Rexroth IndraDrive - Electric Drives
Rexroth IndraDriveIntegrated Safety Technology"Safe Torque Off" (as of MPx-16)Application ManualR911332634Edition 08
Bosch Rexroth AGTitleDOK-INDRV*-SI3-**VRS**-AP08-EN-PRexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16)Rexroth IndraDriveIntegrated Safety Technology"Safe Torque Off" (as of MPx-16)Type of DocumentationDocument TypecodeInternal File ReferencePurpose of DocumentationRecord of RevisionApplication 252bea00a6846a001ea1d28-7-en-US-3This documentation is used to make oneself familiar with the subject of "Integrated SafetyTechnology "Safe Torque Off"", contains information on mounting and maintenance, on proper and safeoperation and on the decommissioning of the integrated safetytechnology "Safe Torque Off" of IndraDrive Cs, IndraDrive Mi,IndraDrive M / IndraDrive ML / IndraDrive C with control sections of theCxx02 type, is addressed to persons who mount, operate and maintain IndraDriveCs, IndraDrive Mi, IndraDrive M / IndraDrive ML / IndraDrive C withcontrol sections of the Cxx02 type with integrated safety technology"Safe Torque Off".EditionRelease DateDOK‑INDRV*‑SI3‑OP‑MAN*‑OP01‑EN‑P 2010‑10 toto DOK‑INDRV*‑SI3‑**VRS**‑AP08‑EN‑P 2017‑08CopyrightNotesSee chapter "About thisdocumentation", margin‐al note "Editions of thisdocumentation" Bosch Rexroth AG 2017This document, as well as the data, specifications and other information setforth in it, are the exclusive property of Bosch Rexroth AG. It may not bereproduced or given to third parties without its consent.LiabilityEditorial DepartmentThe specified data is intended for product description purposes only and shallnot be deemed to be a guaranteed characteristic unless expressly stipulatedin the contract. All rights are reserved with respect to the content of thisdocumentation and the availability of the product.Dept. DC-AE/EPI
DOK-INDRV*-SI3-**VRS**-AP08-EN-PRexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16)Bosch Rexroth AGI/143Table of ContentsTable of 24.2.14.2.24.34.3.14.3.2Introduction. 5About this documentation.Documentations.Drive systems, system 9Important directions for use. 11Appropriate use.Introduction.Areas of use and application.Inappropriate use.11111112Safety instructions for electric drives and controls. 13Definitions of terms. 13General information. 14Using the Safety instructions and passing them on to others. 14Requirements for safe use. 14Hazards by improper use. 15Instructions with regard to specific dangers. 16Protection against contact with electrical parts and housings. 16Protective extra-low voltage as protection against electric shock . 17Protection against dangerous movements. 18Protection against electromagnetic and magnetic fields during operation and mounting. 19Protection against contact with hot parts. 20Protection during handling and mounting. 20Battery safety. 20Protection against pressurized systems. 21Explanation of signal words and the Safety alert symbol. 22System overview. 23Introduction. 23Motivation and objectives. 23Conceptual overview. 24Risk assessment. 24Product presentation. 26What is "Integrated Safety Technology"?. 26Integrated safety technology as IndraDrive platform solution. 27Safety-relevant standards and regulations. 44General information. 44Standards relevant to components. 44
II/143Bosch Rexroth AGDOK-INDRV*-SI3-**VRS**-AP08-EN-PRexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16)Table of .3.17.3.288.18.28.2.1Standards relevant to machinery. 44EC Directives. 45Overview of functions and characteristics. 45Characteristics of integrated safety technology. 45Supported safety technology functions. 46Performance. 46Safety characteristics of the safety system. 47Introduction. 47Optional safety technology modules "L3" / "L4". 48Calculating the PFH component of an axis. 49Calculating the total PFH value of a safety zone. 50Functional principle of integrated safety technology. 53Basic functions. 53Overview. 53Dynamization. 54Integrated safety functions. 59Overview of safety functions.General information.Safety functions in special mode "Safe standstill".Safe Torque Off (STO).Safe Brake Control (SBC).5959595964Examples of application. 67Examples of application for IndraDrive Cs, IndraDrive C and IndraDrive M.STO and SBC functions ("L4" only) when selected using passive safety units .STO and SBC functions ("L4" only) when selected using active safety units."Safe stop 1 (emergency stop)" function with "L3"/"L4" option.Zone setup.Examples of application for IndraDrive Mi.Single-channel selection.Central selection.Distributed selection at KSM02/KMS02/KMS03.Zone setup.Mixed Operation of Optional Safety Technology Modules "L2" and "L3"/"L4".Mixed Operation of Optional Safety Technology Modules "L2" and "L3"/"L4" at an Active Safe‐ty Unit.Mixed Operation of Optional Safety Technology Modules "L2" and "L3"/"L4" at a PassiveSafety Unit.67676972737373758083858587Commissioning the safety technology. 89Safety instruction. 89Prerequisites for using integrated safety technology. 89General information. 89
DOK-INDRV*-SI3-**VRS**-AP08-EN-PRexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16)Bosch Rexroth AGIII/143Table of .19.5.29.5.39.5.49.5.5Required drive firmware. 89Required controller configuration. 90Required motors and measuring systems. 92Allowed motor holding brakes. 92Required commissioning tools. 93Checks before initial commissioning. 93Commissioning procedure. 93IndraDrive Cs/C/M/ML. 93IndraDrive Mi. 97Control unit requirements. 100Troubleshooting information. 101Introduction. 101Diagnostic system. 101General information. 101Diagnostic messages of integrated safety technology. 102Overview. 102Status information of integrated safety technology. 102Behavior in the case of non-fatal safety technology errors (F3xxx). 103Behavior in the Case of Fatal Errors (F8xxx). 103Removing malfunctions, maintenance measures, deactivating the motors. 104Replacing drive components. 105General information. 105Replacing the motor. 105Replacing the brake. 106Mounting and dismounting control sections and optional cards. 106Replacing the controller. 10710Decommissioning Drive Components. 11111Declarations of conformity. 2.4.112.4.2IndraDrive Cs (HCS01). 114IndraDrive M / IndraDrive C (HCS, HMS). 116IndraDrive Mi. 118KSM02, KMS02. 118KMV03 / KMS03. 121IndraDrive ML (HMU05). 123Project planning. 125X6, Motor Temperature Monitoring and Motor Holding Brake .X49, optional safety technology Safe Torque Off.X141, Safe Torque Off safety technology and "release brake" service input.Connectors and cables for safety technology.RBS0023, connector for safety zone node.RKB0033, cable for safety technology.125127128131131132
IV/143Bosch Rexroth AGDOK-INDRV*-SI3-**VRS**-AP08-EN-PRexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16)Table of ContentsPage12.512.612.712.7.112.7.213E-Stop function.Safety zones.Technical data of inputs and outputs.Digital inputs (safety technology L options).Digital Outputs (Safety Technology L Options).132135137137138Service and support. 139Index. 141
DOK-INDRV*-SI3-**VRS**-AP08-EN-PRexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16)Bosch Rexroth AG5/143Introduction1Introduction1.1About this documentationEditions of this -OP-MAN*-OP01-EN-P2010-10First editionDOK-INDRV*-SI3-**VRS**-AP02-EN-P2011-07 Corrections Optional module "L3" includedReplaces RS**-AP03-EN-P2011-10Declaration of Conformity rmation included on IndraDrive P2017-08Tab. 1-1:Means of representation in thisdocumentation Declaration of Conformity of IndraDrive Mi included Corrections Information included on IndraDrive M / IndraDrive C withcontrol sections of the Cxx02 type Information included on IndraDrive ML with controlsections of the Cxx02.5 type Safety instruction regarding the use of a 24 V powersupply unit with protection by SELV1) in accordance withIEC 60950-1 or PELV2) in accordance with IEC 60204-1for the selection and the 24 V supply of devices withintegrated safety technology. Information included on IndraDrive Mi (KNK03, KMV03and KMS03) Corrections Declaration of Conformity for L3 included for KSM03 Declaration of Conformity for L3/L4 updated for HCS01 Declaration of Conformity for L3 updated for KSM02,KMS02 Declaration of Conformity for L3 updated for HMU05 CorrectionsRecord of revisionsTo facilitate reading of this documentation, the table below contains themeans of representation and notations of recurring terms.1)Safety Extra Low Voltage2)Protective Extra Low Voltage
6/143Bosch Rexroth AGDOK-INDRV*-SI3-**VRS**-AP08-EN-PRexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16)IntroductionWhat?How?For example.Important facts to be highlighted inBoldfacethe body textWith the safety function "Safe parking axis", the followingmonitoring functions are deactivated: .Parameternames,messagenames,designationsThe missing speed information can be replaced via thecontrol bit "defined safety with parked axis" in"P-0-3210, Safety technology configuration".diagnosticfunction Quotation marksTab. 1-2:Conventions of notationNotes and tips are highlighted in the text. A symbol tells you what kind of noteor tip is used in the text:This box contains important information that should be taken intoconsideration.This symbol highlights useful tips and tricks.Signal words in accordance with ANSI Z535.6-2011 draw the reader'sattention to hazards (see "Explanation of signal words and the safety alertsymbol").Structure of documentationConcerning integrated safety technology, the descriptions of the IndraDrivesystems have the following structure: Application Manual on the optional safety technology modules "SafeTorque Off" ("L3", "L4") (this documentation)–is used to make oneself familiar with the subject of "IntegratedSafety Technology "Safe Torque Off"",–contains information on mounting and maintenance, on proper andsafe operation and on the decommissioning of the integratedsafety technology "Safe Torque Off" of IndraDrive Cs, IndraDriveMi, IndraDrive M / IndraDrive ML / IndraDrive C with controlsections of the Cxx02 type,–is addressed to persons who mount, operate and maintainIndraDrive Cs, IndraDrive Mi, IndraDrive M / IndraDrive ML /IndraDrive C with control sections of the Cxx02 type with integratedsafety technology "Safe Torque Off".Application Manual on the optional safety technology modules "SafeMotion" ("S3", "S4", "S5", "SB", "SD")–is used to make oneself familiar with the subject of "IntegratedSafety Technology "Safe Motion"",–contains information on mounting and maintenance, on proper andsafe operation and on the decommissioning of the integratedsafety technology "Safe Motion" of IndraDrive Cs, IndraDrive Miand IndraDrive M / IndraDrive ML / IndraDrive C with controlsections of the Cxx02 type,–is addressed to persons who mount, operate and maintainIndraDrive Cs, IndraDrive Mi and IndraDrive M / IndraDrive ML /IndraDrive C with control sections of the Cxx02 type with integratedsafety technology "Safe Motion".Project Planning ManualsAssist with electrical design and installation of the drive system, as wellas its components
DOK-INDRV*-SI3-**VRS**-AP08-EN-PRexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16)Bosch Rexroth AG7/143Introduction Parameter description for Rexroth IndraDrive with the firmware versionsMPx-1x and above, and PSBApart from the specific safety technology parameters, all other driveparameters are documented in the Parameter Description Description of diagnostic messages for Rexroth IndraDrive with thefirmware versions MPx-1x and above, and PSBApart from the specific diagnostic messages of safety technology, allother diagnostic messages are documented in the Description ofDiagnostic Messages (also called "Troubleshooting Guide").For an overview of reference documentations, please refer to:"Documentations"Your FeedbackYour experience is important for our improvement processes of products anddocumentations.If you discover mistakes in this documentation or suggest changes, you cansend your feedback to the following e-mail address:Dokusupport@boschrexroth.deWe need the following information to handle your feedback: The number indicated under "Internal File Reference". The page number.1.2Documentations1.2.1Drive systems, system componentsDrive systems, system componentsTitleKind of documentationDocument typecode1)Material numberDOK-INDRV*- R911 Project Planning ManualHCS01******-PRxx-EN-P322210Project Planning ManualKCU02 KSM02-PRxx-EN-P335703Project Planning ManualSYSTEM*****-PRxx-EN-P309636Project Planning ManualHMV-S-D HCS-PRxx-EN-P318790ML, Drive Systems with HMU05Project Planning ManualHxx05******-PRxx-EN-P344279Drive ControllersProject Planning ManualCSH********-PRxx-EN-P295012Rexroth IndraDrive CsDrive Systems with HCS01 MiDrive Systems with KCU02KSM02, KMS02/03, KMV03Drive Systems with HMV01/02HMS01/02, HMD01, HCS02/03Supply Units, Power SectionsHMV, HMS, HMD, HCS02, HCS03Control Sections CSB01, CSH01,CDB01
8/143Bosch Rexroth AGDOK-INDRV*-SI3-**VRS**-AP08-EN-PRexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16)IntroductionTitleKind of documentationDocument typecode1)Material numberDOK-INDRV*- R911 Project Planning ManualCxx02******-PRxx-EN-P338962Project Planning ManualADDCOMP****-PRxx-EN-P306140Rexroth IndraDrive Control SectionsCSE02, CSB02, CDB02, CSH02Additional Components andAccessories1)Tab. 1-3:1.2.2In the document typecodes, "xx" is a wild card for the currentedition of the documentation (example: PR01 is the first editionof a Project Planning Manual)Documentations – Drive systems, system componentsMotorsTitleType of documentationRexroth IndraDyn Document typecode1)Material numberDOK-MOTOR*- R911 A Asynchronous Motors MAD / MAFProject Planning ManualMAD/MAF****-PRxx-EN-P295781H Synchronous Kit Spindle MotorsProject Planning ManualMBS-H******-PRxx-EN-P297895L Synchronous Linear MotorsProject Planning ManualMLF********-PRxx-EN-P293635L Ironless Linear Motors MCLProject Planning ManualMCL********-PRxx-EN-P330592S Synchronous Motors MKEProject Planning ManualMKE*GEN2***-PRxx-EN-P297663S Synchronous Motors MSKProject Planning ManualMSK********-PRxx-EN-P296289S Synchronous Motors MSMData SheetMSM********-DAxx-EN-P329338S Synchronous Motors MS2NProject Planning ManualMS2N*******-PRxx-EN-P347583T Synchronous Torque MotorsProject Planning ManualMBT********-PRxx-EN-P2987981)Tab. 1-4:1.2.3In the document typecodes, "xx" is a placeholder for the currentedition of the documentation (e.g.: PR01 is the first edition of aProject Planning Manual)Documentations – motorsGearboxesTitleRexroth GTPKind of documentationDocument typecode1)Material numberProject Planning oject Planning oject Planning anetary GearboxesRexroth GTMPlanetary GearboxesRexroth GTEPlanetary Gearboxes1)Tab. 1-5:In the document typecodes, "xx" is a wild card for the currentedition of the documentation (example: RE02 is the second ed‐ition of a Reference Book)Documentations – Gearboxes
DOK-INDRV*-SI3-**VRS**-AP08-EN-PRexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16)Bosch Rexroth AG9/143Introduction1.2.4CablesTitleKind of documentationRexroth Connection CablesIndraDrive and IndraDynSelection Data1)Tab. 1-6:1.2.5Document typecode1)Material numberDOK-CONNEC- R911 CABLE*INDRV-CAxx-EN-P322949In the document typecodes, "xx" is a wild card for the currentedition of the documentation (example: CA02 is the second ed‐ition of the documentation "Selection Data")Documentations – CablesFirmwareTitleType of documentationDocument typecode1)Material numberDOK-INDRV*- R911 Application ManualMP*-20VRS**-APxx-EN-P345608Release NotesMP*-20VRS**-RNxx-EN-P345606Application ManualPSB-20VRS**-APxx-EN-P345610Application ManualPSB-19VRS**-APxx-EN-P345602Application ManualMP*-18VRS**-APxx-EN-P338673Release NotesMP*-18VRS**-RNxx-EN-P338658Application ManualMP*-17VRS**-APxx-EN-P331236Release NotesMP*-17VRS**-RNxx-EN-P331588Application ManualMP*-16VRS**-APxx-EN-P326767Release NotesMP*-16VRS**-RNxx-EN-P329272Reference BookGEN1-PARA**-RExx-EN-P328651Refer
Mi, IndraDrive M / IndraDrive ML / IndraDrive C with control sections of the Cxx02 type, – is addressed to persons who mount, operate and maintain IndraDrive Cs, IndraDrive Mi, IndraDrive M / IndraDrive ML / IndraDrive C with control sections of the Cxx02 type
Rexroth IndraDrive Integrated Safety Technology as of MPx-1x (Safe Motion) Application Manual DOK-INDRV*-SI3*SMO-VRS-APxx-EN-P 338920 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) Libraries as of MPx-18 Reference Book DOK-INDRV*-MLD-SYSLIB3-RExx-EN-P 338916 Rexroth IndraDrive 2)Rexroth IndraMotion MLD (2G) as of MPx-18
Rexroth IndraDrive Drive Controllers Control Sections Project Planning Manual DOK-INDRV*-CSH*****-PRxx-EN-P Rexroth IndraDrive M Drive Controllers Power Sections Project Planning Manual DOK-INDRV*-HMS HMD****-PRxx-EN-P Rexroth IndraDrive C Drive Controllers Power Sections HCS02.1 Project Planning Manual DOK-
Rexroth IndraDrive M Drive Controllers Power Sections HMx Project Planning Manual DOK-INDRV*-HMS HMD****-PRxx-EN-P Rexroth IndraDrive C Drive Controllers Power Sections HCS02.1 Project Planning Manual DOK-INDRV*-HCS02.1****-PRxx-EN-P Rexroth IndraDrive C Drive Controllers Power Sectio
Take the content of the Project Planning Manual "Rexroth IndraDrive Drive System" (DOK-INDRV*-SYSTEM*****-PRxx-EN-P; part no. R911309636) into account. For complete project planning of a Rexroth IndraDrive drive system you need, in any case, the Project Planning Manual "Rexroth IndraDrive Drive
Rexroth IndraDrive Drive Controllers Power Sections HCS01 Bosch Rexroth AG I/25 Table of Contents Bosch Rexroth AG DOK-INDRV*-HCS01*UL***-IB06-EN-P Rexroth IndraDrive Drive Controllers Power Sections HCS01 II/25 1 Important Notes
Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Application Manual Edition 02 R911338914 LSA Control S.L. www.lsa-control.com comercial@lsa-control.com ( 34) 960 62 43 01 . Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Application Manual DOK-INDRV*-MLD3-**VRS*-AP02-EN-P
IndraDrive from Rexroth More complete, more intelligent, greater safety With the IndraDrive generation of drives, Rexroth sets yet anot-her milestone in the development of modern automation components for more flexibility, productivity and precision IndraDrive is the application-optimized
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