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1 Input device for safety request (e.g. light cur-

tain)

2 Safety relay unit

3 Servo drive CMMT-AS
4 Drive axle

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.

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]. 

Installation

24

Festo — CMMT-AS-...-S1 — 2018-10a

Summary of Contents for CMTT-AS S1 Series

Page 1: ...8096255 CMMT AS S1 Servo drive 8096255 2018 10a 8096257 Description Safety sub function STO SBC SS1 ...

Page 2: ...Translation of the original instructions ET 200SP PNOZ Pilz SIEMENS are registered trademarks of the respective trademark owners in certain countries 2 Festo CMMT AS S1 2018 10a ...

Page 3: ...ions 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 operatio...

Page 4: ... 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 4 Festo CMMT AS S1 2018 10a ...

Page 5: ...ions 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 2...

Page 6: ...torque switch off 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 ...

Page 7: ...y 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...

Page 8: ...s prevent ing 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...

Page 9: ...uit 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 Product overview 9 Festo CMMT AS S1 2018 10a ...

Page 10: ...es 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 f...

Page 11: ...B 2 channel input for STO request STO HS STO LS Internal triggering PWM driver high side low side tSTO TP Length low test pulses1 at STO A B tSTO In Max delay until STO shutdown is performed permissible reaction time when a safety sub function is requested1 Product overview 11 Festo CMMT AS S1 2018 10a ...

Page 12: ... 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 pos...

Page 13: ...oller 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 in...

Page 14: ...ia 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 detecti...

Page 15: ...e Mechanical delay of the brake SBC A SBC B 2 channel input for SBC request tSBC TP Length low test pulses1 at SBC A B tSBC In Max delay until the related brake output is switched off permissible reac tion time when a safety sub function is requested1 Product overview 15 Festo CMMT AS S1 2018 10a ...

Page 16: ...us 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...

Page 17: ...1 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 of...

Page 18: ...ty 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 Product overview 18 Festo CMMT AS S1 2018 10a ...

Page 19: ...ested 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 t1 Braking ramp followed rotational speed 0 functionally t2 Brake closed and output stage switched off functionally n Rotational speed Tab 7 Legend for SS1 timing Product overview 19 Festo CMMT AS S1 2018 10a...

Page 20: ...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 sensi...

Page 21: ...lses 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...

Page 22: ...e 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...

Page 23: ...rtains 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 ST...

Page 24: ...ge 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 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 be...

Page 25: ...lamping unit high side switch X1C X1C 5 DOUT GND Ground reference potential X6B 1 PE Protective earthing X6B 2 BR Holding brake positive potential X6B X6B 3 OUT 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 Installation 2...

Page 26: ...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 5 4 SS1 installation Inputs and outputs for the s...

Page 27: ...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 9 SBC B X1A 10 SBC A X1A 11 STO B X1A 12 DIN STO A Supplies each one with 24 V X1A 21 SBA X1A X1A 22 DOUT STA Do not connect Tab 10 Wiring of inputs and outputs without safety sub function Installation 27 Festo CMMT AS S1 2018 10...

Page 28: ...tion and after every modification to the installa tion 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 Q...

Page 29: ... Question Relevant Done 1 Has a risk assessment been carried out Yes o No o o 2 Have a list of issues and a validation plan been drawn up Yes o No o o 3 Has the validation plan including analysis and inspection been worked through and has a validation report been created The follow ing must be inspected as a minimum as part of the validation Yes o No o o a Inspection of components Is the CMMT AS S...

Page 30: ... SBA STA do not switch to the high level when the safety sub function is requested via 1 chan nel Yes o No o o 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 linkage is interrupted at a particular point and the corresponding dia gnostic output does not switch to the high level on one CMMT AS when the safety sub ...

Page 31: ...ally reported by the functional part including via the additional communica tion interfaces bus commissioning software LED Meaning Flash es red Error in the safety part or a safety condition has been violated Flash es yel low The safety sub function has been requested but is not yet active Lights up yellow The safety sub function has been requested and is active Flash es green Output stage brake o...

Page 32: ...fety specifications Safety reference data for the safety sub function STO Wiring Without high test pulses without or with STA evaluation With high test pulses and with STA evaluation1 With high test pulses and without STA evaluation Safety sub function in accordance with EN 61800 5 2 Safe torque off STO Safety integrity level in accordance with EN 61508 SIL 3 SIL 3 SIL 2 SIL claim limit for a subs...

Page 33: ...age diagnostic coverage in accordance with EN ISO 13849 1 DCAVG 97 95 75 Operating life mission time in accordance with EN ISO 13849 1 TM a 20 Safe failure fraction SFF in accordance with EN 61508 99 99 99 Hardware fault toler ance in accordance with EN 61508 HFT 1 Common cause factor for dangerous undetec ted failures β in accord ance with EN 61508 5 Classification in accordance with EN 61508 Typ...

Page 34: ...Category in accordance with EN ISO 13849 1 Cat 3 Cat 1 Performance level in accordance with EN ISO 13849 1 PL e PL c Probability of danger ous failure per hour in accordance with EN 61508 PFH 1 h 3 00 x 10 10 9 00 x 10 8 Mean time to danger ous failure in accord ance with EN ISO 13849 1 MTTFd a 1400 950 Average diagnostic coverage in accordance with EN ISO 13849 1 DCAVG 93 Operating life mission t...

Page 35: ...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 automatical...

Page 36: ...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 duration d 30 Permissible...

Page 37: ...issible setup alti tude above sea level at nominal power m 0 1000 Permissible setup alti tude above sea level with power reduction 10 1000 m at 1000 m 2000 m m 0 2000 Operation above 2000 m is not permitted 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 Ch...

Page 38: ... Max voltage drop from 24 V input at connec tion X9A to brake out put at X6B V DC 0 8 Max permissible inductive load H 5 Protective functions Short circuit to 0 V PE Overvoltage proof to 60 V2 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 ...

Page 39: ... V PE Overvoltage proof to 60 V2 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 Ta...

Page 40: ...A Specification Based on type 3 to EN 61131 2 deviating current consumption Nominal voltage V DC 24 Permissible voltage range1 V DC 3 30 Max input voltage high level UH max V 28 8 Min input voltage high level UH min V 17 Max input voltage low level UL max V 5 Min input voltage low level UL min V 3 Max input current with high level IH max mA 75 Technical data 40 Festo CMMT AS S1 2018 10a ...

Page 41: ...ax ms 1 Min time between high test pulses at USTO A B UL max ms 200 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 Tab 25 Control inputs STO A and STO B at X1A Control i...

Page 42: ... low test pulses Tolerated low test pulses tSBC TP up to max ms 1 Min time between low test pulses at UH min USBC A B 20 V ms 200 Min time between low test pulses ms atUSBC A B 20 V ms 100 Tolerance for high test pulses1 Tolerated high test pulses tSBC TP up to max ms 1 Min time between high test pulses at USBC A B UL max ms 200 1 High test pulses must not occur simultaneously at inputs SBC A and ...

Page 43: ...tive load μH 10 Capacitive load2 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 E...

Page 44: ... 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 pulses ms 100 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 Technical data 44 Festo CMMT ...

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Page 46: ...rization is prohibited Offenders will be liable for damages All rights reserved in the event that a patent utility model or design patent is registered Copyright Festo AG Co KG 73734 Esslingen Ruiter Straße 82 Germany 49 711 347 0 49 711 347 2144 Fax service_international festo com www festo com Internet Phone e mail ...

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