ctrlX SAFETY "SafeMotion"
Table of contents
1 About this documentation 7
2 Trademark information 9
3 Important directions on use 11
3.1 Intended use. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.1.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.1.2 Areas of use and application. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.2 Unintended use. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
4 Safety instructions for electric drive and control systems 13
4.1 Basic information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
4.1.1 Using and passing on the safety instructions. . . . . . . . . . . . . . . . . . . 13
4.1.2 Requirements for safe use. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
4.1.3 Hazards due to incorrect use. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
4.2 Instructions with regard to specific dangers. . . . . . . . . . . . . . . . . . . . . . . . . . . 14
4.2.1 Protection against contact with electrical parts and housings. . . . . . 14
4.2.2 Protective extra-low voltage as protection against electric shock. . . . 16
4.2.3 Protection against dangerous movements. . . . . . . . . . . . . . . . . . . . . . 16
4.2.4 Protection against electromagnetic and magnetic fields during opera-
tion and mounting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
4.2.5 Protection against contact with hot parts. . . . . . . . . . . . . . . . . . . . . . 18
4.2.6 Protection during handling and mounting. . . . . . . . . . . . . . . . . . . . . . 18
4.2.7 Battery safety. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
4.2.8 Protection against pressurized systems. . . . . . . . . . . . . . . . . . . . . . . . 19
4.2.9 Explanation of signal words and the safety alert symbol. . . . . . . . . . . 19
5 System presentation 21
5.1 Motivation and objectives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
5.1.1 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
5.1.2 Comparison with conventional safety technology. . . . . . . . . . . . . . . . 21
6 Product presentation 23
6.1 What is "integrated safety technology"ctrlX DRIVE?. . . . . . . . . . . . . . . . . . . . . 23
6.2 Integrated safety technology in ctrlX DRIVE. . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
6.2.1 Characteristics of ctrlX DRIVE. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
6.3 Performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
6.3.1
Time response and reaction times. . . . . . . . . . . . . . . . . . . . . . . . . . . .
27
6.3.2 Reaction time of “Safe zone error” (SZE). . . . . . . . . . . . . . . . . . . . . . 29
6.4 Safety characteristics of the safety system. . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
6.4.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
6.4.2 Optional safety technology module "M5" . . . . . . . . . . . . . . . . . . . . . . 29
6.4.3 Calculating the PFH component of an axis. . . . . . . . . . . . . . . . . . . . . 30
6.4.4 Calculating the total PFH value of a safety zone. . . . . . . . . . . . . . . . . 31
7 Functional principle 33
7.1 Dynamization. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
7.1.1 Brief description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
7.1.2 Functional principle of dynamization in the selection signals. . . . . . . 33
7.2 Encoder evaluation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
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