Control Unit Requirements - Bosch Rexroth IndraDrive Series Applications Manual

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Commissioning the safety technology
Step 3: Activating / deactivating
the safety function
8.5

Control unit requirements

Optional safety technology mod‐
ules "L3" and "L4"
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Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16)
In the case of installations for which it is impossible to ensure that
drive enable is removed before the special mode is selected (e.g.,
drive enable removed by opening the safety door), the "warning
E8027" should be parameterized for "Reaction in special mode
(...) when drive enable already set".
The corresponding parameter is "P-0-0101, Configuration STO/SBC".
● The "Diagnostic message output" field is used to limit the error output in
the operating mode (OM), after the initialization of the axis and before
drive enable is set for the first time; for this purpose, select "Limited
diagnostic message".
When the L option is selected by external components which
output invalid selection states during initialization, "Limited
diagnostic message" should be parameterized.
The corresponding parameter is "P-0-0101, Configuration STO/SBC".
Before selecting the safety function "Safe Torque Off", shut down
the drive system by means of the command value input and reset
drive enable. There is no drive-controlled stopping process!
The safety function "Safe Torque Off" is automatically activated after the
booting process. It cannot be deactivated.
The control unit is subject to the following requirements in conjunction with
the optional safety technology modules "L3" and "L4":
● Before selecting the safety function, shut down the drive by means of
the command value input and disable the drive torque.
● When the safety function is selected via the control unit, the selection
must at least comply with the required safety level of the application.
● When the safety function is selected via isolated selection contacts
(passive safety unit), it must be ensured that the test pulses described in
chapter "Dynamization" are not inhibited.
- or -
The control unit features OSSD outputs (active safety unit) and must
monitor the wiring between the control unit and the safety option, as well
as detect errors in the wiring.
DOK-INDRV*-SI3-**VRS**-AP06-EN-P