festo a5 1spaltig...safety sub-functions sto and sbc are available on the cmmt-as on delivery...

8113999

CMMT-AS-...-S1Servo drive

81139992019-07b[8114001]

Description | Safetysub-function | STO,SBC, SS1

Translation of the original instructions

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

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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 CE marking................................................................................................................... 7

2.6 Safety engineering approval......................................................................................... 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 Fault 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............................................................................................................ 24

5.3 SBC installation............................................................................................................ 25

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 LEDs..................................................................................................... 31

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

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

Table of contents

9.1 Technical data, safety engineering................................................................................ 32

9.2 General technical data...................................................................................................36

9.3 Technical data, electrical............................................................................................... 38

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

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

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

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1 About this document

1.1 Target groupThe document is targeted towards individuals who mount and operate the product. It is additionallytargeted towards individuals who are entrusted with the planning and application of the product in asafety-oriented system.

1.2 Applicable documentsThis document describes the use of the safety sub-functions Safe torque off (STO) and Safe brake con-trol (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 safetyrelay 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 versionThis documentation refers to the following version of the device:– Servo drive CMMT-AS-...-S1, revision R01 and higher, see product labelling

1.4 Product labellingProduct 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 instructionsIt is only possible to determine whether the product is suitable for specific applications by alsoassessing further components of the subsystem.Analyse and validate the safety function of the entire system.

About this document

http://www.festo.com/pk

Check the safety functions at adequate intervals for proper functioning. It is the responsibility of theoperator to choose the type and frequency of the checks within the specified time period. The mannerin which the test is conducted must make it possible to verify that the safety device is functioning per-fectly in interaction with all components. Time period for cyclical testè 9.1 Technical data, safety engineering.Prior to initial commissioning, wire the control inputs of the safety sub-functions STO and SBC. Thesafety sub-functions STO and SBC are available on the CMMT-AS on delivery without the need for anyadditional parameterisation.Keep the documentation somewhere safe throughout the entire product lifecycle.

2.2 Intended useThe 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 circuitry of the servo

driveThe safety sub-function STO is intended to switch off the torque of the connected motor, thereby pre-venting 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 switch-off.

2.2.1 Application areasSafety sub-functions may only be used for applications for which the stated safety reference valuesare sufficient è 9.1 Technical data, safety engineering.

2.2.2 Permissible componentsThe 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 relatedsafety-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 ofEN 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 ofEN 60204-1. Motor cables and brake lines approved by Festo for the CMMT-AS fulfil the requirements.

2.3 Foreseeable misuseForeseeable 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 hasimportant implications for the design of insulation and network disconnection – will be exceeded.This error must be detected.

Safety

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– 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 areused to improve diagnostic coverage of the related safety sub-function. The diagnostic outputsmay only be used in combination with the related safe control signals (AND operation) plus a reli-able time monitoring function in the safety relay unit for the purpose of switching additionalsafety-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 notsuitable for stopping the axis safely. Additional measures are required to prevent dangerousmovements of the drive axis, such as use of a mechanical brake in combination with the safetysub-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 byelectrical 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 personnelThe product may be installed and placed in operation only by a qualified electro technician, who isfamiliar with the topics:– installation and operation of electrical control systems– applicable regulations for operating safety-engineering systemsWork on safety-related systems may only be carried out by qualified personnel trained in safety engin-eering.

2.5 CE markingThe product has the CE marking. The product-related EU directives and standards are listed in the declaration of conformityè www.festo.com/sp.

2.6 Safety engineering approvalThe product is a safety device in accordance with the Machinery Directive. For details of the safety-ori-ented standards and test values that the product complies with and fulfils, seeè 9.1 Technical data, safety engineering. Compliance with the named standards is limited to theCMMT-AS-...-S1.

3 ServiceContact your regional Festo contact person if you have technical questions è www.festo.com.

Service

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http://www.festo.com/sp

http://www.festo.com

4 Product overview

4.1 Safety sub-functions

4.1.1 Function and applicationThe 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 (cor-responds to stop category 0 from EN 60204-1).The safety sub-function STO is used when the power supply to the motor needs to be switched offsafely 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-t).

Function and application of STOThe safety sub-function STO switches off the driver supply for the power semiconductor, thus prevent-ing the power output stage from supplying the energy required by the motor. The power supply to thedrive is safely disconnected when the safety sub-function STO is active. The drive cannot generatetorque and so cannot perform any dangerous movements. With suspended loads or other externalforces, additional measures must be put in place to prevent movements being performed (e.g. mech-anical 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 axeswithout automatic locking mechanisms, 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 theservo drive output stage during the STO status (simultaneous short circuit of 2 power semiconductorsin different phases) may result in a limited detent movement of the rotor. The rotation angle/travelcorresponds 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

Product overview

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Functional principle of STO

Fig. 2 Functional principle of STO

1 High-side power stage

2 Low-side power stage

3 DC link voltage

Fig. 3 Power stage with power transistors

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

Product overview

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– Behaviour of the drive with a running motor: the movement of the drive is not decelerated via abraking ramp. The drive continues to move uncontrolled due to inertia or external forces until itcomes to a standstill by itself.

– Behaviour of the drive with a stopped motor: the drive is uncontrolled and can be moved byexternal forces.

STO feedback via STA diagnostic contactThe status of the safety sub-function STO can be reported to the safety relay unit via the STA diagnost-ic output.The STA diagnostic output indicates whether the safe status has been reached for the safety sub-func-tion STO. The STA diagnostic output switches to high level only when STO is active on 2 channels viathe 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-Aand STO-B is too high, the internal protective functions switch off and STA also delivers a high levelsignal. Recommendation: the safety relay unit should check the status of the diagnostic output wheneverthere is a STO request. The level of STA must change according to the logic table. The safety relay unitcan cyclically test the signals #STO-A and #STO-B for high level with low test pulses and for low levelwith high test pulses.

Product overview

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STO timing

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, pulse-width modulation driver high side/low side

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

tSTO,In Max. delay until STO switches off (≤ permissible reaction time when a safetysub-function is requested1))

STA Feedback, STO active

tSTA,Out Max. delay for diagnostic feedback (≤ permissible reaction time when asafety sub-function is requested1) + 10 ms)

Product overview

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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 orbrake on the axis to slow an axis down mechanically or stop it safely.

Function and application of SBCThe safety sub-function SBC provides safe output signals for the control of brakes (holding brakes orclamping units). The brakes are controlled on 2 channels by switching off the voltage at the followingoutputs:– Safe output BR+/BR– [X6B] for the holding brake of the motor– Safe output BR-EXT/GND [X1C] for the external brake/clamping unitThe holding brake and/or clamping unit engage and slow the motor or axis. The purpose of this is toslow down dangerous movements by mechanical means. The braking time is dependent on howquickly 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 lowè Tab. 17 Safety reference data for the safety sub-function SBC. To do this, connect the brake eitherto BR+/BR– or to BR-EXT.

NOTICE!

If there are suspended loads, they usually drop if SBC is requested simultaneously with STO. This canbe traced back to the mechanical inertia of the holding brake or clamping unit and is thus unavoid-able. 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.

Product overview

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Functional principle of SBC

Fig. 6 Functional principle of SBC

SBC requestThe safety sub-function SBC is requested on 2 channels by simultaneously switching off the controlvoltage 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 thebrake outputs.

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

SBC feedback via SBA diagnostic contactThe 2-channel switching of the brake is indicated via the SBA output. SBA is used to report the statusof the safety sub-function SBC for diagnostic purposes, e.g. by reporting it to an external safety relayunit.The SBA diagnostic output indicates whether the safe status has been reached for the safety sub-func-tion 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).

Product overview

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

Testing the safety sub-function SBCTest inputs #SBC-A and #SBC-B separately from each other and together. The diagnostic feedbackmay only be set to high level when inputs #SBC-A and #SBC-B are both requested. If the signal beha-viour does not correspond to expectations, the system must be put into a safe condition within thereaction 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 High level Low level

High level Low 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 theCMMT-AS if the test lasts longer than 200 ms. If a corresponding error message is output by the basicunit, you will need to acknowledge it.

Evaluation of SBARecommendation: Evaluation with every actuation.• Check SBA feedback whenever there is a request.

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



Tab. 5 Evaluation of SBC level

Product overview

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Timing of SBC

Fig. 7 SBC timing diagram

Legend for SBC timing


tBrake 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))

SBA Feedback, SBC active

tSBA,Out Max. delay for diagnostic feedback (≤ permissible reaction time when asafety sub-function is requested1) + 10 ms)

Product overview

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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 themotor at a standstill. The internal holding brake of the motor is also used for the safety sub-function SBC. Please be awareof 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 atno more than 2/3 of the nominal torque. The holding brakes in the motors are usually designed sothat the motor shaft will come to a standstill without coasting at loads below 70 % of the nominaltorque.

– Depending on the hazard situation, the holding brake must be designed with a correspondinglyhigher 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-t according to EN 61800-5-2.

Product overview

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The safety sub-function SS1 is used when the motor needs to be braked and the power supply to themotor then has to be safely switched off in the application but there are no further requirements for atargeted 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/Safe stop 1 time controlled); triggering of motor deceleration

and, after an application-specific time delay, triggering of the safety subfunction 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 SS1The 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 brakefunction to engage at the end of the braking ramp. On completion of the braking ramp and oncethe parameterisable delay time for brake closing has elapsed, the power stage is functionallyswitched off.

2. Start of a time-delay element for actuation of STO.Select a delay time that ensures the functional braking ramp is completed in normal operation,the holding brake function is engaged and the power stage is functionally switched off. Otherwise,the axis may drop if STO is triggered concurrently with the brake engagement time that is requiredfor mechanical reasons. If the brake is engaged while the axis is still in motion, increased wear willoccur 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 circuits for the safety relay unit:Logic in the safety relay unit for SS1

Product overview

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Fig. 9 Logic in the safety relay unit for SS1

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

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

Product overview

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Timing of SS1

Fig. 10 Timing diagram SS1

Legend for SS1 timing


Timer Delay element in safety relay unit

CTRL-EN Enable signal

tDelay Delay time until STO and SBC are requested (drive has safely come to astandstill 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 power stage switched off (functionally)

n Rotational speed

Tab. 7 Legend for SS1 timing

Product overview

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SBC request

If there are suspended loads, they usually drop if STO and SBC are requested directly before the brak-ing 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 tDelay, make sure it is long enough to take account of the maximumbraking ramp time and brake engagement time.

4.1.5 Cross wiring of several servo drivesFor cross wiring, wire the diagnostic outputs as a ring. Route both ends of the ring to a 2-channel inputof the safety relay unit. The safety relay unit monitors for discrepancies. A maximum of 10 servo drivescan 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 aCMMT-AS is capable of pulling all other outputs to low signal. A high signal is present at the twoinputs of the safety relay unit only if all diagnostic outputs deliver high signals. The ring-shaped crosswiring of the diagnostic outputs with sensing at the beginning and end of the signal chain makes itpossible to detect cable breaks in the cross wiring.At this point, the diagnostic outputs deviate from the closed current principle. Cyclical automatic test-ing of the diagnostic output by the safety relay unit is therefore highly recommendedè STO feedback via STA diagnostic contact and è SBC feedback via SBA diagnostic contact.

4.1.6 Fault exclusionPut suitable measures in place to prevent faulty wiring:

Product overview

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– 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

4.1.7 Safety relay unitUse 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 driveSafety 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 engineering, safety reference data STO and SBC.The safety relay units Pilz PNOZmulti, Pilz PNOZmulti Mini or SIEMENS ET 200SP with PP-switchingoutput modules, for example, would be suitable.

4.1.8 Interfaces of the PDSThe 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 brakeInterfaces of the PDS

Product overview

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Fig. 12 Interfaces of the PDS

5 Installation

5.1 SafetyWARNING!

Risk of injury due to electric shock.• For the electrical power supply with extra-low voltages, use only PELV circuits that guarantee a

reinforced isolation from the mains network.• Observe IEC 60204-1/EN 60204-1.

Comprehensive information concerning the electrical installation of the device è DescriptionAssembly, Installation.

Information for operation with safety functions

NOTICE!

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

During installation of safety-related inputs and outputs, also observe the following:

Installation

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– 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 eventof a fault.

– Carry out wiring between the safety relay unit and the I/O interface of the servo drive in such away as to exclude the risk of a short circuit between the conductors or to 24 V, as well as a crosscircuit è EN 61800-5-2, Annex D.3.1. Otherwise, the safety relay unit must feature detection ofshorts across contacts and, in the event of a fault, must switch off the control signals on 2 chan-nels.

– 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 similar can be inserted parallel to the safety wiring. For

example, use the maximum wire cross section or appropriate plastic wire end sleeves.– To cross-wire safety-related inputs and outputs, use twin wire end sleeves. When cross-wiring

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

– The safety relay unit and its inputs and outputs must meet the necessary safety classification ofthe 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 circuitry concept– 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.– Connecting sensors, e.g. emergency stop devices, directly to the servo drive is not permitted

because no sensor monitoring takes place.

Installation

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5.2 STO installationInputs and outputs for the safety sub-function STOThe 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-func-tion STO.

Connection Pin Type Identifier Function

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

X1A.12

DIN

#STO-A Safe torque off, channel A

[X1A]

X1A.22 DOUT STA Safe torque off acknowledge

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

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

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

Installation

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

5.3 SBC installationInputs and outputs for the safety sub-function SBCThe 2-channel request for the safety sub-function is made via the digital inputs #SBC-A and #SBC-B atthe connection [X1A]. The SBA diagnostic output indicates whether the safe status has been reachedfor the safety sub-function SBC. The holding brake is connected via the connection [X6B]. The externalclamping unit is connected via the connection [X1C].


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

X1A.10

DIN

#SBC-A Safe brake control, channel A

[X1A]

X1A.21 DOUT SBA Safe torque off acknowledge

X1C.1 BR-EXT Output for connection of an external clampingunit (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 exampleThe safety sub-function SBC (safe brake control) is triggered by an input device that makes the safetyrequest.

Installation

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

2 Safety relay unit


4 Control (here solenoid valve example) of theclamping unit

Fig. 14 SBC sample circuit

Information on the sample circuitThe safety request is passed on to the servo drive on 2 channels via the inputs #SBC-A and #SBC-B atthe 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.

5.4 SS1 installationInputs and outputs for the safety sub-function SS1The safety sub-function SS1 is wired like the safety sub-function STO but is supplemented by the func-tional input CTRL-EN so that the braking ramp can be activated by the safety relay unit.

Installation

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SS1 connection example

1 Input device for safety request

2 Safety relay unit


Fig. 15 SS1 sample circuit

5.5 Installation for operation without safety sub-functionMinimum wiring for operation without safety sub-functionFor operation without the safety sub-function, wire inputs X1A.9 to X1A.12 as follows:


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

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6 Commissioning

6.1 SafetyUse of safety functions

NOTICE!

The safety sub-functions STO and SBC are already available on the CMMT-AS on delivery without theneed 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 responsibil-ity 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, ChapterG.4:– Functional test– Project management– Documentation– Performance of a black-box test

6.2 Check listsThe safety functions must be validated after installation and after every modification to the installa-tion. This validation must be documented by the person who commissions the device. To assist youwith commissioning, we have put together some sample questions for risk reduction in the form of thecheck lists below.

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

No. Question Relevant Done

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

Yes o No o

o

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

Yes o No o

o

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

Yes o No o

o

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

Yes o No o

o

Commissioning

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5. Have the end users been given sufficient information and warningregarding the residual risks?

Yes o No o

o

6. Can it be guaranteed that the implemented protective measures havenot led to a deterioration in the working conditions of the operatingpersonnel?

Yes o No o

o

7. Are the implemented protective measures mutually compatible? Yes o No o

o

8. Has adequate consideration been given to the potential con-sequences of using a machine designed for commercial/industrialpurposes in a non-commercial/non-industrial area?

Yes o No o

o

9. Can it be guaranteed that the implemented measures will not severelyimpair the machine’s ability to perform its function?

Yes o No o

o

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


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 – beenworked 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-...-S1 being used (checkusing the rating plate)?

Yes o No o

o

... b) Is the wiring correct (check using the circuit diagram)? Yes o No o

o

... b1) Have the inputs for STO and SBC been wired to the safety relayunit via 2 channels?

Yes o No o

o

... b2) Have the check-back outputs STA, SBA been wired to the safetyrelay unit?

Yes o No o

o

... b3) If multiple CMMT-AS have been connected together (linked) viaX1A: Have the connection instructions been taken into account?è 4.1.5 Cross wiring of several servo drives.

Yes o No o

o

... c) Functional tests: Yes o No o

o

Commissioning

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... c1) Actuation of the system emergency stop: Is the drive brought to astandstill in the desired manner (stop 0, stop 1, SBC)?

Yes o No o

o

... c2) Is a restart after an emergency stop prevented in the safety relayunit? This means that when the emergency stop button is pressed andthe enable signals are active, no movement occurs in response to astart command until acknowledgement has taken place via the“Restart” input.

Yes o No o

o

... c3) Actuation of the safety sub-function STO. If only one of theassigned inputs #STO-A or #STO-B is activated: Is the safety sub-func-tion STO executed immediately? Does the STA output remain at thelow level? Is the error “Discrepancy time violation” logged in theCMMT-AS once the discrepancy time has elapsed?

Yes o No o

o

... c4) Actuation of the safety sub-function SBC. If only one of theassigned inputs #SBC-A or #SBC-B is activated: Is the assigned safetysub-function executed immediately? Does the SBA output remain atthe low level? Is the error “Discrepancy time violation” logged in theCMMT-AS once the discrepancy time has elapsed?

Yes o No o

o

... c5) Does the safety relay unit detect a fault if SBA/STA do not switchto 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/STAlinkage is interrupted at a particular point and the corresponding dia-gnostic output does not switch to the high level on one CMMT-ASwhen the safety sub-function is requested via 1 channel?

Yes o No o

o

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

7 OperationCheck the safety functions at adequate intervals for proper functioning. It is the responsibility of theoperator to choose the type and frequency of the checks within the specified time period. The mannerin which the test is conducted must make it possible to verify that the safety device is functioning per-fectly in interaction with all components. Time period for cyclical testè 9.1 Technical data, safety engineering.The CMMT-AS is maintenance-free during its period of use and specified service life. The test intervalvaries 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 highestsafety-related classification.

Operation

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– SBC: cyclical test required at least once every 24 h and SBA evaluation recommended wheneverthe sub-function SBC is requested to ensure maximum diagnostic coverage and the highestsafety-related classification.

8 Malfunctions

8.1 Diagnostics via LEDs Safety LED, status of the safety equipment

Malfunctions of the safety sub-functions are detected and displayed in the functional device. The fol-lowing 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 requestedMalfunctions are externally 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.

Illu-min-atedyellow

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

Flash-esgreen

Power stage, brake outputs and safety diagnostic outputs are blocked (safety para-meterisation is running).

Illu-min-atedgreen

Ready, no safety sub-function has been requested.

Tab. 13 Safety LED

8.2 RepairRepair 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.

Malfunctions

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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.

9 Technical data

9.1 Technical data, safety engineering

Approval information, safety engineering

Type test The functional safety engineering of the product has been certi-fied by an independent testing body, see EC-type examinationcertificate è www.festo.com/sp

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

Certificate no. 01/205/5640.00/18

Tab. 14 Approval information, safety engineering

General safety reference data

Request rate in accord-ance with EN 61508

High request rate

Reaction time when thesafety sub-function isrequested

[ms] < 10 (applies to STO and SBC)

Error reaction time(how long it takes forthe diagnostic outputstatus to become cor-rect once the safetysub-function has beenrequested)

[ms] < 20 (applies for STA and SBA)

Tab. 15 Safety reference data and safety specifications

Safety reference data for the safety sub-function STO

Circuitry Without high testpulses, without orwith STA evaluation

With high testpulses and with STAevaluation1)

With high testpulses and withoutSTA evaluation

Safety sub-function inaccordance withEN 61800-5-2

Safe torque off (STO)

Technical data

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Safety integrity level inaccordance withEN 61508

SIL 3 SIL 3 SIL 2

SIL claim limit for asubsystem in accord-ance with EN 62061

SIL CL 3 SIL CL 3 SIL CL 2

Category in accordancewith EN ISO 13849-1

Cat. 4 Cat. 4 Cat. 3

Performance level inaccordance withEN ISO 13849-1

PL e PL e PL d

Probability of danger-ous failure per hour inaccordance withEN 61508, PFH

[1/h] 3.70 x 10–11 9.40 x 10–11 5.90 x 10–10

Mean time to danger-ous failure in accord-ance withEN ISO 13849-1,MTTFd

[a] 2400 1960 1960

Average diagnosticcoverage in accordancewith EN ISO 13849-1,DCAVG

[%] 97 95 75

Operating life (missiontime) in accordancewith EN ISO 13849-1,TM

[a] 20

Safe failure fraction SFFin accordance withEN 61508

[%] 99 99 99

Hardware fault toler-ance in accordancewith EN 61508, HFT

1

Technical data

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Common cause factorfor dangerous undetec-ted failures β in accord-ance with EN 61508

[%] 5

Classification inaccordance withEN 61508

Type A

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

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

Safety reference data for the safety sub-function SBC

Circuitry Two brakes1) with SBA evalu-ation2)

One brake3) Without SBA evalu-ation

Safety sub-function inaccordance withEN 61800-5-2

Safe brake control (SBC)

Safety integrity level inaccordance withEN 61508

SIL 3 SIL 1

SIL claim limit for asubsystem in accord-ance with EN 62061

SIL CL 3 SIL CL 1

Category in accordancewith EN ISO 13849-1

Cat. 3 Cat. 1

Performance level inaccordance withEN ISO 13849-1

PL e PL c

Probability of danger-ous failure per hour inaccordance withEN 61508, PFH

[1/h] 3.00 x 10–10 9.00 x 10–8

Technical data

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Safety reference data for the safety sub-function SBC

Circuitry Two brakes1) with SBA evalu-ation2)

One brake3) Without SBA evalu-ation

Mean time to danger-ous failure in accord-ance withEN ISO 13849-1,MTTFd

[a] 1400 950

Average diagnosticcoverage in accordancewith EN ISO 13849-1,DCAVG

[%] 93 –

Operating life (missiontime) in accordancewith EN ISO 13849-1,TM

[a] 20

Safe failure fraction SFFin accordance withEN 61508

[%] 99 87

Hardware fault toler-ance in accordancewith EN 61508, HFT

1 0

Common cause factorfor dangerous undetec-ted failures β in accord-ance with EN 61508

[%] 5

Classification inaccordance withEN 61508

Type A

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 once 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. 17 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 conjunction 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 bythe safety relay unit (è EN ISO 13849-1, Annex G.2).

Technical data

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– The safety relay unit must request the safety sub-function at least once within 24 h and therebymonitor the SBA diagnostic output to achieve a diagnostic coverage of at least 60 %. If the signalbehaviour does not correspond to expectations, the system must be put into a safe conditionwithin 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 theapplication. Use the specified safety reference data for STO and SBC for the calculation.

9.2 General technical data

Product conformity

CE marking (declaration of con-formity è www.festo.com/sp)

In accordance with EU EMC Directive1)

In accordance with EU Machinery DirectiveIn accordance with EU Low Voltage DirectiveIn accordance with EU RoHS Directive

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

Tab. 18 Product conformity

General technical data

Type name code CMMT-AS

Type of mounting Mounting plate, attached with screws

Mounting position Vertical, mounted on closed surface, free convection withunhindered air flow from bottom to top

Product weight [kg] CMMT-AS-C2-3A: 1.3CMMT-AS-C4-3A: 1.4CMMT-AS-C2-11A-P3: 2.1CMMT-AS-C3-11A-P3: 2.1CMMT-AS-C5-11A-P3: 2.2

Tab. 19 General technical data

Ambient conditions, transport

Transport temperature [°C] − 25 … + 70

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

Max. transportationduration

[d] 30

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

Technical data

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Ambient conditions, transport

Vibration resistance Vibration test and free fall in packaging in accordance withEN 61800-2

Tab. 20 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. 21 Ambient conditions, storage

Ambient conditions, operation

Ambient temperatureat nominal power

[°C] 0 … + 40

Ambient temperaturewith derating (–3 %/°C at40 °C … 50 °C)

[°C] 0 … + 50

Cooling Through ambient air in the control cabinet; from CMMT-AS-C5-11A-P3: also via forced ventilation (fan)

Temperature monitor-ing

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

Relative humidity [%] 5 … 90 (non-condensing), no corrosive media permitted near thedevice

Permissible setup alti-tude above sea level atnominal power

[m] 0 … 1000

Permissible setup alti-tude above sea levelwith derating(–10 %/1000 m at1000 m … 2000 m)

[m] 0 … 2000Operation 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 “closedelectrical operating area” in accordance with IEC 61800-5-1,Chap. 3.5

Technical data

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Ambient conditions, operation

Protection class I

Overvoltage category III

Pollution degree 2 (or better)

Vibration resistance inaccordance with

IEC 61800-5-1 and EN 61800-2

Shock resistance inaccordance with

EN 61800-2

Tab. 22 Ambient conditions, operation

Service life

Service life of thedevice with rated loadin S1 operation1) and40 °C ambient temper-ature

[h] 25,000

Service life of thedevice with < 50 %rated load in S1 opera-tion1) and 40 °C ambi-ent temperature

[h] 50,000

1) Continuous operation with constant load

Tab. 23 Service life

9.3 Technical data, electrical

9.3.1 Motor auxiliary connection [X6B]

Output of holding brake [X6B]

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

Design High-side switch1)

Max. continuous out-put current

[A] 1

Max. voltage drop from+ 24 V input at connec-tion [X9A] to brake out-put at [X6B]

[V DC] 0.8

Max. permissibleinductive load

[H] < 5

Technical data

38 Festo — CMMT-AS-...-S1 — 2019-07b


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

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 downDiagnostics 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], 1-phase devices


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


Max. continuous out-put current

[A] 1 1.3

Max. voltage drop from+ 24 V input at connec-tion [X9A] to brake out-put at [X6B]

[V DC] 0.8 1

Max. permissibleinductive load

[H] < 5

Protective functions – Short circuit to 0 V/PE– Overvoltage-proof to 60 V2)

– Thermal overload protection


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

Technical data

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9.3.2 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 voltagerange1)

[V DC] –3 … 30

Max. input voltagehigh-level (UH max)

[V] 28.8

Min. input voltagehigh-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 withhigh-level (IH max)

[mA] 75

Technical data

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

Min. input current withhigh-level (IH min)

[mA] 50

Max. input current withlow-level (IL max)

[mA] 75

Min. input current intransition range (IT min)

[mA] 1.5

Tolerance for low test pulses

Tolerated low testpulses (tSTO,TP) up tomax.

[ms] 1

Min. time between lowtest pulses atUH min < USTO-A/B £ 20 V

[ms] 200

Min. time between lowtest pulses atUSTO-A/B > 20 V

[ms] 100

Tolerance for high test pulses2)

Tolerated high testpulses (tSTO,TP) up tomax.

[ms] 1

Min. time between hightest pulses atUSTO-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 permissiblemaximum 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. 26 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 voltagerange

[V DC] –3 … 30

Max. input voltagehigh-level (UH max)

[V] 30

Min. input voltagehigh-level (UH min)

[V] 13

Technical data

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

Max. input voltage low-level (UL max)

[V] 5

Min. input voltage low-level (UL min)

[V] –3

Max. input current withhigh-level (IH max)

[mA] 15

Min. input current withhigh-level (IH min)

[mA] 5

Max. input current withlow-level (IL max)

[mA] 15

Min. input current intransition range (IT min)

[mA] 1.5

Tolerance for low test pulses

Tolerated low testpulses (tSBC,TP) up tomax.

[ms] 1

Min. time between lowtest pulses atUH min < USBC-A/B £ 20 V

[ms] 200

Min. time between lowtest pulses [ms]atUSBC-A/B > 20 V

[ms] 100

Tolerance for high test pulses1)

Tolerated high testpulses (tSBC,TP) up tomax.

[ms] 1

Min. time between hightest pulses atUSBC-A/B < UL max

[ms] 200

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

Tab. 27 Control inputs #SBC-A and #SBC-B at [X1A]

Diagnostic outputs STA and SBA at [X1A]

Design Asymmetrical push-pull output

Voltage range [V DC] 18 … 30

Technical data

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Diagnostic outputs STA and SBA at [X1A]

Permissible output cur-rent for high-level

[mA] 15

Voltage loss at high-level

[V] < 3

Permissible output cur-rent at low-level1)

[mA] < –400

Voltage loss at low-level

[V] < 1.5

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 load2) [nF] < 10

Test pulses

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

1) Current flows from outside via the internal low-side switch to 0 V reference potential of 24 V supply2) Requires connection of the output to a Type 3 input

Tab. 28 Diagnostic outputs STA and SBA at [X1A]

9.3.3 Inputs and outputs for the axis [X1C]

Output BR-EXT at [X1C]


Voltage range [V DC] 18 … 30

Permissible output cur-rent for high level

[mA] 100

Voltage loss at highlevel

[V] < 3

Pull-down resistance [kΩ] < 50

Protective function – Short-circuit proof– Feedback-proof– Overvoltage-resistant up to 60 V– Thermal overload protection

Technical data

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Output BR-EXT at [X1C]


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

Min. time between testpulses

[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. 29 Output BR-EXT

Technical data

44 Festo — CMMT-AS-...-S1 — 2019-07b

Reproduction, distribution or sale of this document or communic-ation of its contents to others without express authorization isprohibited. Offenders will be liable for damages. All rightsreserved in the event that a patent, utility model or design patentis registered.

Copyright:Festo SE & Co. KG Ruiter Straße 82 73734 Esslingen Germany

+49 711 347-0

www.festo.comInternet:

Phone:

festo a5 1spaltig...safety sub-functions sto and sbc are available on the cmmt-as on delivery...

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