Bosch rexroth CytroForce-M, Руководство по эксплуатации

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Servo-hydraulic actuator
Product description
Bosch Rexroth AG RE62270-B, 01.21
For further information, refer to the application manual “Rexroth IndraDrive
Integrated Safety Technology "Safe Motion" (as of MPx-18), 911338920, see
also
⮫
Chapter 1.2 “Required and supplementary documentation” on page 5.
Braking and holding system of the servo-hydraulic actuator
The safe braking and holding system of the servo-hydraulic actuator intervenes
in a target-oriented manner in the electrical and the hydraulic section by reli-
ably switching off the motor torque and the valves of the safety function that
are arranged in series in the control block. To this end, the integrated “Safe
Motion“ safety functions “Safe Torque Off, STO) and “Safe Brake Control,
SBC)” are triggered together. The output stage in the power section of the
drive controller is reliably blocked, the two valves are switched off in two chan-
nels via the decentralized safe control unit(s) for inductive loads (HAT02.1).
The braking and holding system is initiated from, for example, the safety func-
tion “Safe Stop 1“ (Safe Stop 1, SS1).
Fig. 6: Braking/holding system
n motor speed
v traversing speed of axis
s axis position
tv safe deceleration time
The safety function SS1 can be used to realize controlled stopping according to
stop category 1 to EN 60204-1. After the safety function was selected, the drive
brakes independently at a quick stop ramp and, after a set safe deceleration
time has elapsed, automatically activates the safety functions STO and SBC.
If the safe deceleration time is set to 0 s, the behavior corresponds to con-
trolled stopping according to stop category 0 to EN 60204-1.
Number of safety functions
The safety functions are selected either via the inputs of the decentralized
safety zone module (HSZ01) or via a safe field bus at the Multi-Ethernet inter-
face (ET).
Safety-capable encoder system and encoder evaluation
In the case of encoder-dependent safety functions the selection of the encoder
system on the load side is decisive. The safety-capable encoder system must