Bosch rexroth MCL, Project Planning Manual

Page: 133 / 206

9.20 Deactivation upon EMERGENCY STOP and in the event of a
malfunction
9.20.1 General
Deactivation of an axis equipped with MCL motor, can be initiated by
●
EMERGENCY STOP,
● Drive fault (e.g. response of the encoder monitoring function) or
● Power outage
In the options for deactivation of MCL motors in case of malfunction, a dis‐
tinction must be made between
●
Deactivation by the drive,
● Deactivation by a master control and
● Deactivation by a mechanical braking device.
9.20.2 Deactivation by the drive
As long as there is no fault or malfunction in the drive system, shutdown by
the drive is possible. The shutdown possibilities depend on the occurred drive
error and on the selected error response of the drive. Certain faults (interface
faults or fatal faults) lead to a force disconnection of the drive.
Death, serious injuries or damage to equip‐
ment may result from an uncontrolled coast‐
ing of a switched-off linear drive!
WARNING
⇒ Construction and design according to the safety standards
⇒ Protection of people by suitable barriers and enclosures
⇒ Using external mechanical braking facilities
⇒ Use suitable energy-absorbing end position shock absorber
The parameter values of the drive response to interface faults and non-fatal
faults can be selected. The drive switches off at the end of each fault re‐
sponse.
The following fault responses can be selected:
0 – Setting velocity command value to zero
1 - Setting force command value to zero
2 - Setting velocity command value to zero with command value ramp and fil‐
ter
3 - Retraction
Please refer to the corresponding firmware function description
for additional information about the reaction to faults and the rela‐
ted parameter value assignments.
MCL Ironless Linear Motors 125/197
Application and construction instructions
R911330592_Edition 06 Bosch Rexroth AG