Bosch Rexroth IndraDrive Series Applications Manual page 55

52/149 Bosch Rexroth AG
Integrated safety functions
Dynamization
Requirements on the command
value input
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Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16)
For pin assignments and technical data, please refer to the
Project Planning Manual of the device.
The safety function "Safe Torque Off" can be divided into the following topics
which are described in detail below:
● Dynamization
● Requirements on the command value input
● Selecting the safety function "Safe Torque Off"
Dynamization is to detect static error states in the wiring and in the safety-
relevant circuits. Dynamization takes place automatically in the background
without having an effect on the safety function or the standard drive functions.
A safety function is selected via an N/C-N/C combination, i.e. a "0"-signal at
both inputs is evaluated as the selection of the safety function. Therefore, the
dynamization of the external selection channels can only take place in the
deselected state (normal operation). Internal dynamizations are carried out
independent of the selection.
For the dynamization of the safety function selection, we distinguish whether
the safety function is selected via an active or a passive safety unit. The
dynamization function is explained in the chapter on "Dynamization".
Dynamization pulses of a duration of 20 µs and more are recognized as valid
dynamization pulses.
The dynamization pulses are monitored for:
● the time interval,
● the pulse width, and
● the sampling ratio.
The "L option" monitors whether the dynamization of the selection signals is
carried out in the deselected state. Monitoring takes place so that
dynamization is carried out at the latest after 1 hour in the deselected state
(normal operation). For this purpose, the time in the deselected state is
added in the drive and only reset by dynamization; i.e. an interim selection
does not cause monitoring to be reset. Monitoring takes place independently
for both selection channels. If the time interval is exceeded, the error
message "F3134 Dynamization time interval incorrect" is generated.
To increase the noise immunity, the safety technology tolerates
the failure of a dynamization pulse, when the following 8
dynamization pulses occur within the time window described
above.
The safety technology monitors the sampling ratio of the dynamization pulse,
too. When this is done, the dynamization pause must be at least 90% of a
dynamization period. If the dynamization pause is shorter, the error message
"F8300 Dynamization pulse width incorrect" is generated.
Before selecting the safety function "Safe Torque Off", the drive
system must be decelerated via the command value input; drive-
controlled deceleration does not take place!
The safety function "Safe Torque Off" corresponds to stop
category 0 according to EN 60204-1.
DOK-INDRV*-SI3-**VRS**-AP06-EN-P