integrated drive emca-ec-67-

en Description

STO

Safe torque off (STO)

8080389

2017-10a

[8080380]

Integrated Drive

EMCA-EC-67-...

EMCA-EC-67-...

2 Festo – EMCA-EC-67-... – 2017-10a

Translation of the original instructions

EMCA-EC-S1-EN

Tyco Electronics® is a registered trademark of its respective trademark holder in certain countries.

Identification of hazards and instructions on how to prevent them:

Danger

Immediate dangers which can lead to death or serious injuries

Warning

Hazards that can cause death or serious injuries

Caution

Hazards that can cause minor injuries

Other symbols:

Note

Material damage or loss of function

Recommendations, tips, references to other documentation

Essential or useful accessories

Information on environmentally sound usage

Text designations:

� Activities that may be carried out in any order

1. Activities that should be carried out in the order stated

– General lists

� Result of an action/References to more detailed information

EMCA-EC-67-...

Festo – EMCA-EC-67-... – 2017-10a English 3

Table of Contents – EMCA-EC-67-...

Target group 4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Service 4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Documentation on the product 4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1 Safety and requirements for using the product 6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1 Safety 6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1.1 Safety instructions for the STO safety function (Safe torque off ) 6. . . . . . . . . . . .

1.1.2 Intended use of the STO function 7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1.3 Safety characteristics 7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1.4 Foreseeable misuse of the STO function 7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1.5 Diagnostic coverage (DC) 7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2 Requirements for product use 8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.1 Training of specialized personnel 8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.2 Range of application 8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.3 Specified standards 8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2 Function and application 9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1 Circuitry of the control ports 10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2 Functional description 11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3 [X6] STO interface 13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3.1 Switching statuses 13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3.2 Switching times 14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3.3 Reaction to test pulses 14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3.4 Auxiliary supply +24 V LOGIC OUT 14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3 Installation and commissioning 15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1 Installation 15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2 Notes on commissioning 17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3 Diagnostics 18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4 Obligations of the machine operator 18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4 Technical data 19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1 Safety equipment 19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2 Electrical data 20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3 Product conformity and certifications 21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

EMCA-EC-67-...

4 Festo – EMCA-EC-67-... – 2017-10a English

Target group

This documentation is intended exclusively for technicians trained in control and automation techno

logy who have experience in installation, commissioning, parameterisation, programming and dia

gnostics of electrical drive systems.

Service

Please consult your regional Festo contact if you have any technical problems.

Documentation on the product

For all available product documentation � www.festo.com/pk

This document only describes the usage of the safety function “Safely switched off torque” (Safe

torque off/STO) in accordance with EN 61800-5-2, which is implemented in the EMCA. The complete

description of the product includes the following documents:

Designation Contents

Brief documentation

EMCA-...

Brief device and functional description for initial information

Manual

EMCA-EC-SY-...1)

EMCA-EC-DIO-...2)

Device and functional description

– Mounting

– Installation (pin allocations)

– Drive functions

– Commissioning instructions

– Error messages

– Technical data

Manual

EMCA-EC-S1-...

Description of the safety function “Safely switched-off torque”

(Safe torque off/STO)

Manual

EMCA-EC-C-HP-...1)

Description of the device profile FHPP (Festo Handling and

Positioning Profile)

Manual

EMCA-EC-C-CO-...1)

Description of the device profile CiA 402

Help system for the FCT software

(help for the EMCA plug-in)

Online help of the Festo Configuration Tool (FCT) for commis

sioning and parameterisation

Special documentation

EMCA-EC_UL-...

Requirements for operating the product in the USA and

Canada in accordance with certification by Underwriters Labor

atories Inc. (UL)

1) Only relevant for product variants with bus interface

2) Only relevant for product variants with I/O interface

Tab. 1 Documentation on the product

EMCA-EC-67-...


Further information about the product is available in the Festo Support Portal

(� www.festo.com/sp).

– Operating instructions for configurable electromechanical drives from Festo

– Function elements for CoDeSys

– Certificates, declaration of conformity

Overview of accessories (catalogue) � www.festo.com/catalogue

Version

This documentation refers to the following version of the device:

– Revision 1.0.0

The version of the device can be determined using the product key. The product key is an 11-character

alphanumeric code on the product label that uniquely identifies a product. The product key can be

entered as a search term in the Festo Support Portal (� www.festo.com/sp). After the search has

taken place, the Support Portal displays the version together with additional product data.

EMCA-EC-67-...


1 Safety and requirements for using the product

1.1 Safety

When commissioning electrical drives:

� Always observe the safety instructions and warnings in the documentation of the product

(� Tab. 1) and the documentation of the components used.

� Before mounting and installation work, switch off supply voltage and secure it against being

switched on again. Only switch on the supply voltage again when mounting and installation work is

complete.

� Never remove or insert a plug connector when the motor controller is powered.

� Observe the handling specifications for electrostatically sensitive devices.

� Only enable the controller if the drive has been professionally installed and fully parameterised.

� Do not carry out repairs on the device. If defective, replace the device.

1.1.1 Safety instructions for the STO safety function (Safe torque off )

Note

In order to achieve safety characteristics according to ISO 13849-1:

� Conduct a risk assessment of the application.

� Select the components and connect them in accordance with the required category

in accordance with ISO 13849-1.

Caution

Failure of the safety function can result in serious, irreversible injuries, e.g. due to unex

pected movements of the actuators.

� Do not bypass the connections for safety equipment.

� Observe the input voltage ranges of the device � Chapter�4.

� Only use the STO function when all of the necessary safeguards have been set up

and are functional.

� Validate the STO function to complete commissioning.

Caution

Severe injuries as a result of uncontrolled movement of the passive actuators when

switching off the power output stage. The STO function is insufficient as the sole safety

function for drives that are subject to permanent torque (e.g. through suspended

loads).

� Shut down the passive actuators mechanically, if required, e.g. via a brake. This

especially applies to vertical axes without automatic locking arrangement, clamping

units or counterbalancing.

� Reliably prevent movement of the actuators by suspended loads or other external

forces, e.g. with a mechanical holding brake.

EMCA-EC-67-...


1.1.2 Intended use of the STO function

The EMCA supports the STO safety function (Safe torque off/STO) in accordance with EN�61800-5-2.

The STO function is intended to disconnect the torque from the integrated motor and prevents the un

expected restart of the motor. The STO function may only be used for applications in which the spe

cified safety characteristics suffice.

1.1.3 Safety characteristics

The STO function of the integrated drive EMCA satisfies the requirements for the following safety char

acteristic values:

– PL�d/cat.�3 in accordance with ISO 13849-1 (Performance Level/PL)

– SIL 2 in accordance with EN 61800-5-2 (Safety Integrity Level/SIL)

– SILCL 2 in accordance with IEC 62061 (Claim Limit/CL)

The achievable safety level depends on the other components that are used to implement the safety

function.

The device must be activated via the connection [X6] with the category required for the application in

accordance with ISO 13849-1, e.g. via an external safety relay.

1.1.4 Foreseeable misuse of the STO function

Unintended use includes the following misuses:

– Bypassing of the safety function

– Applications where switching off can result in hazardous movements or conditions

The STO function does not provide protection against electric shock, only against dangerous move

ments!

1.1.5 Diagnostic coverage (DC)

Diagnostic coverage (� Chapter�4) depends on how the device is integrated in the control chain and on

the measures implemented for the diagnostics.

In order to achieve the specified diagnostic coverage, the status of the acknowledgment contact must

be evaluated by the control system every time the STO function is requested.

If the signal of the acknowledgment contact does not have the expected value, a potentially dangerous

malfunction may exist. In this case, appropriate measures must be implemented to maintain the safety

level.

Note

The EMCA cannot detect a cross circuit in the input circuit by itself.

� Find out if cross-circuit detection is needed for the input circuit and wiring in your

application.

� If required, use a safety switching device with cross-circuit detection.

EMCA-EC-67-...


1.2 Requirements for product use

For correct and safe use of the product in a machine or system:

� Provide the complete product documentation of the product to the following specialists

– the design engineer and the installer of the machine or system

– the personnel responsible for commissioning

� Have the documentation available throughout the entire product lifecycle.

� Ensure compliance with all of the specifications in the documentation for the device � Tab. 1.

� Also take into consideration the documentation for the other components (e.g. cables).

� Take into consideration all of the legal regulations that are applicable for the installation site, as

well as the following documents:

– regulations and standards

– regulations of the testing organisations and insurers

– national specifications

For correct and safe use of the STO function:

� Conduct a risk assessment for your machine or system.

� Comply with the specified safety characteristics �� Chapter�4,� Technical data.

� Comply with the connection and environmental conditions - in particular the voltage ranges of the

product and all connected components. Only compliance with the limit values and load limits will

enable operation of the product in compliance with the specified safety regulations.

1.2.1 Training of specialized personnel

The function should only be integrated into the machine by a qualified electrical technician of the ma

chine manufacturer. The qualified technician must be familiar with:

– installation and operation of electrical control systems

– applicable regulations for operating safety-engineering systems

– applicable regulations for accident prevention and operational safety

– documentation for the product

1.2.2 Range of application

The device has the CE marking. The product-relevant EC directives are listed in the declaration of con

formity. Certain configurations of the product have been certified by Underwriters Laboratories Inc. (UL)

for the USA and Canada (documentation � Tab. 1). Additional information:

– Certificates and the declaration of conformity � www.festo.com/sp

– Standards and test values � Chapter 4, Technical data

1.2.3 Specified standards

Version status

ISO 13849-1:2015 EN 61508 Parts 1-7:2010

IEC 62061:2015 EN 61800-5-2:2007

Tab. 2 Standards specified in the document

EMCA-EC-67-...


2 Function and application

The securely switched-off torque safety function (Safe torque off/STO) enables 2-channel, secure dis

connection of the integrated motor.

The safety function is requested solely via the control ports of the STO connection [X6] of the device.

Safety-oriented circuitry for additional interfaces of the device is not required.

Connection [X6] “Safe Torque off/STO”

Fig. 1 Connection [X6] “Safe Torque off/STO” under the lid

EMCA-EC-67-...


2.1 Circuitry of the control ports

To protect against unintended start-up, the device must be powered via the connection

[X6] with the category required for the application in accordance with ISO 13849-1.

Attainable safety level of the STO function � Chapter 1.1.3.

The following components can be connected to the control ports (� Tab. 8) to request the STO function:

– Safe semiconductor outputs (electronic safety switching devices, active safety sensors, e.g. light

curtains with OSSD signals) (Output signal switching device/OSSD)

– Switch contacts (safety switching devices with relay outputs, passive safety sensors, e.g. forced

position switches)

3

4

5

1

2

EMCA

1 2

0 V

DC

+2

4 V

DC

[X4

]

1 2

STO

1

STO

2

[X6

]

0 V DC

54

NC

1

NC

2

S1

OS

SD

1

OS

SD

2

S1

S1

S1 1 3

2 4

1 3

42

1 3

42

1 3

42

3

+2

4 V

+24 V DC

ReceiverTransmitter

Inp

ut

circ

uit

Fee

db

ack

cir

cuit

PLC

inp

ut:

Sa

fety

fe

ed

ba

ck

6

GN

D

1 EMCA with STO interface

(only relevant connections illustrated)

2 Emergency stop switches

3 Guard door (alternative to 2)

4 Light curtain (alternative to 2)

5 Safety switching device (alternative to 2)

Fig. 2 Switching example (without cross-circuit detection)

EMCA-EC-67-...


2.2 Functional description

The STO function is requested over 2 channels via switch S1, whereby the control voltage (+24 V DC,

logic � Fig. 2) is switched off at both control ports STO 1 and STO 2.

The control ports should be switched simultaneously. The discrepancy time between the two inputs is

monitored (max. 50 ms). If the permissible discrepancy time is exceeded, a diagnostic message is gen

erated. Monitoring of the discrepancy time is only informative. Monitoring of the discrepancy time is not

a part of the safety function.

The EMCA monitors the status of the control ports. The control ports are of equal value. As soon as

logic 0 (0 V) is present at one of the control ports, the EMCA reacts as follows:

– Channel 1 (STO 1): As long as logic 0 is present at the STO 1 input, the output stage drivers are not

supplied with voltage. The motor will not generate a torque.

– Channel 2 (STO 2): As long as logic 0 is present at the STO 2 input, no pulse-width modulation sig

nals will be forwarded to the driver component. The motor will not generate a torque.

Behaviour of the drive when the STO function is requested

– 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 through 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 move through external

forces.

The 2-channel shut-down of the motor is indicated by the acknowledgment contact NC1/NC2 (semicon

ductor relay) (� Tab. 8). The status of the STO function can be reported to an external safety switching

device for diagnostics, for example, via the acknowledgment contact. The acknowledgment contact is

not evaluated for safety purposes.

+24 V DC

+24 V DC load voltage

STO 1

STO 2

6 6 6 3

1

2 34

1 Input circuit (e.g. safety switching device)

2 Bus transmitter supply voltage for

the pulse-width modulation signals

3 Driver supply

4 MOSFET output stage

Fig. 3 “Safely switched off torque” (Safe torque off/STO) – functional principle

EMCA-EC-67-...


Caution

Severe injuries as a result of uncontrolled movement of the passive actuators when

switching off the power output stage. The STO function is insufficient as the sole safety

function for drives that are subject to permanent torque (e.g. through suspended

loads).

� Shut down the passive actuators mechanically, if required, e.g. via a brake. This

especially applies to vertical axes without automatic locking arrangement, clamping

units or counterbalancing.

� Reliably prevent movement of the actuators by suspended loads or other external

forces, e.g. with a mechanical holding brake.

Note

Control of motors with an integrated holding brake (only EMCA-EC-...-...-B).

The holding brake is activated by the non-safety-relevant firmware of the device. When

the output stage is switched off, there is no deceleration of the drive via a braking ramp.

The holding brake is closed immediately.

� Check whether the integrated holding brake can stop the actuators.

� Note the mechanical inertia of the holding brake.

� Take into consideration the higher wear of the holding brake in comparison to auto

matic brake control in normal operation.

Note

Failure of the output stage.

If the output stage of the device fails when an STO function is active, it may result in

the drive jerking through a limited detent movement of the rotor. The maximum rotation

angle/travel corresponds to the pole pitch of the motor used.

EMCA-EC-67-...


2.3 [X6] STO interface

2.3.1 Switching statuses

STO control ports

As long as a logic 1 (+24 V DC) is present at both control ports, the motor can be operated (STO func

tion is inactive). If there is a logic 0 (0 V DC) at one or both of the control ports, the power to the motor

is interrupted. If both STO inputs receive logic 1, the controller enable must be issued again.

Acknowledgment contact (NC1/NC2)

The acknowledgment contact is closed when the STO function is active.

The acknowledgment contact is open:

– When there is a supply voltage failure

– If the STO function is inactive

STO 1 STO 2 NC1/NC2 Status

1 1 High impedance

(open)

Normal operation

– Output stage is switched on.

– STO function is inactive.

1 0 High impedance

(open)

The STO function has been requested on 1 channel, e.g. in

the event of a failure of a channel:

– The output stage is switched off on 1 channel.

– The motor can no longer be operated.

– STO function is inactive.

0 1

0 0 Low impedance

(closed)

The STO function has been requested on 2 channels:

– The output stage is switched off on 2 channels.

– The motor can no longer be operated.

– The STO function is active.

Tab. 3 Switching logic of the control ports STO 1/STO 2

Switching statuses [X6]

Control ports STO 1/STO 21)

Deactivate STO [V DC] �18

Activate STO [V DC] �5

Acknowledgment contact NC1/NC2

Closed: Max. internal resistance [Ω] �40

Open: Residual current [μA] �2

1) Intermediate area is undefined.

Tab. 4 Electrical data of switching statuses [X6]

The control ports are also protected against polarity reversal, but are not equipped with

voltage monitoring. If required, voltage monitoring must be realized through additional

measures.

EMCA-EC-67-...


2.3.2 Switching times

The amount of energy stored in the components of the STO function (e.g. capacitors) depends on the input

voltage level. These amounts of energy must be charged or discharged depending on the switching opera

tion. Depending on the input voltage, this results in different values for the transition to the safe status (STO)

and the tolerance time (buffer time) regarding OSSD signals.

Signal1) Switching time1)

STO 1/STO 2 Activate STO [ms] �5

Deactivate STO [ms] �4

NC Close acknowledgment contact [ms] �10

Open acknowledgment contact [ms] �60

1) Other electrical data � Chapter 4.2.

Tab. 5 Switching times

2.3.3 Reaction to test pulses

Short test pulses from a safety control are tolerated and thus do not trigger the STO function. The per

missible pulse width is dependent on the control voltage level at inputs STO 1 and STO 2.

Control ports STO 1/STO 2 [X6]1)

Maximum permissible pulse width

for 0 V test pulse with 24 V signal [ms] 0.6

for 24 V test pulse with 0 V signal [ms] 10

Min. time between test pulses



1) Other electrical data � Chapter 4.2.

Tab. 6 Test pulses of inputs STO 1 and STO 2

2.3.4 Auxiliary supply +24 V LOGIC OUT

A 24 V auxiliary supply is available at [X6.3]. Reference potential (0 V) is pin 2 at voltage supply connection

[X4] (internally bridged with [X6.6]).

The auxiliary supply can be optionally used to power external, active sensors.

Other electrical data � Chapter 4.2.

EMCA-EC-67-...


3 Installation and commissioning

Warning

Danger of electric shock from voltage sources without protective measures.

� Use for the electrical power supply only PELV circuits (Protective extra-low voltage/

PELV) in accordance with EN 60204-1.

� Also observe the general requirements for PELV circuits in accordance with EN 60204-1.

� Use only voltage sources which guarantee reliable electrical isolation of the operat

ing and load voltage in accordance with IEC 60204-1.

3.1 Installation

Caution

Unexpected and unintended movement of the drive during mounting, installation and

maintenance work.

� Before starting work: Switch off power supplies. Removal of the enable signal at

the EMCA is not sufficient.

� Secure the power supplies against accidental reactivation.

EMCA-EC-67-...


Installation instructions:

� Observe all of the information on electrical installation of the device � Tab. 1.

� Comply with the handling specifications for electrostatically sensitive devices.

� Connect the control ports in 2 channels with parallel wiring.

� For the connection [X6], use the counter-plug from the NEKM-C assortment of plugs from Festo

(accessories � www.festo.com/catalogue).

Connection [X6] Design

Plug connector at the EMCA 3-794636-6 (manufacturer: Tyco Electronics AMP), pin strip, 6-pin

Counterplug 794617-6 (manufacturer: Tyco Electronics AMP),

Crimp contacts (manufacturer: Tyco Electronics AMP):

– AWG24 ... AWG20: 794606-1 (strips); 794610-1 (loose)

– AWG30 ... AWG26: 794607-1 (strips); 794611-1 (loose)

Tab. 7 Connection STO interface [X6]

[X6] – black Pin Designation Description

1 NC1 Acknowledgment contact:

– Potential-free

– Low impedance if the STO function has been requested

and activated via 2 channels

2 NC2

3 +24 V DC

LOGIC OUT

Logic voltage output (from [X4]), reference potential (0 �V) is

pin [X6.6] or [X4.2] (internally bridged)

Not overload-proof! Max. 100 mA permissible.

4 STO 1 Control ports for STO function

5 STO 2

6 GND Reference potential 0 V

Tab. 8 Pin assignment of STO interface (safe torque off ) [X6] at the EMCA

Note

Damage to the device in the event of an overload.

Pin [X6.3] (+24 V DC LOGIC Out) is not overload-proof! Maximum 100 �mA permissible.

Note

The STO function must never be bridged.

� Make sure that no jumpers, etc. can be used parallel to the safety wiring.

EMCA-EC-67-...


3.2 Notes on commissioning

The complete commissioning of the device by the machine manufacturer is described in

the documentation EMCA-EC-... and in the Online Help for the EMCA plug-in of the FCT

software.

Recommendation for first commissioning without complete safety equipment:

– Set-up at least with emergency stop switching device and 2-channel shut-down via

the control ports STO 1 [X6.4] and STO 2 [X6.5]

– Implement the set-up in such a way that it must be forcibly removed when the final

protection wiring is carried out.

Note

Incorrect wiring or use of inappropriate components will result in failure of the STO

function or non-compliance with the requirements of ISO�138491 (category).

Prior to commissioning:

� Make sure that components are used and wired in accordance with the required

category according to ISO�13849-1.

� Check the electrical installation (connecting cable, pin allocation).

� Validate the STO function to conclude the installation process and after every modi

fication to the installation.

� Only use the STO function when all of the necessary safeguards have been set up

and are functional.

For a performance test of the STO function:

1. Switch off each channel individually and check the reaction of the motor and the acknowledgment

contact.

2. Switch off both channels and check the reactions.

EMCA-EC-67-...


3.3 Diagnostics

Diagnostics Description

Acknowledgment

contact1)

The acknowledgment contact of the STO function (NC1/NC2) can be evaluated by

a higher-order controller. The closed acknowledgment contact indicates that the

STO function is active.

Error message

0x34

When the STO function is requested, the fault message “Safe torque off ”

(0x34) is generated. The message can be configured as an error, a warning or

as information. An entry in the diagnostic memory is optional.

1) This diagnosis is not evaluated in terms of safety equipment.

Tab. 9 Diagnostics options of the STO function

For additional information and complete list of the messages � Description for the EMCAused. (� Tab. 1).

3.4 Obligations of the machine operator

The implemented safety function must be subjected to a regular and documented performance test by

a specialist during the the machine's period of use. The frequency of these tests must be determined

by the machine operator based on the specifications of the machine manufacturer.

� Check the EMCA at least once per year.

EMCA-EC-67-...


4 Technical data

The general technical data, operating and ambient conditions, technical data of the drive

and additional connection data can be found in the description of the EMCA integrated

drive � Manual EMCA-EC-...

For additional information � www.festo.com/sp.

4.1 Safety equipment

Safety reference data and safety specifications

Safety function STO Safe Torque Off

(safely switched-off torque)

Category 3 In accordance with ISO 13849-1

Performance Level up to PL d In accordance with ISO 13849-1

Safety Integrity Level up to SIL 2 In accordance with �EN 61800-5-2

(Safety integrity level)

SIL Claim Limit SILCL 2 In accordance with EN 62061

(SIL Claim Limit)

DCavg [%] 90 Average Diagnostic Coverage

� Chapter�1.1.3

HFT 1 Hardware Failure Tolerance

SFF [%] > 90 Safe failure fraction in accordance with

EN 61508

PFHD [1/hr.] 1 x 10-9 Probability of dangerous failure per hour

T

Proof Test Interval [Years] 20 Inspection interval

Service life [Years] 20 In accordance with ISO 13849-1

Type test The STO function has been certified by an independent test

ing body. EMCA certificate � www.festo.com/sp.

Tab. 10 Technical data: Safety reference data and safety specifications

EMCA-EC-67-...


4.2 Electrical data

Control ports STO 1/STO 2 [X6]

Nominal voltage [V DC] 24 (relative to 0 �V at [X4] )

Voltage range [V DC] 19.2 … 28.8

Permitted residual ripple [%] 5 (relative to nominal voltage 24 V)

Overvoltage-safe up to [V] 60

Nominal current [mA] 15

Starting current [mA] 200

Input voltage thresholds (Intermediate range is undefined.)

Deactivate STO [V DC] �18

Activate STO [V DC] �5

Activate STO function switching time [ms] �5

Deactivate STO function switching time [ms] �4

Max. permissible pulse width

for 0 V test pulse with 24 V signal [ms] 0.61)2)


Min. time between test pulses



Protective function Protection against polarity reversal

1) This value refers to a simple pulse. Double or multiple pulses can require other values.

2) Longer 0-V test pulses or double/multiple pulses of the safety switching device require an increase of the voltage level up to

the upper limit of the permissible voltage range of the EMCA.

Tab. 11 Technical data: Electrical data for the inputs STO 1 and STO 2

Acknowledgment contact NC [X6]

Design Semiconductor relay

Max. voltage [V DC] �30

Overvoltage strength [V] 60

Nominal current [mA] �100

Max. internal resistance (contact closed) [Ω] �40

Residual current (contact open) [μA] �2

Switching time closing [ms] �10

Switching time opening [ms] �60

Galvanic isolation Via optocoupler

Tab. 12 Technical data: Electrical data of the acknowledgment contact

EMCA-EC-67-...


Auxiliary supply +24 �V DC, pin 3 at [X6]

Nominal voltage

– Voltage taken from the drive

(supplied at [X4])

[V DC] 24

Nominal current [mA] 100 (max.)

Not overload-proof

Tab. 13 Technical data: Electrical data of the auxiliary supply output

Signal lines

Max. cable length [m] 30

Conductor cross-section [mm²] 0.05 … 0.36

Tab. 14 Technical data: Cabling at [X6]

4.3 Product conformity and certifications

Product conformity and certifications

CE marking (declaration of conformity

� www.festo.com/sp)

In accordance with EU Machinery Directive

In accordance with EU EMC Directive1)

Approvals2) RCM (Regulatory Compliance Mark)

c UL us - Recognised (OL)

1) The component is intended for industrial use. Outside of industrial environments, e.g. in commercial and mixed-residential areas,

actions to suppress interference may have to be taken.

2) Only valid for product variants with corresponding marking

Tab. 15 Product conformity and certifications

Requirements for observing the UL certified conditions if the product is operated in

the USA or Canada can be found in the separate UL documentation.

Reproduction, distribution or sale of this document or communication of its contents to others without express authorization isprohibited. Offenders will be liable for damages. All rights reserved in the event that a patent, utility model or design patent isregistered.

Copyright:Festo SE & Co. KGRuiter Straße 8273734 EsslingenGermany

Phone:+49 711 347-0

Fax:+49 711 347-2144

E-mail:[email protected]

Internet:www.festo.com

integrated drive emca-ec-67-

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