CMMT-AS-...

-S1
Servo drive

Manual | Safety
sub-function | STO,
SBC, SS1

8173921
2022-03e
[8173923]
Translation of the original instructions

ET 200SP®, PNOZ®, Pilz®, SIEMENS® are registered trademarks of the respective trademark owners in
certain countries.
Table of contents
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 Product conformity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.6 Safety engineering approval . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
3 Additional information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
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. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
5.3 SBC installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
5.4 SS1 installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
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 LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
8.2 Repair. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
9 Technical data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
9.1 Technical data, safety engineering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
9.2 General technical data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

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 9.3 Technical data, electrical . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
9.3.1 Motor auxiliary connection [X6B] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
9.3.2 Inputs, outputs, ready contact at [X1A] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
9.3.3 Inputs and outputs for the axis [X1C] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

4 Festo — CMMT-AS-...-S1 — 2022-03e

Safety

1 About this document

1.1 Target group
The document is targeted towards individuals who mount and operate the product. It is additionally
targeted towards individuals who are entrusted with the planning and application of the product in a
safety-oriented system.

1.2 Applicable documents

This document describes the use of the safety sub-functions safe torque off (STO/Safe torque off) and
safe brake control (SBC/Safe brake control) in accordance with EN 61800-5-2.
It is possible to implement the safety sub-function Safe stop 1 (SS1) with a suitable external safety
relay unit and appropriate wiring of the servo drive.
• Observe the safety instructions in the documentation è Operating instructions Assembly Installa-
tion Safety sub-function.

All available documents for the product è www.festo.com/sp.

1.3 Product version

This documentation refers to the following version of the device:
– Servo drive CMMT-AS-...-S1, revision R01 and higher, see product labelling

1.4 Product labelling

Product labelling è Manual Assembly, Installation.

1.5 Specified standards

Version

EN 61800-5-1:2007+A1:2017 EN 61800-2:2015
EN ISO 13849-1:2015 EN IEC 61800-3:2018
EN 60204-1:2018 EN 61800-5-2:2017
EN 61131-2:2007 EN 62061:2005+AC:2010+A1:2013+A2:2015
EN 61508 Parts 1-7:2010 –
Tab. 1: Standards specified in the document

2 Safety
2.1 Safety instructions
It is only possible to determine whether the product is suitable for specific applications by also
assessing further components of the subsystem.
Analyse and validate the safety function of the entire system.

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Safety

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

2.2 Intended use

The CMMT-AS-...-S1 supports the following safety sub-functions in accordance with EN 61800-5-2:
– Safe torque off (STO/Safe torque off)
– Safe brake control (SBC/Safe brake control)
– Safe stop 1 (SS1/Safe stop 1), achievable with suitable safety relay unit and appropriate circuitry of
the servo drive
The safety sub-function STO is intended to switch off the torque of the connected motor, thereby
preventing 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 areas
Safety sub-functions may only be used for applications for which the stated safety reference values
are sufficient è 9.1 Technical data, safety engineering.
2.2.2 Permissible components
The logic power supply must meet the requirements of EN 60204-1 (protective extra-low voltage,
PELV).
If holding brakes and clamping units without certification are used, a risk assessment is required to
assess their suitability for the related safety-oriented application.
In addition to the requirements of EN 60204-1, the following requirements apply to other components
of the drive system from EN 61800-5-2:
– Annex D.3.5 and D.3.6 for motors
– Annex D.3.1 for motor and brake cables
– Annex D.3.4 for mating plugs
Components approved by Festo for the CMMT-AS fulfil these requirements.

2.3 Foreseeable misuse

Foreseeable 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.

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Safety

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 has
important implications for the design of insulation and network disconnection – will be exceeded.
This error must be detected.
– 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 are
used to improve diagnostic coverage of the related safety sub-function. The diagnostic outputs
may only be used in combination with the related safe control signals (AND operation) plus a
reliable time monitoring function in the safety relay unit for the purpose of switching additional
safety-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
not suitable for stopping the axis safely. Additional measures are required to prevent dangerous
movements of the drive axis, such as use of a mechanical brake in combination with the safety
sub-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 by
electrical 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 personnel

The product may be installed and commissioned only by a qualified electrical engineer who is familiar
with:
– Installation and operation of electrical control systems
– Applicable regulations for operating safety-related systems
Work on safety engineering systems may only be carried out by qualified personnel trained in safety
engineering.

2.5 Product conformity

The product-relevant directives are listed in the declaration of conformity è www.festo.com/sp.

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Product overview

Product conformity

in accordance with EU EMC Directive

in accordance with EU Machinery Directive
in accordance with EU RoHS Directive
to UK EMC Regulations
to UK Supply of Machinery Regulations
to UK RoHS Regulations
Tab. 2: Product conformity

The protection objectives of the Low Voltage Directive are fulfilled in accordance with the requirements
of the EC Machinery Directive. The requirements of the Low Voltage Directive are based on the product
standard EN 61800-5-1. The valid version of the product standard is listed in the declaration of
conformity.

2.6 Safety engineering approval

The 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, see è 9.1 Technical data,
safety engineering.

3 Additional information
– Contact the regional Festo contact if you have technical problems è www.festo.com.

4 Product overview
4.1 Safety sub-functions
4.1.1 Function and application
The 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
(corresponds to stop category 0 from EN 60204-1).

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Product overview

The safety sub-function STO is used when the power supply to the motor needs to be switched off
safely 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 STO
The safety sub-function STO switches off the driver supply for the power semiconductor, thus pre-
venting the power output stage from supplying the energy required by the motor. The power supply
to the drive is safely disconnected when the safety sub-function STO is active. The drive cannot
generate torque and so cannot perform any dangerous movements. With suspended loads or other
external forces, additional measures must be put in place to prevent movements being performed
(e.g. mechanical 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 axes
without 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 the
servo drive output stage during the STO status (simultaneous short circuit of 2 power semiconductors
in different phases) may result in a limited detent movement of the rotor. The rotation angle/travel
corresponds 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

Functional principle of STO

Fig. 2: Functional principle of STO

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Product overview

Fig. 3: Power stage with power transistors

1 High-side power stage 3 DC link voltage

2 Low-side power stage

STO request
The safety sub-function STO is requested on 2 channels by simultaneously switching off the control
voltage at both control inputs #STO-A and #STO-B.
The drive behaves as follows when the safety sub-function STO is requested:
– 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 due to 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 be moved by external
forces.
STO feedback via STA diagnostic contact
The status of the safety sub-function STO can be reported to the safety relay unit via the STA
diagnostic 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 via
the control inputs #STO-A and #STO-B.
#STO-A #STO-B STA

Low level Low level High level

Low level High level Low level
High level Low level Low level
High level High level Low level
Tab. 3: Level of STA

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Product overview

If protective functions are triggered on both channels (STO-A and STO-B), e.g. if the voltage at STO-A
and STO-B is too high, the internal protective functions switch off and STA also delivers a high level
signal.
Recommendation: the safety relay unit should check the status of the diagnostic output whenever
there is a STO request. The level of STA must change according to the logic table. The safety relay unit
can cyclically test the signals #STO-A and #STO-B for high level with low test pulses and for low level
with high test pulses.
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

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Product overview

Term/abbreviation Explanation

tSTO,In Max. delay until STO switches off (≤ permissible reaction time when a safety
sub-function is requested1))
STA Feedback, STO active
tSTA,Out Max. delay for diagnostic feedback (≤ permissible reaction time when a
safety sub-function is requested1) + 10 ms)
n Rotational speed
1) See Technical data, safety reference data for STO
Tab. 4: 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 or
brake on the axis to slow an axis down mechanically or stop it safely.
Function and application of SBC
The safety sub-function SBC provides safe output signals for the control of brakes (holding brakes or
clamping units). The brakes are controlled on 2 channels by switching off the voltage at the following
outputs:
– Safe output BR+/BR– [X6B] for the holding brake of the motor
– Safe output BR-EXT/GND [X1C] for the external brake/clamping unit
The holding brake and/or clamping unit engage and slow the motor or axis. The purpose of this is
to slow down dangerous movements by mechanical means. The braking time is dependent on how
quickly the brake engages and how high the energy level is in the system.
The use of just one brake is only possible when performance requirements are low è Tab. 18 Safety
reference data for the safety sub-function SBC. To do this, connect the brake either to BR+/BR– or to
BR-EXT.

NOTICE
If there are suspended loads, they usually drop if SBC is requested simultaneously with STO. This
can be traced back to the mechanical inertia of the holding brake or clamping unit and is thus
unavoidable. Check whether safety sub-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 protected when installed.

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Product overview

Functional principle of SBC

Fig. 6: Functional principle of SBC

SBC request
The safety sub-function SBC is requested on 2 channels by simultaneously switching off the control
voltage at both control inputs #SBC-A and #SBC-B:
– The #SBC-A request switches off the power to the signals BR+/BR-.
– The #SBC-B request switches off the power to the signal BR-EXT.
In the event of a power failure in the logic voltage supply of the servo drive, power is also cut off to the
brake outputs.

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

SBC feedback via SBA diagnostic contact

The 2-channel switching of the brake is indicated via the SBA output. SBA is used to report the status
of the safety sub-function SBC for diagnostic purposes, e.g. by reporting it to an external safety relay
unit.
The SBA diagnostic output 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 ).
Test pulses that occur simultaneously at SBC-A and SBC-B are not filtered. For this reason, the SBA
diagnostic output delivers a high level signal for the duration of these low test pulses.

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Product overview

Testing the safety sub-function SBC

Test inputs #SBC-A and #SBC-B separately from each other and together. The diagnostic feedback may
only be set to high level when inputs #SBC-A and #SBC-B are both requested. If the signal behaviour
does not correspond to expectations, the system must be set to a safe condition within the reaction
time. It is essential that time monitoring be provided in the safety relay unit.
The safety sub-function SBC with feedback via SBA must be tested at least 1x within the space of 24 h.
• Test SBA feedback based on the SBC-A and SBC-B level according to the following table.
#SBC-A (BR+) #SBC-B (BR-Ext) SBA

Low level Low level High level

Low level High level Low level
High level Low level Low level
High level High level Low level
Tab. 5: Testing all SBC levels
While you are testing the safety sub-function SBC, discrepancy error detection may be activated in the
CMMT-AS if the test lasts longer than 200 ms. If a corresponding error message is output by the basic
unit, you will need to acknowledge it.
Evaluation of SBA
Recommendation: evaluation with every actuation.
• Check SBA feedback whenever there is a request.
#SBC-A (BR+) #SBC-B (BR-Ext) SBA

Low level Low level High level

High level High level Low level
Tab. 6: Evaluation of SBC level

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Product overview

Timing of SBC

Fig. 7: SBC timing diagram

Legend for SBC timing

Term/abbreviation Explanation

tBrake Mechanical delay of the brake

#SBC-A/#SBC-B 2-channel input for SBC request
tSBC,TP Length of low test pulses1) at #SBC-A/B
tSBC,In Max. delay until the related brake output is switched off (≤ permissible
reaction time when a safety sub-function is requested1))
SBA Feedback, SBC active

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Product overview

Term/abbreviation Explanation

tSBA,Out Max. delay for diagnostic feedback (≤ permissible reaction time when a
safety sub-function is requested1) + 10 ms)
n Rotational speed
1) see Technical data, safety reference data SBC
Tab. 7: 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 the
motor at a standstill.
The internal holding brake of the motor is also used for the safety sub-function SBC. Please be aware
of the following constraints:
– The holding brake must be designed for the load torque that is to be stopped.
– The specifications for the holding brakes permit a certain amount of movement until the full
holding torque is reached. This must be taken into account in the design of the vertical axes and
configuration of the safety sub-function SBC.
– “Reserves” should be factored in when selecting the motor plus holding brake, e.g. operation at no
more than 2/3 of the nominal torque. The holding brakes in the motors are usually designed so that
the motor shaft will come to a standstill without coasting at loads below 70% of the nominal torque.
– Depending on the hazard situation, the holding brake must be designed with a correspondingly
higher nominal torque.
– When designing the holding brake, the additional load torque for the brake test must be consid-
ered.
The number of clamping and braking applications for the clamping unit is limited by its 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. Note
the permissible number of emergency braking applications.
Brake test
• Check whether a brake test is required. The DGUV information sheet “Gravity-loaded axis” pro-
vides 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.

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Product overview

The safety sub-function SS1 is used when the motor needs to be braked and the power supply to the
motor then has to be safely switched off in the application but there are no further requirements for a
targeted 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 wiring the safety sub-function STO, see è Fig. 13.
– Execute emergency stop command with 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 SS1
The 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 brake
function to engage at the end of the braking ramp. On completion of the braking ramp and once
the parameterisable delay time for brake closing has elapsed, the power stage is functionally
switched 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 required for
mechanical reasons. If the brake is engaged while the axis is still in motion, increased wear will
occur 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

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Product overview

Fig. 9: Logic in the safety relay unit for SS1

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

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

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Product overview

Timing of SS1

Fig. 10: Timing diagram SS1

Legend for SS1 timing

Term/abbreviation Explanation

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 a
standstill and brake is closed)
#STO-A/B 2-channel input for STO request
#SBC-A/B 2-channel input for SBC request
STA Feedback, STO active
SBA Feedback, SBC active
t1 Braking ramp followed, rotational speed = 0 (functionally)
t2 Brake closed and power stage switched off (functionally)
n Rotational speed
Tab. 8: Legend for SS1 timing

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Product overview

SBC request

If there are suspended loads, they usually drop if STO and SBC are requested directly before the
braking ramp is completed because the engagement time of the holding brakes must be considered.
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 account for the maximum
braking ramp time and brake engagement time.
4.1.5 Cross wiring of several servo drives
For cross wiring, wire the diagnostic outputs as a ring. Route both ends of the ring to a 2-channel input
of the safety relay unit. The safety relay unit monitors for discrepancies. A maximum of 10 servo drives
can 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 a
CMMT-AS is capable of pulling all other outputs to low signal. A high signal is present at the two inputs
of the safety relay unit only if all diagnostic outputs deliver high signals. The ring-shaped cross wiring
of the diagnostic outputs with sensing at the beginning and end of the signal chain makes it possible
to detect cable breaks in the cross wiring.
At this point, the diagnostic outputs deviate from the closed current principle. Cyclical automatic
testing of the diagnostic output by the safety relay unit is therefore highly recommended è STO
feedback via STA diagnostic contact and è SBC feedback via SBA diagnostic contact.
4.1.6 Fault exclusion
Put suitable measures in place to prevent faulty wiring:

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Product overview

– 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 unit
Use suitable safety relay units with the following characteristics:
– 2-channel outputs with
– Detection of shorts across contacts
– Required output current (also for STO)
– Low test pulses up to a maximum length of 1 ms
– Evaluation of the diagnostic outputs of the servo drive
Safety relay units with high test impulses can be used with the following 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-switching
output modules, for example, would be suitable.
4.1.8 Interfaces of the PDS
The 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 brake
Interfaces of the PDS

Fig. 12: Interfaces of the PDS

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Installation

5 Installation
5.1 Safety
WARNING
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 Manual Assembly,
Installation.

Information for operation with safety functions

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

During installation of safety-related inputs and outputs, also observe the following:
– Comply with all specified requirements, e.g.:
– Surrounding area (EMC)
– Logic and load voltage supply
– Mating plug
– Connecting cables
– Cross-wiring
– Additional information è Manual Assembly, Installation.
– The maximum permissible cable length between the safety relay unit and the plug of the I/O
interface is 3 m.
– Comply with the requirements of EN 60204-1 for the installation. In the event of a fault, the voltage
must not exceed 60 V DC. The safety relay unit must switch off its outputs in the event of a fault.
– Install wiring between the safety relay unit and the I/O interface of the servo drive in such a way as
to eliminate the risk of a short circuit between the conductors or to 24 V, as well as a cross circuit
è EN 61800-5-2, Annex D.3.1. Otherwise, the safety relay unit must feature detection of shorts
across contacts and, in the event of a fault, must switch off the control signals on 2 channels.
– Use only suitable mating plugs and connecting cables è Manual Assembly, Installation.
– Prevent 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.
– Use twin wire end sleeves for cross-wiring safety-related inputs and outputs. A maximum of 10
devices may be cross-wired when cross-wiring inputs and outputs è Manual Assembly, Installa-
tion.
– The safety relay unit and its inputs and outputs must meet the necessary safety classification of the
safety function that is required for the specific case.
– Connect each of the control inputs to the safety relay unit on 2 channels using parallel wiring.

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Installation

– Only use permitted motor cables for the BR+/BR– connection.

– If the diagnostic output of the safety sub-function concerned has to be evaluated: connect diag-
nostic output directly to the safety relay unit. Evaluation of the diagnostic output is either manda-
tory 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. Run
the two ends of the ring to the safety relay unit and monitor for discrepancies.
Basic circuitry design
– 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
evaluates the related feedback signals.
– Connecting sensors, e.g. emergency stop switches, directly to the servo drive is not permitted,
because this means that the sensors are not monitored.

5.2 STO installation

Inputs and outputs for the safety sub-function STO
The 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] X1A.11 DIN #STO-B Safe torque off, channel B

X1A.12 #STO-A Safe torque off, channel A
X1A.22 DOUT STA Safe torque off acknowledge
Tab. 9: Inputs and outputs for the safety sub-function STO

STO connection example

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

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Installation

1 2 3

Fig. 13: STO sample circuit

1 Input device for safety request (e.g. light 3 Servo drive CMMT-AS
curtain) 4 Drive axle
2 Safety relay unit

Information on the sample circuit

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

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Installation

5.3 SBC installation

Inputs and outputs for the safety sub-function SBC
The 2-channel request for the safety sub-function is made via the digital inputs #SBC-A and #SBC-B at
the connection [X1A]. The SBA diagnostic output indicates whether the safe status has been reached
for the safety sub-function SBC. The holding brake is connected via the connection [X6B]. The external
clamping unit is connected via the connection [X1C].
Connection Pin Type Identifier Function

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

X1A.10 #SBC-A Safe brake control, channel A
X1A.21 DOUT SBA Safe brake control acknowledge
[X1C] X1C.1 DOUT BR-EXT Output for connection of an external clamping
unit (high-side switch)
X1C.5 GND Reference potential
[X6B] X6B.1 – FE Functional earth connected to protective earth
X6B.2 OUT BR+ Holding brake (positive potential)
X6B.3 BR– Holding brake (negative potential)
Tab. 10: Inputs and outputs for the SBC safety sub-function

SBC connection example

The safety sub-function SBC (safe brake control) is triggered by an input device that makes the safety
request.

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Installation

1 2 3

Fig. 14: SBC sample circuit

1 Input device for safety request (e.g. light 3 Servo drive CMMT-AS
curtain) 4 Control (here solenoid valve example) of the
2 Safety relay unit clamping unit

Information on the sample circuit

The safety request is passed on to the servo drive on 2 channels via the inputs #SBC-A and #SBC-B at
the 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.

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Installation

5.4 SS1 installation

Inputs and outputs for the safety sub-function SS1
The safety sub-function SS1 is wired like the safety sub-function STO but is supplemented by the
functional input CTRL-EN so that the braking ramp can be activated by the safety relay unit.
SS1 connection example

1 2 3

Fig. 15: SS1 sample circuit

1 Input device for safety request 3 Servo drive CMMT-AS

2 Safety relay unit

5.5 Installation for operation without safety sub-function

Minimum wiring for operation without safety sub-function
For operation without the safety sub-function, wire inputs X1A.9 to X1A.12 as follows:
Connection Pin Type Identifier Function

[X1A] X1A.9 DIN #SBC-B Supplies each one with 24 V

X1A.10 #SBC-A
X1A.11 #STO-B
X1A.12 #STO-A

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Commissioning

Connection Pin Type Identifier Function

[X1A] X1A.21 DOUT SBA Do not connect

X1A.22 STA
Tab. 11: Wiring of inputs and outputs without safety sub-function

6 Commissioning
6.1 Safety
Use of the safety functions
NOTICE
The safety sub-functions STO and SBC are already available on the CMMT-AS on delivery without the
need 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 responsi-
bility 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, Chapter
G.4:
– Functional test
– Project management
– Documentation
– Performance of a black-box test

6.2 Check lists

The 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 you
with commissioning, we have put together some sample questions for risk reduction in the form of the
check lists below.

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

No. Questions Relevant Done

1. Have all operating conditions and all means of intervention (possi- yes o o
bility of intervening in the operation of the machine, but also physical no o
intervention in the machine) been taken into account?
2. Has the 3-step method for risk reduction been applied, i.e.: 1. Inher- yes o o
ently safe design, 2. Technical and possibly additional protective no o
measures, 3. User information about the residual risk?

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Commissioning

No. Questions Relevant Done

3. Have the hazards been eliminated or the hazard risks reduced as far yes o o
as practically possible? no o
4. Can it be guaranteed that the implemented measures do not create yes o o
new hazards? no o
5. Have the end users been given sufficient information and warning yes o o
regarding the residual risks? no o
6. Can it be guaranteed that the implemented protective measures have yes o o
not led to a deterioration in the working conditions of the operating no o
personnel?
7. Are the implemented protective measures mutually compatible? yes o o
no o
8. Has adequate consideration been given to the potential conse- yes o o
quences of using a machine designed for commercial/industrial pur- no o
poses in a non-commercial/non-industrial area?
9. Can it be guaranteed that the implemented measures will not severely yes o o
impair the machine’s ability to perform its function? no o
Tab. 12: Questions for validation in accordance with EN 12100 (example)

No. Questions Relevant Done

1. Has a risk assessment been carried out? yes o o

no o
2. Have a list of issues and a validation plan been drawn up? yes o o
no o
3. Has the validation plan – including analysis and inspection – been yes o o
worked through and has a validation report been created? The fol- no o
lowing must be inspected as a minimum as part of the validation:
... a) Inspection of components: is the CMMT-AS-...-S1 being used (check yes o o
using the rating plate)? no o
... b) Is the wiring correct (check using the circuit diagram)? yes o o
no o
... b1) Have the inputs for STO and SBC been wired to the safety relay yes o o
unit via 2 channels? no o
... b2) Have the check-back outputs STA, SBA been wired to the safety yes o o
relay unit? no o
... b3) If multiple CMMT-AS have been connected together (linked) via yes o o
X1A: have the connection instructions been taken into account? no o
è 4.1.5 Cross wiring of several servo drives.

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Operation

No. Questions Relevant Done

... c) Functional tests: yes o o

no o
... c1) Actuation of the system emergency stop: is the drive brought to a yes o o
standstill in the desired manner (stop 0, stop 1, SBC)? no o
... c2) Is a restart after an emergency stop prevented in the safety relay yes o o
unit? This means that when the emergency stop button is pressed no o
and the enable signals are active, no movement occurs in response
to a start command until acknowledgement has taken place via the
“Restart” input.
... c3) Actuation of the safety sub-function STO. If only one of the yes o o
assigned inputs #STO-A or #STO-B is activated: is the safety sub-func- no o
tion STO executed immediately? Does the STA output remain at the
low level? Is the error “Discrepancy time violation” logged in the
CMMT-AS once the discrepancy time has elapsed?
... c4) Actuation of the safety sub-function SBC. If only one of the yes o o
assigned inputs #SBC-A or #SBC-B is activated: is the assigned safety no o
sub-function executed immediately? Does the SBA output remain at
the low level? Is the error “Discrepancy time violation” logged in the
CMMT-AS once the discrepancy time has elapsed?
... c5) Does the safety relay unit detect a fault if SBA/STA do not switch yes o o
to the high level when the safety sub-function is requested via 1 no o
channel?
... c6) Only when linking multiple CMMT-AS and connecting the diag- yes o o
nostic outputs: does the safety relay unit detect a fault if the SBA/STA no o
linkage is interrupted at a particular point and the corresponding
diagnostic output does not switch to the high level on one CMMT-AS
when the safety sub-function is requested via single-channel?
Tab. 13: Questions for validation in accordance with EN ISO 13849-2 (example)

7 Operation
Check the safety functions at adequate intervals for proper functioning. It is the responsibility of the
operator to choose the type and frequency of the checks within the specified time period. The manner
in which the test is conducted must make it possible to verify that the safety device is functioning
perfectly in interaction with all components. Time period for cyclical test è 9.1 Technical data, safety
engineering.
The CMMT-AS is maintenance-free during its period of use and specified service life. The test interval
varies from one safety sub-function to another:

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Malfunctions

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

8 Malfunctions
8.1 Diagnostics via LED
Safety LED, status of the safety engineering
Malfunctions of the safety sub-functions are detected and displayed in the functional device. The
following 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 requested
Malfunctions are externally reported by the functional part, including via the additional communica-
tion interfaces (bus, commissioning software).
LED Meaning

flashing Error in the safety part or a safety condition has been violated.
red
flashing The safety sub-function has been requested but is not yet active.
yellow
yellow The safety sub-function has been requested and is active.
light
flashing Power stage, brake outputs and safety diagnostic outputs are blocked (safety
green parameterisation is running).
green light Ready, no safety sub-function has been requested.

Tab. 14: Safety LED

8.2 Repair
Repair 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.
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.

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Technical data

9 Technical data
9.1 Technical data, safety engineering
Approval information, safety engineering

CE
Type-examination The functional safety engineering of the product has been certi-
fied by an independent testing body, see EC-type examination
certificate è www.festo.com/sp
Certificate issuing authority TÜV Rheinland, Certification Body of Machinery, NB 0035
Certificate no. 01/205/5640.00/18
UKCA
Type-examination The functional safety engineering of the product has been certi-
fied by an independent body, see UK-type examination certificate
è www.festo.com/sp
Certificate issuing authority TUV Rheinland UK Ltd, Approved Body for Machinery, No. 2571
Certificate no. 01/205U/5640.00/22
Tab. 15: Approval information, safety engineering

General safety reference data

Request rate in accord- high request rate

ance with EN 61508
Reaction time when the [ms] < 10 (applies to STO and SBC)
safety sub-function is
requested
Error reaction time [ms] < 20 (applies for STA and SBA)
(how long it takes for
the diagnostic output
status to become cor-
rect once the safety
sub-function has been
requested)
Tab. 16: Safety reference data and safety specifications

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Technical data

Safety reference data for the safety sub-function STO

Circuitry without high test- with high testpulses with high testpulses
pulses, without or and without STA and without STA
with STA evaluation evaluation1) evaluation

Safety sub-function Safe torque off (STO)

in accordance with
EN 61800-5-2
Safety integrity level SIL 3 SIL 3 SIL 2
in accordance with
EN 61508
SIL claim limit for a SIL CL 3 SIL CL 3 SIL CL 2
subsystem in accord-
ance with EN 62061
Category in accordance Cat. 4 Cat. 4 Cat. 3
with EN ISO 13849-1
Performance level PL e PL e PL d
in accordance with
EN ISO 13849-1
Probability of dan- [1/h] 3.70 x 10–11 9.40 x 10–11 5.90 x 10–10
gerous failure per hour
in accordance with
EN 61508, PFH
Mean time to [a] 2400 1960 1960
dangerous failure
in accordance with
EN ISO 13849-1, MTTFd
Average diagnostic [%] 97 95 75
coverage in accordance
with EN ISO 13849-1,
DCAVG
Operating life (mission [a] 20
time) in accordance
with EN ISO 13849-1,
TM
Safe failure fraction [%] 99 99 99
SFF in accordance with
EN 61508

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Technical data

Safety reference data for the safety sub-function STO

Circuitry without high test- with high testpulses with high testpulses
pulses, without or and without STA and without STA
with STA evaluation evaluation1) evaluation

Hardware fault toler- 1

ance in accordance
with EN 61508, HFT
Common cause factor [%] 5
for dangerous unde-
tected failures β
in accordance with
EN 61508
Classification in Type A
accordance with
EN 61508
1) Safety sub-function STO tested and STA diagnostic output monitored by the safety controller at least 1x every 24 h.
Tab. 17: Safety reference data for the safety sub-function STO

Safety reference data for the safety sub-function SBC

Circuitry 2 brakes1) with SBA evalua- 1 brake3) without SBA evalua-
tion2) tion

Safety sub-function Safe brake control (SBC)

in accordance with
EN 61800-5-2
Safety integrity level SIL 3 SIL 1
in accordance with
EN 61508
SIL claim limit for a SIL CL 3 SIL CL 1
subsystem in accord-
ance with EN 62061
Category in accordance Cat. 3 Cat. 1
with EN ISO 13849-1
Performance level PL e PL c
in accordance with
EN ISO 13849-1
Probability of dan- [1/h] 3.00 x 10–10 9.00 x 10–8
gerous failure per hour
in accordance with
EN 61508, PFH

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Technical data

Safety reference data for the safety sub-function SBC

Circuitry 2 brakes1) with SBA evalua- 1 brake3) without SBA evalua-
tion2) tion

Mean time to [a] 1400 950

dangerous failure
in accordance with
EN ISO 13849-1, MTTFd
Average diagnostic [%] 93 –
coverage in accordance
with EN ISO 13849-1,
DCAVG
Operating life (mission [a] 20
time) in accordance
with EN ISO 13849-1,
TM
Safe failure fraction [%] 99 87
SFF in accordance with
EN 61508
Hardware fault toler- 1 0
ance in accordance
with EN 61508, HFT
Common cause factor [%] 5
for dangerous unde-
tected failures β
in accordance with
EN 61508
Classification in Type A
accordance with
EN 61508
1) Connection of a brake to BR+/BR− and a second brake to BR-EXT; 2-channel wiring and request via #SBC-A and #SBC-B.
2) Monitoring of the safety sub-function via the SBA diagnostic output by the safety controller at least once every 24 hours.
3) Brake connected either to BR+/BR− or to BR-EXT; single-channel request via the safety controller using #SBC-A and #SBC-B; both
inputs must be bridged externally.
Tab. 18: 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.

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Technical data

– 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 by
the safety relay unit (è EN ISO 13849-1, Annex G.2).
– The safety relay unit must request the safety sub-function at least once within 24 h and thereby
monitor the SBA diagnostic output to achieve a diagnostic coverage of at least 60%. If the signal
behaviour does not correspond to expectations, the system must be put into a safe condition within
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 the
application. Use the specified safety reference data for STO and SBC for the calculation.

9.2 General technical data

General technical data

Declaration of conformity è www.festo.com/sp

Type ID code CMMT-AS
Type of mounting Mounting plate, attached with screws
Mounting position vertical, mounted on closed surface, free convection with unhin-
dered air flow from bottom to top
Product weight è Manual Assembly, Installation.
Tab. 19: General technical data

Ambient conditions, transport

Transport temperature [°C] −25 … +70

Relative humidity [%] 5 … 95 (non-condensing)
Max. transportation [d] 30
duration
Permissible altitude [m] 12000 (above sea level) for 12 h
Vibration resistance Vibration test and free fall in packaging in accordance with
EN 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

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Technical data

Ambient conditions, operation

Ambient temperature [°C] 0 … +40

at nominal power
Ambient temperature [°C] 0 … +50
with derating
(–3%/°C at
40°C … 50°C)
Temperature moni- Monitoring of:
toring – Cooling element (power module)
– Air in the device
Switch-off if temperature is too high or too low
Relative humidity [%] 5 … 90 (non-condensing), no corrosive media permitted near the
device
Permissible setup alti- [m] 0 … 1000
tude above sea level at
nominal power
Permissible setup alti- [m] 0 … 2000
tude above sea level Operation above 2000 m is not permitted!
with derating
(–10%/1000 m at
1000 m … 2000 m)
Degree of protection IP20 (with attached mating plug X9A and with intended
in accordance with mounting on closed backwall, otherwise IP10)
EN 60529
Requirements for Install in a control cabinet with at least IP54, design as “closed
installation space electrical operating area” in accordance with IEC 61800-5-1,
Chap. 3.5
Protection class I
Overvoltage category III
Pollution degree 2 (or better)
Vibration resistance in IEC 61800-5-1 and EN 61800-2
accordance with
Shock resistance in EN 61800-2
accordance with
Tab. 22: Ambient conditions, operation

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Technical data

Service life

Service life of the [h] 25000

device at rated load
in S1 operation1) and
40 °C ambient temper-
ature
Service life of the [h] 50000
device at <50% rated
load in S1 operation1)
and 40 °C ambient tem-
perature
1) Continuous operation under constant load
Tab. 23: Service life

9.3 Technical data, electrical

9.3.1 Motor auxiliary connection [X6B]

Output of holding brake [X6B]

Design High-Side-Switch1)
Electrical data è Manual Assembly, Installation.
Protective functions – Short circuit protected 0 V/FE
– overvoltage-proof up to 60 V2)
– thermal overload protection
Error detection Voltage at output despite brake having shut down
Diagnostics possible via:
– Diagnostic output for safety sub-function SBC
– Error message on device
1) The test pulses of the associated control input #SBC-A are mapped to the output with 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]

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Technical data

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 voltage [V DC] –3 … 30
range1)
Max. input voltage [V] 28.8
high-level (UH max)
Min. input voltage [V] 17
high-level (UH min)
Max. input voltage low- [V] 5
level (UL max)
Min. input voltage low- [V] –3
level (UL min)
Max. input current with [mA] 75
high-level (IH max)
Min. input current with [mA] 50
high-level (IH min)

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Technical data

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

Max. input current with [mA] 75

low-level (IL max)
Min. input current in [mA] 1.5
transition range (IT min)
Tolerance for low test pulses
Tolerated low test [ms] 1
pulses (tSTO,TP) up to
max.
Min. time between [ms] 200
low test pulses at
UH min < USTO-A/B £ 20 V
Min. time between [ms] 100
low test pulses at
USTO-A/B > 20 V
Tolerance for high test pulses2)
Tolerated high test [ms] 1
pulses (tSTO,TP) up to
max.
Min. time between [ms] 200
high test pulses at
USTO-A/B < UL max
1) Each channel has a separate overvoltage monitor for the power supply at the input. If the voltage at the input exceeds the permissible
maximum value, the channel is shut down.
2) High test pulses must not occur simultaneously at inputs #STO-A and #STO-B but only with a time offset.
Tab. 25: Control inputs #STO-A and #STO-B at [X1A]

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

Specification Based on type 3 to EN 61131-2

Nominal voltage [V DC] 24
Permissible voltage [V DC] –3 … 30
range
Max. input voltage [V] 30
high-level (UH max)
Min. input voltage [V] 13
high-level (UH min)
Max. input voltage low- [V] 5
level (UL max)

40 Festo — CMMT-AS-...-S1 — 2022-03e

Technical data

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

Min. input voltage low- [V] –3

level (UL min)
Max. input current with [mA] 15
high-level (IH max)
Min. input current with [mA] 5
high-level (IH min)
Max. input current with [mA] 15
low-level (IL max)
Min. input current in [mA] 1.5
transition range (IT min)
Tolerance for low test pulses
Tolerated low test [ms] 1
pulses (tSBC,TP) up to
max.
Min. time between [ms] 200
low test pulses at
UH min < USBC-A/B £ 20 V
Min. time between [ms] 100
low test pulses [ms]
atUSBC-A/B > 20 V
Tolerance for high test pulses1)
Tolerated high test [ms] 1
pulses (tSBC,TP) up to
max.
Min. time between [ms] 200
high test pulses at
USBC-A/B < UL max
1) High test pulses must not occur simultaneously at inputs #SBC-A and #SBC-B but only with a time offset.
Tab. 26: 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
Permissible output cur- [mA] 15
rent for high-level
Voltage loss at high- [V] <3
level

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Technical data

Diagnostic outputs STA and SBA at [X1A]

Permissible output cur- [mA] < –400

rent at low-level1)
Voltage loss at low- [V] < 1.5
level
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 control
inputs)
1) Current flows from outside via the internal low-side switch to 0 V reference potential of 24 V supply
2) Requires connection of the output to a Type 3 input
Tab. 27: Diagnostic outputs STA and SBA at [X1A]

9.3.3 Inputs and outputs for the axis [X1C]

Output BR-EXT at [X1C]

Design High-side switch1)

Voltage range [V DC] 18 … 30
Permissible output cur- [mA] 100
rent for high level
Voltage loss at high [V] <3
level
Pull-down resistance [kΩ] < 50
Protective function – Short-circuit proof
– Feedback-proof
– Overvoltage-resistant up to 60 V
– Thermal overload protection
Fault detection Voltage at output despite brake having shut down
Diagnostics possible via:
– Output SBA
– Error message on device

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Technical data

Output BR-EXT at [X1C]

Test pulse length The test pulses for control input #SBC-B are mapped to the
output.
Min. time between test [ms] 100
pulses
Loads
Resistive load (min.) [Ω] 240
Inductive load [mH] < 100
Capacitive load [nF] < 10
1) The test pulses of the associated control input #SBC-B are mapped to BR-EXT subject to a switching delay.
Tab. 28: Output BR-EXT

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73734 Esslingen
Ruiter Straße 82
Deutschland

Phone:
+49 711 347-0

Internet:
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