dyrektywy RoHS 2011/65/UE;
2.7 o produto está em conformidade com os
il-prodott jissodisfa r-rekwiżiti għar-restrizzjoni product voldoet aan de eisen van de richtlijn wyrób spełnia wymagania dyrektywy w zakresie
requisitos de restrição de substâncias da
ta' sustanzi perikolużi tad-Direttiva betreffende de beperking van stoffen ograniczenia wykorzystania substancji
diretiva

Ambitu tad-Direttiva RoHS għall-prodotti tal- Toepassingsgebied RoHS-richtlijn voor Zakres obowiązywania dyrektywy RoHS dla Âmbito da diretiva RoHS para os produtos do
manifattur: DCTC-30806-006 "Dikjarazzjoni tal- producten van de fabrikant: DCTC-30806-006 wyrobów producenta: DCTC-30806-006 fabricante: DCTC-30806-006 "Declaração do
2.8
manifattur li tikkonċerna d-Direttiva RoHS “Verklaring van de fabrikant bij de RoHS-richtlijn "Deklaracja producenta w sprawie dyrektywy fabricante sobre a diretiva RoHS 2011/65/UE &
2011/65/UE u 2015/863/UE" 2011/65/EU & 2015/863/EU” RoHS 2011/65/UE i 2015/863/UE" 2015/863/UE"

3 Il-manifattur de fabrikant Producent O fabricante

jiddikjara hawn li l-prodott li ġej
4 verklaart hierbij dat het onderstaande product niniejszym oświadcza, że poniższy wyrób declara que o seguinte produto
Isem Benaming Designação
Nazwa
5 (it-traduzzjoni tal-isem hija disponibbli fil-lingwi (vertaling van de benaming alleen beschikbaar (tradução da designação apenas disponível em
(tłumaczenie nazwy dostępne tylko w DE/EN)
DE / EN biss) in DE/EN) DE / EN)
5.1 Serje Series Typoszeregi Série
5.2 Kodiċi tal-ordni Bestelcode Kod zamówienia Designação do pedido
5.3 Numru tal-materjal Materiaalnummer Numer materiału Número de material
5.4 Isem kummerċjali Handelsnaam Nazwa handlowa Nome comercial
5.5 mid-data tal-manifattura vanaf productiedatum od daty produkcji A partir da data de fabrico

został zaprojektowany, skonstruowany foi desenvolvido, concebido e fabricado em

ġie żviluppat, iddisinjat u mmanifatturat is ontwikkeld, geconstrueerd en vervaardigd
6 i wyprodukowany zgodnie z wymienionymi conformidade com a(s) diretiva(s) acima
f'konformità mad-Direttiva(i) msemmija hawn fuq overeenkomstig bovengenoemde richtlijn(en)
powyżej dyrektywami mencionada(s)
Din id-Dikjarazzjoni ta' Konformità tal-UE Voor het opstellen van deze EU- Wyłączną odpowiedzialność za publikację A única responsabilidade pela elaboração desta
6.1 tinħareġ taħt ir-responsabbiltà unika tal- conformiteitsverklaring is uitsluitend de fabrikant niniejszej deklaracji zgodności UE ponosi Declaração de Conformidade da UE cabe ao
manifattur verantwoordelijk producent fabricante
Standards armonizzati applikati jew standards u Toegepaste geharmoniseerde normen en Zastosowane normy zharmonizowane lub inne Normas harmonizadas aplicadas ou outras
7
regolamenti tekniċi oħra. overige technische normen en voorschriften. normy i przepisy techniczne. normas e regulamentos técnicos.
8 Standard Norm Norma Norma
Titlu Titel Título
Tytuł
8.1 (it-traduzzjoni tat-titlu hija disponibbli fil-lingwi (vertaling van de titel alleen beschikbaar in (tradução do título apenas disponível em DE /
(tłumaczenie tytułu dostępne tylko w DE/EN)
DE / EN biss) DE/EN) EN)
8.2 Ħarġa Uitgave Wydanie Edição

Marka tal-muturi Markering van de motoren Oznaczenie silników Identificação dos motores
9
(Direttiva ATEX) (ATEX-richtlijn) (dyrektywa ATEX) (diretiva ATEX)

“X” verwijst naar speciale „X” sygnalizuje wyjątkowe warunki

Il-marka "X" tindika kundizzjonijiet speċjali tal- "X" indica condições especiais de utilização
9.1 gebruiksomstandigheden die in de zastosowania, które zostały zdefiniowane
użu speċifikati fil-manwal definidas no manual de instruções
gebruiksaanwijzing gedefinieerd zijn w instrukcji obsługi
Aangemelde instantie die de procedure van de
Korp notifikat li wettaq il-proċedura tal-eżami tat- Jednostka notyfikowana, która przeprowadziła Organismo notificado que realizou o
EU-typegoedkeuring overeenkomstig
tip tal-UE skont id-Direttiva elenkata hawn fuq – procedurę badania typu UE według wymienionej procedimento de exame UE de tipo de acordo
10 li approva s-sistema komprensiva ta'
bovengenoemde richtlijn heeft uitgevoerd - die
powyżej dyrektywy – która zatwierdziła com a diretiva supracitada - que aprovou o
het volledige kwaliteitsborgingssysteem
assigurazzjoni tal-kwalità skont id-Direttiva kompleksowy system zapewniania jakości sistema de garantia de qualidade total de
krachtens voornoemde richtlijn heeft
t'hawn fuq goedgekeurd według wymienionej powyżej dyrektywy acordo com a diretiva supracitada
10.1 Isem Naam Nazwa Nome
10.2 Indirizz Adres Adres Endereço
10.3 Numru tal-identifikazzjoni Identificatienummer Numer identyfikacyjny Número de identificação
Certyfikat badania typu WE
10.4 Nru taċ-ċertifikat tal-eżami tat-tip tal-KE EG-typegoedkeuringscertificaat-nr N.ºde certificado de exame CE de tipo
De onderstaande persoon is gemachtigd de Wymieniona poniżej osoba jest uprawniona do
Il-persuna li ġejja hija awtorizzata biex tiġbor id- A seguinte pessoa está autorizada a compilar a
11 relevante technische documentatie samen te sporządzania odpowiedniej dokumentacji
dokumenti tekniċi rilevanti documentação técnica relevante
stellen technicznej
11.1 Isem Naam Nazwa Nome
11.2 Indirizz Adres Adres Endereço
12 Aktar spjegazzjonijiet Aanvullende toelichting Dalsze objaśnienia Esclarecimentos adicionais
L-istruzzjonijiet għall-assemblaġġ u l- De montage- en installatie-instructies volgens Należy przestrzegać wskazówek dotyczących As instruções de montagem e instalação, de
13 installazzjoni skont id-dokumentazzjoni tal- de productdocumentatie moeten worden montażu i instalacji podanych w dokumentacji acordo com a documentação do produto, devem
prodott għandhom jiġu osservati nageleefd produktu ser respeitadas
14 Post Plaats Miejscowość Local
14.1 Data Datum Data Data

Alternattivi: Ġestjoni tal-bejgħ, maniġer tal- Alternatieven: Verkoopdirecteur commercieel of Alternatywy: Zarządzanie sprzedażą, kierownik Alternativas: Gestão de vendas, gestão
14.2
impjant kummerċjali jew tekniku technisch productiemanager zakładu handlowego lub technicznego comercial ou técnica da planta

Alternatieven: Producteigenaar of Alternatywy: Właściciel produktu lub szef Alternativas: Proprietário do produto ou chefe de
14.3 Alternattivi: Sid tal-prodott jew kap tal-iżvilupp
hoofd ontwikkeling rozwoju desenvolvimento

Aħna nirriżervaw id-dritt li nagħmlu bidliet fil- O conteúdo da Declaração de Conformidade da

Wijzigingen in de inhoud van de EU- Zastrzegamy sobie prawo do dokonywania
kontenut tad-Dikjarazzjoni ta' Konformità tal-UE. UE está sujeito a alterações. A versão atual
conformiteitsverklaring zijn voorbehouden. De zmian w treści deklaracji zgodności UE.
Il-ħarġa attwali hija disponibbli bħala download pode ser descarregada a partir do diretório de
15 actuele versie vindt u als download in de Bosch Aktualna wersja jest dostępna do pobrania
fid-direttorju tal-medja ta' Bosch Rexroth jew fuq média da Bosch Rexroth ou obtida, sob
Rexroth Medialijst of ontvangt u op aanvraag via w katalogu mediów Bosch Rexroth oraz na
talba mill-persuna ta' kuntatt tiegħek ta' Bosch solicitação, do seu parceiro de contacto Bosch
uw Bosch Rexroth-contactpersoon życzenie u przedstawiciela firmy Bosch Rexroth
Rexroth Rexroth
DocuSign Envelope ID: F2440854-FADA-4B69-AF9B-4C366E833A44

EU-Konformitätserklärung - Original Seite / Page: 10 / 10

EU Declaration of Conformity DCTC-30136-006 : 2024-04-16

ro (Română) sl (Slovenščina) sk (Slovenský) sv (Svenska)

1 Declarație de conformitate UE Izjava o skladnosti EU EÚ vyhlásenie o zhode Deklaration om EU-överensstämmelse
1.1 Nr. document Št. dok. Č. dok. Dok.nr
1.2 Data Datum Dátum Datum
conform Directivei 2006/42/CE privind podľa smernice 2006/42/ES o strojových
2.1 po Direktivi o strojih 2006/42/ES enligt maskindirektivet 2006/42/EG
echipamentele tehnice zariadeniach
conform Directivei 2014/35/UE privind joasa podľa smernice pre nízkonapäťové elektrické
2.2 po Direktivi o nizki napetosti: 2014/35/EU enligt lågspänningsdirektivet 2014/35/EU
tensiune zariadenia: 2014/35/EÚ
conform Directivei 2014/30/UE privind po Direktivi o elektromagnetni združljivosti: podľa smernice pre elektromagnetickú
2.3 enligt EMC-direktivet 2014/30/EU
compatibilitatea electromagnetică 2014/30/EU kompatibilitu: 2014/30/EÚ

2.4 conform Directivei ATEX 2014/34/UE po Direktivi ATEX: 2014/34/EU v skladu z ATEX direktivo 2014/34/EU enligt ATEX-direktivet 2014/34/EU
în conformitate cu Directiva privind proiectarea v skladu z Direktivo o okoljsko primerni zasnovi
enligt ekodesigndirektivet 2009/125/EG
ecologică (ErP) 2009/125/CE (ErP) 2009/125/ES
podľa smernice o ekodizajne (ErP) 2009/125/ES och enligt förordningen (EU) för ekodesign
și în conformitate cu Regulamentul (UE) privind in v skladu z Uredbo o okoljsko primerni
2.5 a podľa nariadenia o ekodizajne (EÚ) 2019/1781 2019/1781
proiectarea ecologică 2019/1781 zasnovi (EU) 2019/1781
a podľa nariadenia o ekodizajne (EÚ) 2019/2021 och enligt förordningen (EU) för ekodesign
și în conformitate cu Regulamentul (UE) privind in v skladu z Uredbo o okoljsko primerni
2019/2021
proiectarea ecologică 2019/2021 zasnovi (EU) 2019/2021

Produs care intră în domeniul de aplicare al

Izdelek v okviru direktive RoHS 2011/65/EU; po Produkt v rámci smernice RoHS 2011/65/EÚ: Produkt i giltighetsområdet för RoHS-direktivet
2.6 Directivei RoHS 2011/65/UE; în conformitate cu
Direktivi RoHS 2011/65/EU podľa smernice RoHS 2011/65/EÚ 2011/65/EU; enligt RoHS-direktivet 2011/65/EU
Directiva RoHS 2011/65/UE

Produs care nu intră în domeniul de aplicare al Izdelek ne spada v področje uporabe direktive Produkt, ktorý nespadá do pôsobnosti smernice Produkt ej i giltighetsområdet för RoHS-
Directivei RoHS 2011/65/UE; RoHS 2011/65/EU; RoHS 2011/65/EÚ: direktivet 2011/65/EU;
2.7
produsul îndeplinește cerințele de restricție a izdelek izpolnjuje zahteve glede omejitve snovi Produkt spĺňa požiadavky smernice na produkten uppfyller kraven för
substanțelor din directivă iz direktive obmedzenie látok ämnesbegränsning i direktivet

Domeniul de aplicare a Directivei RoHS pentru Področje uporabe direktive RoHS za izdelke Giltighetsområdet för RoHS-direktivet för
Rozsah smernice RoHS pre produkty výrobcu:
produsele producătorului: DCTC-30806-006 proizvajalca: DCTC-30806-006 »Izjava produkter från tillverkaren: DCTC-30806-006
2.8 DCTC-30806-006 „Vyhlásenie výrobcu o
„Declarația producătorului privind Directiva proizvajalca k direktivi RoHS 2011/65/EU in ”Tillverkardeklaration för RoHS-direktivet
smernici RoHS 2011/65/EU & 2015/863/EU“
RoHS 2011/65/UE și 2015/863/UE”. 2015/863/EU« 2011/65/EU & 2015/863/EU”

3 producătorul Proizvajalec Výrobca från tillverkaren

declară prin prezenta, că produsul menționat
4 s tem izjavlja, da je naslednji izdelek týmto vyhlasuje, že nižšie uvedený výrobok deklarerar här med att nedanstående produkt
mai jos
Poimenovanje Beteckning
Denumirea Označenie
5 (prevod poimenovanja je na voljo samo v (översatt beteckning endast tillgänglig på
(traducerea denumirii disponibilă doar în DE/EN) (preklad označenia k dispozícii len v GE/EN)
DE/EN) DE/EN)
5.1 Seria Serije Konštrukčné rady Modeller
5.2 Codul comenzii Koda za naročanje Označenie objednávky Beställningsnamn
5.3 Numărul materialului Številka materiala Číslo materiálu Materialnummer
5.4 Denumirea comercială Trgovsko ime Obchodný názov Handelsnamn
5.5 începând cu data fabricației Od datuma proizvodnje od dátumu výroby från tillverkningsdatum
bol vyvinutý, skonštruovaný a vyrobený v
je bil razvit, zasnovan in izdelan v skladu z
a fost dezvoltat, construit și fabricat în súlade s vyššie uvedenou(-ými) smernicou(- har utvecklats, konstruerats och tillverkats i
6 zgornjimi direktivami
conformitate cu directivele menționate mai sus ami) överensstämmelse med direktiven ovan
.
Producătorul își asumă întreaga responsabilitate Tillverkaren ansvarar helt på egen hand för
Za izdajo te izjave o skladnosti EU je izključno Výhradnú zodpovednosť za vystavenie tohto
6.1 pentru emiterea acestei declarații de utställandet av den här deklaration om EU-
odgovoren proizvajalec EÚ vyhlásenia o zhode nesie výrobca
conformitate överensstämmelse

Standardele armonizate utilizate, respectiv alte Uporabljeni usklajeni standardi ali drugi Harmonizované aplikované normy, príp. Ostatné Tillämpade harmoniserade standarder eller
7
standarde și reglementări tehnice tehnični standardi in predpisi. technické normy a predpisy. andra tekniska standarder och föreskrifter.
8 Standard Standard Norma Standard
Namn
Titlu Naslov Názov
8.1 (översättning av namn endast tillgänglig på
(traducerea titlului disponibilă doar în DE/EN) (prevod naslovov je na voljo samo v DE/EN) (preklad názvu k dispozícii len v GE/EN)
DE/EN)
8.2 Ediția Izdaja Vydanie Utgåva
Označenia motorov
Marcajul motoarelor Oznake motorjev (smernica pre zariadenia a ochranné systémy Motormärkning
9
(directiva ATEX) (Direktiva ATEX) určené na použitie v potenciálne výbušnej (ATEX-direktivet)
atmosfére)
„X“ znamená upozornenie na osobitné
„X” face referire la condiții speciale de utilizare, »X« označuje posebne pogoje uporabe, ki so ”X” indikerar särskilda användningsvillkor
9.1 podmienky používania, ktoré sú definované v
definite în instrucțiunile de utilizare opredeljeni v navodilih za uporabo som redovisas i bruksanvisningen
návode na obsluhu
Organism notificat care a efectuat procedura de Poverené miesto, ktoré vykonalo proces
Priglašeni organ, ki je izvedel postopek EU Anmält organ som genomfört EU-typprovningen
examinare UE de tip în conformitate cu directiva posudzovania EÚ pre typ konštrukcie v súlade
pregleda tipa po zgornji direktivi – ki je odobril enligt direktivet ovan och godkänt det
10 menționată anterior - care a aprobat sistemul s vyššie uvedenou smernicou a schválilo
celovit sistem zagotavljanja kakovosti po omfattande kvalitetssäkringssystemet enligt
complet de asigurare a calității în conformitate rozsiahly systém kontroly kvality v súlade s
zgornji direktivi direktivet ovan
cu directiva menționată anterior vyššie uvedenou smernicou.
10.1 Nume Ime Názov Namn
10.2 Adresa Naslov Adresa Befattning
10.3 Număr de identificare Identifikacijska številka Identifikačné číslo Nummer

10.4 Certificat CE de examinare a tipului Nr Št.potrdila o pregledu tipa ES ES osvedčenie o typovej skúške č. EG-typprovnings-nummer
Nižšie uvedená osoba je splnomocnená na
Următoarea persoană este autorizată să Naslednja oseba je pooblaščena za pripravo Personen nedan är befullmäktigad att
11 vypracovanie relevantnej technickej
întocmească documentele tehnice relevante ustrezne tehnične dokumentacije sammanställa de relevanta tekniska underlagen
dokumentácie
11.1 Nume Ime Názov Namn
11.2 Adresa Naslov Adresa Befattning
12 Alte explicații Dodatna pojasnila Ďalšie vysvetlenia Mer detaljer
Trebuie avute în vedere indicațiile privind
Upoštevati je treba navodila za montažo in Zohľadnite pokyny k montáži a inštalácii podľa Monterings- och installationsinstruktionerna i
13 montajul și instalarea conform documentației
namestitev v skladu z dokumentacijo izdelka dokumentácie k výrobku produktdokumentationen måste följas
produsului
14 Localitatea Kraj Miesto Ort
14.1 Data Datum Dátum Datum

Alternative: management de vânzări, director de Alternative: Vodja prodaje, komerciala ali Alternatívy: Vedenie predaja, obchodný alebo Alternativ: Försäljningsledning, kommersiell eller
14.2
fabrică comercial sau tehnic tehnični vodja obrata technický manažér závodu teknisk anläggningschef

Alternative: proprietar de produs sau șef de Alternatívy: Produktový vlastník alebo vedúci
14.3 Alternative: lastnik izdelka ali vodja razvoja Alternativ: Produktägare eller utvecklingschef
dezvoltare vývoja

Innehållet i deklarationen om EU-

Conținutul Declarației de conformitate UE poate Pridržujemo si pravico do sprememb vsebine Zmeny v obsahu EÚ vyhlásenia o zhode sú
överensstämmelse kan komma att ändras. Den
fi modificat. Versiunea actuală poate fi izjave o skladnosti EU. Trenutno različico lahko vyhradené. Aktuálnu verziu nájdete v časti pre
senaste versionen finns i Bosch Rexroths
15 descărcată din directorul media Bosch Rexroth najdete v imeniku medijev Bosch Rexroth na médiá Bosch Rexroth ako dokument na
mediekatalog i nerladdningsbar form, och du
sau poate fi obținută la cerere de la persoana de voljo za prenos ali pa jo na zahtevo dobite pri stiahnutie alebo vám ho na požiadanie zašle
kan också begära den från din Bosch Rexroth-
contact Bosch Rexroth. kontaktni osebi družbe Bosch Rexroth vaša kontaktná osoba v Bosch Rexroth
kontaktperson
 ctrlX SAFETY "SafeMotion" (CAN Parameters) 363 / 420

13 Project planning

Project planning

R911426737– Edition 01 Bosch Rexroth AG

364 / 420 ctrlX SAFETY "SafeMotion" (CAN Parameters)
SafeMotion M5

13.1 SafeMotion M5
13.1.1 XG42, XG43, Safe Motion safety technology (communication)
View Identifi- Function
cation
XG42: XG42 Connection points for safety bus ctrlX SAFETYlink:
XG43 XG42: input
XG43: output

XG43:

Connection cable ● Maximum length of one cable between two connection points: 15 m
● Number of safety zone nodes:
– maximum: 16
– minimum: 1
● Ready-made cables available for order:
– RKB0061
Short cables to connect adjacent devices in the control cabinet.
Available lengths: 0.25 m; 0.35 m; 0.55 m
Minimum bending radius in the case of permanent installation: 4xD (=
4x6.3 mm = 25.2 mm)
Minimum bending radius in the case of flexible routing: 8xD (= 8x6.3
mm = 50.4 mm)
Order code for a cable with a length of 0.55 m: RKB0061/00,55
– RKB0062
Long cables to connect remote communication nodes outside the con-
trol cabinet.
Available lengths: 1 m, 2 m, 3 m, … 15 m, 20 m, 30 m, 50 m, 75 m,
100 m
Minimum bending radius in the case of permanent installation: 4xD (=
4x6.3 mm = 25.2 mm)
Minimum bending radius in the case of flexible routing: 8xD (= 8x6.3
mm = 50.4 mm)
Order designation for a cable with a length of 5 m: RKB0062/005,0

Bosch Rexroth AG R911426737– Edition 01

 ctrlX SAFETY "SafeMotion" (CAN Parameters) 365 / 420
SafeMotion M5

13.1.2 XG44, SafeMotion M5 safety technology

Table 58: Function, pin assignment
View Connection Signal name Function
1 SI_Out_Ch2 Safe output channel 2
2 - -
3 SI_Out_Ch1 Safe output channel 1
4 SI_In_Ch2 Safe input channel 2
5 - -
6 SI_In_Ch1 Safe input channel 1

Project planning
Spring terminal (connector) Unit min. max.
Connection cable mm2 0.2 1.5
Flexible AWG 24 16
with wire end ferrule without plastics material mm2 0.25 1.5
sleeve AWG 24 16
with wire end ferrule with plastics material mm2 0.25 0.75
sleeve AWG 24 18
Rigid mm2 0.2 1.5
AWG 24 16
Stripped length mm 10
Polarity reversal protection for power supply Available
Overvoltage protection Available
In the case of an error, the control panel shows the corre-
sponding error message: F3365

Reference point of the inputs is the 0 V supply at connector XD10.

The 24V supply at connector XD10 supplies the outputs.

Connectors included in scope of delivery.

Technical data of inputs and outputs:

⮫ Chapter Digital inputs, XG44 on page 389
⮫ Chapter Digital outputs, XG44 on page 389

R911426737– Edition 01 Bosch Rexroth AG

366 / 420 ctrlX SAFETY "SafeMotion" (CAN Parameters)
SafeMotion M8

13.2 SafeMotion M8
13.2.1 XG45, SafeMotion M8 safety technology
"SafeMotion M8" allows safety functions to be selected via digital inputs.

Inputs, outputs:
● 5 × digital input pairs
● 3 × digital output pairs

Table 59: Function, pin assignment

Function Signal name Connec- View Connec- Signal name Function
tion tion
Input 1.1 SI_In1_Ch1 1 9 SI_In1_Ch2 Input 1.2
Input 2.1 SI_In2_Ch1 2 10 SI_In2_Ch2 Input 2.2
Input 3.1 SI_In3_Ch1 3 11 SI_In3_Ch2 Input 3.2
Input 4.1 SI_In4_Ch1 4 12 SI_In4_Ch2 Input 4.2
Input 5.1 SI_In5_Ch1 5 13 SI_In5_Ch2 Input 5.2
Safe output 1.1 SI_Out1_Ch1 6 14 SI_Out1_Ch2 Safe output 1.2
Safe output 2.1 SI_Out2_Ch1 7 15 SI_Out2_Ch2 Safe output 2.2
Safe output 3.1 SI_Out3_Ch1 8 1) 16 1) SI_Out3_Ch2 Safe output 3.2
1) Output pair 3.1/3.2 can be configured for push-pull operation (0x305C:06 / P-0-3323.0.1)
⮫ Chapter Push-pull operation, XG45 output pair 3.1/3.2 on page 393

Table 60: Properties

Spring terminal (connector) Unit min. max.
Connection cable mm2 0.2 1.5
Flexible AWG 24 16
with ferrule without plastic sleeve mm2 0.25 1.5
AWG 24 16
with ferrule with plastic sleeve mm2 0.14 0.75
AWG 26 18
Rigid mm2 0.2 1.5
AWG 24 16
Stripped length mm 10

Reference point of the inputs is the 0 V supply at connector XD10.

The 24V supply at connector XD10 supplies the outputs.

Connectors included in scope of delivery.

Technical data of inputs and outputs:

⮫ Chapter Digital inputs, XG45 on page 391
⮫ Chapter Digital outputs, XG45 on page 391

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XF21 P1, XF22 P2, communication (RJ-45)

13.3 XF21 P1, XF22 P2, communication (RJ-45)

Description
The connection point complies with IEEE 802.3 standard.

P1, P2
P1 means port 1 and P2 means port 2 etc.. Thus, the error counter of the
firmware can be directly assigned to a port.

Connection
Sercos:

Project planning
● Input: arbitrary
● Output: arbitrary
EtherCAT:
● Input: XF21 P1
● Output: XF22 P2
PROFINET IO:
● Input: arbitrary
● Output: arbitrary

Table 61: Function, pin assignment, properties

View Connection Signal name Function
8 n. c. -
7 n. c. -
6 RD- Receive, Differential Input -
5 n. c. -
4 n. c. -
XF22 P2 3 RD+ Receive, Differential Input +
2 TD- Transmit, Differential Output -
1 TD+ Transmit, Differential Output +
Housing Shield connection

XF21 P1
Properties
Standard ● Ethernet
● Type: RJ-45, 8-pin

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Compatibility 100Base-TX according to IEEE 802.3u

Recommended cable type ● According to CAT5e; shield type ITP (Industrial Twisted Pair)
● Ready-made cables available for order:
– RKB0021
Long cables (100 m at most) to connect the drive system to the
higher-level control unit or remote communication nodes.
Minimum bending radius:
48.75 mm with flexible routing
32.50 mm with permanent installation
Order code for a cable with a length of 30 m: RKB0021/030,0
– RKB0013
Short cables to connect adjacent devices in the control cab-
inet.
Lenghts:
0.19 m; 0.25 m; 0.35 m; 0.55 m; 1 m; 1.25 m; 2 m; 3 m; 5 m;
7m
Order code for a cable with a length of 0.55 m: RKB0013/00,55
Minimum bending radius: 30.75 mm

13.4 Motor connections

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Motor connections

13.4.1 XZ03, hybrid connection (motor, motor temperature monitoring

and motor holding brake)
Dangerous movements! Danger to persons from falling or
WARNING dropping axes!
The standard equipment motor holding brake or an
external holding brake controlled by the drive controller
is not sufficient to guarantee personal safety!
Personal safety must be achieved using higher-ranking,
fail-safe measures:
− Block off danger zones with safety fences or safety
guards.

Project planning
− Additionally secure vertical axes against falling or
dropping after switching off the motor power by, for
example,
− mechanically securing the vertical axes
− external braking/arrester/clamping mechanism
− ensuring sufficient counterweight for the vertical
axes

Lethal electric shock from live parts with more than

WARNING 50 V!
The input of the motor temperature evaluation is not gal-
vanically isolated from the housing. Excess voltage at the
input (e.g., by the motor winding voltage flashing over)
can get to the housing. Make sure that the temperature
sensor of the connected motor is double-insulated from
the motor winding.

Lethal electric shock due to live parts with more than 50

WARNING V!
Only operate the device
− with connected connectors (even if no lines are con-
nected to the connectors) and
− with connected equipment grounding conductor!

Risk of damage to the device!

NOTICE
Provide strain relief for the terminals of the device in the
control cabinet.

Risk of damage to device from excess voltage at motor

NOTICE temperature evaluation input!
Only the allowed control voltage for the device is allowed
at the motor temperature evaluation input.
Excess voltage at the input may damage the device.

Connectors not included in scope of delivery.

Function
The connection point contains the connections for

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Motor connections

● Motor power supply

● monitoring the motor temperature
● controlling the motor holding brake
Table 62: Motor power supply
View Identifica- Function
tion
A1 For power connection U1 at motor
A2 For power connection V1 at motor
A3 For power connection W1 at motor
For equipment grounding connection at motor

Spring terminal (connector) Unit min. max.

Connection cable mm2 0.5 6
Flexible AWG 20 10
With ferrule with/without plastic sleeve mm2 0.5 6
AWG 20 10
Rigid mm2 0.5 10
AWG 20 8
Stripped length mm 12
Occurring current load and minimum A See technical data of device used (Iout)
required connection cross section
Occurring voltage load V See technical data of device used (Uout)
Short circuit protection A1, A2, A3 against each other and each of them against
ground
Table 63: Shield connection
Motor cable shield connection

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Motor connections

Table 64: Motor temperature monitoring, motor holding brake

View Connection Signal name Function
5 MotTemp+ Motor temperature evalua-
6 MotTemp- tion input 1)
7 +24VBr Output to control the motor
8 0VBr holding brake

Spring terminal (connector) Unit min. max.

Project planning
Connection cable mm2 0.14 1.5
Flexible AWG 26 16
With ferrule with/without plastic sleeve mm2 0.25 1.5
AWG 24 16
Rigid mm2 0.14 1.5
AWG 26 16
Stripped length mm 8
Maximum continuous holding current A - 1
of brake
Maximum inrush current of brake 2) A - 1.5
Time constant of load ms - 50
Number of switching actions at max- Wear-free electronic contact
imum time constant of load
Switching frequency Hz - 0.5
Short circuit protection XZ03.7 to XZ03.8 (output to control the motor holding
brake)
1) Motor temperature evaluation designed for Pt1000 resistors. Pt100 resistors cannot be evaluated.
2) Only when using the „Eco-Mode“ Runtime function.

Motor holding brake: Installation instructions

Make sure the power supply is sufficient for the motor holding brake at the
motor. Take into account that voltage drops on the supply line. Use connection
lines with the largest possible cross section of single strands.
Use an external contact element in accordance with the required safety cate-
gory if you wish to supply motor holding brakes with higher currents than
the current load allowed at the connection point. Make sure to comply with
the required minimum current consumption of 100 mA when using an external
contact element. Otherwise, the brake current monitoring function will signal
an error.

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Motor connections

13.4.2 XD03, motor connection

Important information
Lethal electric shock due to live parts with more than 50
WARNING V!
Only operate the device
− with connected connectors (even if no lines are con-
nected to the connectors) and
− with connected equipment grounding conductor!

Risk of damage to the device!

NOTICE
Provide strain relief for the terminals of the device in the
control cabinet.

Connectors not included in scope of delivery.

Installation instructions
The specified connection cross sections are the cross sections that can be
connected. Size the required cross section of the connection lines according to
the occurring current load.
− Provide for optimum shield contact of the motor power cable.
− For the connection between drive controller and motor, use our ready-made
motor power cables, where possible.

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Motor connections

Motor connection: Overview

There are different types of connections:
● Screw connection at device ( ).
● Screw connection at connector ( ).
● Spring terminal at connector ( ).

The table below gives an overview of motor connections including the hybrid
connection XZ03.

Table 65: Motor connection: Overview

XZ031)

Project planning
XD03
PE + XD03

Component
XCS 1× 1× 1×
0100, 0120: 35 mm2 0054, 0070, 0090: 0010, 0023: 10 mm2
0150, 0180: 50 mm2 16 mm2
02xx: 120 mm2
03xx: 2×70 mm2
XCD - - 2×
0606…2323: 10 mm2
XMS 1× 1× 1×
0100, 0120: 35 mm2 0054, 0070, 0090: 0006…0036: 10 mm2
0150, 0180: 50 mm2 16 mm2
02xx: 120 mm2
03xx: 2×70 mm2
XMD - 2× 2×
5454, 7070: 16 mm 2 0606…3636: 10 mm2
PE + XD03: Screw connection at device
XD03: Screw connection at connector
XZ03: Spring terminal at connector
1) See ⮫ Chapter 13.4.1 XZ03, hybrid connection (motor, motor temperature monitoring and motor
holding brake) on page 369

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XD03, motor connection (16 mm²)

Table 66: Function, pin assignment, properties
View Identifica- Function
tion
A1 For power connection U1 at motor
A2 For power connection V1 at motor
A3 For power connection W1 at motor
For equipment grounding connection at motor

Screw connection at connector Unit min. max. 1)

Connection cable mm2 0.75 16
Cross section flexible 1 conductor AWG 18 6
with wire end ferrule without plastics mate- mm2 0.5 16
rial sleeve AWG 20 6
with wire end ferrule with plastics material mm2 0.5 10
sleeve AWG 20 8
Cross section flexible 2 conductors mm2 0.75 6
AWG 18 10
with wire end ferrule without plastics mate- mm2 0.5 4
rial sleeve AWG 20 12
with twin wire end ferrule with plastics mate- mm2 0.5 6
rial sleeve AWG 20 10
Cross section rigid mm2 0.75 16
AWG 18 6
Cross section rigid 2 conductors mm2 0.75 6
AWG 18 10
Stripped length mm 12
Tightening torque Nm 1.7 1.8
Occurring current load and minimum required A See technical data of device used (Iout)
connection cross section
Occurring voltage load V See technical data of device used (Uout)
Short circuit protection A1, A2, A3 against each other and each of them
against ground
1) Wire end ferrule only allowed without plastic sleeve.

Shield connection accessories:

● XCS*-*0054/70: XAS2-006-003-NN;
● XCS*-W0090: XAS2-009-003-NN;
● XMS*-*0054/70: XAS2-005-003-NN;
● XMS*-W0090: XAS2-005-003-NN;

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Motor connections

XD03, motor connection (35 mm²)

View Identifica- Function
tion
A1 For power connection U1 at motor
A2 For power connection V1 at motor
A3 For power connection W1 at motor

Project planning
Terminal block Unit min. max.
Connection cable mm2 0.5 35
Cross section flexible 1 conductor AWG 20 2
with wire end ferrule without plastics mate- mm2 1 35
rial sleeve AWG 18 2
with wire end ferrule with plastics material mm2 1.5 35
sleeve AWG 16 2
Cross section flexible 2 conductors mm2 0.5 6
AWG 20 10
with wire end ferrule without plastics mate- mm2 0.5 4
rial sleeve AWG 20 12
with twin wire end ferrule with plastics mate- mm2 0.5 16
rial sleeve AWG 20 6
Cross section rigid 1 conductor mm2 0.5 35
AWG 20 2
Cross section rigid 2 conductors mm2 0.5 6
AWG 20 10
Stripped length mm 18
Tightening torque (< 25 mm2) Nm 2.5
Tightening torque (≥ 25 mm2) Nm 4.5
Occurring current load and minimum required A See technical data of device used (Iout)
connection cross section
Occurring voltage load V See technical data of device used (Uout)
Short circuit protection A1, A2, A3 against each other and each of them
against ground

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Cable feedthrough at the device:

Shield connection accessories:

● XCS*-W0100/120: XAS2-002-003-NN;

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Motor connections

XD03, motor connection (50 mm²)

Tighten the screws even if they are not used!!
NOTICE
Also tighten the screws with the specified tightening
torque that are not used for connection.

Table 67: Function, pin assignment, properties

View Identifi- Function
cation
A1 For power connection U1 at motor
A2 For power connection V1 at motor
A3 For power connection W1 at motor

Project planning
Terminal block Unit min. max.
Screw thread M6
Tightening torque Nm 4 5
Connection cable mm2 1×50
flexible with ring cable lug1) 2×25
AWG 1×1/0
Touch guard: Nm - 2
Tightening torque (screw:
torx T20, captive)

Occurring current load and minimum required connec- See technical data of device used (ILN and
tion cross section ALN)
Occurring voltage load See technical data of device used (ULN or
ULN_nom)
1) Maximum allowed length of ring cable lug: 38 mm; insulate ring cable lugs with heat shrink sleeves; with a
cable cross section of 50 mm2, the ring cable lug may not exceed a maximum width of 18 mm in the contact
area (recommendation: use DIN 46234-6-50 ring cable lugs)

Shield connection accessories:

● XCS*-W0150/180:
– XAS2-007-001-NN;
– XAS2-007-002-NN;
● XMS*-W0150/180:
– XAS2-008-001-NN;
– XAS2-008-002-NN;

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XD03, motor connection (120 mm²)

Tighten the screws even if they are not used!!
NOTICE
Also tighten the screws with the specified tightening
torque that are not used for connection.

Table 68: Function, pin assignment, properties

View Identifi- Function
cation
A1 For power connection U1 at motor
A2 For power connection V1 at motor
A3 For power connection W1 at motor

Terminal block Unit min. max.

Screw thread M10
Tightening torque Nm 16 20
Connection cable mm2 1×16, 2×16 1×120, 2×120
flexible with ring cable lug1) AWG 1×6, 2×6 1×4/0, 2×4/0
Touch guard: Nm - 2
Tightening torque (screw:
torx T20, captive)

Occurring current load and minimum required connec- See technical data of device used (ILN and
tion cross section ALN)
Occurring voltage load See technical data of device used (ULN or
ULN_nom)
1) Insulate ring cable lugs with heat shrink sleeves

Shield connection accessories:

● XCS*/XMS*-W0210/250/280/330/375:
– XAS2-004-001-NN;
– XAS2-004-002-NN;

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Motor connections

XD03, motor connection (2×70 mm²)

Tighten the screws even if they are not used!!
NOTICE
Also tighten the screws with the specified tightening
torque that are not used for connection.

Table 69: Function, pin assignment, properties

View Identifica- Function
tion
A1 For power connection U1 at motor
A2 For power connection V1 at motor
A3 For power connection W1 at motor

Project planning
Terminal block Unit min. max.
Connection cable mm2 1×16, 2×16 1×120, 2×120
flexible with ring cable lug1) AWG 1×6, 2×4 1×4/0, 2×4/0
Thread M10
Tightening torque Nm 16 20
Touch guard: Nm - 2
Tightening torque
(screw: torx T20,
captive)

Occurring current load and minimum See technical data of device used (ILN and ALN)
required connection cross section
Occurring voltage load See technical data of device used (ULN or ULN_nom)
1) Insulate ring cable lugs with heat shrink sleeves

Shield connection accessories:

● XCS*/XMS*-W0210/250/280/330/375:
– XAS2-004-001-NN;
– XAS2-004-002-NN;

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13.4.3 XG03, motor temperature monitoring and motor holding brake

Important information
Dangerous movements! Danger to persons from falling or
WARNING dropping axes!
The standard equipment motor holding brake or an
external holding brake controlled by the drive controller
is not sufficient to guarantee personal safety!
Personal safety must be achieved using higher-ranking,
fail-safe measures:
− Block off danger zones with safety fences or safety
guards.
− Additionally secure vertical axes against falling or
dropping after switching off the motor power by, for
example,
− mechanically securing the vertical axes
− external braking/arrester/clamping mechanism
− ensuring sufficient counterweight for the vertical
axes

Lethal electric shock from live parts with more than

WARNING 50 V!
The input of the motor temperature evaluation is not gal-
vanically isolated from the housing. Excess voltage at the
input (e.g., by the motor winding voltage flashing over)
can get to the housing. Make sure that the temperature
sensor of the connected motor is double-insulated from
the motor winding.

Risk of damage to device from excess voltage at motor

NOTICE temperature evaluation input!
Only the allowed control voltage for the device is
allowed at the motor temperature evaluation input.
Excess voltage at the input may damage the device.

Motor holding brake: Installation instructions

Make sure the power supply is sufficient for the motor holding brake at the
motor. Take into account that voltage drops on the supply line. Use connection
lines with the largest possible cross section of single strands.
Use an external contact element in accordance with the required safety cate-
gory if you wish to supply motor holding brakes with higher currents than
the current load allowed at the connection point. Make sure to comply with
the required minimum current consumption of 100 mA when using an external
contact element. Otherwise, the brake current monitoring function will signal
an error.

Function
The connection point contains the connections for
● monitoring the motor temperature
● controlling the motor holding brake

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Motor connections

Overview
Spring terminal at connector ( ).

XG03 (2.5 mm2, 2 A) XG03 (1.5 mm2, 1.5 A) XZ031) (1.5 mm2, 1 A)

Component
XCS 0100…03752) 0054…00903) 0010, 00233)
XCD - - 23233)
XMS 0100…03752) 0054…00903) 0006…00363)

Project planning
XMD - 5454…70703) 0606…36363)
1) Hybrid connection (motor, temperature monitoring and motor holding brake)
2) Connectors included in the scope of supply
3) Connectors not included in the scope of supply

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XG03 (2.5 mm2)

Table 70: Function, pin assignment
View Connection Signal name Function
5 MotTemp+ Input
6 MotTemp- Motor temperature eval-
uation 1)
7 +24VBr Output
8 0VBr controlling the motor
holding brake

Spring terminal (connector) Unit min. max.

Connection cable mm2 0.2 2.5
Cross section flexible 1 conductor AWG 24 14
With ferrule with/without plastic sleeve mm2 0.25 2.5
AWG 24 14
Cross section flexible 2 conductors mm2 0.5 1.5
with twin ferrule with plastic sleeve AWG 20 16
Cross section rigid mm2 0.2 2.5
AWG 24 14
Stripped length mm 10
Maximum continuous holding current of brake A - 2
Maximum inrush current of brake 2) A - 2.5
Time constant of load ms - 50
Number of switching actions at maximum Wear-free electronic contact
time constant of load
Switching frequency Hz - 0.5
Short circuit protection XG03.7 against XG03.8 (output for controlling the
Overload protection motor holding brake)
1) Motor temperature evaluation designed for Pt1000 resistors. Pt100 resistors cannot be evaluated.
2) Only when using the „Eco-Mode“ Runtime function.

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Motor connections

XG03 (1.5 mm2)

Table 71: Function, pin assignment
View Connection Signal name Function
5 MotTemp+ Input
6 MotTemp- Motor temperature eval-
uation 1)
7 +24VBr Output
8 0VBr controlling the motor
holding brake

Project planning
Spring terminal (connector) Unit min. max.
Connection cable mm2 0.2 1.5
Cross section flexible AWG 24 16
with ferrule without plastic sleeve mm2 0.25 1.5
AWG 24 16
with ferrule with plastic sleeve mm2 0.14 0.75
AWG 26 18
Cross section rigid mm2 0.2 1.5
AWG 24 16
Stripped length mm 10
Maximum continuous holding current of brake A - 1.5
Maximum inrush current of brake 2) A - 2
Time constant of load ms - 50
Number of switching actions at maximum Wear-free electronic contact
time constant of load
Switching frequency Hz - 0.5
Short circuit protection XG03.7 against XG03.8 (output for controlling the
Overload protection motor holding brake)
1) Motor temperature evaluation designed for Pt1000 resistors. Pt100 resistors cannot be evaluated.
2) Only when using the „Eco-Mode“ Runtime function.

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Encoder connections

XZ03 (1.5 mm2)

See description of connection point XZ03.
⮫ Chapter 13.4.1 XZ03, hybrid connection (motor, motor temperature moni-
toring and motor holding brake) on page 369.

13.5 Encoder connections

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Encoder connections

13.5.1 XG20, digital motor encoder connection

Table 72: XG20, digital motor encoder
View Connec- Signal name Function
tion
1 n.c. -
2 GND_Enc Reference potential for power sup-
plies
3 +12V_Enc Encoder supply 12 V
4 n.c. -
5 Enc_Data+ Data transfer positive

Project planning
6 Enc_Data- Data transfer negative

Properties Unit min. max.

Connection cable mm2 0.25 0.5
Stranded wire
Encoder evaluation type ACURO®link
ctrlX SENSEmotor

Connectors/cables not included in scope of delivery.

Table 73: Encoder connection

R ≈ 30 mm
Minimum bending radius (4 ´ outer cable diam-
eter)
90°
For permanently stable contact, the connector
has to be in a vertical position.
Install a strain relief so that no force is applied to
the connector.

Encoder connection for hybrid cables

Hybrid cables (e.g., RHB2‑021DCB) connect the drive controller to the motor
(XZ03) and encoder (XG20).
Form a loop to lead the encoder cable to the connection point XG20 so that no
force is applied to the encoder connector:

Fig. 146: Encoder cable forming a loop to be led to connection point XG20

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Table 74: Disconnecting the plug connection

Press and hold the buttons at the sides of the connector.

Push the connector in plug-in direction.

Disconnect the connector.

13.5.2 XG21, XG22, multi-encoder

Table 75: Function, properties
View Identi- Function
fica-
tion
XG21 Multi-encoder connection
XG22

D-Sub, 15-pin, female Unit min. max.

Connection cable mm2 0.25 0.5
Stranded wire
Encoder evaluation type EC

Supported encoder systems

Encoder systems with a supply voltage of 5 and 12 volt:
● Sin-cos encoder 1Vpp with HIPERFACE®
● Sin-cos encoder 1Vpp with EnDat 2.1
● Sin-cos encoder 1Vpp with reference track
● Resolvers without encoder data memory
● EnDat 2.2
● SSI
● TTL

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Specifying the digital/analog inputs/outputs

Table 76: Pin assignment

Connec- Signal Function
tion
1 GND_shld Signal shields connection (inner shields)
2 A+ Track A analog positive (1Vpp)
3 A- Track A analog negative (1Vpp)
4 GND_Encoder Reference potential for power supplies
5 B+ Track B analog positive (1Vpp)
6 B- Track B analog negative (1Vpp)
7 EncData+ Data transfer positive

Project planning
A+TTL Track A positive (TTL)
8 EncData- Data transfer negative
A-TTL Track A negative (TTL)
9 R+ Reference track positive (1Vpp + TTL)
10 R- Reference track negative (1Vpp + TTL)
11 +12V Encoder supply 12 V
12 +5V Encoder supply 5 V
13 EncCLK+ Clock positive
B+TTL Track B positive (TTL)
14 EncCLK- Clock negative
B-TTL Track B negative (TTL)
15 Sense- Refeed of reference potential (Sense line)
VCC_Resolver Resolver supply
Connector Overall shield
housing

13.6 Specifying the digital/analog inputs/outputs

13.6.1 Digital inputs (standard), XG31
The digital inputs correspond to IEC 61131–2 (type 1).

Table 77: Data

Data Unit min. max.
Allowed input voltage V -3 30
High V 15 30
Low V -3 5
Input current (in high state) mA 2 5
Delay time μs 100 + position
controller clock

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Specifying the digital/analog inputs/outputs

13.6.2 Digital outputs (standard), XG31

The digital outputs are compatible with digital inputs of types 1, 2 and 3
(IEC 61131–2).

Table 78: Data

Data Unit min. max.
Output voltage ON 1) V Uext - 1 Uext
Output current OFF mA 0.05
Output current ON mA 500
Allowed energy content of con- mJ
nected inductive loads 2) 3)
● f < 0.5 Hz 500
● f < 2 Hz 200
Delay time µs 100 + position
controller clock
Short circuit protection included
Overload protection included
1) Uext: Supply voltage
2) In the case of inductive loads with a greater energy content, an external
free-wheeling arm has to be installed. The effective terminal voltage has to be
< 25 V.
3) The maximum energy content depends on the switching frequency f of the
outputs

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Specifying the digital/analog inputs/outputs

13.6.3 SafeMotion (M5)

Digital inputs, XG44
Table 79: Data
Data Unit min. max.
Allowed input voltage V -3 30
High V 15 30
Low V -3 5
Input current (in high state) mA 2 5
Delay time µs 500

Project planning
Digital outputs, XG44
The digital outputs are compatible with digital inputs of types 1, 2 and 3
(IEC 61131–2).

Table 80: Data

Data Unit min. max.
Output voltage ON V Uext - 2 Uext
Output voltage OFF V 5
Allowed output current per output mA 350
Allowed energy content of connected mJ 400 1) 2)
inductive loads, e.g. relay coils
Capacitive load nF 200
Short circuit protection Available
Overload protection Available
Block diagram, output:

Error detection The following errors are detected:

● Wiring error with short circuit to high
● Wiring error with short circuit to low
● Wiring error with short circuit between both channels
● Internal error
In the case of an error, the control panel shows the corre-
sponding error message: F83xx
1) At a maximum switching frequency of 1 Hz
2) In the case of inductive loads with currents > 200 mA or in the case of
inductive loads with a greater energy content, an external free-wheeling arm
has to be installed. The effective terminal voltage has to be < 25 V.

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Specifying the digital/analog inputs/outputs

Table 81: Time response

Designation Unit min. max.
Test pulse width (tPL) μs 50 200
Periodic time (TP) ms 500 1000
Time between two test pulses (tHigh) ms 50 -

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Specifying the digital/analog inputs/outputs

13.6.4 SafeMotion (M8)

Digital inputs, XG45
Table 82: Data
Data Unit min. max.
Allowed input voltage V -3 30
High V 15 30
Low V -3 5
Input current (in high state) mA 2 5
Delay time µs 500

Project planning
Digital outputs, XG45
The digital outputs are compatible with digital inputs of types 1, 2 and 3
(IEC 61131–2).

Table 83: Data

Data Unit min. max.
Output voltage ON V Uext - 2 Uext
Output voltage OFF V 5 3)
Allowed output current per output mA 350
Sum, output current of all outputs mA 700
Allowed energy content of connected mJ 400 1) 2)
inductive loads, e.g. relay coils
Capacitive load nF 300
Short circuit protection Available
Overload protection Available
Block diagram, output:

Error detection The following errors are detected:

● Wiring error with short circuit to high
● Wiring error with short circuit to low
● Wiring error with short circuit between both channels
● Internal error
In the case of an error, the control panel shows the corre-
sponding error message: F83xx
1) At a maximum switching frequency of 1 Hz
2) In the case of inductive loads with currents > 200 mA or in the case of
inductive loads with a greater energy content, an external free-wheeling arm
has to be installed. The effective terminal voltage has to be < 25 V.
3) When using relays, please observe: The minimum withstand voltage of the
relay has to be higher than the value "Output voltage OFF".

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Specifying the digital/analog inputs/outputs

Table 84: Time response

Designation Unit min. max.
Test pulse width (tPL) μs 50 200
Periodic time (TP) ms 500 1000
Time between two test pulses (tHigh) ms 50 -

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Specifying the digital/analog inputs/outputs

Push-pull operation, XG45 output pair 3.1/3.2

Table 85: Data
Data Unit min. max.
Output voltage ON V 16 Uext
Output voltage OFF V 0 5 3)
Output current ON mA 10 350
Output current OFF mA 1
Allowed energy content of connected mJ 400 1) 2)
inductive loads, e.g. relay coils
Capacitive load nF 300

Project planning
Short circuit protection Available
Overload protection Available
Block diagram:

Low-side operation of the external load at output 3.1 with a different power supply than output 3.2
is not allowed.
1) At a maximum switching frequency of 1 Hz
2) In the case of inductive loads, an external free-wheeling arm has to be installed. The effective
terminal voltage has to be < 25 V.
3) When using relays, please observe: The minimum withstand voltage of the relay has to be higher
than the value "Output voltage OFF".

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Diagnostic display

13.7 Diagnostic display

13.7.1 PF01 LED (Device State)
PF01 LED

By means of different colors and flashing patterns, the LED shows the device
state and the state of the optional internal control.
Description of colors and flashing patterns:
See documentation on ctrlX DRIVE firmware:
● Diagnostic Messages of Runtime AXS-V-02VRS (R911383776)
● Diagnostic Messages of Runtime AXS-V-03VRS (R911409808)
● Diagnostic Messages of Runtime AXS-V-04VRS (R911421277)
● Diagnostic Messages of Runtime AXS-V-05VRS (R911422251)

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Diagnostic display

13.7.2 Sercos/EtherCAT/PROFINET IO
Display elements
Table 86: Display elements
LED Significance
Port LED, 1 × yellow, 1 × green

Project planning
Diagnostic LED, multicolor

The LED display depends on the field bus system.

Port LED

EtherCAT
EtherCAT only has one active LED per port.

Table 87: Port LED

LED: Color / flashing Significance
pattern
No connection

off
Connection to network available, but no telegram exchange (EtherCat bus
inactive)
Permanently lit green
Connection to the network available with telegram exchange (EtherCat bus
active)
Flashing green

Sercos
Table 88: Port LED
LED: Color / flashing Significance
pattern
No connection
No data transfer
off
Data transfer is active

Permanently lit yellow

Connection to network available

Permanently lit green

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Diagnostic display

PROFINET IO
Table 89: Port LED
LED: Color / flashing Significance
pattern
No connection
No data transfer
off
Data transfer is active

Permanently lit yellow

Connection to network available

Permanently lit green

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Diagnostic display

Diagnostic LED

EtherCAT
Table 90: Diagnostic LED
LED: Color / flashing pattern 1) Significance Description
Status ● Cyclic process data and acyclic data
off INIT channel are not transmitted
● no error
Status Acyclic data channel is transmitted
Flashing green PRE-OPERATIONAL
Status Acyclic data channel is transmitted

Project planning
Green, single flashing SAFE-OPERATIONAL
Status Cyclic process data and acyclic data
Permanently lit green OPERATIONAL channel are transmitted
Configuration error General EtherCAT configuration error
Flashing red
Synchronization error ● The drive controller has not been
Red, single flashing synchronized to the EtherCAT master
● Communication error of the drive con-
troller
Timeout - watchdog ● Timeout during monitoring of the cyclic
Red, double flashing process data
● Watchdog of EtherCAT master
1) Flashing pattern: One square corresponds to a duration of 200 ms; the arrow marks the end of a
cycle
GN = LED permanently lit green
RD = LED permanently lit red
-- = LED is off

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Diagnostic display

Sercos
Table 91: Diagnostic LED
LED: Color / flashing pattern 1) Description Prio 2)
NRT mode (no Sercos communication) 3) 6
off
CP0 (communication phase 0 active) 6
Permanently lit orange
CP1 (communication phase 1 active) 6
Flashing orange/green
CP2 (communication phase 2 active) 6
Flashing orange/green
CP3 (communication phase 3 active) 6
Flashing orange/green
CP4 (communication phase 4 active) 6
Permanently lit green
HP0 (hot-plug phase 0 active) 6
Flashing orange/green
HP1 (hot-plug phase 1 active) 6
Flashing orange/green
HP2 (hot-plug phase 2 active) 6
Flashing orange/green
Transition from Fast forward to Loopback 5
Flashing green
Application error 4
Flashing red/orange (sub-device/device error [C1D])
MST warning 4) 3
Flashing red/green (S‑0‑1045, Sercos: Device Status [S‑Dev], bit15)
Communication error 2
Permanently lit red (sub-device/device error [C1D])
Identification 1
Flashing orange (S-0-1044, Sercos: Device Control [C‑Dev], bit15)
Internal watchdog 0
Flashing red
1) Flashing pattern: One square corresponds to a duration of 250 ms; the arrow marks the end of
a cycle; abbreviations on the squares: GN = LED permanently lit green, OG = LED permanently lit
orange, RD = LED permanently lit red, -- = LED is off
2) Display priority; the state of the highest priority is displayed
3) NRT = Non Real Time
4) MST = Master Synchronization Telegram

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Diagnostic display

PROFINET IO
Table 92: Diagnostic LED
LED: Color / flashing pat- Description
tern 1)
Invalid IP address
off
No cyclic connection
Flashing green
Connection error-free
Permanently lit green
Connection interrupted (e.g., watchdog)

Project planning
Flashing red
IP address already exists (Duplicate IP address check)
Permanently lit red
Device running up and self test
Flashing red-green
1) Flashing pattern: One square corresponds to a duration of 200 ms; the arrow marks the end of a
cycle
GN = LED permanently lit green
RD = LED permanently lit red
-- = LED is off

13.7.3 Diagnostic display of optional safety technology module "SafeMo-

tion"
FSoE
In case of the safety bus communication via FSoE, the LEDs PF40 / PF41
indicate the following:

Table 93: LED display for safety bus communication via FSoE
Significance PF40 (device status) PF41 (connection status)
FSoE status Initializa-
tion/reset Red off
Session / see ⮫ FSoE status, detailed diag-
Connection / Flashing red-green nostics
Parameter
Data see ⮫ FSoE status, detailed diag-
Green nostics
Identifying the safety technology
Flashing red-green
critical safety technology error
Red

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Diagnostic display

Table 94: FSoE status, detailed diagnostics

PF41 Meaning/cause Remedy
Green
Continuous light Normal; communication ok -
Jittering, alternately with 1 Error S-parameter (TwinSaf As reading out the blinking pat-
pulse parameter) tern is very difficult, the drive
Jittering, alternately with 2 Error I-parameter (individual additionally generates the error
pulses parameters) F3452 in case of these errors.
Jittering, alternately with 5 Watchdog error Check configuration and correct
pulses it, if necessary. If error occurs
again in spite of correct configu-
Jittering, alternately with 6 CRC error
ration, please contact our service
pulses
department; they can read out
Jittering, alternately with 7 Sequential number error the exact cause of error by
pulses means of detailed diagnostics.
Jittering, alternately with 8 Communication error
pulses

PROFIsafe
In case of the safety bus communication via PROFIsafe, the LEDs PF40 / PF41
indicate the following:

Table 95: LED display for safety bus communication via PROFIsafe
Significance PF40 (device status) PF41 (connection status)
PROFIsafe status PSD_INIT
Red off
PSD_PARAM
Flashing red-green Red
PSD_DATAEX see ⮫ PROFIsafe status, detail
Green diagnostics
PSD_HARD_FAIL
off off

Table 96: PROFIsafe status, detailed diagnostics

PF41 Meaning/cause Remedy
faultfree (new or old consumer -
Green data)
"FSCP Test Mode" For the completion of the
Flashing green (F_iPar_CRC="0") F-device configuration or for
the machine acceptance, the
checksum "F_iPar_CRC" must be
set in the F-host with the value
of the safety configuration CRC
(S-0-1800.0.15, element 0… 3).
Passivated data Check the diagnostics in the F-
Flashing red-green The useful data are set to Fail- host (safety control).
Safe values.
Watchdog or communication Set the watchdog time
Red error (F_WD_Time) to a higher value in
the F-Host (safety control). Ana-
lyze effects and disturbances on
the communication path.

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Application examples of ctrlX DRIVE with SafeMotion

14 ctrlX AUTOMATION Community

14.1 What is the ctrlX AUTOMATION Community?
The ctrlX AUTOMATION Community is a platform supporting you with ctrlX
AUTOMATION. The ctrlX AUTOMATION Community provides the following:
● Discover ctrlX AUTOMATION get to know it:
– Receive information as ⮫ How-to instructions.
– Receive information as blogs and videos, e.g. about ⮫ ctrlX DRIVE.

ctrlX AUTOMATION Community

● Receive direct help and interact with Bosch Rexroth expert in the ⮫ Forum.
● Get access to Bosch Rexroth apps or third party apps by ctrlX World via the
ctrlX Store.
Information, instructions and notes on the ctrlX AUTOMATION Community can
be found in the ⮫ FAQ about the Community.

14.2 Application examples of ctrlX DRIVE with SafeMotion

In several safety zones, control the ctrlX DRIVE safety functions with ctrlX
SAFETY
The “How-to instruction” on the ctrlX AUTOMATION community platform con-
tains a description of how to ⮫ set up several safety zones and how to control
the ctrlX DRIVE safety functions with ctrlX SAFETY.
At the end of the instruction, the corresponding SafeLogic program file and a
parameter file for the drive controller is available as start for commissioning.

Use the ctrlX DRIVE safety function with ctrlX SAFETY and control a safety door
with ctrlX SAFETY
The “How-to instruction” on the ctrlX AUTOMATION community platform con-
tains a description of how to use the ⮫ Safe torque off and SafeMotion safety
functions via ctrlX SAFETY and how to control a safety door with ctrlX SAFETY.
At the end of the instruction, the corresponding SafeLogic program file and a
parameter file for the drive controller is available as start for commissioning.

Commissioning the ctrlX DRIVE via FSoE with EtherCAT control (Beckhoff)
⮫ Commissioning of ctrlX DRIVE via FSoE with an EtherCAT control by Beckhoff
is described in the “How-to instruction” on the ctrlX AUTOMATION community
platform.

Commissioning the SafeMotion safety technology functions of ctrlX DRIVE

⮫ Commissioning of the SafeMotion safety functions by means of ctrlX DRIVE
Engineering is described in the “How-to instruction” on the ctrlX AUTOMATION
community platform.
At the end of the instruction, the example parameter files are available for
download to commission the SafeMotion safety functions.

Use SafeMotion safety functions of ctrlX DRIVE with ctrlX SAFETY

The “How-to instruction” on the ctrlX AUTOMATION community platform con-
tains a description of how to control the ⮫ SafeMotion safety functions via ctrlX
SAFETY.
At the end of the instruction, the corresponding SafeLogic program file and a
parameter file for the drive controller is available as start for commissioning.

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Application examples of ctrlX DRIVE with SafeMotion

Information on the functions supported by ctrlX DRIVE with PROFIsafe at PRO-

FINET
The "How-to instructions" on the ctrlX AUTOMATION community platform con-
tain ⮫ information on the functions supported by ctrlX DRIVE with PROFIsafe at
PROFINET.

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Firmware/Runtime

15 Documentations
15.1 Drive systems, system components
Table 97: Documentations – Drive systems, System Components
Title Type of documentation Document type 1) Material number
ctrlX DRIVE Project Planning Manual DOK-XDRV**-X***********- ⮫ R911386579
Drive Systems PRxx-EN-P
ctrlX DRIVE Application Manual DOK-XDRV**-XMV********- ⮫ R911413650
DC/DC Converter XMV APxx-EN-P
Security Instructions Electric Project Planning Manual DOK-IWORKS-SECURITY***- ⮫ R911342562

Documentations
Drives and Controls PRxx-EN-P
Control Cabinet Project Planning Manual DOK-DRIVE*-CABINET****- ⮫ R911344988
Air Conditioning, EMC, Design, PRxx-EN-P
IP Code, IndraDrive Electrics,
Rexroth EFC/Fv, Sytronix
1) In the document type codes, "xx" is a placeholder for the current edition of
the documentation (e.g.: PR01 is the first edition of a Project Planning Manual)

15.2 Firmware/Runtime
Table 98: Documentations – firmware
Title Type of documentation Document type 1) Material number
ctrlX DRIVE Application Manual DOK-XDRV**-AXS-06VRS**- ⮫ R911425358
AXS‑V‑06 APxx-EN-P

Functions
ctrlX DRIVE Application Manual DOK-XDRV**-AXS-06VRS*C- ⮫ R911425360
AXS‑V‑06 (CoE) APxx-EN-P

Functions
ctrlX DRIVE / eLION Reference Book DOK-XDRV**-GEN6-DIAG**- ⮫ R9114248172)
Diagnostic Messages of Runtime RExx-EN-P
A*S‑V‑06RS
ctrlX DRIVE / eLION Reference Book DOK-XDRV**-GEN6-PARA*C- ⮫ R9114254492)
Parameters/Objects of Runtime RExx-EN-P
A*S‑V‑06RS
ctrlX DRIVE Application Manual DOK-XDRV**-AXS-05VRS**- ⮫ R911422255
AXS‑V‑05 APxx-EN-P

Functions
ctrlX DRIVE Application Manual DOK-XDRV**-AXS-05VRS*C- ⮫ R911422257
AXS‑V‑05 (CoE) APxx-EN-P

Functions
ctrlX DRIVE Reference Book DOK-XDRV**-GEN5-DIAG**- ⮫ R9114222512)
Diagnostic Messages of Runtime RExx-EN-P
AXS‑V‑05RS
ctrlX DRIVE Reference Book DOK-XDRV**-GEN5-PARA*C- ⮫ R9114222532)
Parameters/Objects of Runtime RExx-EN-P
AXS‑V‑05RS

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Firmware/Runtime

Title Type of documentation Document type 1) Material number

ctrlX DRIVE Application Manual DOK-XDRV**-AXS-04VRS**- ⮫ R911421281
AXS-V-04 APxx-EN-P

Functions
ctrlX DRIVE Application Manual DOK-XDRV**-AXS-04VRS*C- ⮫ R911421283
AXS‑V‑04 (CoE) APxx-EN-P

Functions
ctrlX DRIVE Reference Book DOK-XDRV**-GEN4-DIAG**- ⮫ R9114212772)
Diagnostic Messages of Runtime RExx-EN-P
AXS‑V‑04RS
ctrlX DRIVE Reference Book DOK-XDRV**-GEN4-PARA*C- R911421279
Parameters/Objects of Runtime RExx-EN-P
AXS‑V‑04RS
ctrlX DRIVE Application Manual DOK-XDRV**-AXS-03VRS**- ⮫ R911410073
AXS‑V‑03 APxx-EN-P

Functions
ctrlX DRIVE Application Manual DOK-XDRV**-AXS-03VRS*C- ⮫ R911398021
AXS‑V‑03 (CoE) APxx-EN-P

Functions
ctrlX DRIVE Reference Book DOK-XDRV**-GEN3-DIAG**- ⮫ R9114097632)
Diagnostic Messages of Runtime RExx-EN-P
AXS‑V‑03RS
ctrlX DRIVE Reference Book DOK-XDRV**-GEN3-PARA**- ⮫ R9114098082)
Parameters of Runtime RExx-EN-P
AXS‑V‑03RS
ctrlX DRIVE Reference Book DOK-XDRV**-GEN3-PARA*C- ⮫ R9114196432)
Parameters/Objects of Runtime RExx-EN-P
AXS‑V‑03RS
ctrlX DRIVE Application Manual DOK-XDRV**-AXS-02VRS**- ⮫ R911398021
AXS‑V‑02 APxx-EN-P

Functions
ctrlX DRIVE Reference Book DOK-XDRV**-GEN2-DIAG**- ⮫ R911383776
Diagnostic Messages of Runtime RExx-EN-P
AXS‑V‑02RS
ctrlX DRIVE Reference Book DOK-XDRV**-GEN2-PARA**- ⮫ R911383778
Parameters of Runtime RExx-EN-P
AXS‑V‑02RS
Legend:
1: In the document typecodes, xx is a placeholder for the current edition of the documentation (e.g.: RE02 is
the second edition of a Reference Book)
2: This documentation is only available as an online help (on "ctrlX AUTOMATION – Product Information") and
not in the PDF format

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Motors

15.3 Functional safety

Table 99: Documentations – functional safety
Title Type of documentation Document type 1) Material number
ctrlX SAFETY Application Manual DOK-XDRV**-SI-TX******- ⮫ R911383774
"STO" (S-/P-Parameters) APxx-EN-P

ctrlX DRIVE "2nd Generation"

ctrlX SAFETY Application Manual DOK-XDRV**-SI-TX***C**- ⮫ R911426739
"STO" (CAN Parameters) APxx-EN-P

ctrlX DRIVE "2nd Generation"

ctrlX SAFETY Application Manual DOK-XDRV**-SI-MX******- ⮫ R911404905

Documentations
"SafeMotion" (S-/P-Parameters) APxx-EN-P

ctrlX DRIVEplus
ctrlX SAFETY Application Manual DOK-XDRV**-SI-MX***C**- ⮫ R911426737
"SafeMotion" (CAN Parameters) APxx-EN-P

ctrlX DRIVEplus
1) In the document typecodes, xx is a placeholder for the current edition of the
documentation (e.g.: AP02 is the second edition of an Application Manual)

15.4 Motors
Table 100: Documentations – motors
Title Type of documentation Document typecode1) Material number
MS2N Project Planning Manual DOK-MOTOR*-MS2N*******- ⮫ R911347583
Synchronous Servomotors PRxx-EN-P
MS2S Project Planning Manual DOK-MOTOR*-MS2S*******- ⮫ R911410075
Synchronous Servomotors PRxx-EN-P
MS2E Project Planning Manual DOK-MOTOR*-MS2E*******- ⮫ R911394140
Synchronous Servomotors PRxx-EN-P

acc. to ATEX Directive 2014/34/EU

MSK Project Planning Manual DOK-MOTOR*-MSK********- ⮫ R911296289
Synchronous Servomotors PRxx-EN-P
MSK Project Planning Manual DOK-MOTOR*-MSK*EXGIIK3- ⮫ R911312709
Synchronous Servomotors PRxx-EN-P

for Potentially Explosive Areas

MKE Synchronous Motors Project Planning Manual DOK-MOTOR*-MKE*GEN3***- ⮫ R911411017
Synchronous Servomotors PRxx-EN-P

acc. to ATEX Directive 2014/34/EU

MAD / MAF Project Planning Manual DOK-MOTOR*-MAD/MAF****- ⮫ R911295781
Asynchronous Motors MAD / MAF PRxx-EN-P
MLF Project Planning Manual DOK-MOTOR*-MLF********- ⮫ R911293635
Synchronous Linear Motors PRxx-EN-P
ML3 Project Planning Manual DOK-MOTOR*-ML3********- ⮫ R911389760
Self-Cooled Linear Motors PRxx-EN-P
MCL Project Planning Manual DOK-MOTOR*-MCL********- ⮫ R911330592
Ironless Linear Motors MCL PRxx-EN-P

1) In the document type codes, "xx" is a placeholder for the current edition of
the documentation (e.g.: PR01 is the first edition of a Project Planning Manual)

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Cables

15.5 Cables
Table 101: Documentations – Cables
Title Type of documentation Document type 1) Material number
ctrlX Motor Cables and Connec- Reference Book DOK-CONNEC-XDRV*******- ⮫ R911420100
tors RExx-EN-P
Motor cables and connections Product information DOK-CONNEC- ⮫ R911401938
with IndraDrive MS2N*INDRV*-CAxx-EN-P
Rexroth Connection Cables Indra- Selection Data DOK-CONNEC-CABLE*INDRV- ⮫ R911322949
Drive and IndraDyn CAxx-EN-P
1) In the document type codes, xx is a placeholder for the current edition of
the documentation (e.g.: CA03 is the third edition of the Catalog documenta-
tion)

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16 Service and support

Our worldwide service network provides an optimized and efficient support.
Our experts provide you with advice and assistance. You can contact us 24/7.

Service Germany
Our technology-oriented Competence Center in Lohr, Germany, is responsible
for all your service-related queries for electric drive and controls.
Contact the Service Hotline and Service Helpdesk under:
Phone: +49 9352 40 5060

Service and support

Fax: +49 9352 18 4941
Email: ⮫ [email protected]
Internet: ⮫ http://www.boschrexroth.com

Additional information on service, repair (e.g. delivery addresses) and training

can be found on our internet sites.

Service worldwide
Outside Germany, please contact your local service office first. For hotline
numbers, refer to the sales office addresses on the internet.

Preparing information
To be able to help you more quickly and efficiently, please have the following
information ready:
● Detailed description of malfunction and circumstances
● Type plate specifications of the affected products, in particular type codes
and serial numbers
● Your contact data (phone and fax number as well as your e-mail address)

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17 Glossary
Active safety unit
An active safety unit is a safety relay, selected the safe function via OSSD outputs. The active safety
unit itself tests its outputs.
ACURO®link
ACURO®link is registered trademark of Hengstler GmbH.
Application Manual
The application manual comprises the entire documentation which is used to provide information
to the user of the product about the use and the safety-relevant contents for project planning,
assembly, installation, mounting, commissioning, operation, maintenance, repairs and decommis-
sioning of the product. The following terms are used for the application manual: Operating Instruc-
tions, Commissioning Manual, Instruction Manual, Project Planning Manual, Application Manual, etc.

Glossary
Application parameters
Application parameters are parameters that are used to configure and parameterize a function.
Furthermore, the following aspects apply to ctrlX DRIVE Runtime: Depending on the configured
storage mode (0x2B60:01 / S–0–0269), the values of application parameters are stored in the
device and can be restored by "Restore" when a device is replaced. Application parameters are
contained in the list of application data (0x2B60:03 / S–0–0192).
BiSS
BiSS is registered trademark of iC-Haus GmbH.
CIP Safety
CIP Safety™ is a trademark under license of ⮫ Open DeviceNet Vendor Association, Inc
Compatibility
Compatibility of a new function or functional enhancement means that, for example, a parameter
file from a previous version can be used in the new firmware.
Component
A component is a combination of assembly parts with a specified function which are part of the
equipment, the device or the system. Components of the electric drive and control system are e.g.
supply units, drive control devices, mains choke, mains filter, motors, cables, etc.
Control system
A control system comprises several interconnected control components, put on the market as a
single functional unit.
ctrlX AUTOMATION
ctrlX AUTOMATION is the open and scalable automation platform; it breaks down the conventional
boundaries between machine control, IT world and Internet of Things.
ctrlX DRIVE
ctrlX DRIVE is the product line of the compact modular drive system of ctrlX AUTOMATION.
ctrlX DRIVE Engineering
ctrlX DRIVE Engineering is the software used to configure and commission the ctrlX DRIVE drive
system.
ctrlX DRIVE Technology Function
ctrlX DRIVE Technology Function is the PLC firmware function that allows customized PLC programs
or ready-made Technology Apps to be used in the axis processor of the ctrlX DRIVE drive system.
ctrlX DRIVEplus
ctrlX DRIVE is the product line of the compact modular drive system of ctrlX AUTOMATION.
With ctrlX DRIVEplus, the drives can be extended by additional software functions and hardware.
ctrlX SAFETY
ctrlX SAFETY is an umbrella term for the safety technology product lines of ctrlX AUTOMATION.
ctrlX SAFETY refers to compact safety controllers of the SAFEX-C.12 and SAFEX-C.15 types.
Other characteristics of safety technology product lines are ctrlX DRIVEplus and ctrlX SAFETYplus.

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ctrlX SENSEmotor
ctrlX SENSEmotor is the encoder interface/protocol for the motor encoders coded with IS / IM /
JS / JM in the type code of the motor.
"I" stands for BASIC, "J" for STANDARD. "S" stands for single-turn, "M" for multi-turn.
ctrlX WORKS
ctrlX WORKS is the central software of ctrlX AUTOMATION. In ctrlX WORKS, all available ctrlX
devices in the network are visible.
Furthermore, ctrlX WORKS can be used to install and start app-based and web-based engineering
and programming tools for typical automation tasks. It is possible to develop your own applications
in any programming language, and third-party apps can be integrated in ctrlX WORKS.
Device
A device is an end product with an individual function, intended for the user and put on the market
as individual commodity.
Drive
A drive (electric drive) consists of a drive controller with an electric motor.
Electric drive system
An electric drive system comprises all components from mains supply to motor shaft; this includes,
for example, electric motor(s), motor encoder(s), supply units and drive controllers, as well as
auxiliary and additional components, such as mains filter, mains choke and the corresponding lines
and cables.
Electrical equipment
Electrical equipment comprises all devices used to generate, convert, transmit, distribute or apply
electrical energy, such as electric motors, transformers, switching devices, cables, lines, power-con-
suming devices, circuit board assemblies, plug-in units, control cabinets, etc.
EnDat
EnDat® is a registered trademark of -Dr. Johannes Heidenhain GmbH.
EtherCAT
EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation
GmbH, Deutschland.
Ethernet POWERLINK
Ethernet POWERLINK is an Ethernet-based, realt-time-compatible field bus. Originally designed by
B&R and published in 2001, Ethernet POWERLINK has been specified and developed since 2003 by
the ⮫ Ethernet POWERLINK Standardization Group (EPSG) user organization. The protocol specifica-
tion is an open and readily accessible.
EtherNet/IP
EtherNet/IP™ is a trademark under license of ⮫ Open DeviceNet Vendor Association, Inc
HIPERFACE
HIPERFACE® is registered trademark of SICK-STEGMANN GmbH.
Encoders with digital interfaces (RS485) for transmission of position, encoder and OEM data
besides analog sine/cosine signals are referred to as HIPERFACE encoders.
Incompatibility
Incompatible new functions or incompatible functional enhancements produce a device behavior
which does not correspond to the previous version.
Installation
An installation consists of multiple devices or systems interconnected for a defined purpose and at
a defined location. However, these devices or systems are not intended to be put on the market as a
single functional unit.
Machine
The term machine refers to the entirety of the interconnected parts or components. At least one
part or one component is movable. A machine consists of machine drive elements as well as control
circuits and energy circuits, connected for a certain application. A machine is, for example, intended
for processing, handling, movement or packaging of a material. The term “machine” also covers a
combination of machines that are arranged and controlled to function as a unitary whole.

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Manufacturer
The manufacturer is an individual or legal entity assuming responsibility for the design and manufac-
turing of a product which is put on the market in the individual's or legal entity's name. The manu-
facturer can use finished products, finished parts or finished elements or externally subcontract
work. However, the manufacturer is obliged to supervise manufacturing of the product and has to
be authorized to assume responsibility for the product.
Normal mode
Normal mode is the state in which machines and installations are used within their sizing parame-
ters.
In normal mode (also referred to as production mode or automatic mode), protective devices pre-
vent human access to danger points. These protective devices also prevent parts/material from
being ejected.
OSSD

Glossary
"OSSD" (Output Signal Switching Device) is the part of a safe selection unit which has been con-
nected to the machine control and which changed to the OFF state, if the safe selection unit triggers
during the intended operation.
Package
A package is an installable artifact that contains one or more software artifacts (1..n) which can be
used on a device.
A package can contain, for example, firmware artifacts, applications, templates and recipes. Pack-
ages are customized features a customer can buy and/or install.
Passive safety unit
A passive safety unit is a safety relay in which the safe function is selected via dry contacts.
Product
Example of a product: Device, component, part, system, software, firmware, among other things.
PROFINET
PROFINET® (Process Field Network) is the open Industrial Ethernet standard of ⮫ Profibus &
Profinet International (PI) for automation.
PROFINET® is registered trademark of PROFIBUS Nutzerorganisation e. V.
Project Planning Manual
A Project Planning Manual is part of the application documentation used to assist in the sizing and
planning of systems, machines or installations.
Qualified personnel
As defined by this application manual, qualified personnel comprises persons familiar with the
installation, assembly, commissioning and operation of the components of the electric drive and
control system as well as the associated risks and persons who are qualified in their field. The
following qualifications are required:
● Training, instruction or authorization to safely switch electric circuits and devices on and off, to
ground and to label them.
● Training or instruction on the maintenance and the use of appropriate safety equipment.
● First aid training
Safety over EtherCAT
Safety over EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Auto-
mation GmbH, Deutschland.
Sercos
Sercos® is registered trademark of ⮫ Sercos International e.V.
Sin/cos encoder
Encoders with analog track signals providing two position-dependent sine signals with an offset of
90° (sine and cosine) are referred to as sin/cos encoders*. In accordance with the encoder type,
these signals recur over a revolution or over the length of the encoder. The number of repetitions
per revolution or the distance of the signal/division periods (linear) defines the resolutions of the
encoder.
The signal amplitude has to be within defined limits. The signal shape has to remain within specified
limits. In this case, the mechanical type is irrelevant (rotary encoder or linear encoder).

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In addition, sin/cos encoders where applicable provide reference signals that have a fixed mechan-
ical relation to the encoder. The reference signals can be defined as equidistant or distance-coded
in relation to the position. Due to the reference signals it is possible to obtain the position data in
relation to the mechanics.
*Inspecialized literature and documentations, the following terms are used synonymously: "sine-
cosine encoder", "sin-cos encoder", "sine/cosine encoder", "sin/cos encoder", "sine encoder"...
State machine
The state transitions and the interaction of the control and status bits are called state machine.
A distinction is made between the device-internal state machine (defines the device-specific states
which determine the behavior of the device) and the state machine of master communication.
TwinCAT
TwinCAT® is registered and licensed trademark of Beckhoff Automation GmbH, Germany.
User
A user is a person installing, commissioning or using a product which has been placed on the
market.

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18 Index Detecting static error states: see Dynamization

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
A Diagnostic display
Acknowledgment. . . . . . . . . . . . . . . . . . . . . . 193 PF01 LED. . . . . . . . . . . . . . . . . . . . . . . . . 394
Activate Digital inputs
Safe local inputs. . . . . . . . . . . . . . . . . . . . 279 Safety technology SafeMotion XG44. . . . . 389
Assigning an SMO axis identifier. . . . . . . . . . 265 Safety technology SafeMotion XG45. . . . . 391
Automatic mode. . . . . . . . . . . . . . . . . . . . . . . 19 Standard. . . . . . . . . . . . . . . . . . . . . . . . . . 387
Axis identifier Technical data. . . . . . . . . . . . . . . . . . . . . . 387
assign. . . . . . . . . . . . . . . . . . . . . . . . . . . . 265 Digital outputs
confirm. . . . . . . . . . . . . . . . . . . . . . . . . . . 266 Safety technology SafeMotion XG44. . . . . 389
Axis validation. . . . . . . . . . . . . . . . . . . . . . . . 299 Safety technology SafeMotion XG45. . . . . 391
Technical data, standard. . . . . . . . . . . . . . 388
B
Display elements
Battery safety. . . . . . . . . . . . . . . . . . . . . . . . . 18 EtherCAT, LEDs. . . . . . . . . . . . . . . . . . . . . 395
Brake PROFINET, LEDs. . . . . . . . . . . . . . . . . . . . 395
Replacing. . . . . . . . . . . . . . . . . . . . . . . . . 332 Sercos, LEDs. . . . . . . . . . . . . . . . . . . . . . 395
Brake configuration. . . . . . . . . . . . . . . . . . . . 277 Documentation
Bus communication Cables. . . . . . . . . . . . . . . . . . . . . . . . . . . . 406
Decoding binary coded selection signals. 220 Drive systems. . . . . . . . . . . . . . . . . . . . . . 403
C Firmware. . . . . . . . . . . . . . . . . . . . . . . . . . 403
Cable Motors. . . . . . . . . . . . . . . . . . . . . . . . . . . 405
replace. . . . . . . . . . . . . . . . . . . . . . . . . . . 337 Runtime. . . . . . . . . . . . . . . . . . . . . . . . . . 403
Cables System components. . . . . . . . . . . . . . . . . 403
Documentation. . . . . . . . . . . . . . . . . . . . . 406 Drive components
RKB0061. . . . . . . . . . . . . . . . . . . . . . . . . . 364 Replacing. . . . . . . . . . . . . . . . . . . . . . . . . 331
RKB0062. . . . . . . . . . . . . . . . . . . . . . . . . . 364 Drive controller
Changing the operating status. . . . . . . . . . . 289 Replacing. . . . . . . . . . . . . . . . . . . . . . . . . 335
Commissioning. . . . . . . . . . . . . . . . . . . . . . . 238 Drive firmware. . . . . . . . . . . . . . . . . . . . . . . . 240
Commissioning the safety technology Dynamization. . . . . . . . . . . . . . . . . . . . . . . . . . 35
Introduction. . . . . . . . . . . . . . . . . . . . . . . 240 E
Safety instruction. . . . . . . . . . . . . . . . . . . 239 Encoder
Communication module ACURO®link. . . . . . . . . . . . . . . . . . . . . . . 246
EtherCAT. . . . . . . . . . . . . . . . . . . . . . . . . . 367 Configuring. . . . . . . . . . . . . . . . . . . . . . . . 267
Sercos. . . . . . . . . . . . . . . . . . . . . . . . . . . . 367 Connection, XG20. . . . . . . . . . . . . . . . . . . 385
Confirm SMO identification?. . . . . . . . . . . . . 266 Connection, XG21, XG22. . . . . . . . . . . . . 386
Connection ctrlX SENSEmotor. . . . . . . . . . . . . . . . . . . 385
Communication (XF21 P1, XF22 P2). . . . 367 Evaluation. . . . . . . . . . . . . . . . . . . . . . . . . . 37
Hybrid connection (motor, motor Hiperface®. . . . . . . . . . . . . . . . . . . . 245, 248
temperature monitoring and motor holding Replacing. . . . . . . . . . . . . . . . . . . . . . . . . 333
brake). . . . . . . . . . . . . . . . . . . . . . . . . . . . 369 Supported encoder systems. . . . . . . . . . . 386
Motor (XD03). . . . . . . . . . . . . . . . . . . . . . 372 Encoder evaluation. . . . . . . . . . . . . . . . . . . . . 37
Motor encoder (XG20). . . . . . . . . . . . . . . 385 Error reaction. . . . . . . . . . . . . . . . . . . . . . . . 292
Motor holding brake (XG03). . . . . . . . . . . 380 EtherCAT
Motor temperature monitoring (XG03). . . 380 Connection. . . . . . . . . . . . . . . . . . . . . . . . 367
Multi-encoder (XG21, XG22). . . . . . . . . . 386 Display elements (LEDs). . . . . . . . . . . . . 395
Constantly select the output signal. . . . . . . . 220
F
Controller configuration. . . . . . . . . . . . . . . . 241
Controlling the brake. . . . . . . . . . . . . . . . . . . . 89 FailSafe over EtherCAT. . . . . . . . . . . . . . . . . 207
ctrlX SENSEmotor Feedback. . . . . . . . . . . . . . . . . . . . . . . . . . . . 193
Encoder. . . . . . . . . . . . . . . . . . . . . . . . . . 385 Firmware
Documentation. . . . . . . . . . . . . . . . . . . . . 403
D
Firmware replacement. . . . . . . . . . . . . . . . . 338
Danger Issues. . . . . . . . . . . . . . . . . . . . . . . . . . . . 342
Incorrect use. . . . . . . . . . . . . . . . . . . . . . . . 14 Firmware update. . . . . . . . . . . . . . . . . . . . . . 338
Dangerous movement Firmware upgrade. . . . . . . . . . . . . . . . . . . . . 338
Protection. . . . . . . . . . . . . . . . . . . . . . . . . . 16 freely configurable assemblies
Decoding binary coded selection signals. . . 220 consumer connections. . . . . . . . . . . . . . . 201

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Freely configurable assemblies. . . . . . . . . . . 200 Machine acceptance test. . . . . . . . . . . . . . . . 311

Freely configurable assemblies for producer Error reaction. . . . . . . . . . . . . . . . . . . . . . 327
connections Global monitoring function. . . . . . . . . . . . 315
Producer connection. . . . . . . . . . . . . . . . 204 Monitoring functions in normal operation 316
FSoE. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207 Safe door locking. . . . . . . . . . . . . . . . . . . 328
FSoE slave address. . . . . . . . . . . . . . . . . . . . 208 Safety zone. . . . . . . . . . . . . . . . . . . . . . . . 328
FSoE watchdog time. . . . . . . . . . . . . . . . . . . 208 Selection. . . . . . . . . . . . . . . . . . . . . . . . . . 312
H Signal control of outputs. . . . . . . . . . . . . 330
Special mode "Safe motion". . . . . . . . . . . 321
Helpdesk. . . . . . . . . . . . . . . . . . . . . . . . . . . . 407
Special mode "Safe standstill". . . . . . . . . 317
Hotline. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 407
Special mode “EMERGENCY STOP". . . . . 317
I Maintenance. . . . . . . . . . . . . . . . . . . . . . . . . 331
Incorrect use. . . . . . . . . . . . . . . . . . . . . . . . . . 14 manual operation. . . . . . . . . . . . . . . . . . . . . . 19
Intended use. . . . . . . . . . . . . . . . . . . . . . . . . . 11 Maximum velocity. . . . . . . . . . . . . . . . . . . . . 283
Areas of use. . . . . . . . . . . . . . . . . . . . . . . . 11 Monitoring the transient oscillation. . . . . . . . 95
Invert input signal. . . . . . . . . . . . . . . . . . . . . 219 Motor
IO mapper block Connection (XD03). . . . . . . . . . . . . . . . . . 372
Input signals. . . . . . . . . . . . . . . . . . . . . . . 214 Connection, motor holding brake (XG03). 380
IO mapper block type Connection, motor temperature monitoring
Binary-to-bit decoder. . . . . . . . . . . . . . . . 220 (XG03). . . . . . . . . . . . . . . . . . . . . . . . . . . 380
Inactive. . . . . . . . . . . . . . . . . . . . . . . . . . . 218 Documentation. . . . . . . . . . . . . . . . . . . . . 405
Safe AND. . . . . . . . . . . . . . . . . . . . . . . . . . 224 Hybrid connection (motor, motor
Safe AND with ES bypass and protection temperature monitoring and motor holding
against restart. . . . . . . . . . . . . . . . . . . . . 224 brake). . . . . . . . . . . . . . . . . . . . . . . . . . . . 369
Safe AND with protection against restart. 221 Motor encoder connection (XG20). . . . . . 385
Safe connector. . . . . . . . . . . . . . . . . . . . . 218 Motor holding brake (XG03). . . . . . . . . . . 380
Safe constant selection. . . . . . . . . . . . . . 220 Motor output (XD03). . . . . . . . . . . . . . . . 372
Safe inversion. . . . . . . . . . . . . . . . . . . . . . 219 Motor temperature monitoring (XG03). . . 380
Safe OR. . . . . . . . . . . . . . . . . . . . . . . . . . . 221 Multi-encoder connection (XG21, XG22). 386
IO mapper inputs. . . . . . . . . . . . . . . . . . . . . 280 Replacing. . . . . . . . . . . . . . . . . . . . . . . . . 331
Diagnostic messages involved. . . . . . . . . 218 Multi-encoder
Introduction. . . . . . . . . . . . . . . . . . . . . . . 214 Connection, XG21, XG22. . . . . . . . . . . . . 386
Parameters involved. . . . . . . . . . . . . . . . . 218 N
L Normal mode. . . . . . . . . . . . . . . . . . . . . . . . . . 19
LED Normal operation
Communication (EtherCAT). . . . . . . . . . . 395 Safe direction. . . . . . . . . . . . . . . . . . . . 82, 97
Communication (PROFINET). . . . . . . . . . 395 Safe maximum speed. . . . . . . . . . . . . . . . . 74
Communication (Sercos). . . . . . . . . . . . . 395 Safe speed monitor. . . . . . . . . . . . . . . . . . 75
Diagnostic LED, EtherCAT. . . . . . . . . . . . . 397 O
Diagnostic LED, PROFINET IO. . . . . . . . . 399
Operating stop. . . . . . . . . . . . . . . . . . . . . . . . 87
Diagnostic LED, Sercos. . . . . . . . . . . . . . 398
Optional module
EtherCAT. . . . . . . . . . . . . . . . . . . . . . . . . . 395
EC, multi-encoder interface. . . . . . . . . . . 386
Optional safety technology module. . . . . 399
M5, SafeMotion. . . . . . . . . . . . . . . . . . . . 365
PF01, diagnostic display. . . . . . . . . . . . . . 394
M8, SafeMotion. . . . . . . . . . . . . . . . . . . . 366
PF40 and PF41. . . . . . . . . . . . . . . . . . . . . 399
Port LED, EtherCAT. . . . . . . . . . . . . . . . . 395 P
Port LED, Sercos. . . . . . . . . . . . . . . . . . . 395 P1, P2
PROFINET. . . . . . . . . . . . . . . . . . . . . . . . . 395 Communication. . . . . . . . . . . . . . . . . . . . 367
Sercos. . . . . . . . . . . . . . . . . . . . . . . . . . . . 395 PELV. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Limited speed. . . . . . . . . . . . . . . . . . . . . . . . . 93 Performance
Limiting the positioning velocity. . . . . . . . . . 178 Reaction times. . . . . . . . . . . . . . . . . . . . . . 30
Limiting the speed. . . . . . . . . . . . . . . . . . . . . . 93 Time response. . . . . . . . . . . . . . . . . . . . . . 30
M PF01
LED. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 394
M5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241
PFH value
SafeMotion. . . . . . . . . . . . . . . . . . . . . . . . 365
SafeMotion. . . . . . . . . . . . . . . . . . . . . . . . . 32
M8
SafeMotion. . . . . . . . . . . . . . . . . . . . . . . . 366

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Port LED RKB0061. . . . . . . . . . . . . . . . . . . . . . . . . . . . 364

Displays. . . . . . . . . . . . . . . . . . . . . . . . . . 395 RKB0062. . . . . . . . . . . . . . . . . . . . . . . . . . . . 364
Predefined configuration Runtime
Consumer connection. . . . . . . . . . . . . . . . 200 Documentation. . . . . . . . . . . . . . . . . . . . . 403
Producer connection. . . . . . . . . . . . . . . . 202 S
Predefined configurations. . . . . . . . . . . . . . . 199
Safe brake control. . . . . . . . . . . . . . . . . . 89, 276
Processing the input signals simultaneously. 221
Safe direction. . . . . . . . . . . . . . . . . . . . . . . . 284
Production mode. . . . . . . . . . . . . . . . . . . . . . . 19
Safe local inputs
Profiles. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207
Test pulse width. . . . . . . . . . . . . . . . . . . . 279
PROFINET
Waiting time for debouncing. . . . . . . . . . 279
Display elements (LEDs). . . . . . . . . . . . . 395
Safe maximum speed. . . . . . . . . . . . . . . . . . 283
PROFINET IO
Safe motion. . . . . . . . . . . . . . . . . . . . . . . . . . 286
Connection. . . . . . . . . . . . . . . . . . . . . . . . 367
Safe operating stop. . . . . . . . . . . . . . . . . . . . . 87
PROFIsafe. . . . . . . . . . . . . . . . . . . . . . . . . . . 210
Safe standstill. . . . . . . . . . . . . . . . . . . . . . . . 285
Protection
Safe use
Battery safety. . . . . . . . . . . . . . . . . . . . . . . 18
Requirements. . . . . . . . . . . . . . . . . . . . . . . 13
Contact with hot parts. . . . . . . . . . . . . . . . 17
Safe zone error. . . . . . . . . . . . . . . . . . . . . . . 234
Dangerous movement. . . . . . . . . . . . . . . . . 16
Safely detect the axis standstill. . . . . . . . . . . . 40
Electromagnetic and magnetic fields. . . . . 17
Safely-limited end position. . . . . . . . . . . . . . . 77
Handling. . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Safely-limited speed. . . . . . . . . . . . . . . . . . . . 93
Mounting. . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Safely-monitored transient oscillation. . . . 95
Pressurized systems. . . . . . . . . . . . . . . . . . 18
Safely-monitored transient oscillation. . . . . . . 95
Protection against restart
SafeMotion
Pulse duration monitoring. . . . . . . . 223, 226
M5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 365
Protective extra-low voltage. . . . . . . . . . . . . . 15
M5, connection points. . . . . . . . . . . . . . . 364
Push-pull operation
M8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 366
Safety technology SafeMotion M8. . . . . . 393
M8, connection points. . . . . . . . . . . . . . . 366
R M8, push-pull operation. . . . . . . . . . . . . . 393
Reaction time XG44. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 365
Error reaction. . . . . . . . . . . . . . . . . . . . . . . 30 XG45. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 366
Zone bus. . . . . . . . . . . . . . . . . . . . . . . . . . . 31 SafeMotion function package
Zone error. . . . . . . . . . . . . . . . . . . . . . . . . . 31 Activation. . . . . . . . . . . . . . . . . . . . . . . . . . 30
Zone node. . . . . . . . . . . . . . . . . . . . . . . . . . 31 Safety bus communication
Reaction times. . . . . . . . . . . . . . . . . . . . . . . . . 30 Brief description. . . . . . . . . . . . . . . . . . . . 197
Release update. . . . . . . . . . . . . . . . . . . . . . . 338 Freely configurable assemblies. . . . . . . . . 200
Replacement Functional principle. . . . . . . . . . . . . . . . . 198
Cable. . . . . . . . . . . . . . . . . . . . . . . . . . . . 337 Predefined configurations. . . . . . . . . . . . 199
Drive controller. . . . . . . . . . . . . . . . . . . . . 335 Safety characteristics
Motor. . . . . . . . . . . . . . . . . . . . . . . . . . . . 331 Optional modules "SafeMotion" . . . . . . . . 32
Replacing PFH component of an axis. . . . . . . . . . . . . 33
Drive components. . . . . . . . . . . . . . . . . . . 331 Total PFH value of a safety zone. . . . . . . . . 34
Replacing devices Safety functions
Drive controller. . . . . . . . . . . . . . . . . . . . . 333 Limiting the positioning velocity. . . . . . . . 178
Requirements Safe brake control. . . . . . . . . . . . . . . . . . . 89
ACUROⓇlink encoder. . . . . . . . . . . . . . . . 253 Safe direction. . . . . . . . . . . . . . . . . . . . 82, 97
Brakes. . . . . . . . . . . . . . . . . . . . . . . . . . . . 259 Safe maximum speed. . . . . . . . . . . . . . . . . 74
Commissioning tools. . . . . . . . . . . . . . . . 260 Safe operating stop. . . . . . . . . . . . . . . . . . 87
Controller configuration. . . . . . . . . . . . . . 241 Safe speed monitor. . . . . . . . . . . . . . . . . . 75
Drive firmware. . . . . . . . . . . . . . . . . . . . . 240 Safe stop 1. . . . . . . . . . . . . . . . . . . . . . . . 111
Measuring systems. . . . . . . . . . . . . . . . . . 241 Safe stop 2. . . . . . . . . . . . . . . . . . . . . . . . 136
Motors. . . . . . . . . . . . . . . . . . . . . . . . . . . 241 Safely-limited end position. . . . . . . . . . . . . 77
Optional measuring systems. . . . . . . . . . . 252 Safely-limited increment. . . . . . . . . . . . . . . 99
Safe use. . . . . . . . . . . . . . . . . . . . . . . . . . . 13 Safely-limited position. . . . . . . . . . . . . . . 101
Third-party motors. . . . . . . . . . . . . . . . . . 252 Safely-limited speed. . . . . . . . . . . . . . . . . . 93
Risk assessment. . . . . . . . . . . . . . . . . . . . . . 238 Safely-monitored deceleration. . . . . . . . . 152
RKB0013. . . . . . . . . . . . . . . . . . . . . . . . . . . . 367 Safely-monitored position. . . . . . . . . . . . . 106
RKB0021. . . . . . . . . . . . . . . . . . . . . . . . . . . . 367 Safely-monitored transient oscillation. . . . 95

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Safety technology Special mode "Safe direction"

M5 (SafeMotion). . . . . . . . . . . . . . . . . . . . 365 Safe direction. . . . . . . . . . . . . . . . . . . . 82, 97
M8 (SafeMotion). . . . . . . . . . . . . . . . . . . . 366 Special mode "Safe motion"
Safety zone. . . . . . . . . . . . . . . . . . . . . . . . . . 277 Safely-limited increment. . . . . . . . . . . . . . . 99
Safety zone acknowledge. . . . . . . . . . . . . . . 228 Safely-limited position. . . . . . . . . . . . . . . 101
SAFETYlink Safely-limited speed. . . . . . . . . . . . . . . . . . 93
XG42, XG43. . . . . . . . . . . . . . . . . . . . . . . 364 Safely-monitored position. . . . . . . . . . . . . 106
SBC. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89 Safely-monitored transient oscillation. . . . 95
scaling Special mode "Safe standstill"
plausibility check. . . . . . . . . . . . . . . . . . . . 46 Safe brake control. . . . . . . . . . . . . . . . . . . 89
Scaling Safe operating stop. . . . . . . . . . . . . . . . . . 87
Absolute format/modulo format. . . . . . . . . 43 SS1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
Acceleration data. . . . . . . . . . . . . . . . . . . . 42 SS2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
Data reference of position, velocity and SSM. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
acceleration. . . . . . . . . . . . . . . . . . . . . . . . 44 Standstill. . . . . . . . . . . . . . . . . . . . . . . . . . . . 285
deviating from the default scaling of the drive Standstill monitoring. . . . . . . . . . . . . . . . . . . 275
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 State of the art. . . . . . . . . . . . . . . . . . . . . . . . 11
Jerk data. . . . . . . . . . . . . . . . . . . . . . . . . . . 42 Support. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 407
Mechanical system. . . . . . . . . . . . . . . . . . . 45 Support functions. . . . . . . . . . . . . . . . . . . . . 294
of the default drive. . . . . . . . . . . . . . . . . . . 46 SZA. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228
Polarity of scaling data. . . . . . . . . . . . . . . . 45 SZE. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234
Position data. . . . . . . . . . . . . . . . . . . . . . . . 41 T
Velocity data. . . . . . . . . . . . . . . . . . . . . . . . 42
Technical data
Scaling system. . . . . . . . . . . . . . . . . . . . . . . . . 41
Digital inputs. . . . . . . . . . . . . . . . . . . . . . 387
Scalings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Digital inputs, safety technology SafeMotion
SDI. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82, 97
XG44. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 389
Select safety function. . . . . . . . . . . . . . . . . . 193
Digital inputs, safety technology SafeMotion
Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . 193
XG45. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 391
via the optional safety technology module 195
Digital outputs (standard). . . . . . . . . . . . 388
Sercos
Digital outputs, safety technology SafeMotion
Connection. . . . . . . . . . . . . . . . . . . . . . . . 367
XG44. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 389
Display elements (LEDs). . . . . . . . . . . . . 395
Digital outputs, safety technology SafeMotion
Service hotline. . . . . . . . . . . . . . . . . . . . . . . 407
XG45. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 391
Setting-up mode. . . . . . . . . . . . . . . . . . . . . . . 19
Time response. . . . . . . . . . . . . . . . . . . . . . . . . 30
Signal control of inputs. . . . . . . . . . . . . . . . . 278
Transition function
Parameter settings for initial commissioning
Safe stop 1. . . . . . . . . . . . . . . . . . . . . . . . 111
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 278
Safe stop 2. . . . . . . . . . . . . . . . . . . . . . . . 136
SLE. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Transition functions
SLI. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Safely-monitored deceleration. . . . . . . . . 152
SLP. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Type code
SLS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
XCD. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
SLS-LT. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
XCS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
SMD. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
XMD. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Compensating transient oscillation processes
XMS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174
Configuring. . . . . . . . . . . . . . . . . . . . . . . . 154 U
Deselecting. . . . . . . . . . . . . . . . . . . . . . . . 177 Unintended use. . . . . . . . . . . . . . . . . . . . . . . . 12
Selecting. . . . . . . . . . . . . . . . . . . . . . . . . . 160 Consequences, disclaimer. . . . . . . . . . . . . 11
Time-optimized switching when selecting a Use
motion mode. . . . . . . . . . . . . . . . . . . . . . 175 Danger. . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Transition to the safe state. . . . . . . . . . . . 160 Intended use. . . . . . . . . . . . . . . . . . . . . . . . 11
SMP. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106 Safe use. . . . . . . . . . . . . . . . . . . . . . . . . . . 13
SMS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 Unintended use. . . . . . . . . . . . . . . . . . . . . . 12
SOS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 V
Special mode. . . . . . . . . . . . . . . . . . . . . . . . . . 19
Version downgrade. . . . . . . . . . . . . . . . . . . . 338
Safe maximum speed. . . . . . . . . . . . . . . . . 74
Version upgrade. . . . . . . . . . . . . . . . . . . . . . 338
Safe speed monitor. . . . . . . . . . . . . . . . . . 75

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W
Wiring inputs and outputs
Wiring variants. . . . . . . . . . . . . . . . . . . . . 263
X
XCD
Type code. . . . . . . . . . . . . . . . . . . . . . . . . . 22
XCS
Type code. . . . . . . . . . . . . . . . . . . . . . . . . . 22
XD03
Motor output. . . . . . . . . . . . . . . . . . . . . . 372
XF21 P1, XF22 P2
Communication. . . . . . . . . . . . . . . . . . . . 367
XG03
Motor temperature monitoring and motor
holding brake. . . . . . . . . . . . . . . . . . . . . . 380
XG20
Motor encoder. . . . . . . . . . . . . . . . . . . . . 385
XG21, XG22
Multi-encoder. . . . . . . . . . . . . . . . . . . . . . 386
XG42, XG43
Optional safety technology Safe Motion
(communication). . . . . . . . . . . . . . . . . . . 364
XG44
Optional safety technology SafeMotion. . 365
XG45
Optional safety technology SafeMotion. . 366
XMD
Type code. . . . . . . . . . . . . . . . . . . . . . . . . . 23
XMS
Type code. . . . . . . . . . . . . . . . . . . . . . . . . . 24
XZ03
Hybrid connection (motor, motor
temperature monitoring and motor holding
brake). . . . . . . . . . . . . . . . . . . . . . . . . . . . 369
Z
Zone error
Check during machine acceptance test. . 328
Parameterization during initial commissioning
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277

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Bosch Rexroth AG R911426737– Edition 01

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R911426737– Edition 01 Bosch Rexroth AG

Bosch Rexroth AG
Bgm.-Dr.-Nebel-Str. 2
97816 Lohr a.Main
Germany
Tel. +49 9352 18 0
Fax +49 9352 18 8400
www.boschrexroth.com/electrics

*R911426737-01*
R911426737 01