Bosch rexroth CytroForce-M, Руководство по эксплуатации

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51 / 85
Servo-hydraulic actuator
Test sequence for validating the safety functions
Bosch Rexroth AG RE62270-B, 01.21
●
Transition into the special “Safe motion” mode
●
Individual activation time of enabling control
●
“Safely limited speed”
●
“Safely-monitored transient oscillation”
●
“Safe direction”
●
“Safely limited increment”
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.
Error reaction
The error reaction of the servo-hydraulic actuator can be accepted according to
the documentation mentioned above.
It must be checked, whether in the case of a safety technology fault the servo-
hydraulic actuator can be stopped as configured and the Safe Motion does not
change to the escalation process, see
⮫
Chapter 8.4.4 “Escalation”
on page 51.
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.
Safety zone and Safe door locking
The acceptance can be carried out according to the documentation mentioned
above, if the servo-hydraulic actuator is configured as zone node or zone
master, and zone errors are generated or reactions to zone errors take place.
In this dialog, it is possible to check whether the servo-hydraulic actuator, as
configured, generates a zone error or reacts to zone errors.
Signal control of outputs
If the function of safe outputs is used, the documentation mentioned above can
be used for acceptance.
8.4.4 Escalation
Stopping of the servo-hydraulic actuator in the last escalation level is carried
out by the following actions:
●
Switching the motor torque off by activating the safety function “Safe torque
off” (STO)
The connected motor is no longer supplied with energy and a pressure
buildup is thus prevented.
●
Closing of the two safety-related valves in the hydraulic retaining branch by
the safety function “Safe brake controller” (SBC)
By activating the SBC function the two valves are reliably deactivated via the
decentralized brake control module(s) (HAT02.1-003).
●
De-energizing the switching outputs (closing of the functional valves)
Since the servo-hydraulic linear axis may only be stopped from the safe func-
tions STO and SBC, the acceptance of the escalation level has to be checked
without use of the functional outputs. For this purpose the shut-off valves (e.g.
valve chamber 1) have to be kept permanently open (e.g. by using a valve con-
nector with permanent energization).
In the subsequent steps you can verify whether the escalation level of safe
standstill from the function of STO with SBC until a functional standstill of the
servo-hydraulic actuator takes place within a sufficient time.