Bosch rexroth CytroForce-M, Operating Manual

Page: 50 / 85

50 / 85
Servo-hydraulic actuator
Test sequence for validating the safety functions
Bosch Rexroth AG RE62270-B, 01.21
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Drive-internal command value provision and drive-internal enable
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Drive-internal command value provision and external drive enable
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External command value provision and external drive enable
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Manual movement
8.4.3 Machine acceptance
A machine acceptance test from the drive's point of view is always required
when the safety technology of a servo-hydraulic actuator is parameterized for
the first time (initial commissioning) or modified.
Definition of “modified":
Safety technology parameters were changed or extended serial commissioning
was carried out (copy of a servo-hydraulic actuator as a template with a new
axis identifier and modified parameterization)
In the application of the safety functions of a servo-hydraulic actuator it is not
sufficient to carry out acceptances according to the above documentation. In
the following the deviations/extensions are described, which are relevant for
the machine acceptance and illustrate the specific interrelationships in a servo-
hydraulic actuator with safety functions.
Selection
For accepting the selection, the description according to the documentation
above may be applied without any restrictions.
Global monitoring functions
If global monitoring functions are activated, they can be accepted according to
the documentation mentioned above.
Please note that the monitoring functions refer to the externally connected,
safety-capable linear encoder, since it provides the feedback in the case of a
hazardous situation of the servo-hydraulic actuator.
The following checks must be carried out, if the monitoring functions are acti-
vated:
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Check the safe maximum linear velocity
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Check the linear velocity threshold for “safe standstill”
Monitoring in normal operation
If monitoring functions are activated during normal operation, they can be
accepted according to the documentation mentioned above.
Please note that the monitoring functions refer to the externally connected,
safety-capable linear encoder, since it provides the feedback in the case of a
hazardous situation of the servo-hydraulic actuator.
Special mode "EMERGENCY STOP" and “Safe standstill”
The special modes "EMERGENCY STOP" and “Safe standstill” can be accepted
according to the above documentation.
Please note that the monitoring functions refer to the externally connected,
safety-capable linear encoder, since it provides the feedback in the case of a
hazardous situation of the servo-hydraulic actuator.
Special mode “Safe motion”
If special “Safe motion” modes are configured, they can be accepted according
to the documentation mentioned above.
The following checks have to be carried out according to the configuration: