Festo CMTT-AS S1 Series Description

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CMMT-AS-...-S1

Servo drive

Description| Safety sub-function| STO, SBC, SS1

8096255

8096255 2018-10a [8096257]

Translation of the original instructions

ET 200SP®, PNOZ®, Pilz®, SIEMENS® are registered trademarks of the respective trademark owners in certain countries.

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Table of contents

1 About this document................................................................................................... 5

1.1 Target group................................................................................................................. 5

1.2 Applicable documents.................................................................................................. 5

1.3 Product version............................................................................................................ 5

1.4 Product labelling.......................................................................................................... 5

1.5 Specified standards...................................................................................................... 5

2 Safety........................................................................................................................... 5

2.1 Safety instructions........................................................................................................ 5

2.2 Intended use................................................................................................................ 6

2.2.1 Application areas.................................................................................................... 6

2.2.2 Permissible components.........................................................................................6

2.3 Foreseeable misuse...................................................................................................... 6

2.4 Training of qualified personnel..................................................................................... 7

2.5 Approvals and certifications......................................................................................... 7

3 Service..........................................................................................................................7

4 Product overview......................................................................................................... 8

4.1 Safety sub-functions..................................................................................................... 8

4.1.1 Function and application.........................................................................................8

4.1.2 Safety sub-function STO......................................................................................... 8

4.1.3 Safety sub-function SBC......................................................................................... 12

4.1.4 Safety sub-function SS1..........................................................................................16

4.1.5 Cross wiring of several servo drives........................................................................20

4.1.6 Error exclusion........................................................................................................20

4.1.7 Safety relay unit......................................................................................................21

4.1.8 Interfaces of the PDS.............................................................................................. 21

5 Installation.................................................................................................................. 22

5.1 Safety............................................................................................................................ 22

5.2 STO installation............................................................................................................ 23

5.3 SBC installation............................................................................................................ 24

5.4 SS1 installation............................................................................................................ 26

5.5 Installation for operation without safety sub-function...................................................27

6 Commissioning............................................................................................................ 28

6.1 Safety............................................................................................................................ 28

6.2 Check lists.................................................................................................................... 28

7 Operation..................................................................................................................... 30

8 Malfunctions............................................................................................................... 31

8.1 Diagnostics via LED...................................................................................................... 31

8.2 Repair............................................................................................................................31

9 Technical data............................................................................................................. 32

9.1 Technical data, safety equipment................................................................................. 32

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9.2 Technical data, product conformity and approvals........................................................ 36

9.3 General technical data...................................................................................................36

9.4 Technical data, electrical............................................................................................... 38

9.4.1 Motor auxiliary connection [X6B]........................................................................... 38

9.4.2 Inputs, outputs, ready contact at [X1A].................................................................. 40

9.4.3 Inputs and outputs for the axis [X1C]..................................................................... 43

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About this document

1 About this document

1.1 Target group

The document is targeted towards individuals who mount and operate the product. It is additionally targeted towards individuals who are entrusted with the planning and application of the product in a safety-oriented system.

1.2 Applicable documents

This document describes the use of the safety sub-functions Safe torque off (STO) and Safe brake control (SBC) in accordance with EN61800-5-2. It is possible to implement the safety sub-function Safe stop 1 (SS1) with a suitable external safety relay unit and appropriate wiring of the servo drive.

• Observe the safety instructions in the documentation è Instructions Assembly Installation Safety sub-function.

All available documents for the product èwww.festo.com/pk.

1.3 Product version

This documentation refers to the following version of the device: – Servo drive CMMT-AS-...-S1, revision R01 and higher, see product labelling

1.4 Product labelling

Product labelling èDescription Assembly, Installation.

1.5 Specified standards

Version

EN61131-2:2007 ENISO 13849-1:2015

IEC61800-5-1:2016 EN61508 Parts 1-7:2010

EN61800-3:2004+A1:2012 EN60204-1:2006+A1:2009+AC2010

EN61800-5-2:2017 EN62061:2005+AC:2010+A1:2013+A2:2015

EN 61800-2:2015 –

Tab. 1 Standards specified in the document

2 Safety

2.1 Safety instructions

It is only possible to determine whether the product is suitable for specific applications by also assessing further components of the subsystem. Analyse and validate safety function of the entire system.

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Safety

The safety functions are to be checked at adequate intervals for proper functioning. Selecting the type of test and time intervals within the stated time period is the responsibility of the operator. The check is to be conducted such that flawless functioning of the safety device can be verified in interaction with all components. Time period for cyclical test è 9.1 Technical data, safety equipment. Prior to initial commissioning, wire the control inputs of the safety sub-functions STO and SBC. The safety sub-functions STO and SBC are available on the CMMT-AS on delivery without the need for any additional parameterisation. Keep the documentation somewhere safe throughout the entire product lifecycle.

2.2 Intended use

The CMMT-AS-...-S1 supports the following safety sub-functions in accordance with EN61800-5-2: – Safe torque off (STO) – Safe brake control (SBC) – Safe stop 1 (SS1), achievable with suitable safety relay unit and appropriate wiring of the servo

drive The safety sub-function STO is intended to disconnect the torque of the connected motor, thereby preventing an unexpected restart of the motor. The safety sub-function SBC is intended to safely hold the motor and axis in position at standstill. The safety sub-function SS1 is intended for performing a rapid stop with subsequent torque switchoff.

2.2.1 Application areas

Safety sub-functions may only be used for applications for which the stated safety reference values are sufficient è 9.1 Technical data, safety equipment.

2.2.2 Permissible components

The logic supply must meet the requirements of EN60204-1 (protective extra-low voltage, PELV). If holding brakes and clamping units without certification are used, the suitability for the related safety-oriented application must be determined through a risk assessment. The motors must fulfil the requirements of EN61800-5-2 appendix D.3.5 and D.3.6 and of EN60204-1. Motors approved or specified by Festo for the CMMT-AS fulfil the requirements. The motor cables and brake lines must fulfil the requirements of EN61800-5-2 appendix D.3.1 and of EN60204-1. Motor cables and brake lines approved by Festo for the CMMT-AS fulfil the requirements.

2.3 Foreseeable misuse

Foreseeable misuse, general

– Use outside the limits of the product defined in the technical data. – Cross-wiring of the I/O signals of more than 10 servo drives CMMT-AS. – Use in IT networks without insulation monitors for detection of earth faults.

If the device is operated in IT networks, the potential conditions will change in the event of a fault

(earth fault on the feeding mains supply). As a result, the rated voltage of 300V to PE – which has

important implications for the design of insulation and network disconnection – will be exceeded.

This error must be detected.

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Service

– Use of a diagnostic output for connection of a safety function.

The diagnostic outputs STA and SBA are not part of the safety circuit. The diagnostic outputs are used to improve diagnostic coverage of the related safety sub-function. The diagnostic outputs may only be used in combination with the related safe control signals (AND operation) plus a reliable time monitoring function in the safety relay unit for the purpose of switching additional safety-critical functions.

Foreseeable misuse of the safety sub-function STO

– Use of the STO function without external measures for drive axis influenced by external torques.

If external torques influence the drive axis, use of the safety sub-function STO on its own is not suitable for stopping the axis safely. Additional measures are required to prevent dangerous movements of the drive axis, such asuse of a mechanical brake in combination with the safety sub-function SBC.

– Disconnection of the motor from the power supply.

The safety sub-function STO does not disconnect the drive from the power supply as defined by electrical safety.

Foreseeable misuse of the safety sub-function SBC

– Use of an unsuitable holding brake or clamping unit, also in view of:

– Holding or brake torque and emergency brake characteristics, if required. – Frequency of actuation

– Use of an unsuitable logic voltage supply

2.4 Training of qualified personnel

The product may be installed and placed in operation only by a qualified electro technician, who is familiar with the topics: – installation and operation of electrical control systems – applicable regulations for operating safety-engineering systems Work on safety-related systems may only be carried out by qualified personnel trained in safety engineering.

2.5 Approvals and certifications

The product has the CE marking. For details of directives, see è 9.2 Technical data, product conformity and approvals. The product-related EU directives and standards are listed in the declaration of conformity èwww.festo.com/sp. The product is a safety device in accordance with the Machinery Directive. For details of the safety-oriented standards and test values that the product complies with and fulfils, see è 9.1 Technical data, safety equipment. Please note that compliance with the named standards is limited to the CMMT-AS-...-S1.

3 Service

Contact your regional Festo contact person if you have technical questions èwww.festo.com.

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Product overview

4 Product overview

4.1 Safety sub-functions

4.1.1 Function and application

The servo drive CMMT-AS-...-S1 has the following safety-related performance features: – Safe torque off (STO) – Safe brake control (SBC) – Safe stop 1 (SS1) with use of a suitable external safety relay unit and appropriate wiring of the

servo drive – Diagnostic outputs STA and SBA for feedback of the active safety sub-function

4.1.2 Safety sub-function STO

Fig. 1 Symbol for STO

The function described here implements the safety sub-function STO according to EN61800-5-2 (corresponds to stop category 0 from EN60204-1). The safety sub-function STO is used when the energy supply to the motor needs to be switched off safely in the application but there are no further requirements for a targeted standstill of the drive (such asstop category 1 from EN60204-1 èSafety sub-function SS1).

Function and application of STO

The safety sub-function STO switches off the driver supply for the power semiconductor, thus preventing the power output stage from supplying the energy required by the motor. The power supply to the drive is safely disconnected when the safety sub-function STO is active. The drive cannot generate torque and so cannot perform any hazardous movements. With suspended loads or other external forces, additional measures must be taken to prevent movements being performed (e.g.mechanical clamping units). In the STO state, the standstill position is not monitored. The machines must be stopped and locked in a safe manner. This especially applies to vertical axes without automatic locking mechanics, clamping units or counterbalancing.

NOTICE!

If there are multiple errors in the servo drive, there is a danger that the drive will move. Failure of the servo drive output stage during the STO status (simultaneous short circuit of 2 power semiconductors in different phases) may result in a limited detent movement of the rotor. The rotation angle/travel corresponds to a pole pitch. Examples:

Rotating motor, synchronous machine, 8-pin è Movement <45° at the motor shaft

•

Linear motor, pole pitch 20mm èMovement <20mm at the moving part

•

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Product overview

Functional principle of STO

Fig. 2 Functional principle of STO

High-side output stage

Low-side output stage

Intermediate circuit voltage

Fig. 3 Output stage with power transistors

STO request

The safety sub-function STO is requested on 2 channels by simultaneously switching off the control voltage at both control inputs #STO-A and #STO-B. The drive behaves as follows when the safety sub-function STO is requested:

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Product overview

– Behaviour of the drive with a running motor: The movement of the drive is not decelerated via a

braking ramp. The drive continues to move uncontrolled due to inertia or external forces until it

comes to a standstill by itself. – Behaviour of the drive with a stopped motor: The drive is uncontrolled and can be moved through

external forces.

STO feedback via STA diagnostic contact

The status of the safety sub-function STO can be reported to the safety relay unit via the STA diagnostic output. The STA diagnostic output indicates whether the safe status has been reached for the safety sub-function STO. The STA diagnostic output switches to high level only when STO is active on 2 channels via the control inputs #STO-A and #STO-B.

#STO-A #STO-B STA

Low level Low level High level

Low level High level Low level

High level Low level Low level

High level High level Low level

Tab. 2 Level of STA If protective functions are triggered on both channels (STO-A and STO-B), e.g.if the voltage at STO-A

and STO-B is too high, the internal protective functions switch off and STA likewise delivers a high level signal. Recommendation: The safety relay unit should check the status of the diagnostic output whenever there is a STO request. The level of STA must change according to the logic table. The safety relay unit can cyclically test the signals #STO-A and #STO-B for high level with low test pulses and for low level with high test pulses.

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Product overview

Timing of STO

Fig. 4 STO timing diagram

Legend for STO timing

Term/abbreviation Explanation

#STO-A/#STO-B 2-channel input for STO request

#STO-HS/#STO-LS Internal triggering, PWM driver high side/low side

STO,TP

STO,In

Length, low test pulses1) at #STO-A/B

Max. delay until STO shutdown is performed (≤permissible reaction time when a safety sub-function is requested1))

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Product overview

Term/abbreviation Explanation

STA Feedback, STO active

STA,Out

Max. delay for diagnostic feedback (≤permissible reaction time when a safety sub-function is requested1) + 10ms)

n Rotational speed

1) See Technical data, safety reference data for STO

Tab. 3 Legend for STO timing

4.1.3 Safety sub-function SBC

Fig. 5 Symbol for SBC

The function described here implements the safety sub-function SBC according to EN61800-5-2. The safety sub-function SBC is used for controlling a holding brake in the motor and a clamping unit or brake on the axis to slow an axis down mechanically or stop it safely.

Function and application of SBC

The safety sub-function SBC provides safe output signals for the control of brakes (holding brakes or clamping units). The brakes are controlled on 2 channels by switching off the voltage at the following outputs: – Safe output BR+/BR– [X6B] for the holding brake of the motor – Safe output BR-EXT/GND [X1C] for the external brake/clamping unit The holding brake and/or clamping unit engage and slow the motor or axis. The purpose of this is to slow down dangerous movements by mechanical means. The braking time is dependent on how quickly the brake engages and how high the energy level is in the system. The use of just one brake is only possible when performance requirements are low è Tab. 16 Safety reference data for the safety sub-function SBC. To do this, connect the brake either to BR+/BR– or to BR-EXT.

NOTICE!

If there are suspended loads, they usually drop if SBC is requested simultaneously with STO. This can be traced back to the mechanical inertia of the holding brake or clamping unit and is thus unavoidable. Check whether safety sub-function SS1 is better suited to your application.

SBC may only be used for holding brakes or clamping units which engage in the de-energised state. Ensure the lines are installed in a protected manner.

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Product overview

Functional principle of SBC

Fig. 6 Functional principle of SBC

SBC request

The safety sub-function SBC is requested on 2 channels by simultaneously switching off the control voltage at both control inputs #SBC-A and #SBC-B: – The #SBC-A request switches off the power to the signals BR+/BR-. – The #SBC-B request switches off the power to the signal BR-EXT. In the event of a power failure in the logic voltage supply of the servo drive, power is also cut off to the brake outputs.

If SBC is requested and subsequently cancelled, the safe brake control is only re-energised when the functional micro controller enables the holding brake. This ensures that z-axes with a suspended load can be restarted without the load dropping.

SBC feedback via SBA diagnostic contact

The 2-channel switching of the brake is indicated via the SBA output. SBA is used to report the status of the safety sub-function SBC for diagnostic purposes, e.g.by reporting it to an external safety relay unit. The SBA diagnostic output indicates whether the safe status has been reached for the safety sub-function SBC. It is set if the following two conditions are fulfilled: – Switching off of both brake outputs is requested (#SBC-A = #SBC-B = low level) – The internal diagnostic functions have determined that there is no internal error and both brake

outputs are de-energised (switched off).

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Product overview

Test pulses that occur simultaneously at SBC-A and SBC-B are not filtered. For this reason, the SBA diagnostic output delivers a high level signal for the duration of these low test pulses.

Testing the safety sub-function SBC

Test inputs #SBC-A and #SBC-B separately from each other and together. The diagnostic feedback may only be set to high level when inputs #SBC-A and #SBC-B are both requested. If the signal behaviour does not correspond to expectations, the system must be put into a safe condition within the reaction time. It is essential that time monitoring be provided in the safety relay unit. The safety sub-function SBC with feedback via SBA must be tested at least 1x within the space of 24h.

• Test SBA feedback based on the SBC-A and SBC-B level according to the following table.

#SBC-A (BR+) #SBC-B (BR-Ext) SBA

Low level Low level High level

Low level High level Low level

High level Low level Low level

High level High level Low level

Tab. 4 Testing all SBC levels While you are testing the safety sub-function SBC, discrepancy error detection may be activated in the

CMMT-AS if the test lasts longer than 200ms. If a corresponding error message is output by the basic unit, you will need to acknowledge it.

Evaluation of SBA

Recommendation: Evaluation with every actuation.

• Check SBA feedback whenever there is a request.

#SBC-A (BR+) #SBC-B (BR-Ext) SBA

Low level Low level High level

High level High level Low level

Tab. 5 Evaluation of SBC level

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Product overview

Timing of SBC

Fig. 7 SBC timing diagram

Legend for SBC timing

Term/abbreviation Explanation

Brake

Mechanical delay of the brake

#SBC-A/#SBC-B 2-channel input for SBC request

SBC,TP

SBC,In

Length, low test pulses1) at #SBC-A/B

Max. delay until the related brake output is switched off (≤permissible reaction time when a safety sub-function is requested1))

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Product overview

Term/abbreviation Explanation

SBA Feedback, SBC active

SBA,Out

Max. delay for diagnostic feedback (≤permissible reaction time when a safety sub-function is requested1) + 10ms)

n Rotational speed

1) See Technical data, safety reference data for SBC

Tab. 6 Legend for SBC timing

Requirements for the brakes

• Check the brakes used for suitability for the application. As a rule, the brakes used are holding brakes. This means the brakes are well suited to keeping the motor at a standstill. The internal holding brake of the motor is also used for the safety sub-function SBC. Please be aware of the following constraints: – The holding brake must be designed for the load torque to be stopped. – The specifications for the holding brakes permit a certain amount of movement until the full hold-

ing torque is reached. This must be taken into account in the design of the vertical axes and con-

figuration of the safety sub-function SBC. – “Reserves” should be factored in when selecting the motor plus holding brake, e.g.operation at

no more than 2/3 of the nominal torque. The holding brakes in the motors are usually designed so

that the motor shaft will come to a standstill without coasting at loads below 70% of the nominal

torque. – Depending on the hazard situation, the holding brake must be designed with a correspondingly

higher nominal torque. – When designing the holding brake, the additional load torque for the brake test must be con-

sidered. The number of clamping and braking applications for the clamping unit is limited due to wear.

1. Observe the corresponding specifications in the data sheet.

2. Replace clamping unit before the maximum number of clamping applications is reached.

3. Replace clamping unit if the emergency brake features of the clamping unit have to be used. Pay

attention to the number of permissible emergency braking applications.

Brake test

• Check whether a brake test is required. The DGUV information sheet “Gravity-loaded axis”

provides information on this.

4.1.4 Safety sub-function SS1

Fig. 8 Symbol for SS1

The function described here implements the safety sub-function SS1 according to EN61800-5-2.

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Product overview

The safety sub-function SS1 is used when the motor needs to be braked and the energy supply to the motor then has to be safely switched off in the application but there are no further requirements for a targeted standstill of the drive (controlled stop, stop category 1 according to EN60204-1). Together with a suitable safety relay unit, the following can be achieved: – Safe stop 1 time controlled (SS1-t); triggering of motor deceleration and, after an application-spe-

cific time delay, triggering of the safety sub-function STO

Requirements of SS1

– For details of how to wire the safety sub-function STO, see è Fig.13. – Execute emergency stop command by means of the safety relay unit (either directly by wiring

CTRL-EN accordingly or indirectly via a further functional controller). – The time for executing an emergency stop is known. – The safety relay unit supports programmable timers and simple logic elements.

Function and application of SS1

The procedure for triggering SS1-t comprises the following steps:

1. Functional emergency stop requested (e.g.set input CTRL-EN to low level).

This causes the servo drive to trigger a braking ramp function and – if present – allows the brake

function to engage at the end of the braking ramp. On completion of the braking ramp and once

the parameterisable delay time for brake closing has elapsed, the output stage is functionally

switched off.

2. Start of a time-delay element for actuation of STO.

Select the delay time such that the functional braking ramp is completed in normal operation, the

holding brake function is engaged, and the output stage is functionally switched off. Otherwise,

the axis may drop if STO is triggered concurrently with the brake engagement time that is required

for mechanical reasons. If the brake is engaged while the axis is still in motion, increased wear will

occur on the holding brake (only permitted for emergency braking).

3. Safety sub-function STO requested plus – if required – SBC once the delay time has elapsed. The figure below shows the necessary logic circuit for the safety relay unit:

Logic in the safety relay unit for SS1

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Product overview

Fig. 9 Logic in the safety relay unit for SS1

The delay times are directly included in the reaction time of the system.

SS1 feedback

The STA signal can be used as feedback for the safety sub-function SS1.

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Product overview

Timing of SS1

Fig. 10 Timing diagram SS1

Legend for SS1 timing

Term/abbreviation Explanation

Timer Delay element in safety relay unit

CTRL-EN Enable signal

Delay

Delay time until STO and SBC are requested (drive has safely come to a standstill and brake is closed)

#STO-A/B 2-channel input for STO request

#SBC-A/B 2-channel input for SBC request

STA Feedback, STO active

SBA Feedback, SBC active

Braking ramp followed, rotational speed = 0 (functionally)

Brake closed, and output stage switched off (functionally)

n Rotational speed

Tab. 7 Legend for SS1 timing

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Product overview

SBC request

If there are suspended loads, they usually drop if STO and SBC are requested directly before the braking ramp is completed because the engagement time of the holding brakes plays a significant role. For details of how to wire up safety sub-function STO with SBC, see è Fig.14.

• When selecting the delay time t

, make sure it is long enough to take account of the maximum

Delay

braking ramp time and brake engagement time.

4.1.5 Cross wiring of several servo drives

For cross wiring, wire the diagnostic outputs as a ring. Route both ends of the ring to a 2-channel input of the safety relay unit. The safety relay unit monitors for discrepancies. A maximum of 10 servo drives can be wired in parallel.

Cross-wiring, example STA

Fig. 11 Cross-wiring, example STA

For cross-wired diagnostic outputs, the condensed state results from a logical AND link. An output of a CMMT-AS is capable of pulling all other outputs to low signal. A high signal is present at the two inputs of the safety relay unit only if all diagnostic outputs deliver high signals. The ring-shaped cross wiring of the diagnostic outputs with sensing at the beginning and end of the signal chain makes it possible to detect cable breaks in the cross wiring. At this point, the diagnostic outputs deviate from the closed current principle. Cyclical automatic testing of the diagnostic output by the safety relay unit is therefore highly recommended è STO feedback via STA diagnostic contactand è SBC feedback via SBA diagnostic contact.

4.1.6 Error exclusion

Put suitable measures in place to prevent wiring errors:

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Product overview

– Exclude wiring errors in accordance with EN61800-5-2 – Configure the safety relay unit to monitor the outputs and wiring up to the servo drive

4.1.7 Safety relay unit

Use suitable safety relay units with the following characteristics: – 2-channel outputs with

– cross-circuit detection

– required output current (also for STO)

– low test impulses up to a maximum length of 1ms – Evaluation of the diagnostic outputs of the servo drive Safety relay units with high test impulses can be used with the following restrictions: – Test impulses up to 1ms in length – Test impulses are not simultaneous/overlapping on #STO-A/B and #SBC-A/B – The resulting safety-related classification depends on the evaluation of diagnostic feedbacks STA,

SBA è 9.1 Technical data, safety equipment, safety data STO and SBC. Suitable would be, for example,the safety relaysPilz PNOZmulti, Pilz PNOZmulti Mini or SIEMENSET 200SP with PP-switching output modules.

4.1.8 Interfaces of the PDS

The interfaces of the PDS(SR) (Power Drive System, safety related) to the outside world are: – Power supply – Inputs and diagnostic check-back signals – Movement of the shaft – Output for controlling a second brake

Interfaces of the PDS

Fig. 12 Interfaces of the PDS

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Installation

5 Installation

5.1 Safety

WARNING!

Risk of injury due to electric shock.

• For the electrical power supply with extra-low voltages, use only SELV circuits that ensure a reliable separation from the mains network.

• Observe IEC60204-1/EN60204-1.

Comprehensive information concerning the electrical installation of the device èDescription Assembly, Installation.

Information for operation with safety functions

NOTICE!

Check the safety functions to conclude the installation process and after every modification to the installation.

During installation of safety-related inputs and outputs, also observe the following: – Meet all specified requirements,e.g.:

– Surrounding area (EMC) – Logic and load voltage supply – Mating plug – Connecting cables – Cross-wiring

– Additional information èDescription Assembly, Installation. – The maximum permissible cable length between the safety relay unit and the plug of the I/O inter-

face is 3m.

– During installation, make sure you meet the requirements of EN60204-1. In the event of a fault,

the voltage must not exceed 60VDC. The safety relay unit must switch off its outputs in the event of a fault.

– Carry out wiring between the safety relay unit and the I/O interface of the servo drive in such a

way as to exclude the risk of a short circuit between the conductors or to 24V, as well as a cross circuit èEN61800-5-2, Annex D.3.1. Otherwise, the safety relay unit must feature cross-circuit detection and, in the event of a fault, must switch off the control signals on 2 channels.

– Only use suitable mating plugs and connecting cables èDescription Assembly, Installation. – Avoid conductive contamination between neighbouring plug pins. – Make sure that no bridges or the likecan be inserted parallel to the safety wiring. For

example,use the maximum wire cross section or appropriate cable end sleeves with plastic sleeves.

– To cross-wire safety-related inputs and outputs, use twin cable end sleeves. When cross-wiring

inputs and outputs, a maximum of 10 devices may be cross-wired èDescription Assembly, Installation.

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Installation

– The safety relay unit and its inputs and outputs must meet the necessary safety classification of

the safety function that is required in each case. – Connect each of the control inputs to the safety relay unit on 2 channels using parallel wiring. – Only use permitted motor cables for the connection BR+/BR– . – If the diagnostic output of the safety sub-function concerned has to be evaluated: Connect dia-

gnostic output directly to the safety relay unit. Evaluation of the diagnostic output is either man-

datory or optional depending on which safety classification is desired. – If diagnostic outputs are cross-wired for a device compound: Wire diagnostic outputs as a ring.

Guide the two ends of the ring to the safety relay unit and monitor for discrepancies.

Basic concept of the wiring

– Safe sensors – e.g.emergency stop switches, light curtains – are routed to the safety relay unit (or

the safety PLC). – The safety relay unit requests the safety sub-functions on the servo drive via 2 channels and eval-

uates the related feedback signals.

It is not permitted to connect sensors, e.g.emergency stop devices, directly to the servo drive

–

because no sensor monitoring takes place.

5.2 STO installation

Inputs and outputs for the safety sub-function STO

The 2-channel request for the safety sub-function is made via the digital inputs #STO-A and #STO-B. The STA diagnostic output indicates whether the safe status has been reached for the safety sub-function STO.

Connection Pin Type Identifier Function

[X1A]

Tab. 8 Inputs and outputs for the safety sub-function STO

STO connection example

The safety sub-function STO (safe torque off) is triggered by an input device that makes the safety request (e.g.light curtain).

X1A.11 #STO-B Safe torque off, channel B

X1A.12

X1A.22 DOUT STA Safe torque off acknowledge

DIN

#STO-A Safe torque off, channel A

23Festo — CMMT-AS-...-S1 — 2018-10a

Installation

Input device for safety request (e.g. light curtain)

Safety relay unit

Fig. 13 STO sample circuit

Information on the sample circuit

The safety request is passed on to the servo drive on 2 channels via the inputs #STO-A and #STO-B at the connection [X1A]. This safety request results in the 2-channel switch-off of the driver supply to the servo drive's power output stage. The safety relay unit can use the STA diagnostic output to monitor whether the safe status has been reached for the safety sub-function STO.

Servo drive CMMT-AS

Drive axle

5.3 SBC installation

Inputs and outputs for the safety sub-function SBC

The 2-channel request for the safety sub-function is made via the digital inputs #SBC-A and #SBC-B at the connection [X1A]. The SBA diagnostic output indicates whether the safe status has been reached for the safety sub-function SBC. The holding brake is connected via the connection [X6B]. The external clamping unit is connected via the connection [X1C].

24 Festo — CMMT-AS-...-S1 — 2018-10a

Installation

Connection Pin Type Identifier Function

[X1A]

X1A.9 #SBC-B Safe brake control, channel B

X1A.10

DIN

#SBC-A Safe brake control, channel A

X1A.21 DOUT SBA Safe torque off acknowledge

[X1C]

X1C.1 BR-EXT Output for connection of an external clamping

DOUT

unit (high-side switch)

[X6B]

X1C.5

X6B.1

X6B.2 BR+ Holding brake (positive potential)

–

OUT

X6B.3

GND Ground (reference potential)

PE Protective earthing

BR– Holding brake (negative potential)

Tab. 9 Inputs and outputs for the SBC safety sub-function

SBC connection example

The safety sub-function SBC (safe brake control) is triggered by an input device that makes the safety request.

25Festo — CMMT-AS-...-S1 — 2018-10a

Installation

Input device for safety request (e.g. light curtain)

Safety relay unit

Fig. 14 SBC sample circuit

Information on the sample circuit

The safety request is passed on to the servo drive on 2 channels via the inputs #SBC-A and #SBC-B at the connection [X1A]. – The request via the input #SBC-A switches off power to the signals BR+ and BR- at the connection

[X6B]. This de-energises and closes the holding brake.

– The request via the input #SBC-B switches off power to the signal BR-EXT at the connection [X1C].

This shuts off power to the control of the external clamping unit. The clamping unit closes.

– The safety relay unit monitors the SBA diagnostic output and checks whether the safe status has

been reached for the safety sub-function SBC.

Servo drive CMMT-AS

Control (here solenoid valve example) of the clamping unit

5.4 SS1 installation

Inputs and outputs for the safety sub-function SS1

The safety sub-function SS1 is wired like the safety sub-function STO but is supplemented by the functional input CTRL-EN so that the braking ramp can be activated by the safety relay unit.

26 Festo — CMMT-AS-...-S1 — 2018-10a

Installation

SS1 connection example

Input device for safety request

Safety relay unit

Fig. 15 SS1 sample circuit

Servo drive CMMT-AS

5.5 Installation for operation without safety sub-function

Minimum wiring for operation without safety sub-function

For operation without the safety sub-function, wire inputs X1A.9 to X1A.12 as follows:

Connection Pin Type Identifier Function

[X1A]

Tab. 10 Wiring of inputs and outputs without safety sub-function

X1A.9 #SBC-B

X1A.10 #SBC-A

X1A.11 #STO-B

X1A.12

X1A.21 SBA

X1A.22

DIN

DOUT

Supplies each one with 24V

#STO-A

Do not connect

STA

27Festo — CMMT-AS-...-S1 — 2018-10a

Commissioning

6 Commissioning

6.1 Safety

Use of safety functions

NOTICE!

The safety sub-functions STO and SBC are already available on the CMMT-AS on delivery without the need for any additional parameterisation. Prior to initial commissioning, you must – as a minimum – wire safety sub-functions STO and SBC.

1. Make sure that each safety function of the system is analysed and validated. It is the responsibility of the operator to determine and verify the required safety classification (safety integrity level, performance level and category) of the system.

2. Put the servo drive into operation and validate its behaviour in a test run.

During integration of the PDS, observe the measures stipulated by standard ENISO13849-1 chapter G.4: – Functional test – Project management – Documentation – Performance of a black-box test

6.2 Check lists

The safety functions must be validated after installation and after every modification to the installation. This validation must be documented by the person who commissions the device. To assist you with commissioning, we have put together some sample questions for risk reduction in the form of the check lists below.

The following check lists are no substitute for safety training. No guarantee can be provided for the completeness of the check lists.

No. Question Relevant Done

1. Have all operating conditions and all means of intervention (possibility of intervening in the operation of the machine, but also physical intervention in the machine) been taken into account?

2. Has the 3-step method for risk reduction been applied,i.e.: 1. Inherently safe design, 2. Technical and possibly additional protective measures, 3. User information about the residual risk?

3. Have the hazards been eliminated or the hazard risks reduced as far as practically possible?

4. Can it be guaranteed that the implemented measures do not create new hazards?

28 Festo — CMMT-AS-...-S1 — 2018-10a

Yeso Noo

Commissioning

No. Question Relevant Done

5. Have the end users been given sufficient information and warning

regarding the residual risks?

6. Can it be guaranteed that the implemented protective measures have

not led to a deterioration in the working conditions of the operating

Yeso Noo

personnel?

7. Are the implemented protective measures mutually compatible? Yeso

Noo

8. Has adequate consideration been given to the potential con-

sequences of using a machine designed for commercial/industrial

Yeso Noo

purposes in a non-commercial/non-industrial area?

9. Can it be guaranteed that the implemented measures will not severely

impair the machine’s ability to perform its function?

Yeso Noo

Tab. 11 Questions for validation in accordance with EN12100 (example)

No. Question Relevant Done

1. Has a risk assessment been carried out? Yeso

Noo

2. Have a list of issues and a validation plan been drawn up? Yeso

Noo

3. Has the validation plan – including analysis and inspection – been

worked through and has a validation report been created? The follow-

Yeso Noo

ing must be inspected as a minimum as part of the validation:

... a) Inspection of components: Is the CMMT-AS-...-S1 being used (check

using the rating plate)?

Yeso Noo

... b) Is the wiring correct (check using the circuit diagram)? Yeso

Noo

... b1) Have the inputs for STO and SBC been wired to the safety relay

unit via 2 channels?

... b2) Have the check-back outputs STA, SBA been wired to the safety

relay unit?

... b3) If multiple CMMT-AS have been connected together (linked) via

X1A: Have the connection instructions been taken into account?

è 4.1.5 Cross wiring of several servo drives.

Yeso Noo

... c) Functional tests: Yeso

Noo

29Festo — CMMT-AS-...-S1 — 2018-10a

Operation

No. Question Relevant Done

... c1) Actuation of the system emergency stop: Is the drive brought to a

standstill in the desired manner (stop 0, stop 1, SBC)?

... c2) Is a restart after an emergency stop prevented in the safety relay

unit? Thismeans that when the emergency stop button is pressed and

Yeso Noo

the enable signals are active, no movement occurs in response to a start command until acknowledgement has taken place via the “Restart” input.

... c3) Actuation of the safety sub-function STO. If only one of the

assigned inputs #STO-A or #STO-B is activated: Is the safety sub-func-

Yeso Noo

tion STO executed immediately? Does the STA output remain at the low level? Is the error “Discrepancy time violation” logged in the CMMT-AS once the discrepancy time has elapsed?

... c4) Actuation of the safety sub-function SBC. If only one of the

assigned inputs #SBC-A or #SBC-B is activated: Is the assigned safety

Yeso Noo

sub-function executed immediately? Does the SBA output remain at the low level? Is the error “Discrepancy time violation” logged in the CMMT-AS once the discrepancy time has elapsed?

... c5) Does the safety relay unit detect a fault if SBA/STA do not switch

to the high level when the safety sub-function is requested via 1 chan-

Yeso Noo

nel?

... c6) Only when linking multiple CMMT-AS and connecting the diagnost-

ic outputs: Does the safety relay unit detect a fault if the SBA/STA

Yeso Noo

linkage is interrupted at a particular point and the corresponding diagnostic output does not switch to the high level on one CMMT-AS when the safety sub-function is requested via 1 channel?

Tab. 12 Questions for validation in accordance with ENISO13849-2 (example)

7 Operation

The safety functions are to be checked at adequate intervals for proper functioning. Selecting the type of test and time intervals within the stated time period is the responsibility of the operator. The check is to be conducted such that flawless functioning of the safety device can be verified in interaction with all components. Time period for cyclical test è 9.1 Technical data, safety equipment. The CMMT-AS is maintenance-free during its period of use and specified service life. The test interval varies from one safety sub-function to another: – STO: No test has to be carried out during the period of use, but we recommend evaluating STA

whenever the sub-function is requested to ensure maximum diagnostic coverage and the highest safety-related classification.

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Malfunctions

– SBC: Cyclical test required at least once every 24h and SBA evaluation recommended whenever

the SBC sub-function is requested to ensure maximum diagnostic coverage and the highest safety-related classification.

8 Malfunctions

8.1 Diagnostics via LED

Safety LED, status of the safety equipment

Malfunctions of the safety sub-functions are detected and displayed in the functional device. The following are detected: – Safety sub-functions requested via 1 channel (discrepancy monitoring) – Internal device errors that lead to pulse monitoring not being switched off or only switched off on

one channel

– Errors in the brake outputs or the external wiring that result in voltage being present on the brake

output even though the safety sub-function SBC has been requested Malfunctions are externally reported by the functional part, including via the additional communication interfaces (bus, commissioning software).

LED Meaning

Flash-

Error in the safety part, or a safety condition has been violated.

es red

Flash-

The safety sub-function has been requested but is not yet active. es yellow

Lights

The safety sub-function has been requested and is active. up yellow

Flash-

Output stage, brake outputs and safety diagnostic outputs are blocked (safety es

parameterisation is running). green

Lights

Ready, no safety sub-function has been requested. up green

Tab. 13 Safety LED

8.2 Repair

Repair or maintenance of the product is not permissible. If necessary, replace the complete product.

1. If there is an internal defect: Always replace the product.

2. Send the defective product unchanged, together with a description of the error and application, back to Festo.

3. Check with your regional Festo contact person to clarify the conditions for the return shipment.

31Festo — CMMT-AS-...-S1 — 2018-10a

Technical data

9 Technical data

9.1 Technical data, safety equipment

General safety reference data

Request rate in accordance with EN61508

Reaction time when the safety sub-function is requested

Error reaction time (how long it takes for the diagnostic output status to become correct once the safety sub-function has been requested)

Tab. 14 Safety reference data and safety specifications

Safety reference data for the safety sub-function STO

Wiring Without high test

Safety sub-function in accordance with EN61800-5-2

Safety integrity level in accordance with EN61508

SIL claim limit for a subsystem in accordance with EN62061

Category in accordance with ENISO13849-1

Performance level in accordance with ENISO13849-1

[ms] <10 (applies for STO and SBC)

[ms] <20 (applies for STA and SBA)

High request rate

pulses, without or with STA evaluation

Safe torque off (STO)

SIL 3 SIL 3 SIL 2

SIL CL 3 SIL CL 3 SIL CL 2

Cat. 4 Cat. 4 Cat. 3

PLe PLe PLd

With high test pulses and with STA evaluation

With high test pulses and without STA evaluation

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Technical data

Safety reference data for the safety sub-function STO

Wiring Without high test

pulses, without or with STA evaluation

Probability of danger-

[1/h] 3.70 x 10

–11

With high test pulses and with STA evaluation

9.40 x 10

–11

With high test pulses and without STA evaluation

5.90 x 10 ous failure per hour in accordance with EN61508, PFH

Mean time to danger-

[a] 2400 1960 1960 ous failure in accordance with ENISO13849-1, MTTF

Average diagnostic

[%] 97 95 75 coverage in accordance with ENISO13849-1, DC

AVG

Operating life (mission

[a] 20 time) in accordance with ENISO13849-1, T

Safe failure fraction SFF

[%] 99 99 99 in accordance with EN61508

Hardware fault toler-

1 ance in accordance with EN61508, HFT

Common cause factor

[%] 5 for dangerous undetected failures β in accordance with EN61508

Classification in

Type A accordance with EN61508

1) Safety sub-function STO tested and STA diagnostic output monitored by the safety controller at least 1 x every 24h.

Tab. 15 Safety reference data for the safety sub-function STO

–10

33Festo — CMMT-AS-...-S1 — 2018-10a

Technical data

Safety reference data for the safety sub-function SBC

Wiring Two brakes1) with SBA evalu-

ation

One brake3) without SBA evaluation

Safety sub-function in accordance with EN61800-5-2

Safety integrity level in accordance with EN61508

SIL claim limit for a subsystem in accordance with EN62061

Category in accordance with ENISO13849-1

Performance level in accordance with ENISO13849-1

Probability of dangerous failure per hour in accordance with EN61508, PFH

Mean time to dangerous failure in accordance with ENISO13849-1, MTTF

Average diagnostic coverage in accordance with ENISO13849-1, DC

AVG

Operating life (mission time) in accordance with ENISO13849-1, T

Safe failure fraction SFF in accordance with EN61508

Safe brake control (SBC)

SIL 3 SIL 1

SIL CL 3 SIL CL 1

Cat. 3 Cat. 1

PL e PL c

[1/h] 3.00 x 10

–10

9.00 x 10

[a] 1400 950

[%] 93 –

[a] 20

[%] 99 87

–8

34 Festo — CMMT-AS-...-S1 — 2018-10a

Technical data

Safety reference data for the safety sub-function SBC

Wiring Two brakes1) with SBA evalu-

ation

One brake3) without SBA evaluation

Hardware fault toler-

1 0 ance in accordance with EN61508, HFT

Common cause factor

[%] 5 for dangerous undetected failures β in accordance with EN61508

Classification in

Type A accordance with EN61508

1) One brake connected to BR+/BR− and a second brake connected to BR-EXT; 2-channel wiring and request via #SBC-A and #SBC-B.

2) Safety sub-function monitored by the safety controller via the SBA diagnostic output at least 1 x every 24h.

3) Brake connected either to BR+/BR− or to BR-EXT; 1-channel request via the safety controller using #SBC-A and #SBC-B; both inputs must be bridged externally.

Tab. 16 Safety reference data for the safety sub-function SBC

Remarks

– Depending on the desired safety classification, evaluation of the SBA diagnostic output by the

safety relay unit is either mandatory or optional.

– To achieve the safety classification Cat. 3, PL d, SIL 2 (or also Cat. 2, PL c/d) in connection with 2

brakes, evaluation of the SBA diagnostic output is mandatory.

– If you require an SBC function with a classification higher than Cat.1, PLc, the diagnostic outputs

must be checked regularly – at least 1x once every 24h – by having them tested automatically by the safety relay unit (è ENISO13849-1, Annex G.2).

– The safety relay unit must request the safety sub-function at least once within 24hand thereby

monitor the SBA diagnostic output to achieve a diagnostic coverage of at least 60%. If the signal behaviour does not correspond to expectations, the system must be put into a safe condition within the reaction time. It is essential that time monitoring be provided in the safety controller.

The technical data for the safety sub-function SS1 must be calculated individually according to the application. Use the specified safety reference data for STO and SBC for the calculation.

35Festo — CMMT-AS-...-S1 — 2018-10a

Technical data

9.2 Technical data, product conformity and approvals

Product conformity and approvals

CE marking (declaration of conformity èwww.festo.com/sp)

In accordance with EU-EMC Directive To EU Machinery Directive

To EU Low Voltage Directive To EU RoHS Directive

1) The component is intended for industrial use. Outside of industrial environments, e.g.in commercial and mixed-residential areas, it may be necessary to take measures to suppress interference.

Tab. 17 Product conformity and approvals

Safety specifications

Type test The functional safety engineering of the product has been certi-

fied by an independent testing body, see EC-type examination certificate èwww.festo.com/sp

Certificate issuing authority TÜV Rheinland, Certification Body of Machinery, NB 0035

Certificate no. 01/205/5640.00/18

Tab. 18 Safety specifications

9.3 General technical data

Ambient conditions, transport

Transport temperature [°C] −25…+70

Relative humidity [%] 5…95 (non-condensing)

Max. transportation

[d] 30

duration

Permissible altitude [m] 12,000 (above sea level) for 12h

Vibration resistance Vibration test and free fall in packaging in accordance with

EN61800-2

Tab. 19 Ambient conditions, transport

Ambient conditions, storage

Storage temperature [°C] −25…+55

Relative humidity [%] 5…95 (non-condensing)

Permissible altitude [m] 3000 (above sea level)

Tab. 20 Ambient conditions, storage

36 Festo — CMMT-AS-...-S1 — 2018-10a

Technical data

Ambient conditions, operation

Ambient temperature

[°C] 0…+40

at nominal power

Ambient temperature

[°C] 0…+50 with power reduction (–3%/°C at 40°C…50°C)

Cooling Through surrounding air in the control cabinet; from CMMT-AS-

C5-11A-P3: via forced ventilation (fan) as well

Temperature monitoring

Monitoring of: – Cooling element (power module) – Air in the device Switch-off if temperature is too high or too low

Relative humidity [%] 5…90 (non-condensing) No corrosive media permitted near the

device

Permissible setup alti-

[m] 0…1000 tude above sea level at nominal power

Permissible setup altitude above sea level

[m] 0…2000

Operation above 2000m is not permitted! with power reduction (–10%/1000m at 1000m…2000m)

Degree of protection IP20 (with mating plug X9A attached, otherwise IP10);

use in a control cabinet with at least IP54, design as “closed

electrical operating area” in accordance with IEC61800-5-1,

Chap. 3.5

Protection class I

Overvoltage category III

Degree of contamina-

2 tion

Vibration resistance in

IEC61800-5-1 and EN61800-2 accordance with

Shock resistance in

EN61800-2 accordance with

Tab. 21 Ambient conditions, operation

37Festo — CMMT-AS-...-S1 — 2018-10a

Technical data

Service life

Service life of the

[h] 25,000 device with rated load in S1 operation1) and 40°C ambient temperature

Service life of the

[h] 50,000 device with <50% rated load in S1 operation1) and 40°C ambient temperature

1) Continuous operation with constant load

Tab. 22 Service life

9.4 Technical data, electrical

9.4.1 Motor auxiliary connection [X6B]

Output of holding brake [X6B]

CMMT-AS- C2-3A C4-3A

Design High-side switch

Max. continuous out-

[A] 1 put current

Max. voltage drop from

[VDC] 0.8 +24V input at connection [X9A] to brake output at [X6B]

Max. permissible

[H] <5 inductive load

Protective functions – Short circuit to 0V/PE

– Overvoltage-proof to 60V – Thermal overload protection

Fault detection Voltage at output despite brake having shut down

Diagnostics possible via: – Output SBA – Error message on device

1) The test pulses of the associated control input #SBC-A are mapped to the output subject to a switching delay.

2) Brake output also shuts down in the event of a fault if there is an overvoltage on the logic supply.

Tab. 23 Output of holding brake [X6B], 1-phase devices

38 Festo — CMMT-AS-...-S1 — 2018-10a

Technical data

Output of holding brake [X6B]

CMMT-AS- C2-11A-P3 C3-11A-P3 C5-11A-P3

Design High-side switch

Max. continuous out-

[A] 1 1.3

put current

Max. voltage drop from

[VDC] 0.8 1 +24V input at connection [X9A] to brake output at [X6B]

Max. permissible

[H] <5 inductive load

Protective functions – Short circuit to 0V/PE

– Overvoltage-proof to 60V

– Thermal overload protection

Fault detection Voltage at output despite brake having shut down

Diagnostics possible via: – Output SBA – Error message on device

1) The test pulses of the associated control input #SBC-A are mapped to the output subject to a switching delay.

2) Brake output also shuts down in the event of a fault if there is an overvoltage on the logic supply.

Tab. 24 Output of holding brake [X6B], 3-phase devices

39Festo — CMMT-AS-...-S1 — 2018-10a

Technical data

9.4.2 Inputs, outputs, ready contact at [X1A]

Operating ranges of digital inputs drawing current

Fig. 16 Operating ranges of digital inputs drawing current

Control inputs #STO-A and #STO-B at [X1A]

Specification Based on type 3 to EN61131-2; deviating current consumption

Nominal voltage [VDC] 24

Permissible voltage

range

Max. input voltage high-level (U

H max

Min. input voltage high-level (U

H min

Max. input voltage lowlevel (U

L max

)

Min. input voltage lowlevel (U

L min

)

Max. input current with high-level (I

40 Festo — CMMT-AS-...-S1 — 2018-10a

H max

)

[VDC] –3…30

[V] 28.8

)

[V] 17

)

[V] 5

[V] –3

[mA] 75

Technical data

Control inputs #STO-A and #STO-B at [X1A]

Min. input current with high-level (I

H min

)

Max. input current with low-level (I

L max

)

Min. input current in transition range (I

T min

[mA] 50

[mA] 75

[mA] 1.5

)

Tolerance for low test pulses

Tolerated low test pulses (t

STO,TP

) up to

[ms] 1

max.

Min. time between low

[ms] 200 test pulses at U

< U

H min

Min. time between low

STO-A/B

£ 20V

[ms] 100 test pulses at U

> 20V

STO-A/B

Tolerance for high test pulses

Tolerated high test pulses (t

STO,TP

) up to

[ms] 1

max.

Min. time between high

[ms] 200 test pulses at U

< U

STO-A/B

1) Each channel has a separate overvoltage monitor for the power supply at the input. If the voltage at the input exceeds the permissible maximum value, the channel is shut down.

2) High test pulses must not occur simultaneously at inputs #STO-A and #STO-B but only with a time offset.

L max

Tab. 25 Control inputs #STO-A and #STO-B at [X1A]

Control inputs #SBC-A and #SBC-B at [X1A]

Specification Based on type 3 to EN61131-2

Nominal voltage [VDC] 24

Permissible voltage

[VDC] –3…30

range

Max. input voltage high-level (U

H max

Min. input voltage high-level (U

H min

[V] 30

)

[V] 13

)

41Festo — CMMT-AS-...-S1 — 2018-10a

Technical data

Control inputs #SBC-A and #SBC-B at [X1A]

Max. input voltage lowlevel (U

L max

)

Min. input voltage lowlevel (U

L min

)

Max. input current with high-level (I

H max

)

Min. input current with high-level (I

H min

)

Max. input current with low-level (I

L max

)

Min. input current in transition range (I

T min

[V] 5

[V] –3

[mA] 15

[mA] 5

[mA] 15

[mA] 1.5

)

Tolerance for low test pulses

Tolerated low test pulses (t

SBC,TP

) up to

[ms] 1

max.

Min. time between low

[ms] 200 test pulses at U

< U

H min

Min. time between low

SBC-A/B

£ 20V

[ms] 100 test pulses [ms] atU

Tolerance for high test pulses

Tolerated high test pulses (t

SBC-A/B

> 20V

SBC,TP

[ms] 1

) up to

max.

Min. time between high

[ms] 200 test pulses at U

< U

SBC-A/B

1) High test pulses must not occur simultaneously at inputs #SBC-A and #SBC-B but only with a time offset.

L max

Tab. 26 Control inputs #SBC-A and #SBC-B at [X1A]

42 Festo — CMMT-AS-...-S1 — 2018-10a

Technical data

Diagnostic outputs STA and SBA at [X1A]

Design Asymmetrical push-pull output

Voltage range [VDC] 18…30

Permissible output cur-

[mA] 15

rent for high-level

Voltage loss at high-

[V] <3

level

Permissible output current at low-level

Voltage loss at low-

[mA] <–400

[V] <1.5

level

Pull-down resistance [kΩ] <50

Protective function – Short-circuit proof

– Feedback-proof – Overvoltage-resistant up to 60V

Loads

Ohmic load (min.) [kΩ] 1.2

Inductive load [μH] <10

Capacitive load

[nF] <10

Test pulses

Test pulses at outputs None (for time-offset test pulses on the associated A/B control

inputs)

1) Current flows from outside via the internal low-side switch to 0V reference potential of 24V supply

2) Requires connection of the output to a Type 3 input

Tab. 27 Diagnostic outputs STA and SBA at [X1A]

9.4.3 Inputs and outputs for the axis [X1C]

Output BR-EXT at [X1C]

Design High-side switch

Voltage range [VDC] 18…30

Permissible output cur-

[mA] 100

rent for high level

Voltage loss at high

[V] <3

level

Pull-down resistance [kΩ] <50

43Festo — CMMT-AS-...-S1 — 2018-10a

Technical data

Output BR-EXT at [X1C]

Protective function – Short-circuit proof

– Feedback-proof – Overvoltage-resistant up to 60V – Thermal overload protection

Fault detection Voltage at output despite brake having shut down

Diagnostics possible via: – Output SBA – Error message on device

Test pulse length The test pulses for control input #SBC-B are mapped to the out-

put.

Min. time between test

[ms] 100 pulses

Loads

Resistive load (min.) [Ω] 240

Inductive load [mH] <100

Capacitive load [nF] <10

1) The test pulses of the associated control input #SBC-B are mapped to BR-EXT subject to a switching delay.

Tab. 28 Output BR-EXT

44 Festo — CMMT-AS-...-S1 — 2018-10a

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Festo CMTT-AS S1 Series Description

Specifications and Main Features

Frequently Asked Questions

User Manual

About this document

1.1 Target group

1.2 Applicable documents

1.3 Product version

1.4 Product labelling

1.5 Specified standards

2 Safety

2.1 Safety instructions

2.2 Intended use

2.2.1 Application areas

2.2.2 Permissible components

2.3 Foreseeable misuse

Service

2.4 Training of qualified personnel

2.5 Approvals and certifications

Product overview

4.1 Safety sub-functions

4.1.1 Function and application

4.1.2 Safety sub-function STO

4.1.3 Safety sub-function SBC

4.1.4 Safety sub-function SS1

4.1.5 Cross wiring of several servo drives

4.1.6 Error exclusion

4.1.7 Safety relay unit

Interfaces of the PDS

Installation

5.1 Safety

5.2 STO installation

5.3 SBC installation

5.4 SS1 installation

5.5 Installation for operation without safety sub-function

Commissioning

6.1 Safety

6.2 Check lists

Operation

Malfunctions

8.1 Diagnostics via LED

8.2 Repair

Technical data

9.1 Technical data, safety equipment

9.2 Technical data, product conformity and approvals

9.3 General technical data

9.4 Technical data, electrical

9.4.1 Motor auxiliary connection [X6B]

9.4.2 Inputs, outputs, ready contact at [X1A]

9.4.3 Inputs and outputs for the axis [X1C]