Instructions for Use

COMBIVERT F6
Installation F6 Control Compact

Translation of the original manual
Document 20144795 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-k-inst-20144795_en
Version 08 • Edition 07/12/2023

Table of Contents

Table of Contents
1

2

3

4

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

8

1.1

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

8
8
8
9

1.2

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

9

1.3

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

9

1.4

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

9

1.5

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

10

1.6

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

10

1.7

Target group..........................................................................................................................................

10

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

11

2.1

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

11

2.2

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

12

2.3

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

12

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

13

3.1

Description of the control board COMPACT .........................................................................................

13

3.2

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

13

3.3

Safety functions.....................................................................................................................................

13

3.4

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

14

3.5

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

14

3.6

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

15

3.7

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

15

3.8

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

15

3.9

CAN bus and analog inputs and outputs X2C.......................................................................................

15

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

15

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

15

3.12 Fieldbus interfaces X4B, X4C ...............................................................................................................

15

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 ..............................................................................................................................

16
16
16
16
16
17

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

18

4.1

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

18

4.2

Terminal strip X2A.................................................................................................................................
4.2.1
Digital Inputs ...........................................................................................................................
4.2.2
Digital Outputs ........................................................................................................................
4.2.3
Relay output............................................................................................................................
4.2.4
Voltage supply ........................................................................................................................

19
20
20
21
21

4.3

Terminal block X2B ...............................................................................................................................
4.3.1
Inputs STO..............................................................................................................................
4.3.2
Digital outputs .........................................................................................................................
4.3.3
Voltage input ...........................................................................................................................

22
22
22
23

ma_dr_f6-cu-k-inst-20144795_eniii

Table of Contents

4.4

KEB Automation KG

Terminal block X2C...............................................................................................................................
4.4.1
Analog input ............................................................................................................................
4.4.2
Analog output..........................................................................................................................

24
24
25

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

26

5.1

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

26

5.2

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

27

5.3

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

27

5.4

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

27

5.5

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

27

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

28

6.1

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

28

6.2

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

28

6.3

EtherCAT ..............................................................................................................................................

29

6.4

VARAN..................................................................................................................................................

31

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

32

7.1

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

32

7.2

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

33

7.3

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

34

7.4

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

35

7.5

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

35

7.6

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

35

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

37

8.1

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

37

8.2

Temperature detection ..........................................................................................................................
8.2.1
Operation without temperature detection................................................................................
8.2.2
Connection of a KTY sensor ...................................................................................................
8.2.3
Connection of PTC, temperature switch or PT1000 ...............................................................

38
38
39
39

Safety function STO ......................................................................................................................................

40

9.1

Description of STO................................................................................................................................

40

9.2

Emergency stop according to EN 60204...............................................................................................

41

9.3

Classification from STO to IEC 61508 ..................................................................................................

42

9.4

Classification from STO to EN ISO 13849 ............................................................................................

42

9.5

Functional description ...........................................................................................................................

42

9.6

Wiring proposals ...................................................................................................................................
9.6.1
Direct switch-off with emergency stop switch .........................................................................
9.6.2
Direct switch-off with emergency stop switch and monitoring of the wiring ............................
9.6.3
Direct switch-off by safety module with test pulses ................................................................
9.6.4
Wiring SS1 ..............................................................................................................................

42
42
44
45
46

10 Certification ...................................................................................................................................................

47

10.1 EU type examination .............................................................................................................................
10.1.1 EU type examination F6-K with STO ......................................................................................

47
48

11 Revision History ............................................................................................................................................

49

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

50

5

6

7

8

9

iv

ma_dr_f6-cu-k-inst-20144795_enTable of Contents

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

ma_dr_f6-cu-k-inst-20144795_en

52v

List of Figures

KEB Automation KG

List of Figures
Fig. 1

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

26

Fig. 2

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

27

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

28

Fig. 4

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

30

Fig. 5

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

31

Fig. 6

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

33

Fig. 7

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

35

Fig. 8Connection of a brake ............................................................................................................................

37

Fig. 9Direct switch-off with emergency stop switch.........................................................................................

43

Fig. 10

Direct switch-off with emergency stop switch and monitoring of the wiring ...........................................

44

Fig. 11

Direct switch-off by safety module with test pulses................................................................................

45

Fig. 12

Wiring_SS1 ............................................................................................................................................

46

6

ma_dr_f6-cu-k-inst-20144795_en

List of Tables

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

14

Tab. 2

Overview Connection and operating elements ......................................................................................

14

Tab. 3

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

16

Tab. 4

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

16

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

16

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

16

Tab. 7

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

17

Tab. 8

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

18

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

19

Tab. 10 Assignment of the terminal strip X2B .....................................................................................................

22

Tab. 11 OSSD pulse width depending on the input voltage................................................................................

22

Tab. 12 Calculation the current consumption......................................................................................................

23

Tab. 13 Assignment of the terminal block X2C ...................................................................................................

24

Tab. 14 Serial interfaces .....................................................................................................................................

26

Tab. 15 Accessories............................................................................................................................................

26

Tab. 16 Connecting cable ...................................................................................................................................

26

Tab. 17 Wiring of the DE-9 - RJ45 adapters .......................................................................................................

27

Tab. 18 Assignment of the terminal block X2C ...................................................................................................

28

Tab. 19 PIN assignment RJ45 EtherCAT............................................................................................................

30

Tab. 20 Function of the LEDs..............................................................................................................................

30

Tab. 21 Error status list .......................................................................................................................................

30

Tab. 22 PIN assignment RJ45 VARAN ...............................................................................................................

31

Tab. 23 Function of the LEDs..............................................................................................................................

31

Tab. 24 Alternative designation of encoder signals.............................................................................................

33

Tab. 25 Assignment of the encoder sockets X3A and X3B.................................................................................

34

Tab. 26 Encoder specifications ...........................................................................................................................

35

Tab. 27 Assignment of the terminal block X1C ...................................................................................................

37

Tab. 28 Connection examples ............................................................................................................................

39

Tab. 29 Technical data of the STO function........................................................................................................

42

ma_dr_f6-cu-k-inst-20144795_en7

1 | Introduction

1

KEB Automation KG

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)8ma_dr_f6-cu-k-inst-20144795_enIntroduction | 1

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

1.1.3

Symbols and markers✓a)➾(≡► Reference[} 9])
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.

ma_dr_f6-cu-k-inst-20144795_en9

1 | Introduction

1.5

KEB Automation KG

Copyright
The 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.

1.7

Target group
The instructions for use is determined exclusively for electrical personnel. Electricalpersonnel for the purpose of this instruction manual must have the following qualifications:• Knowledge and understanding of the safety instructions.
• Skills for installation and assembly.
• Start-up and operation of the product.
• Understanding of the function in the used machine.
• Detection of hazards and risks of the electrical drive technology.
• Knowledge of IEC 60364.
• Knowledge of national safety regulations (e. g. DGUV Regulation 3).

10ma_dr_f6-cu-k-inst-20144795_en

General Safety Instructions | 2

2

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.

ma_dr_f6-cu-k-inst-20144795_en11

2 | General Safety Instructions

2.2

KEB Automation KG

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.

12

ma_dr_f6-cu-k-inst-20144795_enProduct description | 3

3

Product description

3.1 Description of the control board COMPACT
The control board COMPACT provides the following functions:• Digital and analogue inputs and outputs• Potential-free relay output• CAN field bus interface (depending on variant, see type code)• Serial diagnostic interface for connection to a PC
• Hardware of the control circuit "safely separated" according to EN 61800-5-1• Brake control and supply• Motor protection by I²t, KTY, PT1000 or PTC input• Safety function STO (two channel torque off)
• 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
not listed 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
5. digitK
6. digit
1

COMBIVERT F6
Control type
COMPACT
Variants
Safety function STO (COMPACT)

7. digit

Housing

8. digit

Connection, voltage, options

9. digit

Switching frequency, software current limit, overcurrent

10. digit

Control board variant

12
11. digit

3.3

SeriesCOMPACT | Multi encoder interface, CAN®, STO, EtherCAT®
COMPACT | Multi-Encoder Interface, STO, VARAN®
Heat sink version

Safety functions
The safety function STO according to EN 61800-5-2 contains:• Safe torque off (Safe Torque Off - STO)
The safety function meets the requirements in accordance with• Performance-Level e (ISO 13849-1).
• SIL 3 (IEC 61508 and IEC 62061).
The safety function protects people against mechanical damage.

ma_dr_f6-cu-k-inst-20144795_en13

3 | Product description

NOTICEKEB Automation KG

The certification of drive controllers with safety technology is only valid under the following conditions:a) The material number corresponds with the numerical code below.
b) The FS logo is printed on the type plate.
Numerical code for F6 COMPACT with safety technology (x=variable):
xxF6Kxx-xxxx

3.4

Accessories
To be able to use preassembled cables provided by the customer, the connectorsof the control are optionally available. The following connector sets are available
according to the used options:Control board
COMPACTSet contains
terminal strip 24-poleterminal strip 12-pole-terminal strip 8-poleterminal strip 6-pole

Material number
00F6V80-000K

Tab. 1: Connector sets

3.5

Connection and control elements
X1C

X3A

X3B

X1C

Temperature monitoring,brake control
X2A
Control terminal block for digital
inputs/outputs; 24V output; relay
output
X2B
Safety functions;
24V supply,
2 digital outputs
FS ST
X2C
CAN bus; analog inputs and outputs
X3A
Encoder interface channel A
X3B
Encoder interface channel B
VCC
Diagnostic interface withNET ST X4A
RS232/485 interface according
DEV ST
to DIN66019 protocol; operator
OPT
slot
X4B
Fieldbus input / Port 0
X4A
X4C
Fieldbus output / Port 1
FS ST LED Safety state
VCC
LED voltage supply (24V)
X2Z
NET ST LED network / fieldbus status
DEV ST LED inverter/ device status
OPT
optional

X2B X2C
X4B
X2A
X4C
Tab. 2: Overview Connection and operating elements

14

ma_dr_f6-cu-k-inst-20144795_enProduct description | 3

3.6 Motor monitoring X1C (temperature, brake)
Terminal strip X1C is a 6-pole, pluggable terminal strip with spring-cage connection. It contains:• 1 output for control of 24V motor brakes• 1 analog input for temperature detection

3.7

Control terminal strip X2AControl terminal strip X2A is a 24-pole pluggable, double-row terminal strip withspring-cage connection. It contains:• 8 digital inputs• 2 digital outputs• 1 Relay output• 24V outputs to supply the inputs

3.8

Safety terminal block X2B
Terminal strip X2B is an 8-pole pluggable, double-row terminal strip with springcage connection. It contains:• STO safety inputs• 2 digital outputs• Input for DC supply 24V

3.9

CAN bus and analog inputs and outputs X2C
Terminal strip X2C is a 12-pole pluggable, double-row terminal strip with springcage connection. It contains:• CAN bus interface• 2 analog inputs• 1 analog output

3.10

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

3.11

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.

3.12

Fieldbus interfaces X4B, X4C
Depending on the ordered (≡► Variants of the control board [} 13]) EtherCAT® or
VARAN is available on the interfaces X4B and X4C.
see also
2 Variants of the control board [} 13]

ma_dr_f6-cu-k-inst-20144795_en15

3 | Product description

3.13

KEB Automation KG

Status LEDs

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

VCC
NET
DEV
OPT

ST
ST

VCC
NET
DEV
OPT

ST
ST

VCC
NET
DEV
OPT

ST
ST

VCC
NET
DEV
OPT

ST
ST

Statusoff

Note
Device off

Initialization

Control is supplied with 24 V

FPGA booted

FPGA has been booted error-free (approx. 6 s)

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

Tab. 3: LEDs at power on

3.13.2

VCC - LED
VCC
off
on

LED col- Description
ourPower supply of the control card switched off.
green
Control is supplied with 24 V.

Tab. 4: Function VCC LED

3.13.3NET ST - LED
NET ST
off
on
Blink
code

LED colour
yellowvarious

Description
Device off or booting.
During switching on, if FPGA is booted.
depending on fieldbus => fieldbus interfaces.

Tab. 5: Function NET ST - LED

3.13.4

DEV ST - LED
DEV ST LED colour DescriptionOFF
Device off or in boot process.
ON
Red
Error
ON
Yellow
No error, DC bus not charged.
ON
GreenNo error, ready for operation.

16

ma_dr_f6-cu-k-inst-20144795_enProduct description | 3

DEV ST LED colour Description
Flashing
GreenNo 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

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

ma_dr_f6-cu-k-inst-20144795_en17

4 | Connection of the control

4

KEB Automation KG

Connection 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 length18

ma_dr_f6-cu-k-inst-20144795_en

Connection of the control | 4

4.2 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

Name
DI1
24VoutDI 2
24VoutDI 3
24VoutDI 4
24VoutDI 5
24VoutDI 6
24VoutDI 7
24VoutDI 8
24Vout
DO1
0V
DO2
0V
RLB
RLA
RLC
24Vout2

4

6

8 10 12 14 16 18 20 22 24

1

3

5

7

9 11 13 15 17 19 21 23

Description
Digital input 1
Voltage output for control the inputs
Digital input 2
Voltage output for controlling the inputs
Digital input 3
Voltage output for control the inputs
Digital input 4
Voltage output for control the inputs
Digital input 5
Voltage output for control the inputs
Digital input 6
Voltage output for control the inputs
Digital input 7
Voltage output for control the inputs
Digital input 8
Voltage output for control the inputs
Digital output 1
Reference potential for digital output
Digital output 2
Reference potential for digital output
Relay output / NC contact
Relay output / NO contact
Relay output/ switching contact
DC voltage output (SELV) for control the inputs.

Tab. 9: Assignment of the terminal strip X2A

ma_dr_f6-cu-k-inst-20144795_en19

4 | Connection of the control

4.2.1

KEB Automation KG

Digital Inputs

Specification

NumberName
Terminals
Classification
Low level (logical 0)High level (logical 1)

Connection

8
DI1…DI8
X2A.1/ .3/ .5/ .7/ .9/ .11/ .13/ .15
Type 3 in accordance with DIN EN 61131-2-3 … +5 V / 3 mA
11 … 30 V / 2 … 6 mA

Internal voltage supply

External voltage supply

2

4

6

8

10 12 14 16

2

4

6

8

10 12 14 16 18 20

1

3

5

7

9

1

3

5

7

9

11 13 15

11 13 15 17 19

+

4.2.2

Digital Outputs

Specification

NumberName
Terminals
Type
Classification
Output voltage

Output current
Special features
Connection

2 (+2 at terminal strip X2B)
DO1 … DO2
X2A.17, X2A.19
24 V high-side Switch
DIN EN 61131-2
Minimum P24Vin – 3 V
Maximum P24Vin
Reference potential 0V (X2A.18 and X2A.20)
Maximum 100 mA per output (short-circuit proof)
No internal free-wheeling diode. External free-wheeling diode required for inductive load.

Connection external loads

Connection outputs to digital inputs

18 20

18 20

17 19

17 19

COM DI1 DI220

ma_dr_f6-cu-k-inst-20144795_en

Connection of the control | 4

4.2.3

Relay output

Specification

Connection

NumberName
Terminals
Type
Voltage
Current
Switching cycles

1
R1
X2A.21…X2A.23
Form C
Maximum DC 30 V
0.01…1 A
108 mechanical

Special features

500,000 at 30 V / 1 A
Resistive load only; no internal freewheeling branch

Relay output form C

22 24
R1

21 23

4.2.4

Voltage supply

4.2.4.1 Voltage output to supply the inputs
Specification voltage output

Connection see (≡► Digital Inputs [} 20])
Name
Terminals
Output current
Output voltage
Notes

ma_dr_f6-cu-k-inst-20144795_en

24VoutX2A.2/ .4/ .6/ .8/ .10/ .12/ .14/.24(24Vout)
max. 100 mA (short-circuit proof)
for all 24Vout outputs together
minimum P24Vin - 3V
maximum P24Vin
DC voltage output (SELV ) to supply thedigital inputs.

21

4 | Connection of the control

4.3

KEB Automation KG

Terminal block X2B
X2B

2

1

4

3

6

5

8

PIN
1
2
3
4
5

Name
STO1STO1+STO2STO2+
DO3

6

DO4

7
8

0V
P24Vin7Function
Input STO channel 1
Input STO channel 2
Digital output 3
Specification => DO1 and DO2
Digital output 4
Specification => DO1 and DO2
Reference potential for P24Vin
DC voltage input 24 V

Tab. 10: Assignment of the terminal strip X2B

4.3.1

Inputs STO

Specification

NumberName
Terminals
Low level (logical 0)High level (logical 1)
Others

STO with OSSD signals

The input voltage determines the maximum pulse width of the OSSD signals.

2
STO1; STO2
X2B.1/2 and X2B.3/4-3 … +5 V / 30 mA
15 … 30 V / 5 … 30 mA
Both channels potential-free, so that 24 V and 0
V can be connected.
Inputs designed for safety switchgear with test
pulses (OSSD). Signals are not evaluated, only
filtered. OSSD test interval is limited to 10 ms.

Input voltage
15 V
18 V
20 V
24 V
30 V

OSSD pulse width
0.1 ms
0.8 ms
1.1 ms
1.5 ms
1.8 msTab. 11: OSSD pulse width depending on the input voltage

4.3.2

Digital outputs

Specification

NumberName
Terminals
Type
Classification
Output voltage

Output current
Special features

2 (+2 more at X2A)
DO3 … DO4
X2B.5, X2B.6
24 V high-side switch
DIN EN 61131-2
Minimum P24Vin – 3 V
maximum P24Vinreference potential 0V (X2B.7, X2A.18 and X2A.20)
Maximum 100 mA per output (short-circuit proof)
Only ohmic load; no internal free-wheeling path

Connection examples (≡► Digital Outputs [} 20])22ma_dr_f6-cu-k-inst-20144795_en

Connection of the control | 4

4.3.3

Voltage input
The control board is supplied• externally by a central 24V supply.
To select a suitable voltage source, the maximum current consumption must always be determined.

4.3.3.1 Determination of the current consumption
The input P24Vin (X2B.8) supplies following components:• Control (control board with safety functions)• 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
0.5 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. 0.2 A

Tab. 12: 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.
4.3.3.2 External supply
Specification external supply

Voltage
Current consumption

DC 24 V (+20 % / -17 %)Calculated value up to max. 4.8 A

Voltage supply of the control board

8

X2B

7

+

ma_dr_f6-cu-k-inst-20144795_en23

4 | Connection of the control

4.4

KEB Automation KG

Terminal block X2C
X2C

2

1

4

3

6

5

8 10 12

7

9 11

PIN
1
2
3
4
5
6

Name
CAN low
CAN low
CAN high
CAN high
CAN GNDCAN GND

7
8
9
10
11
12

AN1AN1+AN2AN2+
0V
ANOUT

Notes
internally bridgedoperationally isolated
internally bridgedoperationally isolated
CAN groundoperationallyisolated (can be wired depending on the customer
subscriber).
non-isolated difference input 1
non-isolated difference input 2
Reference potential
Analog output

Tab. 13: Assignment of the terminal block X2C

Description CAN bus (≡► CAN [} 28])

4.4.1

Analog input
NOTICENo 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
Classification
Input signals
Voltage input
Current input
Common mode range

24

2
AN1, AN2
X2C.7 (AN1-); X2C.8 (AN1+)
X2A.9 (AN2-); X2C.10 (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

ma_dr_f6-cu-k-inst-20144795_en

Connection of the control | 4

Connection

Connection of the analog differential inputs AN1 and AN2

8

10 12

7

9

11
*

+
+
0…±20mA 0…±10Vdc
4…20mA*) Equipotential bonding conductor

4.4.2

Analog output

Specification

NumberName
Terminals
Classification
Voltage output
Minimum load impedance
Notes

Connection

Connection of the analog output ANOUT

1211

ma_dr_f6-cu-k-inst-20144795_en

1
ANOUT
X2A.12 analog output
X2A.11 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

25

5 | Diagnosis/visualisation X4A

5

KEB Automation KG

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. 14: Serial interfaces

NameBluetooth adapter

Material number
0058060-0060

Tab. 15: 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. 16: 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.

5.1

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)

26

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

ma_dr_f6-cu-k-inst-20144795_en

Diagnosis/visualisation X4A | 5

5.2 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

5.3

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.

5.4

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)

5.5

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. 17: Wiring of the DE-9 - RJ45 adapters

ma_dr_f6-cu-k-inst-20144795_en27

6 | Fieldbus interfaces

KEB Automation KG

6Fieldbus interfaces

6.1

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
12

6.2

Control board variant
COMPACT | Multi encoder interface, CAN®, STO, EtherCAT®
COMPACT | Multi-Encoder Interface, STO, VARAN®

CAN
X2C

2

1

4

3

6

5

8 10 12

7

9 11

PIN
1
2
3
4
5
6

Name
CAN low
CAN low
CAN high
CAN high
CAN GNDCAN GND

7
8
9
10
11
12

AN1AN1+AN2AN2+
0V
ANOUT

Notes
internally bridgedoperationally isolated
internally bridgedoperationally isolated
CAN groundoperationallyisolated (can be wired depending on the customer
subscriber).
non-isolated difference input 1
non-isolated difference input 2
Reference potential
Analog output

Tab. 18: Assignment of the terminal block X2CSpecification

Fieldbus typeTransmission level
Transmission speed

CAN® (EtherCAT version only)
According to DIN ISO 11898; ISO High Speed
20, 25, 50, 100, 125, 250, 500, 1000 kbit/s; adjustable via (fb66)
Operationally isolated (functionally isolated) tothe control potential.
Wire 120 Ω external between (CAN High and
CAN Low) at both ends of the bus line.

Potential separation
Bus termination
Connection
CAN_L

X2C.1

X2C.2

CAN_L

CAN_H

X2C.3

X2C.4

CAN_H

CAN_GND

X2C.5

X2C.6

CAN_GND

120Ω

120Ω

Fig. 3: Connection CAN bus
NET ST - LED in CAN mode

28

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

ma_dr_f6-cu-k-inst-20144795_enFieldbus interfaces | 6

Light pattern NET ST LED (red/green combination)

6.3

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

Specification

Fieldbus typeTransmission level
Connections
Device addressing
Device identification

Hot Connect
Number SyncManager
Number FMMUs
Max. number PDOUT data

Max. number PDIN data

Acyclic data traffic:

Distributed Clocks (DC)ma_dr_f6-cu-k-inst-20144795_en

EtherCAT
100Base-Tx according to IEEE802.3 with autonegotiation and auto-crossover
X4B: EtherCAT IN
X4C: EtherCAT OUT
ECAT-Addr; is usually assigned by the master atstart-up.
StationAlias is supported. The cell in the ECATEEPROM(SII) can be written by the master and isstored non-volatile.
Extension of the state machine is not supported(IdentificationReg 134 = False).
Yes via StationAlias.
4 (Receive, Send-Mailbox, PDOUT, PDIN data).
3 (PDOUT, PDIN data, Send-Mailbox-Status).
Max. 2 PDOs; Mapping freely selectable.
32 Byte + optional FSoE data.
64 Byte + optional FSoE data (from SW 2.8).
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 mode29

6 | Fieldbus interfaces

Connection

8

1Fig. 4: RJ45 socket front view

KEB Automation KG

PIN

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. 19: 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. 20: 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)
reachedLocal Error
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

30

Error
Communication or device
error

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.
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

ma_dr_f6-cu-k-inst-20144795_enFieldbus interfaces | 6

Error
Process data watchdog
timeout
Local error

Invalid configuration

Loading error

Meaning
The watchdog application
reports a timeout.
The fieldbus status haschanged due to an error.

ExampleSync-Manager timeout

Device changes its
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. 21: Error status list

6.4

VARAN

Specification

Fieldbus typeTransmission level
Connections

Connection

8

1Fig. 5: RJ45 socket front view

VARAN
100Base-Tx according to IEEE802.3 with autonegotiation and auto-crossover
X4B: VARAN IN
X4C: VARAN OUT

PIN
1
2
3
4
5
6
7
8

RJ45 without supply voltage(Viewing with Auto-Cross Over)TX+RX+
TXRXRX+
TX+
Reserved
Reserved
RXTXGND
GND

Tab. 22: PIN assignment RJ45 VARAN

LED / light pattern
yellow
off
ON
green
off
On

Function
Activity
No data traffic or deactivatedLights up when receiving data via the
VARAN bus
Link
No connection
Lights up when there is a connection
between two PHYs.

Tab. 23: Function of the LEDs
Light pattern NET ST LED

ma_dr_f6-cu-k-inst-20144795_en

At VARAN, the NET ST LED has no function.

31

7 | Encoder interfaces

KEB Automation KG

7

Encoder interfaces

7.1

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.

32

ma_dr_f6-cu-k-inst-20144795_en

Encoder interfaces | 7

7.2 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. 6: 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. 24: Alternative designation of encoder signals

ma_dr_f6-cu-k-inst-20144795_en33

7 | Encoder interfaces

7.3

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
A+
AB+
BN+
N-

24 V

B

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

19

HiperfaceA

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. 25: 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!

34

ma_dr_f6-cu-k-inst-20144795_en

Encoder interfaces | 7

7.4 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.
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. 7: 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.

7.5

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.

7.6

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:

ma_dr_f6-cu-k-inst-20144795_en35

7 | Encoder interfaces

PIN

Signals

KEB Automation KG

Description
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°.
Only channel A:

10, 11, Sin+/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. 26: Encoder specifications

36

ma_dr_f6-cu-k-inst-20144795_en

Brake control and temperature detection | 88Brake control and temperature detection
X1C

2

1

4

3

6

PIN
1
2
3
4
5
6

Name
BR+
BRReserved
Reserved
TA1
TA2

Notes
Brake control / output
Brake control / output

Temperature detection / input +Temperature detection / input -5

Tab. 27: Assignment of the terminal block X1C

8.1 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
OthersBR+ (X1C.1); BR- (X1C.2)
Output to supply a brake or relay.
minimum P24Vin – 2.4V
maximum P24Vin
2A
Internal free-wheeling path; internal filter circuit;short-circuit proof

Connection

X1C

1
2

+
-

U_dc = 24 V
I_max = 2 A

Fig. 8: Connection of a brake

ma_dr_f6-cu-k-inst-20144795_en37

8 | Brake control and temperature detection

8.2

KEB Automation KG

Temperature detection
DANGER

Electric shock by sensors without protective separation!
a) Only use sensors with basic insulation.

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.5 (TA1) input +X1C.6 (TA2) input Temperature sensor input (switchable)

Function
OthersTerminals TA1 and TA2 have basic insulation to the SELV
voltage (DC 24 V) of the control card. 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

-

8.2.1

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.5) andTA2 (X1C.6) (dr33=1).

38

ma_dr_f6-cu-k-inst-20144795_en

Brake control and temperature detection | 8

8.2.2

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

8.2.3

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. 28: Connection examples

ma_dr_f6-cu-k-inst-20144795_en39

9 | Safety function STO

9

KEB Automation KG

Safety function STO
DANGER

Improper installation of safety technology!
Death and serious bodily injuries.
a) Therefore the safety functions may only be installed and put into operation byqualified personnel which are trained in safety technology.
b) Check the safety functions and error responses and generate an acceptancereport after installation.
Electronic protective devices are used to integrate safety functions into the drive
control system in order to minimise or eliminate hazards caused by malfunctions inmachines.
The integrated safety functions replace the time-consuming installation of externalsafety components. The safety functions can be requested or triggered by a fault.
Safety functions protect persons from mechanical damage when project planning,
installation and operation are carried out properly.

WARNING

Failure of safety functions
No protection
ü To ensure the safety permanently:a) The safety functions must be checked in regular intervals.
b) The intervals result from the risk analysis.
c) The useful life is limited to 20 years. After this time the unit must be replaced.

9.1

Description of STO
STO (Safe Torque Off) "Safe Torque Off"In hazardous areas, set-up or troubleshooting work may be necessary where protective devices such as mains or motor contactors should not be activated. The
safety function STO can be used there.
Compared to disconnection by mains contactors or motor contactors, the integrated safety function enables the drives of a system to be easily combined intofunctional groups. The safely switched off torque can thus be limited to certain
plant areas. Depending on the application, the use of mains or motor contactors
can be omitted by using STO.
In error case or on demand, the power semiconductors of the drive module areswitched off and no energy is supplied to the drive which would cause rotation or
torque (or in the case of a linear drive, movement or force). If an error occurs, thesystem can still be switched off safely or remain switched off.

DANGER

Continue mains voltage with active STO function!
Electric Shocka) Always switch off the power supply before working on the device.
b) Await discharge time.
Another advantage is that the charging and discharging time of the DC link mustnot be considered. This means that the system is ready for operation again more
quickly after an operational interruption.
Regular electromechanical equipment is subject to wear and tear. Using the STO
function eliminates the need for these items of equipment and reduces maintenance costs.
Characteristics for STO :40

ma_dr_f6-cu-k-inst-20144795_enSafety function STO | 9• Energy supply for the rotating field of the motor is interrupted (motor coasts
down).
• Use when monitoring for standstill is not required.
• Unintentional start-up of the motor is prevented.
• No galvanic isolation of the motor from the drive controller DC link.
The safety functions meet the requirements of performance level e (ISO 13849-1 )and SIL 3 (IEC 61508 and IEC 62061 ).
Safety functions protect persons from mechanical damage when project planning,
installation and operation are carried out properly.
What can the STO function do in relation to EN 60204-1 ?
• Emergency stop can be realised by the STO function, because the mains
voltage may still be applied.
• Emergency stop can only be realised in conjunction with a mains contactor thatswitches off the mains voltage!

9.2

Emergency stop according to EN 60204
By using suitable safety switchgear, the STO function can achieve stop categories
0 and 1 according to EN 60204-1 in the system ().
• Stop category 0"uncontrolled stop", i.e. stop by immediately switching off the energy to the drive
elements.
• Stop category 1"controlled stop", i.e. the energy to the drive elements is maintained to achieve
the stop. The energy is only interrupted when standstill is reached.
Emergency stop according to EN 60204-1 must be functional in all operating
modes of the drive module. Resetting emergency stop must not lead to uncontrolled start-up of the drive.

NOTICE

Automatic restart when STO is no longer triggered.
Unpredictable consequences for personnel and machine.
ü In order to comply with EN 60204-1, observe the following:a) Ensured by external measures that the drive restarts only after confirmation.

DANGER

Motor coast in the event of a fault
Danger to persons
ü If there is a danger to persons after the motor control has been switched off by
STO:a) Block access to the hazardous area.
b) Wait until the drive stops.

DANGER

Jerking of the drive in the event of a fault
Danger to persons
ü In case of double malfunction it can lead to unwanted jerk. The rotation angle isdepending on the number of poles of the selected drive and the gear ratio.
a) Switch off the supply voltage before carrying out any work on the machine.
b) Await capacitor discharge time (min. 5 minutes). Measure DC voltage at theterminals.
Calculation of the jerk:

ma_dr_f6-cu-k-inst-20144795_en41

9 | Safety function STO

KEB Automation KG

Angle of rotation of the jerk Wr = 180°/ (number of pole pairs x gear reduction ratio)
The probability of a jerk is < 1.84-10-15 1/h. This behaviour can be caused by ashort circuit of the IGBTs. The error is only to be considered critical if the drive remains in the STO state.

9.3

Classification from STO to IEC 61508
PFH
PFD
Proof test interval

4.04 • 10-12 1/h
3.54205 • 10-7 per request
20 years

For the SIL classification in connection with the applications, the failure rates of theexternal switching devices must be considered for the final assessment.

9.4

Classification from STO to EN ISO 13849
Control category
MTTF DDC value

4>2500 years
high

For the classification within a performance level in connection with the applications,the failure rates of the external switching devices must be considered for the final
assessment.

9.5

Functional description
The COMBIVERT with integrated safety technology fulfils the following function according to EN 61800-5-2:
The safety-oriented shutdown according to STO is achieved by a two-channel
opto-coupler lock. The supply of the optocouplers, which are responsible for thecommutation of the connected drive, is done by a transformer coupling of the input
voltage. This ensures that the optocouplers cannot be supplied if the input voltage
is lost. If the optocouplers are no longer supplied, no IGBT can be controlled andthus no energy can be supplied to the drive.
The dual-channel capability is achieved by using input STO1 to suppress the supply voltage (VTRO) of the upper optocouplers of the inverter bridge and input
STO2 to suppress the supply voltage of the lower optocouplers (VTRU).
Maximum switch-on delay (UIN=15V)
7 ms
Maximum switch-off delay (UIN=30 V) at 10 ms
active modulation
Maximum switch-off delay (UIN=30 V) at 50 ms
inactive modulation until safe state of thedriver voltage is reached.
Tab. 29: Technical data of the STO function

9.6
9.6.1

Wiring proposals
Direct switch-off with emergency stop switch
CAUTION

Emergency stop device in which both contacts are connected together
against a positive supply signal!
In case of a short circuit, the system only works on one channel!
a) The wiring must be arranged by way, that no cross-connections occur.
b) Avoid short circuit between adjacent terminals (STO1+ & STO2+, STO1- &STO2- or STO2+ & Out3).

42ma_dr_f6-cu-k-inst-20144795_enSafety function STO | 9

Control

X4A

X4B

Safety
X2B

+24V

X4C

X2A

1 - STO12 - STO1+
3 - STO24 - STO2+
5 - OUT 3
6 - OUT 4
7 - 0V
8 - P24V-IN

X2C

X2D

Power

U V W PE
Fig. 9: Direct switch-off with emergency stop switch

ma_dr_f6-cu-k-inst-20144795_en

43

9 | Safety function STO

9.6.2

KEB Automation KG

Direct switch-off with emergency stop switch and monitoring of the wiring
X4A

X4B

X4C

Control
SafetyX2B+24V

1 - STO12 - STO1+
3 - STO24 - STO2+
5 - OUT 3
6 - OUT 4
7 - 0V
8 - P24V-IN

X2A

X2C

X2D

U V W PE
Fig. 10: Direct switch-off with emergency stop switch and monitoring of the wiring

The shown circuit detects wiring faults in the area of the emergency stop
switchgear and the supply line. A possible short circuit on the primary side of theemergency stop switchgear (ground and DC +24 V) and a short circuit on the secondary side of the device or within the wiring leads either directly or with closed
contacts to a short circuit of the supply, whereby an upstream 24 V fuse trips.
In addition to the two applications shown here with an emergency stop switching
device, other sensors (such as door switches, etc.) can be used in the same way.

44

ma_dr_f6-cu-k-inst-20144795_enSafety function STO | 9

9.6.3

Direct switch-off by safety module with test pulses

open
closedS1

S2Control

X4A

X4B

SafetyX2B

Safety unit
Acknowledge

+24V

X4C

X2A

1 - STO12 - STO1+
3 - STO24 - STO2+
5 - OUT 3
6 - OUT 4
7 - 0V
8 - P24V-IN

X2C

X2D

Power

U V W PE
Fig. 11: Direct switch-off by safety module with test pulses

When the emergency stop device is actuated, e.g. by a safety door, the enable
paths of the safety module are interrupted. This leads to the removal of the STO
signals (X2B.2 and 4) and thus to the energy shutdown of the motor.
The safety module performs a consistency check of all signal paths via test signals(OSSD).

ma_dr_f6-cu-k-inst-20144795_en45

9 | Safety function STO

9.6.4

KEB Automation KG

Wiring SS1
MotionControl

openclosedS1

Fieldbus

S2
Control

X4A

X4B

SafetyX2B

Safety unit
Acknowledge

X2A.13

+24V

X4C

X2A

1 - STO12 - STO1+
3 - STO24 - STO2+
5 - OUT 3
6 - OUT 4
7 - 0V
8 - P24V-IN

X2C

X2D

Power

U V W PE
Fig. 12: Wiring_SS1

With triggering SS1 (Safe Stop 1), the motor is only switched torque-free when it
has reached standstill [EN 61800-5-2]. The idle state is not queried directly, but the
maximum time until the standstill is reached is estimated.
This time period is loaded into a safe time relay that finally switches the motor
torque-free.
When the emergency stop device is actuated, the motor is brought to a standstillwith a deceleration ramp via input X2A.13 (I7).
At the same time, the safe time expires in the safety module. After the safe time
has elapsed, the control signals STO1+ and STO2+ (X2B.2 and X2B.4) areswitched off and by way the energy supply of the motor is interrupted.
A suitable parameterisation of the control is necessary for the function "Stopdrive".

46

ma_dr_f6-cu-k-inst-20144795_en

Certification | 10

10

Certification

10.1 EU type examination
see also
2 EU type examination F6-K with STO [} 48]

ma_dr_f6-cu-k-inst-20144795_en47

10 | Certification

KEB Automation KG

10.1.1 EU type examination F6-K with STO

EC Type-Examination Certificate

PrüfgegenstandProduct tested

Sicherheitsfunktion STO auf der
Steuerkarte des COMBIVERT F6-K
Umrichters
Safety function STO on control board
within the COMBIVERT F6-K inverter

Zertifikatsinhaber
Certificate
holder

KEB Automation KG
Südstraße 38
32683 Barntrup
Germany

TypbezeichnungType designation

Steuerkarte 3KF6x30-xxxx; zu Details siehe Revisionsliste
zur Verwendung in den Umrichtern xxF6Kxx-xxxx
Control board 3KF6x30-xxxx, for details see revision list to be used in Inverters xxF6Kxx-xxxx

Prüfgrundlagen
Codes and standards

EN 61800-5-2:2007
EN 61800-5-2:2017
EN 61800-5-1:2007 + A1:2017 + A11:2021,
4.3, 5.2.3.8, 5.2.6

Bestimmungsgemäße
Verwendung
Intended application

Die Sicherheitsfunktion "Safe Torque Off" (STO) erfüllt die Anforderungen der Prüfgrundlagen(PL e / Kat. 4 nach EN ISO 13849-1, SIL 3 / SIL CL 3 nach EN 61800-5-2 / EN 61508) und
kann in Anwendungen bis zu diesen Sicherheitsleveln sowie bis maximum SIL 3 nach
EN IEC 62061:2021 eingesetzt werden.
The safety function "Safe Torque Off" (STO) complies with the requirements of the relevant
standards (PL e / Cat. 4 acc. to EN ISO 13849-1, SIL 3 / SIL CL 3 acc. to EN 61800-5-2 /EN 61508) and can be used in applications up to these safety levels as well as up to maximum
SIL 3 according to EN IEC 62061:2021 .

Besondere BedingungenSpecific requirements

Die Hinweise in der zugehörigen Installations- und Betriebsanleitung sind zu beachten.
The instructions of the associated Installation and Operating Manual shall be considered.

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

Es wird bestätigt, dass der Prüfgegenstand mit den Anforderungen nach Anhang I der Richtlinie 2006/42/EG über Maschinenübereinstimmt.
It is confirmed that the product under test complies with the requirements for machines defined in Annex I of the EC Directive
2006/42/EC.
Gültig bis / Valid until 2027-11-28

Der Ausstellung dieses Zertifikates liegt eine Prüfung zugrunde, deren Ergebnisse im Bericht Nr. 968/M 393.07/22 vom
10.11.2022 dokumentiert sind.
Dieses Zertifikat ist nur gültig für Erzeugnisse, die mit dem Prüfgegenstand übereinstimmen.
The issue of this certificate is based upon an examination, whose results are documented inReport No. 968/M 393.07/22 dated 2022-11-10.
This certificate is valid only for products which are identical with the product tested.

Köln, 2022-11-28
Notified Body for Machinery, NB 0035

Dipl.-Ing. Jelena Stenzel

TÜV Rheinland Industrie Service GmbH, Am Grauen Stein, 51105 Köln / Germany
Tel.: +49 221 806-2434, Fax: +49 221 806-1354, E-Mail: industrie-service@de.tuv.com

10/222 12. 12 E A4 ® TÜV, TUEV and TUV are registered trademarks. Utilisation and application requires prior approval.

Reg.-Nr./No.: 01/205/5517.03/22

www.fs-products.com

Powered by TCPDF (www.tcpdf.org)

48

ma_dr_f6-cu-k-inst-20144795_en

Revision History | 11

11

Revision History
Edition2018-122019-07
2019-08
2021-08

Version
00
01
02
03

2022-10042022-112023-04

05
06

2023-072023-1207
08

ma_dr_f6-cu-k-inst-20144795_en

NotePre-series version.
Series version
Values for temperature input changed; editorial changes.
Notes for positive-driven relay inserted; RS485 potential-free inserted; CAN interface; base-isolated temperature input; editorialchanges due to conversion to editorial system.
Function yellow LED EtherCAT changed; Encoder interface pin
19 changed
Changing the filter (F6K) in english version.
New certificate inserted. Designation of the relay changed. Operation without temperature monitoring pn33 changed to pn12.
CAN interface functionally isolated. Index corrected in english
version.
CAN interface removed from VARAN.
Alternative designation for encoder signals inserted. Designation
X1A removed from wiring proposals for STO. (≡► Terminal strip
X2A [} 19]) PIN 4 and PIN 11 corrected. (≡► Temperature detection [} 38]) Hazard warning corrected. Values for (≡► Assembly of wires [} 18]) adapted. (≡► CAN [} 28]) corrected. Editorial changes.

49Glossary

KEB Automation KG

Glossary
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.

Emergency off
Switching off the power supply in case of emergency.

Emergency stop
Shutting down a drive in case of emergency (notde-energised).

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

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.

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)

COMBIVERTProper name for a KEB Drive Controller.

COMBIVISKEB 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).

EN 61800-5-2
Adjustable speed electrical power drive systems.
Part 5-2: Safety requirements - Functional safety(VDE 0160-105-2, UL 61800-5-2, IEC 22G/264/
CD)

EnDat
Bidirectional encoder interface of the company
Heidenhain.

EtherCAT®

DC-Value
Diagnostic coverage measures the quality of testing and monitoring measures in accordance with
ISO 13849-1.

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

DIN EN 61131-2

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

Form C

Programmable controllers - Part 2: Equipment requirements and tests.

Directive 2006/42/EC
Machinery Directive

Directive 2014/30/EU
Electromagnetic Compatibility (EMC) Directive
50

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).
ma_dr_f6-cu-k-inst-20144795_en

Glossary

HCT
Component for current measurement in the power
circuit.

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

Hiperface
Bidirectional encoder interface of the company
Sick-Stegmann.

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

HSP5
Fast, serial protocol.

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

IEC 61508
Functional safety of electrical/electronic/programmable electronic safety-related systems.

SIL
The safety integrity level is a unit of measurementfor quantifying risk reduction in accordance withIEC 61508.

SinCosIncremental encoder with sinusoidal signals.

SSI
Synchronous serial interface for encoder.

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.

IEC 62061

STO
Safe torque off (STO).

VARAN
Real-time Ethernet bus system

Safety of machinery - Functional safety of safetyrelated control systems.

ISO 13849-1
Safety of machinery - Safety-related parts of control systems - Part 1: General principles fordesign.

MTTF
Mean service life until failure (Mean Time To Failure).

PELV
Safe protective extra-low voltage (earthed).

PFD
PFD (Probability of Failure on Demand) is ameasure of the failures per demand in accordancewith IEC 61508. It is used to determine the reliability of safety-related systems.

PFH
The PFH value (Probability of Failure on Demand
per Hour) indicates the average probability of adangerous failure per hour.
ma_dr_f6-cu-k-inst-20144795_en

51IndexKEB Automation KG

IndexA
Analog output

25

B
Bluetooth adapter

26

C
Connecting cable
Current consumption

26
23

D
DC voltage output
Differential input

21
24

E
Emergency stop
Equipotential bonding conductor

41
25

O
Operating elements
Operating operator
Overview

14
26
14

P
PT1000
PTC

39
39

S
Safety functions
Stop category

52

40
41

ma_dr_f6-cu-k-inst-20144795_en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