KEBCO COMBIVERT F6 User manual

COMBIVERT F6 | H6 | S6
INSTRUCTIONS FOR USE | SAFETY MODULE TYPE 1 | STO AND SBC
Translation of the original manual
Document 20109577 EN 03
Funktionale Sicherheit
Functional safety

3
PREFACE
Preface
The described hard- and software are developments of the KEB Automation KG. The
enclosed documents correspond to conditions valid at printing. Misprint, mistakes and
technical changes reserved.
Signal words and symbols
Certain operations can cause hazards during the installation, operation or thereafter.
There are safety informations in the documentation in front of these operations. Security
signs are located on the device or machine. A warning contains signal words which are
explained in the following table:
DANGER Dangerous situation, which will cause death or serious injury in case of
non-observance of this safety instruction.
WARNING Dangerous situation, which may cause death or serious injury in case of
non-observance of this safety instruction.
CAUTION Dangerous situation, which may cause minor injury in case of non-ob-
servance of this safety instruction.
NOTICE Situation, which can cause damage to property in case of non-obser-
vance.
RESTRICTION
Is used when certain conditions must meet the validity of statements or the result is
limited to a certain validity range.
Is used when the result will be better, more economic or trouble-free by following
these procedures.
More symbols
► Thisarrowstartsanactionstep.
• / - Enumerations are marked with dots or indents.
=> Cross reference to another chapter or another page.
Note to further documentation.
www.keb.de/service/downloads

4
PREFACE
Laws and guidelines
KEBAutomationKGconrmswiththeECdeclarationofconformityandtheCEmarkon
the device nameplate that it complies with the essential safety requirements.
The EC declaration of conformity can be downloaded on demand via our website. Fur-
therinformationisprovidedinchapter"Certication".
Warranty and liability
The warranty and liability on design, material or workmanship for the acquired device is
given in the general sales conditions.
Hereyouwillndourgeneralsalesconditions.
www.keb.de/terms-and-conditions
Furtheragreementsorspecicationsrequireawrittenconrmation.
Support
Through multiple applications not every imaginable case has been taken into ac-
count. If you require further information or if problems occur which are not treated de-
tailed in the documentation, you can request the necessary information via the local
KEB Automation KG agency.
The use of our units in the target products is outside of our control and therefore
lies exclusively in the area of responsibility of the customer.
Theinformationcontainedinthetechnicaldocumentation,aswellasanyuser-specic
advice in spoken and written and through tests, are made to best of our knowledge and
information about the intended use. However, they are regarded as being only informal
and changes are expressly reserved, in particular due to technical changes. This also
applies to any violation of industrial property rights of a third-party. Selection of our units
in view of their suitability for the intended use must be done generally by the user.
Tests can only be done within the intended end use of the product (application) by
the customer. They must be repeated, even if only parts of hardware, software or

Copyright
The customer may use the instructions for use as well as further documents or parts
from it for internal purposes. Copyrights are with KEB Automation KG and remain valid
in its entirety.
This KEB product or parts thereof may contain third-party software, including free and/
or open source software. If applicable, the license terms of this software are contained
in the instructions for use. The instructions for use are already available to you, can be
downloaded free of charge from the KEB website or can be requested from the respec-
tive KEB contact person.
Other wordmarks or/and logos are trademarks (™) or registered trademarks (®) of their
respective owners.

5
TABLE OF CONTENTS
Table of Contents
Preface ....................................................................................................................................................3
Signal words and symbols .............................................................................................................3
More symbols.................................................................................................................................3
Laws and guidelines.......................................................................................................................4
Warranty and liability......................................................................................................................4
Support ........................................................................................................................................4
Copyright........................................................................................................................................4
Table of Contents ................................................................................................................................... 5
List of Figures.........................................................................................................................................7
List of Tables ..........................................................................................................................................8
Glossary ..................................................................................................................................................9
Standards for drive converters / control cabinets ............................................................................. 11
Product standards that apply directly to the drive converter ........................................................ 11
Basic standards to which drive converter standards refer directly............................................... 11
Standards that are used in the environment of the drive converter ............................................. 12
1 Basic Safety Instructions............................................ 13
1.1 Target group...................................................................................................................................13
1.1 Validity of this manual...................................................................................................................13
1.2 Electrical connection .................................................................................................................... 14
1.3 Start-up and operation ..................................................................................................................14
2 Product Description .................................................... 15
 ......................................................................................................................15
3 Safety Functions.......................................................... 16
3.1 General instructions......................................................................................................................16
3.2 Safe torque off (Safe Torque Off - STO) ......................................................................................17
3.2.1 Emergency stop according EN 60204 ................................................................................18
3.2.1.1 Calculation of the rotation angle triggered by the jerk..................................................... 18
3.2.2 ClassicationofSTOaccordingIEC61508........................................................................19
3.2.3 ClassicationofSTOaccordingENISO13849 ..................................................................19
3.3 Safe brake control (Safe Brake Control – SBC)..........................................................................19
3.3.1 Requirements for the brake................................................................................................19
3.3.2 ClassicationofSBCaccordingIEC61508........................................................................20
3.3.3 ClassicationofSBCaccordingENISO13849 .................................................................. 20
4 Description of the Terminals ...................................... 21
4.1 Inputs..............................................................................................................................................22
4.1.1 SpecicationoftheSTOinputs.......................................................................................... 22
4.1.2 STO with OSSD signals .....................................................................................................22

6
TABLE OF CONTENTS
4.1.3 SpecicationoftheSBCinputs.......................................................................................... 22
4.1.4 SBC with OSSD signals .....................................................................................................22
4.2 Outputs...........................................................................................................................................23
4.2.1 Output STO ........................................................................................................................23
4.2.2 Output SBC ........................................................................................................................23
4.2.3 Brake output....................................................................................................................... 23
4.3 Status LEDs ................................................................................................................................... 23
4.3.1 Status-LED safety module..................................................................................................23
4.2 Outputs...........................................................................................................................................23
4.2.1 Output STO ........................................................................................................................23
4.2.2 Output SBC ........................................................................................................................23
4.2.3 Brake output....................................................................................................................... 23
4.3 Status LEDs ................................................................................................................................... 23
4.3.1 Status-LED safety module..................................................................................................23
5 Installation.................................................................... 24
5.1 Additional instructions: ................................................................................................................ 24
6 Functional Descriptions.............................................. 25
6.1 Status of the safety module..........................................................................................................25
6.2 Function description STO.............................................................................................................26
6.3 Functional description SBC .........................................................................................................26
6.3.1 Single axis module .............................................................................................................27
6.3.2 Double axis module............................................................................................................27
6.3.3 Setting of status bits by the SBC function ..........................................................................28
6.3.4 Monitoring of the SBC function...........................................................................................29
6.2 Function description STO.............................................................................................................26
6.3 Functional description SBC .........................................................................................................26
6.3.1 Single axis module .............................................................................................................27
6.3.2 Double axis module............................................................................................................27
6.3.3 Setting of status bits by the SBC function ..........................................................................28
6.3.4 Monitoring of the SBC function...........................................................................................29
6.3.4 Monitoring of the SBC function...........................................................................................29
7 Wiring Examples.......................................................... 30
7.1 Direct switching off with emergency stop switch ......................................................................30
7.2 Direct switching off with emergency stop switch and monitoring of the wiring..................... 31
7.3 Direct switching off by safety module with test pulses.............................................................32
7.4 Wiring SS1......................................................................................................................................33
8 Change of the Safety Module ..................................... 34
 .................................................................. 35

7
LIST OF FIGURES
List of Figures
Figure 1: Description of the Terminals............................................................................................. 21
Figure 2: Direct switching off with emergency stop switch.............................................................. 30
Figure 3: Direct switching off with emergency stop switch and monitoring of the wiring.................31
Figure 4: Direct switching off by safety module with test pulses..................................................... 32
Figure 5: Wiring SS1.......................................................................................................................33
9.1 Annex to the declaration of conformity....................................................................................... 35
10 Revision history......................................................... 37
Notes38

8
LIST OF TABLES
List of Tables
Table 1: Numerical code................................................................................................................15
Table 2: Calculation of the jerk ...................................................................................................... 18
Table3: ClassicationsofSTO...................................................................................................... 19
Table 4: Requirements for the brake ............................................................................................. 19
Table5: ClassicationsofSBC...................................................................................................... 20
Table6: MechanicalspecicationofterminalstripX2B................................................................. 21
Table7: SpecicationoftheSTOinputs........................................................................................ 22
Table 8: STO with OSSD signals................................................................................................... 22
Table9: SpecicationoftheSBCinputs........................................................................................ 22
Table 10: Status-LED safety module ...............................................................................................23
Table 11: Status of the safety module ............................................................................................. 25
Table 12: Braking handling single axis module................................................................................27
Table 13: Braking handling double axis module ..............................................................................27
Table 14: Setting of status bits by the SBC function........................................................................ 28
Table 15: Setting of status bits by the SBC function........................................................................ 28
Table 16: Annex to the declaration of conformity.............................................................................35

9
GLOSSARY
Glossary
0V Earth-potential-free common point
1ph 1-phase mains
3ph 3-phase mains
AC AC current or voltage
AFE From 07/2019 AIC replaces the pre-
vious name AFE
AFElter From07/2019AIClterreplacesthe
previousnameAFElter
AIC Active Infeed Converter
AIClter Filter for Active Infeed Converter
Application The application is the intended use
of the KEB product
ASCL Asynchronous sensorless closed
loop
Auto motor
ident.
Automaticallymotoridentication;
calibration of resistance and induc-
tance
AWG American wire gauge
B2B Business-to-business
BiSS Open source real-time interface for
sensors and actuators (DIN 5008)
CAN Fieldbus system
CDM Complete drive module including
auxiliary equipment (control cabinet)
COMBIVERT KEB drive converters
COMBIVIS KEB start-up and parameterizing
software
Customer The customer has purchased a KEB
product from KEB and integrates the
KEB product into his product (cus-
tomer product) or resells the KEB
product (dealer)
DC DC current or voltage
DI Demineralized water, also referred to
as deionized (DI) water
DIN German Institut for standardization
DS 402 CiADS402-CANdeviceprolefor
drives
EMC Electromagnetic compatibility
Emergency
stop
Shutdown of a drive in emergency
case (not de-energized)
Emergency
switching off
Switching off the voltage supply in
emergency case
EN European standard
Encoder emu-
lation
Software-generated encoder output
End customer The end customer is the user of the
customer product
Endat Bidirectional encoder interface of the
company Heidenhain
EtherCAT Real-time Ethernet bus system of the
company Beckhoff
Ethernet Real-timebussystem-denespro-
tocols, plugs, types of cables
FE Functional earth
FSoE Functional Safety over Ethernet
FU Drive converter
GND Reference potential, ground
GTR7 Braking transistor
HFlter Highfrequencyltertothemains
Hiperface Bidirectional encoder interface of the
company Sick-Stegmann
HMI Human machine interface (touch
screen)
HSP5 Fast, serial protocol
HTL Incremental signal with an output
voltage (up to 30V) -> TTL
IEC International standard
IP xx Degree of protection (xx for level)
KEB product The KEB product is subject of this
manual
KTY Silicium temperature sensor (pola-
rized)
Manufacturer The manufacturer is KEB, unless
otherwisespecied(e.g.asma-
nufacturer of machines, engines,
vehicles or adhesives)
MCM American unit for large wire cross
sections
Modulation Means in drive technology that the
power semiconductors are controlled
MTTF Mean service life to failure
NN Sea level
OC Overcurrent
OH Overheat
OL Overload
OSSD Outputsignalswithchingdevice;-an
output signal that is checked in regu-
lar intervals on its shutdown. (safety
technology)
PDS Power drive system incl. motor and
measuring probe
PE Protective earth
PELV Protective Extra Low Voltage
PFD Term used in the safety technology
(EN 61508-1...7) for the size of error
probability
PFH Term used in the safety technology
(EN 61508-1...7) for the size of error
probability per hour

10
GLOSSARY
PLC Programmable logic controller
PT100 TemperaturesensorwithR0=100Ω
PT1000 TemperaturesensorwithR0=1000Ω
PTC PTC-resistor for temperature detec-
tion
PWM Pulse width modulation
RJ45 Modular connector with 8 lines
SCL Synchronous sensorless closed loop
SELV Safety Extra Low Voltage (< 60 V)
SIL The security integrity level is a
measure for quantifying the risk
reduction. Term used in the safety
technology (EN 61508 -1...7)
SS1 Safety function „Safe stop 1“ in ac-
cordance with IEC 61800-5-2
SSI Synchronous serial interface for
encoder
STO Safety function „Safe Torque Off“ in
accordance with IEC 61800-5-2
TTL Incremental signal with an output
voltage up to 5 V
USB Universal serial bus
VARAN Real-time Ethernet bus system

11
STANDARDS FOR DRIVE CONVERTERS/CONTROL CABINETS
Standards for drive converters / control cabinets
Product standards that apply directly to the drive converter
EN 61800-2 Adjustable speed electrical power drive systems - Part 2: General requirements-
Ratingspecicationsforlowvoltageadjustablefrequencya.c.powerdrive
systems (VDE 0160-102, IEC 61800-2)
EN61800-3 Speed-adjustableelectricaldrives.Part3:EMCrequirementsandspecictest
methods (VDE 0160-103, IEC 61800-3)
EN 61800-5-1 Adjustable speed electrical power drive systems - Part 5-1: Safety requirements
-Electrical,thermalandenergy(IEC61800-5-1);GermanversionEN61800-5-1
EN 61800-5-2 Adjustable speed electrical power drive systems - Part 5-2: Safety Requirements
- Functional (IEC 22G/264/CD)
UL61800-5-1 American version of the EN 61800-5-1 with „National Deviations“
Basic standards to which drive converter standards refer directly
EN55011 Industrial,scienticandmedicalequipment-Radiofrequencydisturbance
characteristics-Limitsandmethodsofmeasurement(CISPR11);German
version EN 55011
EN 55021 Interference to mobile radiocommunications in the presence of impulse noise -
Methods of judging degradation and measures to improve performance (IEC/
CISPR/D/230/FDIS);GermanversionprEN55021
EN 61000-2-1 Electromagnetic compatibility (EMC) - Part 2: Environment - Section 1: Descrip-
tion of the environment - Electromagnetic environment for low-frequency
conducted disturbances and signalling in public power supply systems
EN61000-2-4 Electromagneticcompatibility(EMC)-Part2-4:Environment;Compatibility
levels in industrial plants for low-frequency conducted disturbances (IEC 61000-
2-4);GermanversionEN61000-2-4
EN 61000-4-2 Electromagnetic compatibility (EMC) - Part 4-2: Testing and measurement
techniques-Electrostaticdischargeimmunitytest(IEC61000-4-2);German
version EN 61000-4-2
EN 61000-4-3 Electromagnetic compatibility (EMC) - Part 4-3: Testing and measurement
techniques-Radiated,radio-frequency,electromagneticeldimmunitytest(IEC
61000-4-3);GermanversionEN61000-4-3
EN 61000-4-4 Electromagnetic compatibility (EMC) - Part 4-4: Testing and measurement
techniques-Electricalfasttransient/burstimmunitytest(IEC61000-4-4);
German version EN 61000-4-4
EN 61000-4-5 Electromagnetic compatibility (EMC) - Part 4-5: Testing and measurement
techniques-Surgeimmunitytest(IEC61000-4-5);GermanversionEN61000-4-5
EN 61000-4-6 Electromagnetic compatibility (EMC) - Part 4-6: Testing and measurement
techniques - Immunity to conducted disturbances, induced by radio-frequency
elds(IEC61000-4-6);GermanversionEN61000-4-6
EN 61000-4-34 Electromagnetic compatibility (EMC) - Part 4-34: Testing and measurement
techniques - Voltage dips, short interruptions and voltage variations immunity
tests for equipment with mains current more than 16 A per phase (IEC 61000-4-
34);GermanversionEN61000-4-34
EN 61000-6-7 Electromagnetic compatibility (EMC) - Part 6-7: Generic standards - Immunity
requirements for equipment intended to perform functions in a safety-related
system (functional safety) in industrial locations (IEC 61000-6-7).

12
STANDARDS FOR DRIVE CONVERTERS/CONTROL CABINETS
EN 61508-1...7 Functional safety of electrical/electronic/programmable electronic safety-related
systems – Part 1...7 (VDE 0803-1…7, IEC 61508-1…7)
EN 62061 Safety of machinery - functional safety of electrical, electronic and program-
mable electronic safety-related systems (VDE 0113-50, IEC 62061)
EN ISO 13849-1 Safety of machinery - safety-related parts of control systems - Part 1: General
principlesfordesign(ISO13849-1);GermanversionENISO13849-1
Standards that are used in the environment of the drive converter
DGUV regulation 3 Electrical installations and equipment
DIN46228-1 Wire-endferrules;Tubewithoutplasticsleeve
DIN46228-4 Wire-endferrules;Tubewithplasticsleeve
DIN IEC 60364-5-54 Low-voltage electrical installations - Part 5-54: Selection and erection of
electrical equipment - Earthing arrangements, protective conductors and protec-
tive bonding conductors (IEC 64/1610/CD)
DIN VDE 0100-729 Low-voltage electrical installations - Part 7-729: Requirements for special
installations or locations - Operating or maintenance gangways (IEC 60364-7-
729:2007,modied);GermanimplementationHD60364-7-729:2009
DNVGL-CG-0339 Environmentaltestspecicationforelectrical,electronicandprogrammable
equipment and systems
EN1037 Safetyofmachinery-Preventionofunexpectedstart-up;GermanversionEN1037
EN 60204-1 Safety of machinery - electrical equipment of machines Part 1: General require-
ments (VDE 0113-1, IEC 44/709/CDV)
EN 60439-1 Low-voltage switchgear and controlgear assemblies - Part 1: Type-tested and
partiallytype-testedassemblies(IEC60439-1);GermanversionEN60439-1
EN 60947-7-1 Low-voltage switchgear and controlgear - Part 7-1: Ancillary equipment -
Terminalblocksforcopperconductors(IEC60947-7-1:2009);Germanversion
EN 60947-7-1:2009
EN 60947-8 Low-voltage switchgear and controlgear - Part 8: Control units for built-in
thermal protection (PTC) for rotating electrical machines (IEC 60947-8:2003 +
A1:2006 + A2:2011)
EN 61373 Railway applications - Rolling stock equipment - Shock and vibration tests (IEC
61373);GermanversionEN61373
EN 61439-1 Low-voltage switchgear and controlgear assemblies - Part 1: General rules (IEC
121B/40/CDV);GermanversionFprEN61439-1

13
BASIC SAFETY INSTRUCTIONS
1.1 Validity of this manual
This manual describes the safety module type 1 for COMBIVERT S6.
The manual
• contains only supplementary safety instructions.
• is only valid in connection with the power unit manual of the COMBIVERT.
1 Basic Safety Instructions
The COMBIVERT is designed and constructed in accordance with state-of-the-art tech-
nology and the recognised safety rules and regulations However, the use of such de-
vices may cause functional hazards for life and limb of the user or third parties, or dama-
ges to the system and other material property.
The following safety instructions have been created by the manufacturer for the area of
electric drive technology. They can be supplemented by local, country- or application-
specic safety instructions. This list is not exhaustive. Non-observance of the safety
instructions by the customer, user or other third party leads to the loss of all resulting
claims against the manufacturer.
NOTICE Hazards and risks through ignorance.
►Read the instructions for use !
►Observe the safety and warning instructions !
►If anything is unclear, please contact KEB Automation KG !
1.1 Target group
This instruction manual is determined exclusively for electrical personnel. Electrical per-
sonnelforthepurposeofthisinstructionmanualmusthavethefollowingqualications:
• Knowledge and understanding of the safety instructions.
• Skills for installation and assembly.
• Start-up and operation of the product.
• Understanding of the function in the used machine.
• Detection of hazards and risks of the electrical drive technology.
• Knowledge of DIN IEC 60364-5-54.
• Knowledge of national safety regulations (e.g. DGUV regulation 3).

14
BASIC SAFETY INSTRUCTIONS
1.2 Electrical connection
DANGER Voltage at the terminals and in the device !
Danger to life due to electric shock !
►For any work on the unit switch off the supply voltage and secure it
against switching on.
►Wait until the drive has stopped in order, that perhaps regenerative
energy can be generated.
►Wait untill the DC-Link capacitors are discharged (5 minutes). Verify
by measuring the DC voltage at the terminals.
►Never bridge upstream protective devices (also not for test purpos-
es).
For a trouble-free and safe operation, please pay attention to the following instructions:
• The electrical installation shall be carried out in accordance with the relevant re-
quirements.
• Cable cross-sections and fuses must be dimensioned by the user accordly to the
speciedminimum/maximumvaluesfortheoperation.
• Within systems or machines the person installing electrical wiring must ensure that
on existing or new wired safe ELV circuits the EN requirement for safe insulation is
still met!
• For drive converters that are not isolated from the supply circuit (in accordance with
EN 61800-5-1) all control lines must be included in other protective measures (e.g.
double insulation or shielded, earthed and insulated).
• When using components without isolated inputs/outputs, it is necessary that equi-
potential bonding exists between the components to be connected (e.g. by the equi-
potential line). Disregard can cause destruction of the components by equalizing
currents.
1.3 Start-up and operation
The drive converter must not be started until it is determined that the installation com-
plieswiththemachinedirective;AccountistobetakenofEN 60204-1.
WARNING Software protection and programming !
Hazards caused by unintentional behavior of the drive!
►Check especially during initial start-up or replacement of the drive
converter if parameterization is compatible to application.
►Securing a unit solely with software-supported functions is not suf-
cient.Itisimperativetoinstallexternalprotectivemeasures(e.g.
limit switch) that are independent of the drive converter.
►Secure motors against automatic restart.

2 Product Description
The safety manual completes the installation manual of the COMBIVERT with the safety module of
type 1. It contains safety-related supplements and regulations for the operation of devices in safety
applications. The basic standards as well as application and country-specic standards must be
observed furthermore. The standards referred in this instruction manual must be observed supple-
mentary !
The safety module type 1 according to IEC 61800-5-2 contains:
• Safe torque off (Safe Torque Off - STO)
• Safe brake control (Safe Brake Control – SBC)
The safety functions meet the requirements in accordance with performance level e (ISO13849-1) and
SIL 3 (IEC 61508 and IEC 62061). In case of proper project design, installation and operation the
safety functions protect people against mechanical damages.
2.1 
Numerical code:
Safety module type 1 Used in COMBIVERT
01H6x10-0027 Servo controller xxS6A1x-xxxx
Inverter xxF6A1x-xxxx
01H6x10-0029
01H6x10-0028
Single axis controller xxH6ABx-xxxx
Double axis controller xxH6BBx-xxxx
Table 1: Numerical code
Attention 
ThecerticationofCOMBIVERTwithsafetytechnologyisonlyvalidif
thematerialnumbercorrespondswiththespeciednumericalcodeund
the FS logo is printed on the type plate.
15
PRODUCT DESCRIPTION

3 Safety Functions
3.1 General instructions
Danger Electric Shock
The COMBIVERT is operated with dangerous voltages which can cause
death or serious injury.
The COMBIVERT can be adjusted by way that in regenerative operation
energy is regenerated into the mains also during mains power failure.
Therefore a dangerous high tension can exist in the unit after switching
off the supply system.
Before working with the unit check the isolation from supply by
measurements in the unit.
Care should be taken to ensure correct and safe operation to minimise
risk to personnel and equipment.
Danger 
Uncontrolled start (STO) and free running (SBC) of the drive is possible
by improper installation of the safety technology. This may cause death,
serious bodily injuries or substantial damage to property.
Therefore the safety functions may only be installed and put into opera-
tionbyqualiedpersonnelwhicharetrainedinsafetytechnology.
Attention Observe Standards
The COMBIVERT must not be started until it is determined that the in-
stallation complies with 2006/42/EC (machine directive) as well as the
EMC directive (2004/108/EC)(note EN60204).
The COMBIVERT meets the requirements of the Low-Voltage Directive
2006/95/EC. The harmonized standard of the series EN 61800-5-1 (VDE
0160) is used.
This is a product of limited availability in accordance with IEC 61800-3.
This product may cause radio interference in residential areas. In this
case the operator may need to take corresponding measures.
16
SAFETY FUNCTIONS

With electronic protection devices there are safety functions integrated in the drive control in order to
minimize or eliminate danger by malfunctions in machines. The integrated safety functions replace
the complex installation of external safety components. The safety functions can be requested or
released by an error.
Warning Regular checks
In order to ensure permanent security, the functions must be checked in
regular intervals according to the results of the risk analysis.
3.2 Safe torque off (Safe Torque Off - STO)
Installation work or troubleshooting can be necessary in hazard areas, whereby protective devices
such as line- or motor contactors shall not be activated. The safety function STO can be used there.
Depending on the application the use of line or motor contactors can be void by using STO.
In case of error or request, the power semiconductor of the drive module are switched off and the
drive is not supplied, which causes a rotation or torque (in case of a linear drive movement or force).
The unit can be safe switched off and/or remain if an error occurs.
Danger Electric Shock
Continue mains voltage with active STO function.
Compared to the disconnection by line contactors or motor contactors the integrated safety function
enables a simple integration of drives to functional groups of a system. Thereby safe torque off can
be limited to certain systems. Another advantage is that the recharge and discharge time of the
COMBIVERT DC link must not be considered. Thus the unit is faster again ready for operation after
an interruption.
Regular electromechanical equipment are liable to abrasion. Loss of these equipment occurs by us-
ing the STO function and the maintenance costs are reduced.
Characteristic data for „Safe torque off“
• Power supply for the rotation direction of the motor is interrupted (free-wheeling motor)
• Used when monitoring of standstill is not necessary
• Unintentional starting of the motor is prevented
• No galvanic isolation of the motor from the drive module DC link
What is realized by the STO function related to EN60204 -1 ?
•Emergency stop can be realized by the STO function, since the mains voltage may remain ef-
fective.
•Emergency stop can be realized only in connection with a line contactor, which disconnects the
mains voltage !
17
SAFETY FUNCTIONS

3.2.1 Emergency stop according EN 60204
By using suitable safety switchgear units, stop category 0 and 1 according to EN 60204 -1 can be
reached by the STO function in the system. Note chapter 6 for safety switchgear units.
Stop category 0 „uncontrolled stop“, i.e. stop by immediate removal of power to the
actuators.
Stop category 1 „controlled stop“, i.e. power to the actuators is retained to apply brak-
ing until the stop is achieved. The energy is switched off at standstill.
Emergency stop to EN 60204 must be functional in all operating modes of the drive module. The
reset of emergency stop may not lead to an uncontrolled start of the drive.
Attention 
The drive restarts if function STO is no longer released. In order to com-
ply with EN 60204-1 , it must be ensured by external measures that the
driverestartsonlyafterconrmation.
Withoutmechanicalbrakethedriveleadstocoast;motorisfree-wheeling.Additionalprotectivede-
vices must be installed (e.g.locking systems) if damage to persons or property can occur.
Danger Ensure coast of the motor
If danger to persons occur after switching off the motor control by STO,
the entrance to hazard areas must remain closed until the drive stops.
Attention Jerks in error case
In case of double malfunction it can lead to unwanted jerk, the rotation
angle is depending on the number of poles of the selected drive and the
gear ratio.
3.2.1.1 Calculation of the rotation angle triggered by the jerk
Rotation angle of the jerk WR[°] = 180° –––––––––––––––––––––––––––––––––
Pole-pair number p • gear reduction ratio g
Table 2: Calculation of the jerk
The probability of the jerk is < 1.84 *10-15 1/h.
This behaviour can occur either by a short circuit of the IGBTs or by interconnection (also short circuit)
of the control drivers. The error should be regarded as critical, if the drive remains in STO status.
18
SAFETY FUNCTIONS

3.2.2 
PFH 2.6 • 10-12 1/h
PFD 2.3 • 10-7 on demand
Proof-Test-Interval T 20 years
ForSILclassicationin connectionwiththe applicationsconsiderthe failureratesof theexternal
switchdevicesfornalevaluation.
3.2.3 
Category 4
MTTFD>1000 years
DC high
Table 3: Classications of STO
Fortheclassicationwithinaperformancelevelinconnectionwiththeapplicationsconsiderthe
failureratesoftheexternalswitchdevicesfornalevaluation.
3.3 Safe brake control (Safe Brake Control – SBC)
The safety module type1 can safety control an external brake. The circuit operates on two channels.
Thereby brake release is only possible by the control in the COMBIVERT if both inputs are supplied
(SBC inputs see chapter 4).
The two channels are realized with a diverse high-side and low-side switch. These are tested on their
switching ability each hour.
3.3.1 Requirements for the brake
Voltage supply 24 Vdc ±10 %
Absolute maximum current 3.3A (limited by safety module type 1) 1)
Free-wheeling circuit integrated in COMBIVERT
Table 4: Requirements for the brake
1) A lower maximum current can be permissible depending on the control board and the oper
ating mode. For more information, see the COMBIVERT installation manual.
19
SAFETY FUNCTIONS

Attention Power-off braking
Use brakes which are closed at power-off state.
AclassicationoftheentirebrakesysteminclusivemechanicalbraketoSIL3andPLemustbe
evaluated depending on the used brake. Brakes are considered as components with relatively high
errorprobability.Atestintervalforthebrakeissetdependingonthemanufacturerspeciederror
probability of the used brake and depending on the application.
Attention Check the brake
A check of the brake can not be done by the safety module. The exami-
nation must be ensured by the user.
Danger Floating loads
Because of high failure probability of mechanical brakes it is not permit-
tedtostayunderhangingoroatingloads.Thesameisvalidforinertia
mass, which do not stay in idle position.
3.3.2 
PFH 6.3 • 10-11 1/h
PFD 5.5 • 10-6 on demand
Proof-Test-Interval T 20 years
ForSILclassicationin connectionwiththe applicationsconsiderthe failureratesof theexternal
switchdevicesfornalevaluation.
3.3.3 
Control category 3
MTTFD>1000 years
DC medium
Table 5: Classications of SBC
Fortheclassicationwithinaperformancelevelinconnectionwiththeapplicationsconsiderthefail-
ureratesoftheexternalswitchdevicesfornalevaluation.
20
SAFETY FUNCTIONS