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en Description
STO
Safe torque off (STO)
8080389
2017-10a
[8080380]
Integrated Drive
EMCA-EC-67-...
EMCA-EC-67-...
2 Festo – EMCA-EC-67-... – 2017-10a
Translation of the original instructions
EMCA-EC-S1-EN
Tyco Electronics® is a registered trademark of its respective trademark holder in certain countries.
Identification of hazards and instructions on how to prevent them:
Danger
Immediate dangers which can lead to death or serious injuries
Warning
Hazards that can cause death or serious injuries
Caution
Hazards that can cause minor injuries
Other symbols:
Note
Material damage or loss of function
Recommendations, tips, references to other documentation
Essential or useful accessories
Information on environmentally sound usage
Text designations:
� Activities that may be carried out in any order
1. Activities that should be carried out in the order stated
– General lists
� Result of an action/References to more detailed information
EMCA-EC-67-...
Festo – EMCA-EC-67-... – 2017-10a English 3
Table of Contents – EMCA-EC-67-...
Target group 4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Service 4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Documentation on the product 4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1 Safety and requirements for using the product 6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1 Safety 6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.1 Safety instructions for the STO safety function (Safe torque off ) 6. . . . . . . . . . . .
1.1.2 Intended use of the STO function 7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.3 Safety characteristics 7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.4 Foreseeable misuse of the STO function 7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.5 Diagnostic coverage (DC) 7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2 Requirements for product use 8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2.1 Training of specialized personnel 8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2.2 Range of application 8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2.3 Specified standards 8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2 Function and application 9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1 Circuitry of the control ports 10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2 Functional description 11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3 [X6] STO interface 13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.1 Switching statuses 13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.2 Switching times 14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.3 Reaction to test pulses 14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.4 Auxiliary supply +24 V LOGIC OUT 14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3 Installation and commissioning 15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1 Installation 15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2 Notes on commissioning 17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3 Diagnostics 18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4 Obligations of the machine operator 18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4 Technical data 19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1 Safety equipment 19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2 Electrical data 20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3 Product conformity and certifications 21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EMCA-EC-67-...
4 Festo – EMCA-EC-67-... – 2017-10a English
Target group
This documentation is intended exclusively for technicians trained in control and automation techno
logy who have experience in installation, commissioning, parameterisation, programming and dia
gnostics of electrical drive systems.
Service
Please consult your regional Festo contact if you have any technical problems.
Documentation on the product
For all available product documentation � www.festo.com/pk
This document only describes the usage of the safety function “Safely switched off torque” (Safe
torque off/STO) in accordance with EN 61800-5-2, which is implemented in the EMCA. The complete
description of the product includes the following documents:
Designation Contents
Brief documentation
EMCA-...
Brief device and functional description for initial information
Manual
EMCA-EC-SY-...1)
EMCA-EC-DIO-...2)
Device and functional description
– Mounting
– Installation (pin allocations)
– Drive functions
– Commissioning instructions
– Error messages
– Technical data
Manual
EMCA-EC-S1-...
Description of the safety function “Safely switched-off torque”
(Safe torque off/STO)
Manual
EMCA-EC-C-HP-...1)
Description of the device profile FHPP (Festo Handling and
Positioning Profile)
Manual
EMCA-EC-C-CO-...1)
Description of the device profile CiA 402
Help system for the FCT software
(help for the EMCA plug-in)
Online help of the Festo Configuration Tool (FCT) for commis
sioning and parameterisation
Special documentation
EMCA-EC_UL-...
Requirements for operating the product in the USA and
Canada in accordance with certification by Underwriters Labor
atories Inc. (UL)
1) Only relevant for product variants with bus interface
2) Only relevant for product variants with I/O interface
Tab. 1 Documentation on the product
EMCA-EC-67-...
Festo – EMCA-EC-67-... – 2017-10a English 5
Further information about the product is available in the Festo Support Portal
(� www.festo.com/sp).
– Operating instructions for configurable electromechanical drives from Festo
– Function elements for CoDeSys
– Certificates, declaration of conformity
Overview of accessories (catalogue) � www.festo.com/catalogue
Version
This documentation refers to the following version of the device:
– Revision 1.0.0
The version of the device can be determined using the product key. The product key is an 11-character
alphanumeric code on the product label that uniquely identifies a product. The product key can be
entered as a search term in the Festo Support Portal (� www.festo.com/sp). After the search has
taken place, the Support Portal displays the version together with additional product data.
EMCA-EC-67-...
6 Festo – EMCA-EC-67-... – 2017-10a English
1 Safety and requirements for using the product
1.1 Safety
When commissioning electrical drives:
� Always observe the safety instructions and warnings in the documentation of the product
(� Tab. 1) and the documentation of the components used.
� Before mounting and installation work, switch off supply voltage and secure it against being
switched on again. Only switch on the supply voltage again when mounting and installation work is
complete.
� Never remove or insert a plug connector when the motor controller is powered.
� Observe the handling specifications for electrostatically sensitive devices.
� Only enable the controller if the drive has been professionally installed and fully parameterised.
� Do not carry out repairs on the device. If defective, replace the device.
1.1.1 Safety instructions for the STO safety function (Safe torque off )
Note
In order to achieve safety characteristics according to ISO 13849-1:
� Conduct a risk assessment of the application.
� Select the components and connect them in accordance with the required category
in accordance with ISO 13849-1.
Caution
Failure of the safety function can result in serious, irreversible injuries, e.g. due to unex
pected movements of the actuators.
� Do not bypass the connections for safety equipment.
� Observe the input voltage ranges of the device � Chapter�4.
� Only use the STO function when all of the necessary safeguards have been set up
and are functional.
� Validate the STO function to complete commissioning.
Caution
Severe injuries as a result of uncontrolled movement of the passive actuators when
switching off the power output stage. The STO function is insufficient as the sole safety
function for drives that are subject to permanent torque (e.g. through suspended
loads).
� Shut down the passive actuators mechanically, if required, e.g. via a brake. This
especially applies to vertical axes without automatic locking arrangement, clamping
units or counterbalancing.
� Reliably prevent movement of the actuators by suspended loads or other external
forces, e.g. with a mechanical holding brake.
EMCA-EC-67-...
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1.1.2 Intended use of the STO function
The EMCA supports the STO safety function (Safe torque off/STO) in accordance with EN�61800-5-2.
The STO function is intended to disconnect the torque from the integrated motor and prevents the un
expected restart of the motor. The STO function may only be used for applications in which the spe
cified safety characteristics suffice.
1.1.3 Safety characteristics
The STO function of the integrated drive EMCA satisfies the requirements for the following safety char
acteristic values:
– PL�d/cat.�3 in accordance with ISO 13849-1 (Performance Level/PL)
– SIL 2 in accordance with EN 61800-5-2 (Safety Integrity Level/SIL)
– SILCL 2 in accordance with IEC 62061 (Claim Limit/CL)
The achievable safety level depends on the other components that are used to implement the safety
function.
The device must be activated via the connection [X6] with the category required for the application in
accordance with ISO 13849-1, e.g. via an external safety relay.
1.1.4 Foreseeable misuse of the STO function
Unintended use includes the following misuses:
– Bypassing of the safety function
– Applications where switching off can result in hazardous movements or conditions
The STO function does not provide protection against electric shock, only against dangerous move
ments!
1.1.5 Diagnostic coverage (DC)
Diagnostic coverage (� Chapter�4) depends on how the device is integrated in the control chain and on
the measures implemented for the diagnostics.
In order to achieve the specified diagnostic coverage, the status of the acknowledgment contact must
be evaluated by the control system every time the STO function is requested.
If the signal of the acknowledgment contact does not have the expected value, a potentially dangerous
malfunction may exist. In this case, appropriate measures must be implemented to maintain the safety
level.
Note
The EMCA cannot detect a cross circuit in the input circuit by itself.
� Find out if cross-circuit detection is needed for the input circuit and wiring in your
application.
� If required, use a safety switching device with cross-circuit detection.
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1.2 Requirements for product use
For correct and safe use of the product in a machine or system:
� Provide the complete product documentation of the product to the following specialists
– the design engineer and the installer of the machine or system
– the personnel responsible for commissioning
� Have the documentation available throughout the entire product lifecycle.
� Ensure compliance with all of the specifications in the documentation for the device � Tab. 1.
� Also take into consideration the documentation for the other components (e.g. cables).
� Take into consideration all of the legal regulations that are applicable for the installation site, as
well as the following documents:
– regulations and standards
– regulations of the testing organisations and insurers
– national specifications
For correct and safe use of the STO function:
� Conduct a risk assessment for your machine or system.
� Comply with the specified safety characteristics �� Chapter�4,� Technical data.
� Comply with the connection and environmental conditions - in particular the voltage ranges of the
product and all connected components. Only compliance with the limit values and load limits will
enable operation of the product in compliance with the specified safety regulations.
1.2.1 Training of specialized personnel
The function should only be integrated into the machine by a qualified electrical technician of the ma
chine manufacturer. The qualified technician must be familiar with:
– installation and operation of electrical control systems
– applicable regulations for operating safety-engineering systems
– applicable regulations for accident prevention and operational safety
– documentation for the product
1.2.2 Range of application
The device has the CE marking. The product-relevant EC directives are listed in the declaration of con
formity. Certain configurations of the product have been certified by Underwriters Laboratories Inc. (UL)
for the USA and Canada (documentation � Tab. 1). Additional information:
– Certificates and the declaration of conformity � www.festo.com/sp
– Standards and test values � Chapter 4, Technical data
1.2.3 Specified standards
Version status
ISO 13849-1:2015 EN 61508 Parts 1-7:2010
IEC 62061:2015 EN 61800-5-2:2007
Tab. 2 Standards specified in the document
EMCA-EC-67-...
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2 Function and application
The securely switched-off torque safety function (Safe torque off/STO) enables 2-channel, secure dis
connection of the integrated motor.
The safety function is requested solely via the control ports of the STO connection [X6] of the device.
Safety-oriented circuitry for additional interfaces of the device is not required.
Connection [X6] “Safe Torque off/STO”
Fig. 1 Connection [X6] “Safe Torque off/STO” under the lid
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2.1 Circuitry of the control ports
To protect against unintended start-up, the device must be powered via the connection
[X6] with the category required for the application in accordance with ISO 13849-1.
Attainable safety level of the STO function � Chapter 1.1.3.
The following components can be connected to the control ports (� Tab. 8) to request the STO function:
– Safe semiconductor outputs (electronic safety switching devices, active safety sensors, e.g. light
curtains with OSSD signals) (Output signal switching device/OSSD)
– Switch contacts (safety switching devices with relay outputs, passive safety sensors, e.g. forced
position switches)
3
4
5
1
2
EMCA
1 2
0 V
DC
+2
4 V
DC
[X4
]
1 2
STO
1
STO
2
[X6
]
0 V DC
54
NC
1
NC
2
S1
OS
SD
1
OS
SD
2
S1
S1
S1 1 3
2 4
1 3
42
1 3
42
1 3
42
3
+2
4 V
+24 V DC
ReceiverTransmitter
Inp
ut
circ
uit
Fee
db
ack
cir
cuit
PLC
inp
ut:
Sa
fety
fe
ed
ba
ck
6
GN
D
1 EMCA with STO interface
(only relevant connections illustrated)
2 Emergency stop switches
3 Guard door (alternative to 2)
4 Light curtain (alternative to 2)
5 Safety switching device (alternative to 2)
Fig. 2 Switching example (without cross-circuit detection)
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2.2 Functional description
The STO function is requested over 2 channels via switch S1, whereby the control voltage (+24 V DC,
logic � Fig. 2) is switched off at both control ports STO 1 and STO 2.
The control ports should be switched simultaneously. The discrepancy time between the two inputs is
monitored (max. 50 ms). If the permissible discrepancy time is exceeded, a diagnostic message is gen
erated. Monitoring of the discrepancy time is only informative. Monitoring of the discrepancy time is not
a part of the safety function.
The EMCA monitors the status of the control ports. The control ports are of equal value. As soon as
logic 0 (0 V) is present at one of the control ports, the EMCA reacts as follows:
– Channel 1 (STO 1): As long as logic 0 is present at the STO 1 input, the output stage drivers are not
supplied with voltage. The motor will not generate a torque.
– Channel 2 (STO 2): As long as logic 0 is present at the STO 2 input, no pulse-width modulation sig
nals will be forwarded to the driver component. The motor will not generate a torque.
Behaviour of the drive when the STO function is requested
– Behaviour of the drive with a running motor: The movement of the drive is not decelerated via a
braking ramp. The drive continues to move uncontrolled through inertia or external forces until it
comes to a standstill by itself.
– Behaviour of the drive with a stopped motor: The drive is uncontrolled and can move through external
forces.
The 2-channel shut-down of the motor is indicated by the acknowledgment contact NC1/NC2 (semicon
ductor relay) (� Tab. 8). The status of the STO function can be reported to an external safety switching
device for diagnostics, for example, via the acknowledgment contact. The acknowledgment contact is
not evaluated for safety purposes.
+24 V DC
+24 V DC load voltage
STO 1
STO 2
6 6 6 3
1
2 34
1 Input circuit (e.g. safety switching device)
2 Bus transmitter supply voltage for
the pulse-width modulation signals
3 Driver supply
4 MOSFET output stage
Fig. 3 “Safely switched off torque” (Safe torque off/STO) – functional principle
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Caution
Severe injuries as a result of uncontrolled movement of the passive actuators when
switching off the power output stage. The STO function is insufficient as the sole safety
function for drives that are subject to permanent torque (e.g. through suspended
loads).
� Shut down the passive actuators mechanically, if required, e.g. via a brake. This
especially applies to vertical axes without automatic locking arrangement, clamping
units or counterbalancing.
� Reliably prevent movement of the actuators by suspended loads or other external
forces, e.g. with a mechanical holding brake.
Note
Control of motors with an integrated holding brake (only EMCA-EC-...-...-B).
The holding brake is activated by the non-safety-relevant firmware of the device. When
the output stage is switched off, there is no deceleration of the drive via a braking ramp.
The holding brake is closed immediately.
� Check whether the integrated holding brake can stop the actuators.
� Note the mechanical inertia of the holding brake.
� Take into consideration the higher wear of the holding brake in comparison to auto
matic brake control in normal operation.
Note
Failure of the output stage.
If the output stage of the device fails when an STO function is active, it may result in
the drive jerking through a limited detent movement of the rotor. The maximum rotation
angle/travel corresponds to the pole pitch of the motor used.
EMCA-EC-67-...
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2.3 [X6] STO interface
2.3.1 Switching statuses
STO control ports
As long as a logic 1 (+24 V DC) is present at both control ports, the motor can be operated (STO func
tion is inactive). If there is a logic 0 (0 V DC) at one or both of the control ports, the power to the motor
is interrupted. If both STO inputs receive logic 1, the controller enable must be issued again.
Acknowledgment contact (NC1/NC2)
The acknowledgment contact is closed when the STO function is active.
The acknowledgment contact is open:
– When there is a supply voltage failure
– If the STO function is inactive
STO 1 STO 2 NC1/NC2 Status
1 1 High impedance
(open)
Normal operation
– Output stage is switched on.
– STO function is inactive.
1 0 High impedance
(open)
The STO function has been requested on 1 channel, e.g. in
the event of a failure of a channel:
– The output stage is switched off on 1 channel.
– The motor can no longer be operated.
– STO function is inactive.
0 1
0 0 Low impedance
(closed)
The STO function has been requested on 2 channels:
– The output stage is switched off on 2 channels.
– The motor can no longer be operated.
– The STO function is active.
Tab. 3 Switching logic of the control ports STO 1/STO 2
Switching statuses [X6]
Control ports STO 1/STO 21)
Deactivate STO [V DC] �18
Activate STO [V DC] �5
Acknowledgment contact NC1/NC2
Closed: Max. internal resistance [Ω] �40
Open: Residual current [μA] �2
1) Intermediate area is undefined.
Tab. 4 Electrical data of switching statuses [X6]
The control ports are also protected against polarity reversal, but are not equipped with
voltage monitoring. If required, voltage monitoring must be realized through additional
measures.
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2.3.2 Switching times
The amount of energy stored in the components of the STO function (e.g. capacitors) depends on the input
voltage level. These amounts of energy must be charged or discharged depending on the switching opera
tion. Depending on the input voltage, this results in different values for the transition to the safe status (STO)
and the tolerance time (buffer time) regarding OSSD signals.
Signal1) Switching time1)
STO 1/STO 2 Activate STO [ms] �5
Deactivate STO [ms] �4
NC Close acknowledgment contact [ms] �10
Open acknowledgment contact [ms] �60
1) Other electrical data � Chapter 4.2.
Tab. 5 Switching times
2.3.3 Reaction to test pulses
Short test pulses from a safety control are tolerated and thus do not trigger the STO function. The per
missible pulse width is dependent on the control voltage level at inputs STO 1 and STO 2.
Control ports STO 1/STO 2 [X6]1)
Maximum permissible pulse width
for 0 V test pulse with 24 V signal [ms] 0.6
for 24 V test pulse with 0 V signal [ms] 10
Min. time between test pulses
for 0 V test pulse with 24 V signal [ms] 60
for 24 V test pulse with 0 V signal [ms] 4
1) Other electrical data � Chapter 4.2.
Tab. 6 Test pulses of inputs STO 1 and STO 2
2.3.4 Auxiliary supply +24 V LOGIC OUT
A 24 V auxiliary supply is available at [X6.3]. Reference potential (0 V) is pin 2 at voltage supply connection
[X4] (internally bridged with [X6.6]).
The auxiliary supply can be optionally used to power external, active sensors.
Other electrical data � Chapter 4.2.
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3 Installation and commissioning
Warning
Danger of electric shock from voltage sources without protective measures.
� Use for the electrical power supply only PELV circuits (Protective extra-low voltage/
PELV) in accordance with EN 60204-1.
� Also observe the general requirements for PELV circuits in accordance with EN 60204-1.
� Use only voltage sources which guarantee reliable electrical isolation of the operat
ing and load voltage in accordance with IEC 60204-1.
3.1 Installation
Caution
Unexpected and unintended movement of the drive during mounting, installation and
maintenance work.
� Before starting work: Switch off power supplies. Removal of the enable signal at
the EMCA is not sufficient.
� Secure the power supplies against accidental reactivation.
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Installation instructions:
� Observe all of the information on electrical installation of the device � Tab. 1.
� Comply with the handling specifications for electrostatically sensitive devices.
� Connect the control ports in 2 channels with parallel wiring.
� For the connection [X6], use the counter-plug from the NEKM-C assortment of plugs from Festo
(accessories � www.festo.com/catalogue).
Connection [X6] Design
Plug connector at the EMCA 3-794636-6 (manufacturer: Tyco Electronics AMP), pin strip, 6-pin
Counterplug 794617-6 (manufacturer: Tyco Electronics AMP),
Crimp contacts (manufacturer: Tyco Electronics AMP):
– AWG24 ... AWG20: 794606-1 (strips); 794610-1 (loose)
– AWG30 ... AWG26: 794607-1 (strips); 794611-1 (loose)
Tab. 7 Connection STO interface [X6]
[X6] – black Pin Designation Description
1 NC1 Acknowledgment contact:
– Potential-free
– Low impedance if the STO function has been requested
and activated via 2 channels
2 NC2
3 +24 V DC
LOGIC OUT
Logic voltage output (from [X4]), reference potential (0 �V) is
pin [X6.6] or [X4.2] (internally bridged)
Not overload-proof! Max. 100 mA permissible.
4 STO 1 Control ports for STO function
5 STO 2
6 GND Reference potential 0 V
Tab. 8 Pin assignment of STO interface (safe torque off ) [X6] at the EMCA
Note
Damage to the device in the event of an overload.
Pin [X6.3] (+24 V DC LOGIC Out) is not overload-proof! Maximum 100 �mA permissible.
Note
The STO function must never be bridged.
� Make sure that no jumpers, etc. can be used parallel to the safety wiring.
EMCA-EC-67-...
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3.2 Notes on commissioning
The complete commissioning of the device by the machine manufacturer is described in
the documentation EMCA-EC-... and in the Online Help for the EMCA plug-in of the FCT
software.
Recommendation for first commissioning without complete safety equipment:
– Set-up at least with emergency stop switching device and 2-channel shut-down via
the control ports STO 1 [X6.4] and STO 2 [X6.5]
– Implement the set-up in such a way that it must be forcibly removed when the final
protection wiring is carried out.
Note
Incorrect wiring or use of inappropriate components will result in failure of the STO
function or non-compliance with the requirements of ISO�138491 (category).
Prior to commissioning:
� Make sure that components are used and wired in accordance with the required
category according to ISO�13849-1.
� Check the electrical installation (connecting cable, pin allocation).
� Validate the STO function to conclude the installation process and after every modi
fication to the installation.
� Only use the STO function when all of the necessary safeguards have been set up
and are functional.
For a performance test of the STO function:
1. Switch off each channel individually and check the reaction of the motor and the acknowledgment
contact.
2. Switch off both channels and check the reactions.
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3.3 Diagnostics
Diagnostics Description
Acknowledgment
contact1)
The acknowledgment contact of the STO function (NC1/NC2) can be evaluated by
a higher-order controller. The closed acknowledgment contact indicates that the
STO function is active.
Error message
0x34
When the STO function is requested, the fault message “Safe torque off ”
(0x34) is generated. The message can be configured as an error, a warning or
as information. An entry in the diagnostic memory is optional.
1) This diagnosis is not evaluated in terms of safety equipment.
Tab. 9 Diagnostics options of the STO function
For additional information and complete list of the messages � Description for the EMCAused. (� Tab. 1).
3.4 Obligations of the machine operator
The implemented safety function must be subjected to a regular and documented performance test by
a specialist during the the machine's period of use. The frequency of these tests must be determined
by the machine operator based on the specifications of the machine manufacturer.
� Check the EMCA at least once per year.
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4 Technical data
The general technical data, operating and ambient conditions, technical data of the drive
and additional connection data can be found in the description of the EMCA integrated
drive � Manual EMCA-EC-...
For additional information � www.festo.com/sp.
4.1 Safety equipment
Safety reference data and safety specifications
Safety function STO Safe Torque Off
(safely switched-off torque)
Category 3 In accordance with ISO 13849-1
Performance Level up to PL d In accordance with ISO 13849-1
Safety Integrity Level up to SIL 2 In accordance with �EN 61800-5-2
(Safety integrity level)
SIL Claim Limit SILCL 2 In accordance with EN 62061
(SIL Claim Limit)
DCavg [%] 90 Average Diagnostic Coverage
� Chapter�1.1.3
HFT 1 Hardware Failure Tolerance
SFF [%] > 90 Safe failure fraction in accordance with
EN 61508
PFHD [1/hr.] 1 x 10-9 Probability of dangerous failure per hour
T
Proof Test Interval [Years] 20 Inspection interval
Service life [Years] 20 In accordance with ISO 13849-1
Type test The STO function has been certified by an independent test
ing body. EMCA certificate � www.festo.com/sp.
Tab. 10 Technical data: Safety reference data and safety specifications
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4.2 Electrical data
Control ports STO 1/STO 2 [X6]
Nominal voltage [V DC] 24 (relative to 0 �V at [X4] )
Voltage range [V DC] 19.2 … 28.8
Permitted residual ripple [%] 5 (relative to nominal voltage 24 V)
Overvoltage-safe up to [V] 60
Nominal current [mA] 15
Starting current [mA] 200
Input voltage thresholds (Intermediate range is undefined.)
Deactivate STO [V DC] �18
Activate STO [V DC] �5
Activate STO function switching time [ms] �5
Deactivate STO function switching time [ms] �4
Max. permissible pulse width
for 0 V test pulse with 24 V signal [ms] 0.61)2)
for 24 V test pulse with 0 V signal [ms] 10
Min. time between test pulses
for 0 V test pulse with 24 V signal [ms] 60
for 24 V test pulse with 0 V signal [ms] 4
Protective function Protection against polarity reversal
1) This value refers to a simple pulse. Double or multiple pulses can require other values.
2) Longer 0-V test pulses or double/multiple pulses of the safety switching device require an increase of the voltage level up to
the upper limit of the permissible voltage range of the EMCA.
Tab. 11 Technical data: Electrical data for the inputs STO 1 and STO 2
Acknowledgment contact NC [X6]
Design Semiconductor relay
Max. voltage [V DC] �30
Overvoltage strength [V] 60
Nominal current [mA] �100
Max. internal resistance (contact closed) [Ω] �40
Residual current (contact open) [μA] �2
Switching time closing [ms] �10
Switching time opening [ms] �60
Galvanic isolation Via optocoupler
Tab. 12 Technical data: Electrical data of the acknowledgment contact
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Auxiliary supply +24 �V DC, pin 3 at [X6]
Nominal voltage
– Voltage taken from the drive
(supplied at [X4])
[V DC] 24
Nominal current [mA] 100 (max.)
Not overload-proof
Tab. 13 Technical data: Electrical data of the auxiliary supply output
Signal lines
Max. cable length [m] 30
Conductor cross-section [mm²] 0.05 … 0.36
Tab. 14 Technical data: Cabling at [X6]
4.3 Product conformity and certifications
Product conformity and certifications
CE marking (declaration of conformity
� www.festo.com/sp)
In accordance with EU Machinery Directive
In accordance with EU EMC Directive1)
Approvals2) RCM (Regulatory Compliance Mark)
c UL us - Recognised (OL)
1) The component is intended for industrial use. Outside of industrial environments, e.g. in commercial and mixed-residential areas,
actions to suppress interference may have to be taken.
2) Only valid for product variants with corresponding marking
Tab. 15 Product conformity and certifications
Requirements for observing the UL certified conditions if the product is operated in
the USA or Canada can be found in the separate UL documentation.
Reproduction, distribution or sale of this document or communication of its contents to others without express authorization isprohibited. Offenders will be liable for damages. All rights reserved in the event that a patent, utility model or design patent isregistered.
Copyright:Festo SE & Co. KGRuiter Straße 8273734 EsslingenGermany
Phone:+49 711 347-0
Fax:+49 711 347-2144
E-mail:[email protected]
Internet:www.festo.com