#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. 7: 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 also 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.
4.3.3
Safety sub-function SBC
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
Tab. 51 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 simultane-
ously 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-func-
tion 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 protected when installed.
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.
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).
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 set to 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. 8: 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 corre-
sponding 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.
Requirements for the brake
Requirements for the brake
è
Manual Safety sub-function
Brake test
•
Check whether a brake test is required. The DGUV information sheet “Gravity-
loaded axis” provides information on this.
4.3.4
Safety sub-function SS1
Together with a suitable safety relay unit, the following can be achieved:
–
Safe stop 1 time controlled (SS1-t/Safe stop 1 time controlled;) triggering of
motor deceleration and, after an application-specific time delay, triggering of
the safety sub-function STO
Safety sub-function SS1
è
Manual Safety sub-function
4.3.5
Fault exclusion
Put suitable measures in place to prevent faulty wiring:
–
Exclude wiring faults in accordance with EN 61800-5-2
–
Configure the safety relay unit to monitor the outputs of the safety relay unit
and wiring up to the servo drive
4.3.6
Safety relay unit
Use suitable safety relay units with the following characteristics:
–
2-channel outputs with
–
Detection of shorts across contacts
–
Required output current (also for STO)
–
Low test pulses 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 restric-
tions:
–
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 diag-
nostic feedbacks STA, SBA
13.1 Technical data, safety engineering, safety
reference data STO and SBC.
5
Transport and storage
–
Protect the product during transport and storage from excessive stress factors.
Excessive stress factors include:
–
mechanical stresses
–
impermissible temperatures
–
moisture
–
aggressive atmospheres
–
Store and transport the product in its original packaging. The original pack-
aging offers sufficient protection from typical stresses.
6
Assembly
Dimensions CMMT-AS-C2/C4-3A-...
Fig. 3: Dimensions
Dimen-
sion
L1
L2
L3
L4
L5
L6
L7
[mm]
Approx.
212
170
200
22
10
6
9
Tab. 9: Dimensions CMMT-AS-C2/C4-3A-... Part 1
Dimen
sion
H1
H2
B1
B2
B3
D1
D2
D3
[mm]
Approx.
183
170
Approx.
50
34
Approx.
25
R5.5
5.5
5.5
Tab. 10: Dimensions CMMT-AS-C2/C4-3A-... Part 2
6.1
Mounting distances CMMT-AS-...-3A (1-phase)
The servo drives of the CMMT-AS series can be connected in series. When arraying
devices, the required minimum distance must be maintained so that the heat
generated during operation can be dissipated by allowing sufficient air flow.
