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Bosch Rexroth IndraDrive Series Applications Manual
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Bosch Rexroth IndraDrive Series Applications Manual

Integrated safety technology 'safe torque off' (as of mpx-16)
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Catálogos
Levante Sistemas de
Automatización y Control S.L.
LSA Control S.L. - Bosch Rexroth Sales Partner
Ronda Narciso Monturiol y Estarriol, 7-9
Edificio TecnoParQ Planta 1ª Derecha, Oficina 14
(Parque Tecnológico de Paterna)
46980 Paterna (Valencia)
Telf. (+34) 960 62 43 01
comercial@lsa-control.com
www.lsa-control.com
www.boschrexroth.es
Distribuidor oficial Bosch Rexroth, Indramat, Bosch y Aventics.
www.lsa-control.com

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Summary of Contents for Bosch Rexroth IndraDrive Series

  • Page 1 Catálogos Levante Sistemas de Automatización y Control S.L. LSA Control S.L. - Bosch Rexroth Sales Partner Ronda Narciso Monturiol y Estarriol, 7-9 Edificio TecnoParQ Planta 1ª Derecha, Oficina 14 (Parque Tecnológico de Paterna) 46980 Paterna (Valencia) Telf. (+34) 960 62 43 01 comercial@lsa-control.com...
  • Page 2 The Drive & Control Company Rexroth IndraDrive Integrated Safety Technology „Safe Torque Off“ (as of MPx-16) Application Manual Edition 06 R911332634 LSA Control S.L. www.lsa-control.com comercial@lsa-control.com (+34) 960 62 43 01...
  • Page 3 © Bosch Rexroth AG 2014 This document, as well as the data, specifications and other information set forth in it, are the exclusive property of Bosch Rexroth AG. It may not be reproduced or given to third parties without its consent.

  • Page 4: Table Of Contents

    DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG I/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Table of Contents Table of Contents Page Introduction........................5 About this documentation........................5 Documentations............................7 1.2.1 Drive systems, system components....................7 1.2.2 Motors..............................7 1.2.3...
  • Page 5 II/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Table of Contents Page 4.3.3 Standards relevant to machinery....................... 37 4.3.4 EC Directives............................. 38 Overview of functions and characteristics.................... 38 4.4.1 Characteristics of integrated safety technology................. 38 4.4.2...
  • Page 6 DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG III/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Table of Contents Page 8.2.2 Required drive firmware........................84 8.2.3 Required controller configuration....................... 84 8.2.4 Required motors and measuring systems..................86 8.2.5 Allowed motor holding brakes......................86 8.2.6...
  • Page 7 IV/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Table of Contents Page 12.2.2 X6, Motor Temperature Monitoring and Motor Holding Brake ............120 12.3 IndraDrive Mi............................123 12.3.1 KCU02 connection points........................ 123 12.3.2...

  • Page 8: Introduction

    DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 5/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Introduction Introduction About this documentation Editions of this documentation Release Edition Notes date DOK-INDRV*-SI3-OP-MAN*-OP01-EN-P 2010-10 First edition ● Corrections DOK-INDRV*-SI3-**VRS**-AP02-EN-P 2011-07 ● Optional module "L3" included...
  • Page 9 6/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Introduction This symbol highlights useful tips and tricks. Signal words in accordance with ANSI Z535.6-2011 draw the reader's attention to hazards (see "Explanation of signal words and the safety alert symbol").

  • Page 10: Documentations

    DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 7/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Introduction Your Feedback Your experience is important for our improvement processes of products and documentations. If you discover mistakes in this documentation or suggest changes, you can send your feedback to the following e-mail address: Dokusupport@boschrexroth.de...

  • Page 11: Gearboxes

    8/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Introduction Title Kind of documentation Material number Document typecode Rexroth IndraDyn … R911… DOK-MOTOR*-… L Ironless Linear Motors MCL Project Planning Manual MCL********-PRxx-EN-P 330592...
  • Page 12 DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 9/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Introduction Title Kind of documentation Material number Document typecode Rexroth IndraDrive ... R911… DOK-INDRV*-… MPx-18 Application Manual MP*-18VRS**-APxx-EN-P 338673 Functions MPx-18 Release Notes MP*-18VRS**-RNxx-EN-P...
  • Page 13 10/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) LSA Control S.L. www.lsa-control.com comercial@lsa-control.com (+34) 960 62 43 01...

  • Page 14: Important Directions For Use

    DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 11/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Important Directions for Use Important Directions for Use Appropriate Use 2.1.1 Introduction Rexroth products reflect the state-of-the-art in their development and their manufacture. They are tested prior to delivery to ensure operating safety and reliability.

  • Page 15: Inappropriate Use

    12/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Important Directions for Use To ensure application-specific use of Drive controllers, device types of different drive power and different interfaces are available. Typical applications include, for example: ●...

  • Page 16: Safety Instructions For Electric Drives And Controls

    DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 13/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Safety instructions for electric drives and controls Safety instructions for electric drives and controls Definitions of terms Application Documentation Application documentation comprises the entire documentation used to...

  • Page 17: General Information

    14/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Safety instructions for electric drives and controls work requires. To comply with these qualifications, it is necessary, among other things, ● to be trained, instructed or authorized to switch electric circuits and devices safely on and off, to ground them and to mark them.

  • Page 18: Hazards By Improper Use

    DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 15/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Safety instructions for electric drives and controls ● Applications for functional safety are only allowed if clearly and explicitly specified application documentation "Integrated Safety Technology".

  • Page 19: Instructions With Regard To Specific Dangers

    16/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Safety instructions for electric drives and controls ● Dangerous movements! Danger to life, serious injury or property damage by unintended motor movements! ● Health hazard for persons with heart pacemakers, metal implants and hearing aids in proximity to electric drive systems! ●...

  • Page 20: Protective Extra-Low Voltage As Protection Against Electric Shock

    DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 17/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Safety instructions for electric drives and controls ● Under specific conditions, electric drive systems can be operated at mains protected by residual-current-operated circuit-breakers sensitive to universal current (RCDs/RCMs).

  • Page 21: Protection Against Dangerous Movements

    18/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Safety instructions for electric drives and controls equipped with basic insulation (such as programming devices, PCs, notebooks, display units) to these connections. Danger to life, risk of injury by electric shock! High electrical voltage by...

  • Page 22: Protection Against Electromagnetic And Magnetic Fields During Operation And Mounting

    DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 19/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Safety instructions for electric drives and controls ● Make sure the safety fences and protective coverings are strong enough to resist maximum possible kinetic energy.

  • Page 23: Protection Against Contact With Hot Parts

    20/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Safety instructions for electric drives and controls ● Before entering these areas, the above-mentioned persons should seek advice from their physician. ● Observe the occupational safety and health regulations applicable at the...

  • Page 24: Protection Against Pressurized Systems

    DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 21/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Safety instructions for electric drives and controls ● Do not attempt to reactivate low batteries by heating or other methods (risk of explosion and cauterization).

  • Page 25: Explanation Of Signal Words And The Safety Alert Symbol

    22/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Safety instructions for electric drives and controls Explanation of signal words and the Safety alert symbol The Safety Instructions in the available application documentation contain...

  • Page 26: System Overview

    DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 23/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) System overview System overview Introduction 4.1.1 Motivation and objectives Overview The operational safety of machines and installations depends largely upon the extent of dangerous movements generated by the machine.

  • Page 27: Conceptual Overview

    24/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) System overview 4.1.2 Conceptual overview An IndraDrive system consists of the components power section, control section (incl. firmware) and motor, and the possibly required additional components.
  • Page 28 DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 25/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) System overview short overview on the subject of risk assessment; users of integrated safety technology are obliged to intensively study the respective standards and legal status.

  • Page 29: Product Presentation

    26/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) System overview Safety Integrity Level (SIL): relation between the SILs of IEC 62061 and the Performance Level (PL) of EN ISO 13849‑1 Performance Level...

  • Page 30: Integrated Safety Technology As Indradrive Platform Solution

    DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 27/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) System overview Requirements that can be realized The integrated safety technology is independent of the type of master communication, the higher-level control unit and the supply modules. It is available as a functional characteristic of the standard drive system.
  • Page 31 28/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) System overview Fig. 4-2: Type code HCS01 LSA Control S.L. www.lsa-control.com comercial@lsa-control.com (+34) 960 62 43 01...
  • Page 32 DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 29/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) System overview To employ the integrated safety technology, it is necessary to use at least the following firmware version or higher in the drive: ●...
  • Page 33 30/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) System overview Fig. 4-4: Type code KMS LSA Control S.L. www.lsa-control.com comercial@lsa-control.com (+34) 960 62 43 01...
  • Page 34 DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 31/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) System overview Fig. 4-5: Type code KSM LSA Control S.L. www.lsa-control.com comercial@lsa-control.com (+34) 960 62 43 01...
  • Page 35 32/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) System overview To employ the integrated safety technology "Safe Torque Off" (L3), it is necessary to use at least the following firmware version or higher in the drive: ●...
  • Page 36 DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 33/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) System overview Fig. 4-7: Type code CSH02 LSA Control S.L. www.lsa-control.com comercial@lsa-control.com (+34) 960 62 43 01...
  • Page 37 34/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) System overview Fig. 4-8: Type code CDB02 To employ the integrated safety technology "Safe Torque Off" (L3), it is necessary to use at least the following firmware version or higher in the drive: ●...
  • Page 38 DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 35/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) System overview Fig. 4-9: Type code CSB02.5 LSA Control S.L. www.lsa-control.com comercial@lsa-control.com (+34) 960 62 43 01...
  • Page 39 36/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) System overview Fig. 4-10: Type code CSH02.5 LSA Control S.L. www.lsa-control.com comercial@lsa-control.com (+34) 960 62 43 01...

  • Page 40: Safety-Relevant Standards And Regulations

    4.3.1 General information Standard documents and sheets are subject to copyright protection and Bosch Rexroth must not pass them on. If required, contact the authorized sales agencies; in Germany directly contact Beuth Verlag GmbH (http://www.din.de/beuth). Below the user will find a short overview of the relevant standards for the use of safety-related control units.

  • Page 41: Ec Directives

    38/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) System overview Standard Title Robots and robotic devices - Safety requirements for industrial robots ISO 10218-1 Part 1: Robots ISO 10218-2 Part 2: Robot system and integration...

  • Page 42: Supported Safety Technology Functions

    DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 39/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) System overview Drive system with optional safety technology module "Safe Torque Off and Safe Brake Control" By means of the optional safety technology module "Safe Torque Off and Safe Brake Control"...

  • Page 43: Safety Characteristics Of The Safety System

    40/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) System overview Selection Deselection of the safety functions, i.e. transition from of the safety functions, i.e. transition to normal normal operation ("bb/Ab") operation ("bb/Ab") "Safe Brake Control"...

  • Page 44: Optional Safety Technology Modules "L3" / "L4

    DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 41/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) System overview technology modules "L3" and "L4", the paragraph below shows how the PFH value can be determined for a drive system and how additional external components must be integrated.

  • Page 45: Calculating The Total Pfh Value Of A Safety Zone

    42/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) System overview "Mission Time" and "Proof Test" interval ● The "Mission Time" of all components used must be observed and complied with. After the "Mission Time" of a component has elapsed, the component must be discarded or replaced.

  • Page 46: Functional Principle Of Integrated Safety Technology

    DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 43/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Functional principle of integrated safety technology Functional principle of integrated safety technology Basic functions 5.1.1 Overview In the case of a standard drive, the axis / spindle / roll is moved according to the command values of the control unit.

  • Page 47: Dynamization

    44/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Functional principle of integrated safety technology Fig. 5-1: Schematic diagram of IndraDrive Cs with integrated safety technology 5.1.2 Dynamization Brief description Dynamization is to detect static error states in the safety-relevant circuits.
  • Page 48 DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 45/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Functional principle of integrated safety technology ● Short circuit between both selection signals In order that all other relevant errors can be detected by the optional safety technology modules "L3"/"L4", the dynamization pulses of the OSSD outputs...
  • Page 49 46/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Functional principle of integrated safety technology Fig. 5-3: Dynamization in the case of selection via an active safety unit When choosing safety unit, maximum...
  • Page 50 DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 47/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Functional principle of integrated safety technology Fig. 5-4: Dynamization in the case of selection via a passive safety unit At maximum, a safety zone may contain 25 drives with an optional safety technology module "L3"/"L4".
  • Page 51 48/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) LSA Control S.L. www.lsa-control.com comercial@lsa-control.com (+34) 960 62 43 01...

  • Page 52: Integrated Safety Functions

    DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 49/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Integrated safety functions Integrated safety functions Overview of safety functions 6.1.1 General information The application-related safety functions "Safe Torque Off" and "Safe Brake Control" described below have been realized for personal protection in accordance with ISO 13849-1, Category 4, PL e and IEC 62061, SIL3.

  • Page 53: Safety Functions In Special Mode "Safe Standstill

    "Safe Torque Off", e.g. in case of a vertical axis, this motion has to be safely prevented by additional measures, e.g. a mechanical brake or a weight compensation; for such axes, Bosch Rexroth recommends that you use the safe braking and holding system.
  • Page 54 DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 51/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Integrated safety functions ● In the case of IndraDrive Cs, IndraDrive C, IndraDrive M and IndraDrive ML, the selection can take place via one channel, alternatively by means of –...
  • Page 55 52/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Integrated safety functions For pin assignments and technical data, please refer to the Project Planning Manual of the device. The safety function "Safe Torque Off" can be divided into the following topics which are described in detail below: ●...
  • Page 56 DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 53/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Integrated safety functions If the safety function "Safe Torque Off" is selected with drive enable set, the safety function is executed while a diagnostic message is generated at the same time, because the drive must first be decelerated before the safety function is allowed to be activated.

  • Page 57: Safe Brake Control (Sbc)

    "Safe Torque Off", e.g. in case of a vertical axis, this motion has to be safely prevented by additional measures, e.g. a mechanical brake or a weight compensation; for such axes, Bosch Rexroth recommends that you use the safe braking and holding system.
  • Page 58 DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 55/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Integrated safety functions ● Is suited for safety-relevant applications up to Category 4, PL e according to ISO 13849-1 or SIL 3 according to IEC 62061.
  • Page 59 56/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Integrated safety functions ● A0011 STO/SBC active ● C0256 Safety technology configuration error ● E8027 STO/SBC while drive enabled ● F3134 Dynamization time interval incorrect ●...
  • Page 60 DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 57/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Integrated safety functions for both selection channels. If the time interval is exceeded, the error message "F3134 Dynamization time interval incorrect" is generated. To increase the noise immunity, the safety technology tolerates...
  • Page 61 58/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Integrated safety functions When the safety function "Safe Brake Control" is selected, the safety function "Safe Torque Off" is activated, too. It is impossible to select or deselect both safety functions separately.

  • Page 62: Examples Of Application

    DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 59/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Examples of application Examples of application Examples of application for IndraDrive Cs, IndraDrive C and IndraDrive M 7.1.1 STO and SBC functions ("L4" only) when selected by means of pas‐...
  • Page 63 60/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Examples of application Single-channel wiring Fig. 7-2: STO function and SBC function (only IndraDrive Cs with "L4") with sin‐ gle-channel wiring and passive safety unit When the wiring (as illustrated above) between the passive safety unit and connector X49 of the "L option"...

  • Page 64: Sto And Sbc Functions ("L4" Only) When Selected By Means Of Active Safety Units

    DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 61/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Examples of application 7.1.2 STO and SBC functions ("L4" only) when selected by means of active safety units Dual-channel wiring Plus-plus-switching safety unit When the safety function is selected by means of a plus-plus-switching safety unit, the following errors must be detected by the OSSD outputs: ●...
  • Page 65 62/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Examples of application Fig. 7-4: STO function and SBC function (only IndraDrive Cs with "L4") with ac‐ tive safety unit (plus-minus-switching outputs) Single-channel wiring When the safety function is selected by means of a safety unit, the short circuit with 24 V must be detected by the OSSD output.
  • Page 66 DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 63/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Examples of application Fig. 7-5: STO function and SBC function (only IndraDrive Cs with "L4") with sin‐ gle-channel wiring and active safety unit When the wiring between the active safety unit and connector X49 of the "L option"...

  • Page 67: Safe Stop 1 (Emergency Stop)" Function With "L3"/"L4" Option

    64/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Examples of application 7.1.3 "Safe stop 1 (emergency stop)" function with "L3"/"L4" option Using the E-Stop function of the drive (or the NC stop of the control unit), the STO function can be extended to obtain the "Safe stop 1 (Emergency stop)"...

  • Page 68: Zone Setup

    DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 65/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Examples of application 7.1.4 Zone setup Fig. 7-7: Example of zone setup (in this case: 2 IndraDrive in a safety zone with dual-channel wiring and passive safety unit) Examples of application for IndraDrive Mi 7.2.1...
  • Page 69 66/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Examples of application Fig. 7-8: Inadmissible single-channel wiring of IndraDrive Mi LSA Control S.L. www.lsa-control.com comercial@lsa-control.com (+34) 960 62 43 01...
  • Page 70 DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 67/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Examples of application Fig. 7-9: Inadmissible single-channel wiring of IndraDrive Mi LSA Control S.L. www.lsa-control.com comercial@lsa-control.com (+34) 960 62 43 01...

  • Page 71: Central Selection At Kcu

    68/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Examples of application 7.2.2 Central selection at KCU Selection via the passive safety unit Fig. 7-10: KCU02 with dual-channel wiring and passive safety unit...
  • Page 72 DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 69/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Examples of application Fig. 7-11: KCU02 with active safety unit (plus-plus-switching outputs) Plus-minus-switching safety unit When the safety function is selected by means of a plus-minus-switching safety unit, the following errors must be detected by the OSSD outputs: ●...
  • Page 73 70/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Examples of application Fig. 7-12: KCU02 with active safety unit (plus-minus-switching outputs) LSA Control S.L. www.lsa-control.com comercial@lsa-control.com (+34) 960 62 43 01...
  • Page 74 DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 71/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Examples of application "Safe stop 1 (Emergency stop)" function with "L3" option Using the E-Stop function of the drive (or the NC stop of the control unit), the STO function can be extended to obtain the "Safe stop 1 (Emergency stop)"...

  • Page 75: Distributed Selection At Ksm02 / Kms02

    72/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Examples of application 7.2.3 Distributed selection at KSM02 / KMS02 Selection via the passive safety unit Fig. 7-14: KMS02 with dual-channel wiring and passive safety unit The assignment of the dynamization signals can be selected as desired.
  • Page 76 DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 73/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Examples of application Selection via active safety units Plus-minus-switching safety unit When the safety function is selected by means of a plus-minus-switching safety unit, the following errors must be detected by the OSSD outputs: ●...
  • Page 77 74/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Examples of application Fig. 7-16: KMS02 with active safety unit (plus-plus-switching outputs) "Safe stop 1 (Emergency stop)" function with "L3" option Using the E-Stop function of the drive (or the NC stop of the control unit), the STO function can be extended to obtain the "Safe stop 1 (Emergency stop)"...

  • Page 78: Zone Setup

    DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 75/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Examples of application Fig. 7-17: SS1 function via KMS02 with dual-channel wiring and passive safety unit 7.2.4 Zone setup The figure below shows an exemplary zone setup with two safety zones.
  • Page 79 76/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Examples of application function to obtain the "Safe stop 1 (Emergency stop)" function . Drive 4 features L3 option. In the case of devices of the KMS02 / KSM02 type, X141 is covered by a plastic hood in the condition as supplied.
  • Page 80 DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 77/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Examples of application Drive 1 Selection of safety zone 1 via a passive safety unit at KCU; connector RBS0023 for transmitting the selection signals is...

  • Page 81: Mixed Operation Of Optional Safety Technology Modules "L2" And "L3"/"L4

    78/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Examples of application [the STO function is extended to obtain the "Safe stop 1 (Emergency stop)" function] Mixed Operation of Optional Safety Technology Modules "L2"...
  • Page 82 DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 79/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Examples of application ● Short circuits of the 0 V-switching output against 0 V/GND must be detected. ● Short circuits of the 24 V-switching output against a voltage >10 V must be detected.

  • Page 83: Mixed Operation Of Optional Safety Technology Modules "L2" And "L3"/"L4" At A Passive Safety Unit

    80/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Examples of application 7.3.2 Mixed Operation of Optional Safety Technology Modules "L2" and "L3"/"L4" at a Passive Safety Unit Dual-Channel Selection of When a safety zone is to be implemented, in which drives with optional safety "L3"/"L4"...
  • Page 84 DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 81/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Examples of application ● The two outputs of the passive safety unit, which are used to control the "L2" options, must meet the requirements of the SIL or Performance Level to be achieved.
  • Page 85 82/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) LSA Control S.L. www.lsa-control.com comercial@lsa-control.com (+34) 960 62 43 01...

  • Page 86: Commissioning The Safety Technology

    For the maximum gear input torque, too, a safety factor in relation to the maximum motor torque must be taken into account. This, too, applies to motor-gearbox combinations by Bosch Rexroth. (See also documentation of the respective gearbox.) LSA Control S.L. www.lsa-control.com comercial@lsa-control.com (+34) 960 62 43 01...

  • Page 87: Required Drive Firmware

    84/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Commissioning the safety technology In the case of error, injury and property WARNING damage due to inadmissibly high voltage! For selection and the 24 V supply of devices with integrated safety...
  • Page 88 DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 85/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Commissioning the safety technology HCS03.1E-W0xxx-A-05-xxxN) with CSB02 or CSH02 control section ● IndraDrive M (HMS01, HMS02) with CSB02 or CSH02 control section ● IndraDrive M (HMD01) with CDB02 control section All IndraDrive C and IndraDrive M power sections produced since 2007 can use the Cxx02 control sections.

  • Page 89: Required Motors And Measuring Systems

    86/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Commissioning the safety technology 8.2.4 Required motors and measuring systems Rexroth Motors The motor and the measuring system are not subject to any specific requirements in conjunction with the "L options"...

  • Page 90: Required Commissioning Tools

    DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 87/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Commissioning the safety technology 8.2.6 Required commissioning tools One of the following tools is required for commissioning the optional safety technology modules "L3"/"L4": ●...
  • Page 91 88/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Commissioning the safety technology Fig. 8-1: Overview - commissioning steps of the "Safe Torque Off" function Commissioning steps The "Safe Torque Off" and "Safe Brake Control" functions (L4 only) are...
  • Page 92 DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 89/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Commissioning the safety technology ● The selection inputs SI_Ch1 (X49/3) and SI_Ch2 (X49/1) always ● The 24V supply of the X49 connector (X49/4) in the case of selection via a passive safety unit ●...
  • Page 93 90/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Commissioning the safety technology Fig. 8-3: IndraWorks "Configuration" dialog ● Switch the drive to the parameter mode (phase 2 or PM). ● Use the field "Reaction in special mode (...) when external drive enable already set"...

  • Page 94: Indradrive Mi: Commissioning The "Safe Torque Off" Function (Optional Safety Technology Mod- Ule "L3")

    DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 91/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Commissioning the safety technology 8.4.2 IndraDrive Mi: Commissioning the "Safe Torque Off" function (option‐ al safety technology module "L3") Overview The "Safe Torque Off" function can be commissioned for the IndraDrive Mi system, preferably via the IndraWorks commissioning software or manually.
  • Page 95 92/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Commissioning the safety technology Commissioning steps Step 0: Condition as supplied and The "Safe Torque Off" function is always active and cannot be deactivated.
  • Page 96 DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 93/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Commissioning the safety technology Fig. 8-5: IndraWorks "Configuration" dialog ● Switch the drive to the parameter mode (phase 2 or PM). ● Use the field "Reaction in special mode (...) when external drive enable already set"...

  • Page 97: Indradrive C, Indradrive M And Indradrive Ml: Commissioning The "Safe Torque Off" Function (Optional Safety Technology Module "L3")

    94/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Commissioning the safety technology 8.4.3 IndraDrive C, IndraDrive M and IndraDrive ML: Commissioning the "Safe Torque Off" function (optional safety technology module "L3") Overview The "Safe Torque Off"...
  • Page 98 DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 95/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Commissioning the safety technology Commissioning steps Step 0: Condition as supplied and The "Safe Torque Off" function is always active and cannot be deactivated.

  • Page 99: Control Unit Requirements

    96/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Commissioning the safety technology In the case of installations for which it is impossible to ensure that drive enable is removed before the special mode is selected (e.g., drive enable removed by opening the safety door), the "warning...

  • Page 100: Notes On Troubleshooting

    DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 97/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Notes on troubleshooting Notes on troubleshooting Introduction For diagnostic purposes (error messages, warnings and operating status messages) and servicing (firmware and hardware replacement), users must...

  • Page 101: Diagnostic Messages Of Integrated Safety Technology

    98/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Notes on troubleshooting ● S-0-1300.x.3, Vendor Code ● S-0-1300.x.4, Device Name ● S-0-1300.x.5, Vendor Device ID ● S-0-1300.x.8, Hardware version ● S-0-1300.x.9, Software version ●...

  • Page 102: Behavior In The Case Of Non-Fatal Safety Technology Errors (F3Xxx)

    DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 99/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Notes on troubleshooting – "Complete diagnostic message" is active (green), when the axis has been in control after the initialization. Safety technology error messages are not suppressed.

  • Page 103: Behavior In The Case Of Fatal Errors (F8Xxx)

    100/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Notes on troubleshooting The error message was cleared by the error clearing command (cf. "S-0-0099, C0500 Reset class 1 diagnostics"). The drive is in the operating mode again and power was switched on ("Ab").

  • Page 104: Removing Malfunctions, Maintenance Measures, Deactivating The Motors

    DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 101/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Notes on troubleshooting The drive must be in the operating mode again and power must be switched on again ("Ab"). Drive enable must be switched on again (positive edge).

  • Page 105: Replacing The Brake

    102/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Notes on troubleshooting The motor should be replaced by a motor of identical type. Only by doing this is it ensured that all parameter settings can remain unchanged;...
  • Page 106 DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 103/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Notes on troubleshooting ESD protection Risk of damage and impairment to reliability NOTICE from electrostatic discharge. Exposed conductive parts coming into contact with control sections and optional cards must be discharged beforehand through grounding.

  • Page 107: Replacing The Controller

    104/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Notes on troubleshooting Instructions 1. Loosen the mounting screws for the control section, optional card or blank cover. ①②③ Mounting screws: ① CSx02.5 control section, ②...
  • Page 108 DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 105/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Notes on troubleshooting (e.g., optional safety technology module). The control section and power section are firmly connected to each other; only Rexroth service engineers or especially trained users are allowed to replace individual components.
  • Page 109 106/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Notes on troubleshooting ● With IndraDrive C/M/Cs/ML: Pull off programming module / control panel from defective device. ● With IndraDrive Mi: Remove programming module (X107) from defective device, note down positions of address selector switches S4 and S5 (address selector switches below connections X103.1...
  • Page 110 DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 107/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Notes on troubleshooting IndraDrive Mi does not have a control panel, the parameter image of the safety technology must therefore be activated by executing the command "P-0-3231.0.3, C8300 SMO: Command Activate...
  • Page 111 108/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Notes on troubleshooting The parameter values saved after initial NOTICE commissioning are not generally suited for reestablishing the operability of the drive after replacement of devices!

  • Page 112: Decommissioning Drive Components

    DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 109/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Decommissioning Drive Components Decommissioning Drive Components Before the drive or a component is decommissioned, an impact and hazard analysis must be prepared. This analysis must assess how the decommissioning affects the safety of the installation.
  • Page 113 110/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) LSA Control S.L. www.lsa-control.com comercial@lsa-control.com (+34) 960 62 43 01...

  • Page 114: Declarations Of Conformity

    DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 111/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Declarations of conformity Declarations of conformity LSA Control S.L. www.lsa-control.com comercial@lsa-control.com (+34) 960 62 43 01...

  • Page 115: Indradrive Cs (Hcs01)

    112/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Declarations of conformity 11.1 IndraDrive Cs (HCS01) The "HCS01" drive controller of the "IndraDrive Cs" range complies with the protection goals of the Low-Voltage Directive 2006/95/EC.
  • Page 116 The declaration of conformity is expected to be available in the English language with signatures as of July 2014. If you have access to the Bosch Rexroth Intranet, please download the declaration of conformity here; otherwise, please contact your responsible sales partner.

  • Page 117: Indradrive M / Indradrive C (Hcs, Hms)

    114/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Declarations of conformity 11.2 IndraDrive M / IndraDrive C (HCS, HMS) The "HCS" / "HMS" controllers of the "IndraDrive M" / "IndraDrive C" ranges comply with the protection goals of the Low-Voltage Directive 2006/95/EC.
  • Page 118 The declaration of conformity is expected to be available in the English language with signatures as of July 2014. If you have access to the Bosch Rexroth Intranet, please download the declaration of conformity here; otherwise, please contact your responsible sales partner.

  • Page 119: Indradrive Mi (Ksm02, Kms02)

    116/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Declarations of conformity 11.3 IndraDrive Mi (KSM02, KMS02) The distributed servo drive "KSM02" and the distributed drive controller "KMS02" of the "IndraDrive Mi" range comply with the protection goals of the Low-Voltage Directive 2006/95/EC.
  • Page 120 The declaration of conformity is expected to be available in the English language with signatures as of July 2014. If you have access to the Bosch Rexroth Intranet, please download the declaration of conformity here; otherwise, please contact your responsible sales partner.

  • Page 121: Indradrive Ml (Hmu05)

    The type examination had not been completed before the documentation was published. After the type examination has been successfully completed, Bosch Rexroth will declare conformity with the Machinery Directive for the optional safety technology module "L3" [STO (Safe Torque Off)] in the "HMU05"...

  • Page 122: Project Planning

    DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 119/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Project planning Project planning 12.1 IndraDrive C / IndraDrive M and IndraDrive ML 12.1.1 X49, Optional Safety Technology Safe Torque Off View Connectio Signal name...

  • Page 123: X6, Motor Temperature Monitoring And Motor Holding Brake

    120/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Project planning Connection cable Stranded wire Stripped length Tab. 12-2: X49, Optional Safety Technology Safe Torque Off Technical Data ● chapter 12.4.1 "Digital inputs (safety technology L options)" on page ●...
  • Page 124 DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 121/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Project planning Function Connection point X6 contains the connections for ● monitoring the motor temperature ● controlling the motor holding brake Via an integrated contact element (BR), the power section switches the voltage of the external 24-V supply to the output for controlling the motor holding brake.
  • Page 125 122/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Project planning the allowed current load at X6. Make sure to comply with the required minimum current consumption of 100 mA when using the external contact element.

  • Page 126: Indradrive Mi

    DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 123/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Project planning 12.3 IndraDrive Mi 12.3.1 KCU02 connection points Position of connection points Figure Element Significance Notes Equipment grounding For connection to the equipment grounding...
  • Page 127 124/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Project planning At a KCU02, exclusively operate motor-integrated servo drives KSM02 or near motor servo drives KMS02. For the correct and safe function of the drive, all connection points must be connected.
  • Page 128 DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 125/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Project planning When the dynamization outputs do not work, check the power supply connection. The polarity might possibly have been reversed. X50, E-Stop Input...

  • Page 129: Ksm02 Connection Points

    126/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Project planning X52, Status Messages Connection to the overall system takes place via the drive connection box KCU02. View Connection Signal name Function 1 (TQ*)
  • Page 130 DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 127/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Project planning Figure Element Significance Address selector switch (10×) Address selector switch (1×) Digital inputs/outputs X103.1 Hybrid cable X103.2 X107 Programming module X108 Communication output...
  • Page 131 128/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Project planning X38.1 External supply 19 … 30 V, max. 1 A, connected to X37.1 X38.2 I/O_4 Dig. I/O, configurable X38.3 Reference potential; external supply, connected to X37.3 Dig.
  • Page 132 DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 129/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Project planning Internal Design dig. I Digital input dig. O Digital output 24 V Voltage from internal power supply 24 V Voltage from external power supply...
  • Page 133 130/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Project planning Probe Input Signal Signal Detection at Probe Input Pulse width Puls Measuring accuracy of the signal edges Fig. 12-4: Signal Detection at Probe Input Probe inputs are inputs used to acquire fast digital input signals.
  • Page 134 DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 131/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Project planning Data Unit Min. Typ. Max. Overload protection Present Allowed energy content of connected n.s. n.s. inductive loads, e.g. relay coils; only allowed as single pulse Tab.
  • Page 135 132/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Project planning View Connection Signal name Function Equipment grounding conductor Power supply, DC 750 V, 25 A 42V supply, max. 15 A Ext_SI_Ch1_In (X103.1) Control signals (24 V) Ext_SI_Ch1 (X103.2)
  • Page 136 DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 133/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Project planning X141, safety technology Safe Torque Off and service input "Release brake" Fig. 12-6: X141 View Connec Signal name Signal name Function tion...

  • Page 137: Kms02 Connection Points

    134/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Project planning Ready-made connection cable RKB0033 Connector for safety zone node RBS0023 When a KSM/KMS with optional safety technology is to be a safety zone node within a safety zone, X141 must be equipped with the connector RBS0023.
  • Page 138 DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 135/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Project planning Figure Element Significance Address selector switch (10×) Address selector switch (1×) Digital inputs/outputs X103.1 Hybrid cable X103.2 X104 Motor encoder X107 Programming module...

  • Page 139: Connectors And Cables For Safety Technology

    136/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Project planning 12.3.4 Connectors and cables for safety technology RBS0023, connector for safety zone node Tab. 12-17: Connector RBS0023 RBS0023 Connecti Connected to Function connection Connector M12, 12-pin, A-coded;...

  • Page 140: E-Stop Function

    DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 137/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Project planning RKB0033, Cable for Safety Technology Fig. 12-7: RKB0033 Assignment For devices with safety option L3. The cable can be used to form a new safety zone within a drive line in a distributed manner.
  • Page 141 138/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Project planning ● When a KSM02/KMS02 device has been configured as a safety zone beginner (X141.3 = n. c., P-0-0249 = 2) and no E-Stop signal has been assigned to this KSM02/KMS02, the E-Stop signal of the preceding safety zone is transmitted.

  • Page 142: Safety Zones

    DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 139/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Project planning RBS0023 at X141 RKB0033 at X141 X141 not connected E-Stop wired at X37/X38 and configured in P-0-0300 E-Stop not wired at X37/X38 and/or not configured in P-0-0300...
  • Page 143 140/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Project planning KCU, KSM 3 Safety zone beginner KSM 1, KSM 4 Safety zone node KSM 2 KSM without optional safety technology ⇒ not a safety...

  • Page 144: Technical Data Of Inputs And Outputs

    DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 141/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Project planning ● Passive safety unit with internal dynamization pulses in conjunction with external safety technology contacts and an external 24V power supply unit ●...

  • Page 145: Digital Outputs (Safety Technology L Options)

    142/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Project planning Data Unit Min. Max. Allowed input voltage High Current consumption For KCU02, the specified values must be multiplied with the number of zone nodes of the drive line.

  • Page 146: Service And Support

    DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 143/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Service and support Service and support Our worldwide service network provides an optimized and efficient support. Our experts offer you advice and assistance should you have any queries.
  • Page 147 144/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) LSA Control S.L. www.lsa-control.com comercial@lsa-control.com (+34) 960 62 43 01...

  • Page 148: Index

    DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 145/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Index Index Accessories Hazard analysis..........25 Cable, RKB0033.......... 137 Hybrid cable RBS0023, connector for safety zone node.. 136 Connection........... 131 Additional documentations........7 Appropriate use........... 11 Applications............
  • Page 149 146/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Index Connection motor temperature monitor‐ ing (X6)............120 Safe Brake Control..........39 Motor holding brake........120 X49............... 119 Motor temperature monitoring...... 120 Safe Brake Control (SBC)........54 Replace............
  • Page 150 DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 147/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Index Digital outputs, safety technology L options. 142 Time response............ 39 Type code KCU02............29 KMS02............30 KSM02............31 Appropriate use..........11 Inappropriate use........... 12 Motor temperature monitoring and motor holding brake..........
  • Page 151 148/149 Bosch Rexroth AG DOK-INDRV*-SI3-**VRS**-AP06-EN-P Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Notes LSA Control S.L. www.lsa-control.com comercial@lsa-control.com (+34) 960 62 43 01...
  • Page 152 DOK-INDRV*-SI3-**VRS**-AP06-EN-P Bosch Rexroth AG 149/149 Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16) Notes LSA Control S.L. www.lsa-control.com comercial@lsa-control.com (+34) 960 62 43 01...
  • Page 153 The Drive & Control Company Bosch Rexroth AG Electric Drives and Controls P.O. Box 13 57 97803 Lohr, Germany Bgm.-Dr.-Nebel-Str. 2 97816 Lohr, Germany Tel. +49 9352 18 0 +49 9352 18 8400 www.boschrexroth.com/electrics DOK-INDRV*-SI3-**VRS**-AP06-EN-P LSA Control S.L. www.lsa-control.com comercial@lsa-control.com (+34) 960 62 43 01...

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