Bosch rexroth CytroForce-M, Operating Manual

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57 / 85
Servo-hydraulic actuator
Error management and event management
Bosch Rexroth AG RE62270-B, 01.21
ON/OFF
The system is switched off. No control voltage is applied.
Ready for operation (bb)
The system is supplied with control voltage. After having gone through the com-
munication phases, after a start or after the power was switched off from the
“ready” operating state of the drive, or after an error state of a relevant class
was acknowledged, the system is in the state “ready for operation”.
Drive ready (Ab)
The system is supplied with control voltage. The system is in the “drive ready”
state, when the power is switched on while the system has been in the oper-
ating state “ready for operation”, the enable has been removed in the operating
state “drive enable” or an error state of the relevant class has been acknowl-
edged.
Drive enable (AF)
The drive is enabled when the system is supplied with control voltage, the
power has been switched on and the enable has been granted from the “drive
ready” state.
Error (Fxxxx)
The system is in an error state. To reactivate the drive, the error has to be recti-
fied and the error message cleared. Depending on the type of error, the power
has to be switched on again and/or the enable granted.
9.2 Error management and event management
9.2.1 Error management
In the error management of the servo-hydraulic actuator, warning and error
events are assigned to stop categories according to the type and severity of the
event. System events which have been categorized in this way lead to the reac-
tions listed in the following table.
Table 5: Stop categories of the servo-hydraulic actuator
Stop category Priority Reaction
STOP 0 Events of category “Stop 0” are immediately signaled as
errors and immediately shut the servo-hydraulic actuator
down. These events must be acknowledged after the cause
has been eliminated.
Stop 1 High Events in the category “Stop 1” are immediately signaled as
errors. In contrast to category “Stop 0” the servo-hydraulic
actuator can in principle still be used for setting a safe state.
After a certain time has elapsed or after completion of the
abort reaction, switching from “Stop 1” in to “Stop 0“ takes
place automatically. These events must be acknowledged
after the cause has been eliminated.
Warning Low Events of the category “Warning” are only signaled and have
an effect on the servo-hydraulic actuator in exceptional cases
only. These events are automatically reset when the cause
has been eliminated. Warnings that are only present tempora-
rily are signaled for a configurable minimum time (e.g. 5 s,
specific to the application at hand).