Bosch Rexroth IndraDrive Series Applications Manual page 56

DOK-INDRV*-SI3-**VRS**-AP06-EN-P
Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16)
Selecting the safety function "Safe
Torque Off"
LSA Control S.L. www.lsa-control.com comercial@lsa-control.com (+34) 960 62 43 01
If the safety function "Safe Torque Off" is selected with drive enable set, the
safety function is executed while a diagnostic message is generated at the
same time, because the drive must first be decelerated before the safety
function is allowed to be activated.
Up to MPx17V06: The diagnostic message which is output is the warning
"E8027 STO/SBC while drive enabled".
As of MPx17V08: The parameter "P-0-0101, Configuration STO/SBC" can be
used to select whether the drive is to react to the error with the fatal error
"F8027 STO/SBC while drive enabled" or the fatal warning "E8027 STO/SBC
while drive enabled".
The warning is automatically cleared, when drive enable is removed, the
error must be cleared by the user.
The diagnostic messages are recorded in "S-0-0375, Diagnostic
numbers list".
DANGER
⇒ When the safety function "Safe Torque Off" is selected with drive enable
having been set, the drive torque, independent of the diagnostic message
which was set, is immediately disabled and the drive coasts to stop; the
shutdown process is relatively slow and, above all, not safe!
With IndraDrive Cs, IndraDrive C, IndraDrive M and IndraDrive ML, the safety
function "Safe Torque Off" can be optionally selected via one channel or via
two channels.
In the case of "IndraDrive Mi", selection via one channel is not
allowed!
The selection of the safety function is detected, when a "0"-signal is detected
on both selection inputs. The selection can alternatively be made by means
of active or passive safety units.
See also "Examples of application"
In the case of the safety option "L4", the safety function "Safe
Brake Control" is activated, too, when the safety function "Safe
Torque Off" is selected and a brake is available. It is impossible to
select or deselect both safety functions separately.
The safety technology checks the selection signals for validation. In the case
of single-channel selection, i.e. dual-channel selection is expected due to the
wiring, but only one channel is selected, the second channel must be
selected before the first channel is deselected; otherwise, the error message
"F8301 Error when checking selection signals" is generated.
The tolerance time for the differing selection between the two
selection channels is 1 s; the parameter setting cannot be
changed.
For diagnostic purposes, the state of the safety function "Safe Torque Off"
can be read via parameter "P-0-0106, Operating status STO/SBC".
Bosch Rexroth AG
Integrated safety functions
Lethal injury and/or material damage caused
by coasting axes!
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