Instructions for Use

COMBIVERT F6
Installation F6 Control PRO

Translation of the original manual
Document 20182705 EN 08

Imprint
KEB Automation KG
Suedstraße 38, D-32683 Barntrup
Germany
Tel: +49 5263 401-0 • Fax: +49 5263 401-116
E-Mail: info@keb.de • URL: https://www.keb-automation.com
ma_dr_f6-cu-p-inst-20182705_en
Version 08 • Edition 08/12/2023

Table of Contents

Table of Contents
1

2

3

4

5

Introduction ...................................................................................................................................................

7

1.1

Markings................................................................................................................................................
1.1.1
Warnings.................................................................................................................................
1.1.2
Information notes ....................................................................................................................
1.1.3
Symbols and markers .............................................................................................................

7
7
7
8

1.2

Laws and guidelines..............................................................................................................................

8

1.3

Warranty and liability.............................................................................................................................

8

1.4

Support..................................................................................................................................................

8

1.5

Copyright...............................................................................................................................................

9

1.6

Validity of this manual ...........................................................................................................................

9

General Safety Instructions..........................................................................................................................

10

2.1

Installation .............................................................................................................................................

10

2.2

Start-up and operation ..........................................................................................................................

11

2.3

Maintenance..........................................................................................................................................

11

Product description ......................................................................................................................................

12

3.1

Description of the control board PRO ...................................................................................................

12

3.2

Variants of the control board .................................................................................................................

12

3.3

Accessories...........................................................................................................................................

13

3.4

Connection and control elements..........................................................................................................

13

3.5

Motor monitoring X1C (temperature, brake) .........................................................................................

13

3.6

Control terminal strip X2A .....................................................................................................................

14

3.7

Safety terminal block X2B .....................................................................................................................

14

3.8

Encoder interfaces X3A, X3B................................................................................................................

14

3.9

Diagnostic interface X4A.......................................................................................................................

14

3.10 Fieldbus interface X4B ..........................................................................................................................

14

3.11 Fieldbus interface X4C..........................................................................................................................

14

3.12 Rotary coding switch S1, S2 .................................................................................................................

14

3.13 Status LEDs ..........................................................................................................................................
3.13.1 Boot display ............................................................................................................................
3.13.2 VCC - LED ..............................................................................................................................
3.13.3 NET ST - LED .........................................................................................................................
3.13.4 DEV ST - LED.........................................................................................................................
3.13.5 OPT - LED ..............................................................................................................................

15
15
15
15
15
15

Connection of the control.............................................................................................................................

17

4.1

Assembly of wires .................................................................................................................................

17

4.2

Terminal strip X2A.................................................................................................................................
4.2.1
Digital Inputs ...........................................................................................................................
4.2.2
Digital Outputs ........................................................................................................................
4.2.3
Relay output............................................................................................................................
4.2.4
Analog input ............................................................................................................................
4.2.5
Analog output..........................................................................................................................
4.2.6
Voltage supply ........................................................................................................................

18
19
20
20
22
23
24

Safety module X2B........................................................................................................................................

28

5.1

28

Safety manual type 5 ............................................................................................................................

ma_dr_f6-cu-p-inst-20182705_eniii

Table of Contents

6

KEB Automation KG

Diagnosis/visualisation X4A ........................................................................................................................

29

6.1

Assignment of the terminal strip X4A ....................................................................................................

29

6.2

Data cable RS232 PC-Drive Controller.................................................................................................

30

6.3

USB-serial converter .............................................................................................................................

30

6.4

Connection of the RS485 interface .......................................................................................................

30

6.5

Remote control......................................................................................................................................

30

Fieldbus interfaces........................................................................................................................................

31

7.1

Type code fieldbus ................................................................................................................................

31

7.2

CAN.......................................................................................................................................................

31

7.3

EtherCAT ..............................................................................................................................................
7.3.1
Synchronous communication mode........................................................................................

32
34

7.4

RS485 potential-free .............................................................................................................................

35

Encoder interfaces ........................................................................................................................................

36

8.1

Type code encoder interface.................................................................................................................

36

8.2

Multi-Encoder-Interface.........................................................................................................................

36

8.3

Input signals ..........................................................................................................................................

37

8.4

Encoder sockets X3A/X3B ....................................................................................................................

38

8.5

Encoder cable length ............................................................................................................................

38

8.6

Encoder cable .......................................................................................................................................

39

8.7

Description of the encoder interfaces....................................................................................................

39

Brake control and temperature detection ...................................................................................................

41

9.1

Brake control .........................................................................................................................................

42

9.2

Temperature detection ..........................................................................................................................
9.2.1
Operation without temperature detection................................................................................
9.2.2
Connection of a KTY sensor ...................................................................................................
9.2.3
Connection of PTC, temperature switch or PT1000 ...............................................................

43
43
44
44

10 Revision History ............................................................................................................................................

45

Glossary .........................................................................................................................................................

46

Index ...............................................................................................................................................................

48

7

8

9

iv

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List of Figures

List of Figures
Fig. 1

Pin assignment socket D-Sub-9 (top view) ............................................................................................

29

Fig. 2

Serial cable for the connection to a PC..................................................................................................

30

Fig. 3Connection CAN bus..............................................................................................................................

31

Fig. 4

RJ45 socket front view ...........................................................................................................................

33

Fig. 5

RJ45 socket front view ...........................................................................................................................

35

Fig. 6

Connection diagram RS485-Modbus 4W...............................................................................................

35

Fig. 7

Assignment of the input signals (as differential signals) ........................................................................

37

Fig. 8

Encoder cable length .............................................................................................................................

39

Fig. 9Connection of a brake ............................................................................................................................

42

ma_dr_f6-cu-p-inst-20182705_en

5List of Tables

KEB Automation KG

List of Tables
Tab. 1Connector sets .......................................................................................................................................

13

Tab. 2

Overview connection- and control elements ..........................................................................................

13

Tab. 3

LEDs at power on...................................................................................................................................

15

Tab. 4

Function VCC LED.................................................................................................................................

15

Tab. 5Function NET ST - LED .........................................................................................................................

15

Tab. 6Function DEV ST - LED .........................................................................................................................

15

Tab. 7

Function OPT - LED...............................................................................................................................

15

Tab. 8

Wire end ferrules and stripping length ...................................................................................................

17

Tab. 9Assignment of the terminal strip X2A .....................................................................................................

18

Tab. 10 Calculation the current consumption......................................................................................................

24

Tab. 11 Serial interfaces .....................................................................................................................................

29

Tab. 12 Accessories............................................................................................................................................

29

Tab. 13 Connecting cable ...................................................................................................................................

29

Tab. 14 Wiring of the DE-9 - RJ45 adapters .......................................................................................................

30

Tab. 15 PIN assignment RJ45 EtherCAT............................................................................................................

33

Tab. 16 Function of the LEDs..............................................................................................................................

33

Tab. 17 Error status list .......................................................................................................................................

34

Tab. 18 PIN assignment RS485 4W-Modbus to RJ45 plug ................................................................................

35

Tab. 19 Alternative designation of encoder signals.............................................................................................

37

Tab. 20 Assignment of the encoder sockets X3A and X3B.................................................................................

38

Tab. 21 Encoder specifications ...........................................................................................................................

39

Tab. 22 Assignment of the terminal block X1C ...................................................................................................

41

Tab. 23 Connection examples ............................................................................................................................

446

ma_dr_f6-cu-p-inst-20182705_en

Introduction | 1

1

Introduction
The described devices, accessories, hardware and/or software are products of
KEB Automation KG. The enclosed documents correspond to conditions valid atprinting. Misprint, mistakes and technical changes reserved.

1.1
1.1.1

Markings
Warnings
Certain operations can cause hazards during the installation, operation or thereafter. There is safety information in the documentation in front of these operations.
Warnings contain signal words for the severity of the hazard, the type and/or
source of the hazard, the consequence of non-compliance and the measures toavoid or reduce the hazard.

DANGER

Type and/or source of the hazard.
Leads to death or serious bodily injury if not observed.
a) Measures to avoid the hazard.
b) Can be supplemented by an additional danger sign or pictogram.

WARNING

Type and/or source of the hazard.
May cause death or serious injury if not observed.
a) Measures to avoid the hazard.
b) Can be supplemented by an additional danger sign or pictogram.

CAUTION

Type and/or source of the hazard.
May cause bodily injury if not observed.
a) Measures to avoid the hazard.
b) Can be supplemented by an additional danger sign or pictogram.

NOTICE

Type and/or source of the hazard.
Can cause damage to property if not observed.
a) Measures to avoid the hazard.
b) Can be supplemented by an additional danger sign or pictogram.

1.1.2

Information notes
Indicates to the user a special condition, prerequisite, scope or simplification.
This is a reference to further documentation. The barcode is for smartphones, the following link is for online
users or for typing.
(► https://www.keb-automation.com/search)ma_dr_f6-cu-p-inst-20182705_en

7

1 | Introduction

KEB Automation KG

Notes on conformity for use in the North American or Canadian market.

1.1.3

Symbols and markers✓a)➾(≡► Reference[} 8])
ru21

1.2

Condition
Action step
Result or intermediate result
Reference to a chapter, table or picture with page reference(► )Parameter name or parameter index
Hyperlink<Strg>

Control code

COMBIVERT

Lexicon entry

Laws and guidelines
KEB Automation KG confirms with the CE mark and the EU declaration of conformity that our device complies with the essential safety requirements.
The EU declaration of conformity can be downloaded on demand via our website.

1.3

Warranty and liability
The warranty and liability on design, material or workmanship for the acquired
device is given in the general conditions of sale.
Here you will find our general sales conditions.
(► https://www.keb-automation.com/terms-conditions)

Further agreements or specifications require a written confirmation.

1.4

SupportThrough multiple applications, not every possible case has been taken into account. If you require further information or if problems occur which are not treateddetailed in the documentation, you can request the necessary information via thelocal KEB Automation KG agency.
The use of our units in the target products is beyond of our control andtherefore exclusively the responsibility of the customer.
The information contained in the technical documentation, as well as any support
provided verbally, written or through testing, is made to the best of our knowledge
and information regarding intended use of KEB products. However, due to technical changes, any information provided is considered non-binding and is subject tochange. This also applies to any violation of industrial property rights of a thirdparty.
Selection of KEB units in view of their suitability for the intended use must be doneby the user.
Tests can only be carried out within the scope of the intended end use of the
product (Application) by the Customer. They must be repeated, even if only
parts of hardware, software or the unit adjustment are modified.

8

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Introduction | 1

1.5 CopyrightThe customer may use the instructions for use as well as further documents orparts from it for internal purposes. Copyrights are with KEB Automation KG and remain valid in its entirety.
Other wordmarks and/or logos are trademarks (™) or registered trademarks (®) oftheir respective owners.

1.6

Validity of this manualThis part of the instruction manual describes the implemented control card.
• The control card is only valid in conjunction with the instructions for use of thepower part.
• The control card contains only supplementary safety instructions.
• If certain functions or properties are version-dependent, this is indicated at theappropriate place. The version number of the COMBIVERT can be found inbrackets after the material number.

ma_dr_f6-cu-p-inst-20182705_en

92 | General Safety Instructions

2

KEB Automation KG

General Safety Instructions
The products are developed and built according to the state of the art and recognized safety rules. Nevertheless, their use may create dangers to life and limb of
the user or third parties or damage to the machine and other material property.
The following safety instructions have been created by the manufacturer for thearea of electric drive technology. They can be supplemented by local, country- or
application-specific safety instructions. This list is not exhaustive. Non-observanceof the safety instructions by the customer, user or other third party leads to the lossof all resulting claims against the manufacturer.

NOTICE

Hazards and risks through ignorance!
a) Read the instructions for use.
b) Observe the safety and warning instructions.
c) Ask if something is unclear.

2.1

Installation
DANGER

Electrical voltage at terminals and in the device!
Danger to life due to electric shock !
ü For any work on the devicea) Switch off the supply voltage.
b) Secure it against switching on.
c) Wait until all drives has been stopped in order that no regenerative energy canbe generated.
d) Await capacitor discharge time (min. 5 minutes). Measure DC voltage at theterminals.
e) Never bridge upstream protective devices. Also not for test purposes.

NOTICEUse of suitable voltage sources!
Electric shock!
a) Use suitable voltage sources with safe isolation (SELV/PELV) in accordancewith VDE 0100 with nominal voltage of DC 24 V ±10 %.
b) Pay attention to a sufficient overvoltage category of the voltage supply.
c) With existing or newly-wired circuits the person installing the device or machinemust ensure that the PELV requirements are met.
For a successful operation, please read the following instructions:• The electrical installation shall be carried out in accordance with the relevant requirements.
• Cable cross-sections and fuses must be dimensioned by the user according to
the specified minimum/maximum values for the application.
• For drive controllers that are not isolated from the supply circuit (in accordancewith EN 61800-5-1) all control lines must be included in other protective measures (e.g. double insulation or shielded, earthed and insulated).
• When using components without isolated inputs/outputs, it is necessary that
equipotential bonding exists between the components to be connected (e.g. by
the equipotential line). Disregard can cause destruction of the components byequalizing currents.

10

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General Safety Instructions | 2

2.2 Start-up and operation
The start-up (i.e. the starting of normal operation) is prohibited until the machinery
has been proved to conform to the provisions 2006/42/EG and 2014/30/EU; EN60204-1 must be observed.

WARNING

Wrong parameterization
Unintentional behaviour of the driveü During initial start-up or replacement of the drive controller:a) Secure motors against automatic restart.
b) Check whether the appropriate parameter list for the application has been imported.

WARNING

Software protection functions as sole protection.
Protection function in case of software problems without function.
ü Securing a unit solely with software-supported functions is not sufficient.
a) Install external protective measures (e.g. limit switch) that are independent of
the drive controller.

2.3

Maintenance
DANGER

Unauthorized exchange, repair and modifications
Unpredictable malfunctionsa) The function of the drive controller is dependent on its parameterisation. Never
replace without knowledge of the application.
b) Modification or repair is permitted only by KEB Automation KG authorized personnel.
c) Only use original manufacturer parts.
d) Infringement will annul the liability for resulting consequences.

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11

3 | Product description

KEB Automation KG

3

Product description

3.1

Description of the control board PRO
The control board PRO provides the following functions:• Digital and analog inputs and outputs• Serial diagnostic interface for connection to a PC
• Hardware of the control circuit „safety separated“ according to EN 61800-5-1• Brake control, supply and feedback• Motor protection by I²t, KTY, PT1000 or PTC input• Internal supply of the control board possible.
• External supply of the control board

3.2

Variants of the control board
The 11-digit type code indicates the variants of the control board. Positions that are notlisted are irrelevant for this manual.
1. and 2. digit

Device size

10…33 For motor power from 2.2…450 kW
3. and 4. digit
F6

COMBIVERT F6

5. digitP
6. digit
4
5

Control type
PRO
Variants
reserved
Safety module type 5

7. digit

Housing

8. digit

Connection, voltage, options

9. digit

Switching frequency, software current limit, overcurrent

10. digit

Control board variant

0
1
3
4
5
11. digit

12

SeriesPRO | no encoder interface, CAN®, Ethernet fieldbus interface, standard relay(Form C)PRO | Multi-encoder interface, CAN®, Ethernet fieldbus interface, standard relay (Form C)
PRO | Multi-encoder interface, CAN®, RS485 potential-free, Ethernet TCP/IP(no EtherCAT)
PRO | no encoder interface, CAN®, Ethernet fieldbus interface, safe relay (formA)
PRO | Multi-encoder interface, CAN®, Ethernet fieldbus interface, safe relay(form A)
Heat sink version

ma_dr_f6-cu-p-inst-20182705_en

Product description | 3

3.3 Accessories
To be able to use preassembled cables provided by the customer, the connectors of thecontrol are optionally available. The following connector sets are available according to
the used options:Control boardPRO

Set contains
Terminal strip 28-pole
Terminal strip 10-pole
Terminal strip 8-pole

Material number
00F6V80-005P

Tab. 1: Connector sets

3.4

Connection and control elements
X1C

X3A

X3B

X1C

Temperature monitoring, brake
control/monitoring
X2A
Control terminal block for digital inputs/outputs; 24V supply; relay output; analog inputs and outputs;
CAN bus
X2B
Safety module
FS ST X3A
Encoder interface channel A
X3B
Encoder interface channel B
X4A
Diagnostic interface with
RS232/485 interface according to
DIN66019 protocol; operator slot
X4B
Fieldbus input / Port 0 / RS-485 poVCC
tential-free
NET ST
Fieldbus output / Port 1
DEV ST X4C
OPTS1Rotary coding switch 1 (low byte)
S2
Rotary coding switch 2 (high byte)
X4A
FS ST
LED Safety state
VCC
LED voltage supply (24V)NET ST LED network / fieldbus state
DEV ST LED inverter/ device state
OPT
Optional

X4B S1X2A X2B X4C S2Tab. 2: Overview connection- and control elements

3.5

Motor monitoring X1C (temperature, brake)
The terminal block X1C is a 10-pole, pluggable terminal block with spring-cage connection. It contains:• 2 outputs for control of 24V motor brakes• 2 control inputs for brakes or relays• 1 analog input for temperature detection

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13

3 | Product description

3.6

KEB Automation KG

Control terminal strip X2A
The control terminal strip X2A is a 28-pole pluggable, double-row terminal strip withspring-cage connection. It contains:• 8 digital inputs• 2 digital outputs• 1 Relay output• 2 analog inputs (plus 1 switchable analog input)• 1 analog output• CAN bus interface• 24V input and output

3.7

Safety terminal block X2B
The design of the terminal strip X2B depends on the safety module. The description is
given in a separate manual for the safety module.

3.8

Encoder interfaces X3A, X3B
The COMBIVERT contains two universal encoder interfaces. The interfaces can be adapted independently to different encoders.

3.9

Diagnostic interface X4A
The integrated RS232/485 interface is used to connect service tools (e.g. USB or
Bluetooth adapter). The interface also serves as a connection point for the F6 keyboard/
display operator. DIN 66019II is used as communication protocol.

3.10

Fieldbus interface X4B
The fieldbus interface X4B supports the following protocols depending on the variant:• EtherCAT IN (Fieldbus)• Ethernet (Fieldbus)• RS485 potential-free

3.11

Fieldbus interface X4C
The fieldbus interface X4B supports the following protocols:• EtherCAT OUT (field bus)
• Ethernet (fieldbus)

3.12

Rotary coding switch S1, S2
If the CAN protocol is active, the rotary coding switches S1 (low byte) and S2 (high byte)
define the node ID. If both switches are set to "0" or a faulty node ID is set, the node ID
from fb64 is active.

14

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Product description | 3

3.13 Status LEDs
3.13.1

Boot display
Before the LEDs start their normal function, they signal the boot procedure after switching
on:
LEDs

VCC
NET
DEV
OPT

ST
ST

VCC
NET
DEV
OPT

ST
ST

VCC
NET
DEV
OPT

Statusoff

Note
Device off

Initialization

Control is supplied with 24 V

ready for operation

Device is ready for operation and the LEDs startwith their normal function (approx. 3 s)

ST
ST

Tab. 3: LEDs at power on

3.13.2 VCC - LED
VCC
off
on

LED colour Description
Power supply of the control card switched off.
green
Control is supplied with 24 V.

Tab. 4: Function VCC LED

3.13.3 NET ST - LED
NET ST
off
Blink
code

LED colour Description
Device off or booting.
various depending on fieldbus => fieldbus interfaces.

Tab. 5: Function NET ST - LED

3.13.4 DEV ST - LED
DEV ST
OFF
ON
ON
ON
Flashing

LED colour Description
Device off or in boot process.
Red
Error
Yellow
No error, DC bus not charged.
GreenNo error, ready for operation.
Green
No error, serves to identify the device (fb.32).

Tab. 6: Function DEV ST - LED

3.13.5 OPT - LED
OPT-

LED colour Description
reserved for options.

Tab. 7: Function OPT - LED

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15

3 | Product description

KEB Automation KG

Tip
The DEV ST and OPT LEDs can be re-programmed for diagnostic purposes(i.e., the OPT LED could be programmed to represent the status of one ofthe digital inputs).
Refer to the Configuration Handling parameters in the programming
manual.

16ma_dr_f6-cu-p-inst-20182705_en

Connection of the control | 44Connection of the control
Observe the following instructions to avoid malfunctions!
• Install control and power cable separately (approx. 10..20 cm (4"..8") distance).
• Cross high voltage conductors at a 90-degree right angle.
• In case of inductive load on the relay outputs, a protective device must be
provided (e.g. free-wheeling diode).
• Electromagnetic interference can be prevented by the following measures:– Always use twisted and shielded cables for analog control cables. Placethe shield on one side of the source.
– Twist digital control cables. For lengths longer than 3 m (10'), a shield may
be required. In this case connect the shield at both ends.
– When the brake conductors or motor temperature sensor conductors are
run together with the motor conductors, the brake and temperature conductors should be shielded. The shield of the brake and temperature
sensor conductors should be connected to earth ground together with the
motor conductor shield. The shields should be kept as long as possible toprevent cross coupling with the motor conductors.
The terminals of the control terminal blocks, encoder inputs and the communicationinterface are securely isolated in accordance with IEC 61800-5-1.

4.1

Assembly of wires
NOTICE

Loose and slack cable connections!
Malfunctions due to loose contacts.
a) Observe metal sleeve length and stripping length according to table.
b) Use a suitable pressing tool.
c) Make sure that all wires are inserted into the wire-end sleeve.
d) After inserting the cable into the terminal, check that it is firmly seated.
Cross section

Wire end ferruleWith plastic collars

Metal sleeve
length10 mm

Strippinglength12 mm

0.5…1 mm²
(20…17 AWG)
0.5…1,5 mm²(20…16 AWG)
0.2…1.5 mm²(24…16 AWG)
Solid or fine strand

Without plastic collars

10 mm

10 mm

Without wire end ferrule

-

10 mm

Tab. 8: Wire end ferrules and stripping length

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17

4 | Connection of the control

4.2

KEB Automation KG

Terminal strip X2A

PIN
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26

Name
DI1 / AN3
DI2
DI3
DI4
DI5
DI6
DI7
DI8
0V
DO1
0V
DO2
RLB
RLA
RLC
24VoutAN1AN1+AN2AN2+0V
ANOUT
CAN low
CAN high
CAN GND
24VoutCtrl

27
28

0V
P24Vin2

4

6

8 10 12 14 16 18 20 22 24 26 28

1

3

5

7

9 11 13 15 17 19 21 23 25 27

Description
Digital input 1 (standard) / analog input 3 (special software)
Digital input 2
Digital input 3
Digital input 4
Digital input 5
Digital input 6
Digital input 7 (fast input => see programming manual)
Digital input 8 (fast input => see programming manual)
Reference potential for digital inputs
Digital output 1
Reference potential for digital outputs
Digital output 2
Relay output / NC contact (no function at relay variant „relay with positively driven contacts“)Relay output / NO contact
Relay output/ switching contact
DC voltage output 24V (max. 100 mA together with terminal 26) for the inputs (SELV).
Non-isolated differential input 1
Non-isolated differential input 1
Non-isolated differential input 2
Non-isolated differential input 2
Reference potential for analog inputs and outputs
Analog output DC 0…10 V
CAN bus ISO High Speed according to ISO/DIN 11896 => fieldbus interfaces
CAN bus ISO High Speed according to ISO/DIN 11896 => fieldbus interfaces
CAN Ground (≡► Fieldbus interfaces [} 31])
DC voltage output 24V for supplying the control board (SELV). Attention, do not link with
voltage supplies of other devices!
Reference potential for P24Vin at external supply
Voltage input DC 24 V supplying the control board and the brake output

Tab. 9: Assignment of the terminal strip X2A

18

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Connection of the control | 4

4.2.1

Digital Inputs

Specification

Connection

NumberName
Terminals
Classification
Low level (logical 0)High level (logic 1)
Special features

8
DI1…DI8
X2A.1…X2A.8
Type 3 according to DIN EN 61131-2-3 … +5 V / 3 mA
11 … 30 V / 2 … 6 mA
DI1 can be used as analog input AN3 dependingon the firmware.

Internal voltage supply

External voltage supply

2

4

6

8

2

4

6

8

1

3

5

7

1

3

5

7

16

9

+

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19

4 | Connection of the control

4.2.2

KEB Automation KG

Digital Outputs

Specification

NumberName
Terminals
Type
Classification
Output voltage

4 (2 at terminal strip X2A and 2 at terminal strip X2B)
DO1 … DO4
X2A.10, X2A.12
24 V high-side Switch
DIN EN 61131-2
Minimum P24Vin – 3 V
Maximum P24Vin
Maximum 100 mA per output (short-circuit proof)
No internal free-wheeling diode. External free-wheeling diode required for inductive load.

Output current
Special features
Connection

Connection external loads

Connection outputs to digital inputs

10 12
9

11

10 12
9

11
DI2 DI1 COM
ext.

4.2.3

Relay output
The relay output is depending on the ordered variant => (≡► Variants of the control board [} 12]).
• Relay output form C• Safe relay form A with positive-driven contacts

4.2.3.1

Relay output form C

Specification relay output Form C

NumberName
Terminals

Type
Voltage
Current
Switching cycles
Special features

20

1
R1
X2A.13 (NC contact)
X2A.14 (NO contact)
X2A.15 (switching contact)
Form C
Maximum DC 30 V
0.01…1 A
108 mechanical
500,000 at 30 V / 1 A
No internal free-wheeling diode. External free-wheeling diode required for inductive load.

ma_dr_f6-cu-p-inst-20182705_en

Connection of the control | 4

Connection relay output form C

Connection relay output form C

14
R1

13 15

4.2.3.2 Relay output form A
Specification Safe relay Form A
with forcibly guided contacts

NumberName
Terminals
Type
Switching voltage (rated)
Current
Switching frequency
Switching cycles
Delay time
Special features

WARNING1
R1
X2A.14; X2A.15
Form ADC 24 V
0.01…1 A
0.1 Hz
10,000,000 mechanical
500,000 at 30 V / 1 A
Switch on (close) maximum 50 ms
Switch off (open) maximum 50 ms
No internal free-wheeling diode. External freewheeling diode required for inductive load.
Control only via safety module.

No internal protection of the relay contacts!
Welding of the relay contacts due to inadmissible overload!
a) Limit the current by the normally open contact to 2 A (e.g. by using a fuse type2A gG).
b) Observe further instructions in the safety manual.

Connection safe relay (form A)
with positive-driven contacts

Connection safe relay (form A) with positive-driven contacts

14
R1

15

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4 | Connection of the control

4.2.4

Analog input

4.2.4.1

Differential input

NOTICEKEB Automation KG

No potential separation of the analog inputs to the control voltage!
Malfunction or defect may be caused by voltage differences.
a) A potential equalizing line between analog value source and analog input is required if the analog value is outside the common mode range.
b) Connect potential equalizing line with 0V of the control terminal block.

Specification (differential inputs)

NumberName
Terminals

2
AN1, AN2
X2A.18 (AN1)
X2A.20 (AN2)
Non-isolated differential input
Current/voltage switchable
DC 0…±10 V
DC 0…±20 mA; DC 4…20 mA-12.5 V…17.5 V

Classification
Input signals
Voltage input
Current input
Common mode range
Connection

Connection of the analog differential inputs AN1 and AN2

18 20 22
17 19 21*++0…±20mA 0…±10Vdc
4…20mA*) Equipotential bonding conductor22

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Connection of the control | 4

4.2.4.2

Absolute input

Specification (absolute input)

NumberName
Terminals

1
AN3
X2A.1 (standard: digital input DI1); canbe used as analog input AN3 dependingon the firmware.
non-isolated absolute input
Voltage
DC 0.2…10 V / max. 5 mA
Is not intended for control with potentiometer. The voltage source must beable to supply the input current.

Classification
Input signals
Voltage input
OthersConnection

Connection of the analog absolute input AN31

9+
DC 0,2…10 V
4.2.5

Analog output

Specification

NumberName
Terminals
Classification
Voltage output
Minimum load impedance
Notes

Connection

Connection of the analog output ANOUT

22
21

ma_dr_f6-cu-p-inst-20182705_en

1
ANOUT
X2A.22 analog output
X2A.21 reference potential
DIN EN 61131-2
DC 0.0…10 V (corresponds to 0…100 %output value)
1 kΩ
In the range up to 0.1 V the output value
is not linear to the output voltage.

UDC=0,0…10 V
Zmin=1 kΩ

23

4 | Connection of the control

4.2.6

Voltage supply

4.2.6.1

Voltage input

KEB Automation KG

The control board can be supplied:• externally by a central 24V supply.
• internally, by its own switching power supply.
• in mixed operation, by external and internal supply.
To select a suitable voltage source, the maximum current consumption must always be determined.
4.2.6.1.1

Determination of the current consumption
The input P24Vin (X2A.28) supplies following components:• Control (control board with safety module)• Brake• HCT• Encoder
Consumer
ControlPower unit

Consumer

Housing 2 / 3 / 4
Housing 6
Housing 7 / 8 / 9
Brake
Encoder
Digital output DO1
Digital output DO2
Voltage output 24Vout
Sum DO safety module

Current consumption
0.6 A
0A
0.6 A
1.0 A
Max. 2.0 A
Max. 0.5 A
Max. 0.1 A
Max. 0.1 A
Max. 0.1 A
Max. 0.4 A

Tab. 10: Calculation the current consumption

In order to calculate the input current, the currents of the power unit, control andother loads must be added together. The actual current required can be used forthe consumers. The maximum current must not be exceeded.

24

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Connection of the control | 4

4.2.6.1.2

External supply

Specification external supply

Name
Terminals

P24Vin, 0V
X2A.28 (P24Vin)
X2A.27 (0V)
DC 24 V (+20 % / -17 %)Calculated value up to max. 4.8 A

Voltage
Current consumption

Connection of the external supply

X2A

28
27

+
The control card is supplied by an external 24 V voltage. An internal
supply via a voltage generated in the power section is not provided.
When using the Power-Off function, the external 24V supply must be
maintained until the function has been completed. Further informationin the programming manual under "Power-Off function".

ma_dr_f6-cu-p-inst-20182705_en25

4 | Connection of the control

4.2.6.1.3

KEB Automation KG

Internal supply
The internal supply occurs via the 24VoutCtrl output. This is connected with the
P24Vin input. The output may only be used to supply the control board.

Specification internal supply

Name
Terminals

24VoutCtrl; P24Vin
X2A.26 (24VoutCtrl)
X2A.28 (P24Vin)
DC 24 V (-17 % / +20 %)1.5 A (housing 2 / 3 / 4)
2.1 A (housing 6)
2.5 A (housing 7 / 8 / 9)0V (terminal X2A.27)

Output voltage
Max. output current

Reference potential

NOTICEToo much current load!
Malfunctions can occur at the device and in the application.
a) Determine the maximum current according "Determination of the current consumption".
b) If current consumption at P24Vin is higher than max. output current at
24VoutCtrl, then select external or mixed supply.
Observe the input voltage of the device!
a) The connected loads must be designed for the voltage tolerance of the voltage
output 24VoutCtrl.
Connection for internal supply

X2A

26 28
27

see also
2 Determination of the current consumption [} 24]
4.2.6.1.4

Mixed supply
Mixed voltage supply is used,• if the drive controller is to remain in operation when the high voltage supply ofthe drive controller is switched off.
• so that the drive controller can continue to operate if the external power supply
fails.
Install protective diodea) Diode D1 prevents the voltage output from supplying other loads if the external
supply fails (see connection diagram "Connection with mixed supply").

26

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Connection of the control | 4

NOTICEToo much current load!
Malfunctions can occur at the device and in the application.
a) Determine the maximum current according "Determination of the current consumption".
b) If current consumption at P24Vin is higher than max. output current at
24VoutCtrl, then select external or mixed supply.
Observe the input voltage of the device!
a) The connected loads must be designed for the voltage tolerance of the voltage
output 24VoutCtrl.
Connection for mixed supply

D1

26 28
X2A

27

+
see also
2 Determination of the current consumption [} 24]
4.2.6.2 Voltage output to supply the inputs
Specification voltage output

Name
Terminals
Output current
Output voltage
Notes

24Vout0V (reference potential)
X2A.16 (24Vout)
X2A.27 (0V)
max. 100 mA (short-circuit proof)
minimum P24Vin - 3V
maximum P24Vin
DC voltage output (SELV ) to supply thedigital inputs.

Connection see (≡► Digital Inputs [} 19])

ma_dr_f6-cu-p-inst-20182705_en27

5 | Safety module X2B

5

KEB Automation KG

Safety module X2B
The installed safety module is identified by the 6th digit of the material number.
6. digit
4
5

5.1

Variants
reserved
Safety module type 5

Safety manual type 5
The safety module type 5 includes the following functions:
STO, SBC, SS1-r, SS1-t, SLS, SSM, SMS, SLA, SDLC and Safety over EtherCAT®
The description of the functions is given in the safety manual at the following link:
Safety manual Type 5(► https://data.keb.de/fileadmin/media/Manuals/dr/
ma_dr_safety-typ5-20191137_en.pdf)

28

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Diagnosis/visualisation X4A | 6

6

Diagnosis/visualisation X4A
The integrated serial interface provides the following functions:• Parameterization of the device with the KEB software COMBIVIS.
• Connection for operator keyboard/display.
• Connection for Bluetooth adapter.
• DIN66019II as communication protocol.
Interface
RS485
RS232

Specification
Common-mode voltage range 0…12 V
ANSI TIA/EIA-232

Tab. 11: Serial interfaces

NameBluetooth adapter

Material number
0058060-0060

Tab. 12: Accessories

Name
RS232 PC inverter (SubD-9 coupling SubD-9 plug)
RS232/USB (USB serial converter inclusive cable)

Material number
0058025-001D
0058060-0040

Tab. 13: Connecting cable

NOTICENo potential separation of the diagnostic interface to the control voltage!
Malfunction or defect can be caused by voltage differences.
a) Install equipotential bonding conductor if voltage differences > common-mode
voltage range.
XML file required for COMBIVIS 6.
a) A current XML file is required for the operation with COMBIVIS 6.
b) The download can be done directly from COMBIVIS 6 while an Internet connection is present.

6.1

Assignment of the terminal strip X4A
5 4 3 2 1
5 4 3 2 1
9 8 7 69 8 7 6

Fig. 1: Pin assignment socket D-Sub-9 (top view)

1 reserved
3 RxD (RS232)
5 RxD-B (RS485)
7 DGND (reference potential)
9 TxD-B (RS485)

ma_dr_f6-cu-p-inst-20182705_en

2 TxD (RS232)
4 RxD-A (RS485)
6 reserved
8 TxD-A (RS485)29

6 | Diagnosis/visualisation X4A

6.2

KEB Automation KG

Data cable RS232 PC-Drive Controller

0058025-001D
6
9

1

9
6

5

5

1

Fig. 2: Serial cable for the connection to a PC

6.3

USB-serial converter
The USB serial converter (material number 0058060-0040) is used to connect
drive controllers, operators or IPC controllers with DIN 66019 interface or HSP5 interface to the USB port of personal computers. The USB-serial converter is internally electrically isolated.

6.4

Connection of the RS485 interface
The RS485 interface supports half-duplex and duplex operation. Wiring examples
can be found in the following link:
Wiring examples can be found under the following link:(► https://www.keb.de/fileadmin/media/Techinfo/dr/
tn/ti_dr_tn-rs485-connection-00002_en.pdf)

6.5

Remote control
The F6 operator with display/keypad can be operated up to 30 m away from theunit.
Recommended connection:• Commercially available network cable 1:1 with RJ45 plugs (min. CAT5)• Install to both ends an RJ45 socket on D-SUB DE-9 (1x female; 1x male)• Important! The shielding from X4A to the operator must be connected via theCAT5 cable.
Signal
RxD-A
RxD-B
TxD-A
TxD-B
reserved
DGND
Shielding

D-SUB DE-9 pin
4
5
8
9
6
7
Housing

RJ45 pin
1
2
4
5
3
6
Housing

Tab. 14: Wiring of the DE-9 - RJ45 adapters

30

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Fieldbus interfaces | 7

7

Fieldbus interfaces

7.1 Type code fieldbus
A CAN interface is integrated in the control unit as standard. Other fieldbus interfaces are identified by the 10th digit of the material number.
10. digit
0

PRO | no encoder interface, CAN®, Ethernet fieldbus interface, standard
relay (Form C)
PRO | Multi-encoder interface, CAN®, Ethernet fieldbus interface, standard relay (Form C)
PRO | Multi-encoder interface, CAN®, RS485 potential-free, Ethernet
TCP/IP (no EtherCAT)
PRO | no encoder interface, CAN®, Ethernet fieldbus interface, safe relay(form A)PRO | Multi-encoder interface, CAN®, Ethernet fieldbus interface, safe relay (form A)

1
3
4
5

7.2

Control board variant

CAN

Specification

Fieldbus typeTransmission level

CAN
According to DIN ISO 11898; ISO HighSpeed
20, 25, 50, 100, 125, 250, 500, 1000
kbit/s; adjustable via (fb66)
Functional insulation between CAN terminals and to the control potential.
120 Ω external between (CAN High and
CAN Low) at both ends of the bus line.

Transmission speed
Potential separation
Bus termination
Connection

CAN_L

120Ω
CAN_H

CAN_GND

X2A.23
X2A.24
X2A.25

CAN_L

120Ω
CAN_H

CAN_GND

Fig. 3: Connection CAN bus

Clamp Name
X2A.23 CAN low
X2A.24 CAN high
X2A.25 CAN GND
NET ST - LED in CAN mode

ma_dr_f6-cu-p-inst-20182705_en

Note
No internal bus termination
CAN ground (can be wired depending on the customer subscriber)

According to CiA 303-3, the NET ST LED is a combination of RUN and ERROR
LED.

31

7 | Fieldbus interfaces

Light pattern NET ST LED (red/green combination)

7.3

KEB Automation KG

Status
Pre-OpLight pattern
g-0 (grid 200 ms)

Stop
Op

g-0-0-0-0-0 (grid 200 ms)
g (continuously

Bus off
Invalid Configurationr (continuously)
r-0 (grid 200 ms)

Warning limit reachedr-0-0-0-0-0 (grid 200 ms)

Legendr: Redg: Green
0: offDescription
Device in state PRE-OPERATIONAL
Device in state STOPPED
Device in state OPERATIONAL no error
CAN bus off.
General configuration error.
The error counter has
reached or exceeded awarning level.
The signals from red/green are shifted by 180°.
Red has priority for superimposition.

EtherCAT

EtherCAT® and Safety over EtherCAT® are registered trademarks and patented
technologies, licensed by Beckhoff Automation GmbH, Germany.
Specification

Fieldbus typeTransmission level
Connections
Rotary coding switch S1, S2
Device addressing
Device identification

Hot Connect
Number SyncManager
Number FMMUs
Max. number PDOUT data

32

EtherCAT
100Base-Tx according to IEEE802.3with autonegotiation and auto-crossover
X4B: EtherCAT IN
X4C: EtherCAT OUT
No function with EtherCAT
ECAT-Addr; is usually assigned by themaster at start-up.
StationAlias is supported. The cell in the
ECAT-EEPROM(SII) can be written by
the master and is stored non-volatile.
Extension of the state machine is notsupported (IdentificationReg 134 =False).
Yes via StationAlias.
4 (Receive, Send-Mailbox, PDOUT,
PDIN data).
3 (PDOUT, PDIN data, Send-MailboxStatus).
Max. 2 PDOs; Mapping freely selectable.
32 Byte + optional FSoE data.
64 Byte + optional FSoE data (from SW
2.8).

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Fieldbus interfaces | 7

Max. number PDIN data

Acyclic data traffic:

Distributed Clocks (DC)Minimum FSoE watchdog time
Connection

8

1Fig. 4: RJ45 socket front view

PIN

Max. 2 PDOs; Mapping freely selectable.
32 Byte + optional FSoE data.
64 Byte + optional FSoE data (from SW
2.8).
Supported mailbox protocols CoE; SDO
download; SDO upload (Complete Access is not supported); Emergency
Yes, 32 Bit; minimum cycle time:
500 µs (is22=8 x tp)
250 µs (is22=4 x tp) from SW 2.8=> Synchronous communication mode
35 ms (safety module type 5)
RJ45 without supply voltage(Viewing with Auto-Cross Over)TX+RX+
TXRXRX+
TX+
Reserved
Reserved
RXTXGND
GND

1
2
3
4
5
6
7
8
Tab. 15: PIN assignment RJ45 EtherCAT

LED / light pattern
Yellow
Green
Off
On
Flicker

Function
without function
Link/Activity
Port closed
Port open; no data traffic
Port open; with data traffic

Tab. 16: Function of the LEDs

According to ETG1300, the NET ST LED is a combination of RUN and ERROR
LED.
Light pattern NET ST LED (red/green combination)

Statusinit

Light pattern
0

Pre-Opg-0 (grid 50 ms)

Safe-Op

g-0-0-0-0-0 (grid 200 ms)

Opg (permanent)

error
LOAD ERROR

R (permanent)
r-0 (grid 50 ms)

Invalid configuration r-0 (grid 200 ms)
Warning limit
r-0-0-0-0-0 (grid 200 ms)
reachedma_dr_f6-cu-p-inst-20182705_en

Description
Device in INITIALISATION
status; no error
Device in PRE-OPERATIONAL
statusDevice in SAFE-OPERATIONAL status
Device in OPERATIONAL
status; no error
Communication or device error.
Loading error during initialisation
General configuration error.
An error counter has reachedor exceeded the warning level.

33

7 | Fieldbus interfaces

KEB Automation KG

StatusLocal Error

Light pattern
r-0-0-0-0-0 (grid 200 ms)

Process Data or
r-0-r-0-0-0-0-0 (grid 200
EtherCAT Watchdog ms)
Legendr: Redg: Green
0: offError status list

Error
Communication or device
error
Process data watchdog
timeout
Local error

Invalid configuration

Loading error

Description
Local error; Device has independently changed status fromOPERTIONAL to SAFE-OPERATIONAL. Error bit is set to "1".
A watchdog error has occurredin the application.
The red/green signals are shifted by 180°. In case of overlapping, red has priority.

Meaning
ExampleA communication or
The device stops responddevice error has occurred. ing
The watchdog application Sync-Manager timeout
reports a timeout.
The fieldbus status has
Device changes itschanged due to an error. EtherCAT status from OP
to SafeOPError due to asynchronisation error.
General configuration er- Change of status due tororregister or object settings
that are not possible or invalid hardware configuration.
Loading error during initial- Checksum error in theisationflash memory of the application controller.

Tab. 17: Error status list

7.3.1

Synchronous communication mode
The COMBIVERT with control board PRO supports a so-called synchronous communication mode. This is titled differently for the different fieldbuses. In EtherCAT,
this functionality is managed under the term Distributed Clocks (DC).
Ultimately, the synchronous operating mode means that the internal interrupt gridof the drive controller is synchronised to the synchronous signal generated by thefieldbus.
The COMBIVERT with control board PRO does not support any values for the synchronous cycle time. Which dependencies exist here and which parameters havean influence can be found in the chapters "Switching frequency and derating" in the
programming manual.

34

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Fieldbus interfaces | 7

7.4 RS485 potential-freeSpecification

Interface
Transmission speed
Bus nodes
Common-mode voltage range
Potential separation
Bus termination
max.line length
Connection cable (minimum requirement)

Connection X4B

8

1

Fig. 5: RJ45 socket front view

PIN
1
2
3
4
5
6
7
8
HousingSignal
RxD-B
RxD-A
n.c.
TxD-A
TxD-B
n.c.
n.c.
GND
Shielding

RS485 4W
9.6, 19.2, 38.4, 55.5, 57.6, 100, 115.2,
125, 250, 500 kBit/s
2 (1:1 connection through fixed bus terminating resistor)
0...12 V to the reference potential
Potential-free to the reference potential(functional separation)
120 Ω each (pin 1 and 2; 4 and 5);
integrated (cannot be switched off)
1200 m (depending on bus speed)
S/UTP (twisted pairs, shield connected
to PE on one side)

EIA/TIA-485 Name
B‘
A‘
n.c.
A
B
n.c.
n.c.
GND
Shielding

Function
Receive signal
Received signal inverted
reserved
Transmit signal inverted
Transmission signal
reserved
reserved
Reference potential
ShieldingTab. 18: PIN assignment RS485 4W-Modbus to RJ45 plug

MasterCOMBIVERT

Tx

Rx

Rx

Tx

Fig. 6: Connection diagram RS485-Modbus 4W

ma_dr_f6-cu-p-inst-20182705_en

35

8 | Encoder interfaces

KEB Automation KG

8

Encoder interfaces

8.1

Type code encoder interface
The 10th digit of the material number shows which encoder interface is installed.
10. digit
0
1
3
4
5

8.2

Control board variant
PRO | no encoder interface, CAN®, Ethernet fieldbus interface, standard
relay (Form C)
PRO | Multi-encoder interface, CAN®, Ethernet fieldbus interface, standard relay (Form C)
PRO | Multi-encoder interface, CAN®, RS485 potential-free, Ethernet
TCP/IP (no EtherCAT)
PRO | no encoder interface, CAN®, Ethernet fieldbus interface, safe relay(form A)PRO | Multi-encoder interface, CAN®, Ethernet fieldbus interface, safe relay (form A)

Multi-Encoder-Interface
The multi-encoder interface consists of two channels. Channel A supports the following encoder types:• Incremental encoder input (RS485) with or without zero signal• Resolver• EnDat (digital with 1 Vpp incremental signals)• BiSS (digital)• Hiperface• SinCos with/without zero signal; with/without absolute position (SSI or analogue
1 Vpp)
Channel B supports the following encoder types:• Incremental encoder input (RS485) with or without zero signal• Incremental encoder input (HTL)• Incremental encoder output (RS485)• SSI• BiSS (digital)• EnDat (digital)

NOTICE

Connection of analog and digital EnDat encoders!
a) Analog EnDat encoders can only be operated on channel A.
b) Digital EnDat encoders can be operated on channel A and/or channel B.
c) Mixed operation of analog and digital EnDat encoders is not possible.

NOTICE

Undefined states by plugging of encoder cables during operation!
Malfunctions can be caused by incorrect speed or position values.
a) Never plug or unplug the connector on the encoder interface during operation.

36

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Encoder interfaces | 8

8.3 Input signals
360° mechanical/
increments per revolution

1Vpp

Cos(+) - Cos(-)(typically)

1Vpp

Sin(+) - Sin(-)(typically)
360° mechanically = 360°
electronicallySin_abs(+) -1Vpp

Sin_abs(-)(typically)

Cos_abs(+) -1Vpp

Cos_abs(-)(typically)

0.2 ...

N(+) - N(-)

1.2Vppdigtal position ofe.g. EnDat orHiperface

0° mechanicallyFig. 7: Assignment of the input signals (as differential signals)a) For rectangular incremental signals, the characteristic of the signal corresponds to A -> COS and B-> SIN.
b) The identification "C" and "D" for the absolute signals must be checked. Frequently signal C corresponds to -> SIN_abs and D to -> (inverted)
COS_abs.Thus D+ is at COS_abs- and D- is at COS_abs+.
Alternative designation of encoder signals (≡► Info)

Encoder signal KEB signal input
A+
COS+
ACOSR+N+C+
SIN_abs+
CSIN_abs-

Encoder signal KEB signal input
B+
SIN+
BSINRND+
COS_absDCOS_abs+

Tab. 19: Alternative designation of encoder signals

ma_dr_f6-cu-p-inst-20182705_en

37

8 | Encoder interfaces

8.4

KEB Automation KG

Encoder sockets X3A/X3B

X3A / X3B: Plug-in connector
socketCounterpart: Plug-in connector(front view socket)
9

1
10

18
26

Encoder Incremental Incremental Resolver
encoder
encoder
RS485 and HTL
1Vpp (channel 1 only)

Channel
PIN
1
2
3
4
5
6
8, 9
10
11
12
13
14
15
7, 16, 17
18
19
20
21
22
23
24
25, 26

A/B

B

24 V

D-Sub DB-26 (HD), triple row, with fixing screw

19

Hiperface

A

A+
AB+
BN+
N-

D-Sub DB-26 (HD), triple row

SinCos (ab- SSI, EnDat
solute)(digital
2.1/2.2),
BiSS (digital)

A

A

A/B

Cos+
Cos+
CosCosSin+
Sin+
SINSINData+N+
Data+
DataNData5.25 V (is output, if an encoder type is set)
Cos+
Cos_abs+
ClockCosCos_absSin+
Sin_abs+
Clock+
SINSin_absExciter+
ExciterGND and internal shield
24 V
24 V

Sin/CosIncremental
SSI, EnDat encoder(1Vpp + di- emulation
gital
2.1/2.2),
BiSS (digital)
A
B
Cos+
CosSin+SINData+
Data-

A+ (out)
A- (out)
B+ (out)
B- (out)
N+ (out)
N- (out)

ClockClock+

24 V
24 V
A_HTL+A_HTLB_HTL+
B_HTLN_HTL+
N_HTL8 V (depending on parameter ec14 if an encoder type is set

Tab. 20: Assignment of the encoder sockets X3A and X3B

Notes for Pin 25 / 26
Supply voltage of UDC = 8 V is issued if• Parameter ec14 Bit 1 = "manual“ and ec14 Bit 0 = "8V“ is set.
• Parameter ec14 Bit 1 = "automatically“ and ec16 = "Hiperface“ or "Resolver“ is set.
All other voltages are not defined at these contacts and may not be used for supply of encoders!

8.5

Encoder cable length
The maximum encoder cable length is 50 m. In addition, the value is limited by thesignal frequency, cable capacity and supply voltage.

38

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Encoder interfaces | 8

The maximum encoder cable length due to the voltage drop on the supply line iscalculated as follows:

max. encoder cable length =voltage supply - min. encoder voltage
max. encoder current • 2 • wire resistor per meter

Fig. 8: Encoder cable length

The supply voltage depends on the set encoder. The other values can be found in
the data sheet of the encoder and the encoder cable.

8.6

Encoder cable
Pre-assembled encoder cables:• offer the best protection against interference.
• save installation time.
• are available in cable lengths of 5 m, 10 m, 15 m, 20 m, 25 m and 30 m.

8.7

Description of the encoder interfaces

PIN
Signals
1, 2, 3, A+/4
B+/Cos+/Sin+/-

Description
Only channel A:
Input for two sine-wave, shifted by 90° differential signals with 1 Vpp, maximum 200 kHz.
Single-ended (e.g. Cos+ against GND):
Constant component 2.5 V ±0.5 V
Differential (e.g. Cos+ against Cos-):
Constant component 0 V ±0.1 V
signal level Uss=0.6 V…1.2 V
Channel A:
Input for square-wave incremental signals according to RS485 maximum 200 kHz.
Channel B:
Input for square-wave incremental signals according to RS485 maximum 500 kHz.

5, 6

N+/Data+/-

Incremental encoder simulation: Position changes of channel A are output to channel B with
two 90° shifted RS485 signals.Maximum output frequency 500 kHz.
Only channel A:
Input zero signal once per revolution.
Differential signal level (N+ … N-):• higher 50 mV: zero signal is active• from 50 mV to -50 mV: undefined• lower -50 mV: zero signal is inactive
Signal length 330°…360° of the signal length of the incremental signals.
Channel A and B:
Input zero signal or data RS485.
Zero signal is 1-active, if signals A and B are also 1-active.
only channel B:
Output zero signal RS485.
Zero signal is 1-active, if signals A and B are also 1-active.
Is output, if the position on channel A is 0°.

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8 | Encoder interfaces

KEB Automation KG

PINSignals
Description
10, 11, Sin+/Only channel A:
12, 13 Cos+/Input for sinusoidal absolute signals
Sin_abs+/- Uss=1 V for SinCos encoder
Cos_abs+/- Uss=3.8 V maximum for resolver
10, 12 Clock+/14, 15 Exciter+/-

Output for clock signal RS485
Only channel A:

Output field voltage for resolver:
Ueff=2.54 V ≙ Uss=7.2 V ±5 %; max. Ieff=30 mA; 10 kHz
Coupling factor for resolver: 0.5 ±10 %Phase shifting 0° ±5°25, 26 5.25 V / 8 V Output supply voltage for encoder:

8, 9

18

5.25 Vec14 = 0 => 5.25 V +5 %/ -10 %ec14 = 1 => 8 V +5 %/ -10 %ec14 = 2 => automatically, depending on the set encoder type (ec16)
Max. 500 mA total (250 mA per channel)
Output supply voltage for encoder:

24 V

5.25 V +5 %/ -10 %Max. 500 mA total (250 mA per channel)
Output supply voltage for encoder:19, 20, A_HTL+/21, 22, B_HTL+/23, 24 N_HTL+/-

Udc=24 V max. 500 mA total (250 mA per channel)• Minimum P24V_IN - 3 V• Maximum P24V_IN
Only channel B:
Input HTL signals 10 V…30 V maximum 150 kHz

Tab. 21: Encoder specifications

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Brake control and temperature detection | 99Brake control and temperature detection
X1C

2

1

4

3

6

5

8 10

7

9

PIN
1
2
3
4

Name
BR+
BR0V
24Vout

5
6
7/8
9
10

BCF1
BCF2
reserved
TA1
TA2

Notes
Brake control / output
Brake control / output
For supplying the feedback inputs
P24Vin - 0.5V / max. 1A(BR+ and 24Vout in total 2A)
Feedback input for brake control
Feedback input for brake control
Temperature detection / input+
Temperature detection / input-

Tab. 22: Assignment of the terminal block X1C

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41

9 | Brake control and temperature detection

9.1

KEB Automation KG

Brake control
CAUTION

Incorrect dimensioning of the brake may cause malfunctions
Brake does not release or only with delaya) Choose the input voltage tolerance of the brake corresponding to the toleranceof the output voltage.
b) Use an auxiliary relay or contactor if necessary.

Specification brake /relay output

Name
Function
Output voltage (DC)Maximum output current
OthersFeaturesBR+ (X1C.1); BR- (X1C.2)
Output to control one/two brake(s) or relay(s).
minimum P24Vin – 1.2V
maximum P24Vin
One brake: 2 A
two brakes: 2 x 1 A
Internal free-wheeling path; internal filter circuit; notshort-circuit proof• Safely control one brake/relay• Control two single brakes/relays together (must be the same brake/relay twice).
• Internal brake feedback without additional wiring or external via two brake control feedback inputs.
• ECO Mode by pulse width modulated control.
• Rapid demagnetization with a counter voltage of 27.5 V (maximum every 5 s).
• Current monitoring
The control, parameterization and reading of the feedback inputs of the brake iscarried out via the integrated safety module. Corresponding wiring and parameterization suggestions are described in the safety manual type 5.
When using the internal supply:• ECO operation of the brake is not recommended.
• the total current consumption of the control card must be observed.

Connection

X1C

1
2

+
-

U_dc = 24 V
I_max = 2 A

Fig. 9: Connection of a brake42

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Brake control and temperature detection | 9

9.2 Temperature detection
DANGER

Electric shock by sensors without protective separation!
a) Only use sensors with basic insulation.
b) Only sensors with double insulation (basic insulation plus additional insulation)
are permitted up to the specified year/week of manufacturing (see specification).

NOTICE

Malfunctions due to wrong cables or incorrect placement!
Malfunctions of the control due to capacitive or inductive coupling.
a) Motor temperature sensor conductors must not be routed together with otherlow voltage control cables; even when shielded.
b) Motor temperature sensor conductors must be double shielded when inclosed
in the same overall cable containing the U,V,W motor conductors.

Specification temperature input

Name
Terminals

TA1; TA2
X1C.9 (TA1) input +X1C.10 (TA2) input Temperature sensor input (switchable)

Function
OthersTerminals TA1 and TA2 have basic insulation to the SELV
voltage (DC 24 V) of the control board from production
year/week 2021/50. A system voltage of 300 V is defined(Phase – PE).

A switchable temperature evaluation is implemented in COMBIVERT. The desired
operating mode can be adjusted by software (dr33).
Operating mode (dr33)
0
KTY84/130

1

2
3

4

-

9.2.1

Resistance
Temperature/state
0.49 kΩ0 °C
1 kΩ
100 °C
1.72 kΩ
200 °CPTC in accordance with <0.75 kΩ
TA1-TA2 closed
EN 60947-8 (standard) 0.75…1.5 kΩ
Reset resistance
1.65…4 kΩ
Tripping resistance> 4 kΩ
TA1-TA2 open
by encoder
digital by the encoder channel
KTY83/110
0.82 kΩ
0 °C
1.67 kΩ
100 °C2.53 kΩ
175 °C
PT10001 kΩ
0 °C
1.38 kΩ
100 °C
1.75 kΩ
200 °C
Monitoring<0.04 kΩShort circuit> 79.5 kΩ
No connection(sensor break)Operation without temperature detection
Use of the COMBIVERT without evaluation of the temperature input:
Switch off evaluation (pn12 =7) or install bridge between terminal TA1 (X1C.9) andTA2 (X1C.10) (dr33=1).

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43

9 | Brake control and temperature detection

9.2.2

KEB Automation KG

Connection of a KTY sensor
NOTICENo protection of the motor winding in case of wrong connection!
Non-observance leads to incorrect measurements and possibly to the destruction of the motor winding.
a) Operate KTY sensors in forward direction.
b) KTY sensors may not be combined with other sensors.

Settings KTY input

Setting

dr33 = 0 => KTY84/130
dr33 = 3 => KTY83/110

Connection KTY sensor

TA1
+
KTY84

9.2.3

TA2

Connection of PTC, temperature switch or PT1000

Settings of PTC, temperatureswitch or PT1000

Stetting

Connection

Thermal contact (NC contact)

dr33 = 1 => PTC or temperature switch
dr33 = 4 => PT1000

TA1

TA2

①
Temperature sensor (PTC) or PT1000

TA1

TA2

①
Mixed sensor chain

TA1

TA2

①
① Connection via shield bracket (if not available, place on mounting plate).
Tab. 23: Connection examples

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Revision History | 10

10

Revision History
Edition2018-122019-07
2019-08
2020-05

Ver.
00
01
02
03

2022-0304

2022-102022-112023-0905
06
07

2023-12

08

Note
FS
Pre-series version.
N
Series version
N
Values for temperature input changed; editorial changes.
N
Notes for positive-driven relay inserted; CAN interface in prepar- Yation; editorial changes.
RS485 potential-free inserted; CAN interface; base-isolated tem- N
perature input; function LED1 EtherCAT; conversion to editorial
system.
Socket for RS485 interface without LEDs.
Y
Encoder interface pin 19 changed.
N
Type code Digit 10 extended. Relay classified as Form A andY
Form C. RS485 potential-free assignment and descriptionchanged. Description X2A PIN 25 changed. Alternative designation for encoder signals inserted. English version only! Translation of control terminal X2A PIN 28 corrected. Editorial changes.
Values for (≡► Assembly of wires [} 17]) adapted. Light pattern N(≡► CAN [} 31]) corrected.

FS: (Y) Version contains safety-relevant changes; (N) version contains changes for
product improvement or bug fixing.

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45

Glossary

KEB Automation KG

Glossary
4W
4-Wire; is used in the field of network technology
for serial full duplex operation.

EN 60204-1
Safety of machinery - Electrical equipment of machines - Part 1: General requirements (VDE
0113-1, IEC 44/709/CDV).

Application
The application is the intended use of the KEB
product.

Autonegotiation
Procedure for determining the max. transmission
speed.

BiSS
Open source real-time interface for sensors andactuators.

EN 61800-5-1
Adjustable speed electrical power drive systems.
Part 5-1: Safety requirements - Electrical, thermaland energy requirements (VDE 0160-105-1, IEC
61800-5-1)

EnDat
Bidirectional encoder interface of the company
Heidenhain.

EtherCAT®

CAN®
Serial bus system running protocols such as
CANopen, Devicenet or J1939. CAN is a registered trademark of the CAN in AUTOMATION International Users and Manufactures Group e.V.

COMBIVERTProper name for a KEB Drive Controller.

COMBIVIS

EtherCAT is a real-time Ethernet bus system.
EtherCAT is a registered trademark and patented
technology, licensed by Beckhoff Automation
GmbH, Germany.

Form A

KEB start-up and parameterizing software.

Customer
The customer has purchased a product from KEB
and integrates the KEB product into his product(customer product) or resells the KEB product (reseller).

DIN 66019
Information processing; control method with the 7bit code during data transmission.

IEC

NFPA

Form A describes a relay with two contacts(switching contact and normally open contact).
Also referred to as SPST NO (single pole, single
throw; normally open).

Form CDIN EN 61131-2
Programmable controllers - Part 2: Equipment requirements and tests.

Directive 2006/42/EC
Machinery Directive

Directive 2014/30/EU

IEC

NFPA

Form C describes a relay with three contacts(switching contact, break contact and make contact). Also referred to as SPDT (single pole,
double throw).

Electromagnetic Compatibility (EMC) Directive

46

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Glossary

HCT
Component for current measurement in the power
circuit.

Hiperface
Bidirectional encoder interface of the company
Sick-Stegmann.

SELV
Safe protective extra-low voltage (unearthed;<60V).

SinCosIncremental encoder with sinusoidal signals.

SLA
HSP5

Safely limited acceleration

Fast, serial protocol.

SLS
HTL
Incremental signal with an output voltage (up to30V) -> TTL.

IEC 61800-5-1
Adjustable speed electrical power drive systems.
Part 5-1: Safety requirements - Electrical, thermaland energy requirements. German version EN
61800-5-1.

PELV
Safe protective extra-low voltage (earthed).

Power-off function
The power-off function (short: Power-Off) is used
for a targeted reaction in the event of a mains
voltage failure (e.g. stopping the drive). The energy stored in the drivetrain is utilised for this purpose.

Safely limited speed

SMS
Safe maximum speed

SS1-r
Safe Stop 1 ramp monitored (with deceleration
ramp monitoring; STO (Safe torque off) is assumed after reaching the idle position.

SS1-t
Safe Stop 1 time controlledSTO (Safe torque off)is assumed after the deceleration time has
elapsed.

SSI
Synchronous serial interface for encoder.

SSM
RS485
RS-485 is an industry standard according toEIA-485 for a physical interface for asynchronous,
serial data transmission.

Safe speed monitor

STO
Safe torque off (STO).

Safety over EtherCAT®

Safety over EtherCAT® is a registered trademark
and patented technology, licensed by Beckhoff
Automation GmbH, Germany.

SBC
Safe Brake Control.

SDLC
Safe Door Lock Control
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47

IndexKEB Automation KG

IndexA
Absolute input
Analog output

23
23

B
Bluetooth adapter
brake
brake feedback

29
42
42

C
Connecting cable
control elements
Current consumption

29
13
25

D
DC voltage output
Differential input

27
22

E
Equipotential bonding conductor

22

O
Operating operator
Overview

29
13P
PT1000
PTC

44
44

S
Safety module

48

28

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MORE KEB PARTNERS WORLDWIDE:
www.keb-automation.com/contact

Automation with Drive

www.keb-automation.com

KEB Automation KG • Suedstraße 38 • D-32683 Barntrup • Tel: +49 5263 401-0 • E-Mail: info@keb.de