Keba FSM Modul, FSoE Master Installation guide

Safety control

FSoE - master

FSM Module

Installation Manual

Similar to illustration

2

FSM Module Installation Manual

ID no.: 1781.20B.3-00 Date: 10/2023

FSM Module Installation Manual

FSoE - master

ID no.: 1781.20B.3-00

Date: 10/2023

The German version is the original of this installation manual.

Subject to technical change without notice.

The content of our documentation was complied with the greatest care and attention,

and is based on the latest information available to us.

We should nevertheless point out that this document cannot always be updated

simultaneously with the ongoing technical development of our products.

Information and specications may be subject to change at any time. Please obtain

information about the latest version in our Docu Portal.

The devices are built to the state-of-the-art and recognised safety rules. Nevertheless,

during usage hazards may arise for the life and limb of the user or others, or the overall

system or other items may be degraded.

You are not allowed to make any changes, additions or modications to the system

without the written approval of the manufacturer. Liability and the provision of services

under the warranty on the part of the manufacturer are excluded if due to one or more of

following causes:

yMisuse of the module.

yImproper commissioning, operation, maintenance, servicing, repair and mount-

ing of the module and its connections.

yFailure to follow the safety instructions in this manual.

yUnauthorised structural or technical modications.

yUsage of spare parts or accessories that are not approved.

yDisasters due to the action of foreign objects and Acts of God.

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FSM Module Installation Manual

ID no.: 1781.20B.3-00 Date: 10/2023

Table of contents

1 Basic information ........................................................................5

1.2 Denitions ............................................................................................................... 5

1.3 Relevant standards and directives .......................................................................... 5

1.8 Rating plates, FSM modules ................................................................................... 8

2 Safety .........................................................................................9

2.1 Intended use ........................................................................................................... 9

2.2 Behaviour in an emergency ....................................................................................9

2.3 Safe state ............................................................................................................. 10

2.4 General safety instructions ................................................................................... 10

2.5 Declaration of conformity ...................................................................................... 11

3 Application area ........................................................................ 13

3.1 Device description ................................................................................................ 13

3.1.1 Fun c ti o n ................................................................................................ 13

3.1.2 Integration in the EtherCAT network and FSoE...................................... 13

3.2 Principle of safe monitoring using FSM ................................................................. 14

3.3 Operation and service .......................................................................................... 15

3.4 Storage and transport .......................................................................................... 15

4 Layout of the FSM modules ...................................................... 17

4.1 FSM-1 module ...................................................................................................... 17

4.1.1 Terminal arrangement, FSM-1 ............................................................... 17

4.2 FSM-2 module ...................................................................................................... 18

4.2.1 Terminal arrangement, FSM-2 ............................................................... 18

5 Technical data ........................................................................... 19

5.1 FSM-1 module ...................................................................................................... 19

5.2 FSM-2 module ...................................................................................................... 20

5.3 Additional information, FSM-1 and FSM-2 ............................................................ 21

6 Response times ........................................................................ 23

6.1 Response times in standard operation ................................................................. 23

7 Safety-related features .............................................................. 25

7.1 Internal architecture .............................................................................................. 25

7.2 Safety-related characteristic data and circuits for sensors connected .................26

7.2.1 Characteristic of the sensors / input elements ...................................... 26

7.2.2 Classication of the safe digital inputs ...................................................29

7.2.3 Connection examples, digital sensors ................................................... 29

7.2.4 Overview of achievable PL for digital safety inputs ................................ 32

7.3 Safety-related characteristic data and circuit for the outputs ............................... 33

7.3.1 Characteristic of the output elements....................................................33

7.3.2 Classication of the safe digital outputs ................................................36

7.3.3 Example circuits for basic outputs ........................................................ 37

7.3.4 Example circuits for safe digital outputs (IQQx) ..................................... 41

7.3.5 Overview of achievable PL for digital safety outputs .............................45

8 Mounting/ installation ................................................................ 47

8.1 Mounting .............................................................................................................. 47

8.2 Wiring ................................................................................................................... 47

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ID no.: 1781.20B.3-00 Date: 10/2023

9 Commissioning .........................................................................49

9.1 Power-up sequence .............................................................................................49

9.2 Reset behaviour ...................................................................................................49

9.2.1 Reset types and triggering events ......................................................... 49

9.2.2 Reset timing .......................................................................................... 50

9.2.3 Reset function .......................................................................................50

9.3 LED displays ......................................................................................................... 52

9.4 Parameter conguration ....................................................................................... 52

9.5 Regular function check .........................................................................................52

9.6 Validation .............................................................................................................. 52

9.7 Safety-related check .............................................................................................53

10 Maintenance and life cycle ........................................................55

10.1 Malfunctions and troubleshooting ........................................................................55

10.2 Replacement of a module .....................................................................................55

10.2.1 Repair .................................................................................................... 55

10.3 Decommissioning/dismantling/disposal ...............................................................55

10.3.1 D is po sa l: ...............................................................................................56

A Appendix ................................................................................. 57

A.1 Safety-related characteristic data ......................................................................... 57

A.2 Abbreviations ........................................................................................................ 57

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1 Basic information

FSM Module Installation Manual

Basic information

ID no.: 1781.20B.3-00 Date: 10/2023

1 Basic information

Important information about use

Please read this installation manual carefully, keep it close to the machine for reference if

questions arise.

NOTE:

Read the manuals carefully before you start the installation and commissioning

of the FSM Module.

Reading and understanding the documentation is the prerequisite for trou-

ble-free operation and any claims under the warranty.

1.1 Target group

This manual is aimed at the following target groups:

yPlanning safe drive system projects: Engineers and technicians

yMounting, electrical installation, maintenance: Works electricians and service engineers

yCommissioning, operation, conguration: Engineers and technicians

1.2 Denitions

The term "safe" is used according to and in the context of the following standards:

DINEN ISO 13849-1, DIN EN 61508-1:2011-02 (cf. chapter "Relevant standards").

The statement "safe function for use up to PL e or SIL 3" identies functions with the

related integrity (reliability) in the context of the standards stated above.

The FSM Modules from KEBA are modules for the implementation of safety-related

functions with safe communication via FSoE and non-safe communication using

EtherCAT. These have a dual-channel structure internally: system A and system B.

The system software "SafetyManager" is used to program and congure the FSM

modules from KEBA.

The abbreviation FSM relates in this document to the FSM Module (FSoE master).

EtherCAT is a technology standard for a eld bus system.

EtherCAT® is a registered trade mark and a patented technology licensed by Beckhoff

Automation GmbH, Germany.

1.3 Relevant standards and directives

The following standards were taken into account during development and

implementation:

yDIN EN ISO 13849-1:2015 Safety of machinery – Safety-related parts of control

systems

yDIN EN 61508-1:2011-02 Functional safety of electrical/electronic/

programmable electronic safety-related systems

yDIN EN ISO 13850:2016-05 Safety of machinery - Emergency stop function -

Principles for design

yDIN EN 60529:2014-09 – Degrees of protection provided by enclosures

yDIN EN 62061:2016-05 – Safety of machinery - Functional safety of safety-

related electrical, electronic and programmable electronic control systems

yDIN EN 60204-1:2014-10 – Safety of machinery - Electrical equipment of

machines - Part 1: General requirements

yDIN EN 60204-32:2009-03 – Safety of machinery - Electrical equipment of

machines - Part 32: Requirements for hoisting machines

yDIN EN 61800-5-2:2014-06 – Adjustable speed electrical power drive systems

- Part 5-2: Safety requirements - Functional

yDIN EN 574:2008-12 – Safety of machinery - Two-hand control devices -

Functional aspects - Principles for design

yDIN EN 55011:2014-11 – Industrial, scientic and medical equipment - Radio-

frequency disturbance characteristics - Limits and methods of measurement

yDIN EN 61000-6-2:2016-05 – Electromagnetic compatibility (EMC) - Part 6-2:

Generic standards - Immunity standard for industrial environments

yDIN EN 60068-2-6:2008-10 – Environmental testing - Part 2-6: Tests - Test Fc:

Vibration (sinusoidal)

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1 Basic information

FSM Module Installation Manual

Basic information

ID no.: 1781.20B.3-00 Date: 10/2023

yDIN EN 60068-5-2:2000-08 – Environmental testing - Part 5: Guide to drafting

of test methods; terms and denitions

yDIN EN ISO 12100:2013-08 – Safety of machinery - General principles for

design - Risk assessment and risk reduction

yDIN ISO/TR 14121-2 – Safety of machinery – Risk assessment – Part 2:

Practical guidance and examples of methods

The following directives were taken into account during development and

implementation:

• 2006/42/EC (Machinery Directive)

• 2014/35/EU (Low Voltage Directive)

• 2013/30/EU (EMC Directive)

• 2011/65/EU (RoHS Directive)

1.4 Symbols and signal words

Signal word/

symbol Meaning

Makes you aware of the usage and implications of safety information.

DANGER! Makes you aware of a dangerous situation that will result in a serious injury or death if it

is not avoided.

WARNING! Makes you aware of a dangerous situation that may result in a serious injury or death if it

is not avoided.

CAUTION! Makes you aware of a dangerous situation that may result in minor to moderate injury if it

is not avoided.

NOTE: Makes you aware of possible damage and other important information.

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FSM Module Installation Manual

Basic information

ID no.: 1781.20B.3-00 Date: 10/2023

1.5 Reference documents

The following documents are to be read carefully and taken into account during

installation:

Document Description Article no.

Programming

Manual

SafetyManager

Describes the graphic PC software SafetyManager required for the

preparation of machine safety applications. ID no.: 1102.22B.x

FSM Error List Error description, etc. (English only) ID no.: 1781.21B.x

Table 1.1 Reference documents

1.6 Article designation

The article designation provides information about the related variant.

Type Article no.

FSM-1 with rmware 03.00.00.79 1781.0001

FSM-2 with rmware 03.00.00.79 1781.0002

Description, FSM-1

Freely programmable and congurable FSoE master module for use in EtherCAT®

networks. Features include:

yCan be programmed conveniently and clearly using SafetyManager

yLibrary for all common IO elements (emergency stop, door interlock, light curtain, etc.)

yStraightforward integration of safe drives

Accessories (not included in the scope of supply) Article no.

SafetyManager The graphic PC software is required to create the machine safety

application.

Downloads

Dongle The USB dongle is necessary to authenticate the programmer as well as

to prepare and change safety programs.

1102.0100

Programming

adapter

(USB-RS485 / X41) for programming/service, if communication via

EtherCAT is not possible.

1181.0012

Description, FSM-2

Freely programmable and congurable FSoE master module for use in EtherCAT®

networks. Features include:

yCan be programmed conveniently and clearly using SafetyManager

yLibrary for all common IO elements (emergency stop, door interlock, light curtain, etc.)

yStraightforward integration of safe drives

Accessories (not included in the scope of supply) Article no.

SafetyManager The graphic PC software is required to create the machine safety

application.

Downloads

Dongle The USB dongle is necessary to authenticate the programmer as well

as to prepare and change safety programs.

1102.0100

Programming

adapter

(USB-RS485 / X41) for programming/service, if communication via

EtherCAT is not possible.

1181.0012

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1 Basic information

FSM Module Installation Manual

Basic information

ID no.: 1781.20B.3-00 Date: 10/2023

1.7 Scope of supply

Scope of

supply Description Article no.

FSM-1 module Is delivered with the connectors for the inputs and outputs, as well

as for the supply of power (in the inserted state) 1781.0001

Document set Contains a booklet with warnings and safety instructions as well as

data carrier with installation manual, programming manual etc. 1020.850.0-x

Table 1.2 Scope of supply, FSM-1

Scope of

supply Description Article no.

FSM-2 module Is delivered with the connectors for the inputs and outputs, as well

as for the supply of power (in the inserted state)

1781.0002

Document set Contains a booklet with warnings and safety instructions as well as

data carrier with installation manual, programming manual etc.

1020.850.0-x

Table 1.3 Scope of supply, FSM-2

NOTE:

Dongle (hard lock), programming cable, etc. must be ordered separately. On

this topic, see order catalogue "Drive System KeDrive D3".

1.8 Rating plates, FSM modules

The rating plate is attached to the left side wall of the module and contains the following

information:

Figure

Rating plate, FSM-1 module Rating plate, FSM-2 module

Information

Type designation FSM-1+2

• Part number

• Serial number

• Hardware release

• Software release

• Safety category

• Properties of the inputs

• Properties of the outputs

• Date of manufacture

(CW/year)

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Safety

FSM Module Installation Manual

Safety

ID no.: 1781.20B.3-00 Date: 10/2023

2 Safety

2.1 Intended use

The modules FSM are programmable safety controls for setting up safety shut-off

systems and safety functions. The devices are intended for decentral use in a network

− In EMERGENCY STOP systems,

− As a safety component in the context of the EC Machinery directive

2006/42/EC,

− As a PES for risk reduction in the context of EN 61508,

− In safety circuits according to EN 60204-1 and EN 60204-32,

− As a PES for functional safety in the context of EN 62061,

− As an SRP/CS in the context of EN 13849,

− As a device for setting up safety functions according to EN 61800-5-2,

yAs a logic unit for signal conversion and processing in a two-hand circuit

according to EN 574.

The modules FSM are safety components as per Annex IV of the Machinery Directive

2006/42/EC. They were developed, designed and manufactured according to the

directive stated above as well as EC directive 2013/30/EU (EMC Directive) – cf.

Appendix EC declaration of conformity.

NOTE:

The FSM modules without UL/CSA approval can be used in the USA and

Canada taking into account the following boundary conditions:

yThe switching voltage of the output relays is to be limited to max. 24 V.

yThe power for the FSM modules and their inputs and outputs must be

supplied using a power supply unit that corresponds to requirement

CLASS2 as per UL 1310.

Subject to these conditions, UL/CSA approval is not necessary and the FSM module

can be used in circuits as per UL 508A.

WARNING!

The usage of the devices mentioned above contrary to the rules and

conditions listed here can result in injuries or death or cause damage to

devices and machines connected!

NOTE:

This usage will also render void any claims under the warranty or claims for

damages against the manufacturer.

2.2 Behaviour in an emergency

The modules FSM have been developed and built such that on the occurrence of a

malfunction they can detect these malfunctions using diagnostics and automatically

change to the safe state. (See chapter "Safe state").

CAUTION!

To rectify wiring errors, the related module must be disconnected from the

supply of electrical power because incorrect voltages or short circuits may

cause faults in the module.

DANGER!

Work on the wiring or the electrical system can result in electric shock or

death. For this reason, only appropriately skilled persons in the context of

TRBS 1203 are allowed to undertake this work.

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Safety

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Safety

ID no.: 1781.20B.3-00 Date: 10/2023

2.3 Safe state

The safe state of the FSM module is achieved if all outputs in a module are safely shut

down and the module is in the error status; this status is retained until the cause has

been rectied and the error state has been acknowledged or the module has been

restarted.

The state of a module is indicated continuously via the 7-segment display providing this

display is supplied with electrical power.

The error is also indicated sequentially using a letter and 4 digits (cf. Troubleshooting).

2.4 General safety instructions

DANGER!

Work on the wiring or the electrical system can result in electric shock or

death. For this reason, only appropriately skilled persons in the context of

TRBS 1203 are allowed to undertake this work.

(Knowledge of applicable rules and standards, as well as accident prevention

regulations is a prerequisite for appropriately skilled persons).

NOTE:

Work is only allowed to be undertaken after reading carefully the operation

manual and while following the operation manual.

NOTE:

Attention is to be paid to the device data (technical data) for the module.

NOTE:

The content on these installation instructions is limited to the basic function of

the devices and their installation. The programming and conguration of the

parameters in the devices are described in the programming manual. Detailed

knowledge and understanding of this information is an essential prerequisite

for installing the devices or the modication of the device function or device

parameters.

NOTE:

Commissioning (i.e. starting intended operation) is only permitted on

compliance with the requirements of the EMC Directive. The EMC test

standards EN55011 and EN 61000-5-2 form the basis for this check.

NOTE:

For storage and transport, the conditions according to EN 60068-2-6 in

relation to the values stated in "Tech. characteristic data" are to be met.

NOTE:

The applicable VDE regulations apply; other specic safety regulations for the

specic application are also to be followed.

NOTE:

The monitoring functions congured as well as their parameters and operators

are to be veried in a validation report.

DANGER!

Never install or place in operation damaged products. Damage is to be

reported to the freight carrier without delay. Never open the housing and/or

make unauthorised modications.

Safety functions may be lost and, therefore, there may be mortal danger.

WARNING!

Inputs and outputs for standard functions and the digital and analogue data

transmitted via communication modules are not allowed to be used for safety-

related applications. Due to data errors, malfunctions may occur that can also

result in unexpected starting.

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Safety

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Safety

ID no.: 1781.20B.3-00 Date: 10/2023

2.5 Declaration of conformity

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Safety

FSM Module Installation Manual

Safety

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13

Application area

FSM Module Installation Manual

Application area

ID no.: 1781.20B.3-00 Date: 10/2023

3 Application area

3.1 Device description

3.1.1 Function

The FSMs are master modules for FSoE communication to read state information and

switch states of FSoE slave modules (e.g. KeDrive D3 SDC or approved FSoE slaves

from other manufacturers).

The FSM (FSoE master) can send, receive and process safe data via FSoE and non-

safe data via EtherCAT. In the transmission layer of the EtherCAT network, the FSM only

functions as a slave and sends data to or receives data from the EtherCAT master. The

FSoE slaves send and receive the data for the axes to be monitored and their digital

inputs and outputs in the same way to/from the EtherCAT master. The FSoE (safe) data

are transmitted in closed containers during this process. The EtherCAT master collects

the FSoE data containers received from the slaves and forwards these data to the

FSM (FSoE master). In the opposite data direction, the EtherCAT master receives the

complete frame with the slave FSoE data container from the FSM and distributes these

data to the individual slaves.

NOTE:

The EtherCAT master forwards the FSoE data containers, unchanged,

from the FSoE slaves to the FSoE master and vice versa. It is therefore only

responsible for correct transmission. For this purpose the EtherCAT master

requires all the necessary connection information to establish the cross-com-

munication. This information is to be provided via the conguration tool for the

EtherCAT master.

The following safety functions are available in the FSM Module:

ySafe processing of inputs and outputs

3.1.2 Integration in the EtherCAT network and FSoE

FSoE data transmission

FSoE (Fail Safe over EtherCAT) is the safe transmission of data via the EtherCAT

network.

The user data are combined into data packets; unique identiers and a checksum are

then added.

The transmission is also monitored via timers (watchdogs) that are checked in each

FSoE bus user in the network. In this way an open circuit can be safely detected.

The checksum is calculated using a CRC16 (16-bit Cyclic Redundancy Check) and

makes it possible to detect an error with a residual error probability of < 10-9 and

therefore safe data transmission up to PL e or SIL 3.

The data packet and CRC are transmitted together (as one packet) via the non-safe

EtherCAT network – due to the additional calculation effort the transmission is every

1ms.

EtherCAT network

The EtherCAT network consists of a master and a specic number of slaves.

The data are transmitted via Ethernet connections between the EtherCAT master and

each bus user and, in general, serially from bus user to bus user. Ethernet frames are

used for this purpose. Each network user must rst read the data received, lter out the

data addressed to the related user and insert the output data in the frame. After passing

through all the slaves, the frame is sent back to the EtherCAT master.

Because each bus user therefore has an effect on the transmission of a message, the

network must be dened and specied exactly. This information is specied using ESI

les that dene the bus users and their properties.

The data transmission is always initiated by the master – in the EtherCAT network the

transmission takes place with a best possible transmission time of a few µs.

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Application area

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Figure 3.1 EtherCAT network

EtherCAT data transmission

In principle a differentiation is made between process data to be transmitted cyclically

and acyclic data such as conguration and diagnostic data, etc.

The cyclic process data are assigned to the PDOs (Process Data Objects). The PDOs

can be of xed or variable length and content. The variable content is specied by

the PDO mapping. The features of the PDO are specied by the individual bus user

description le (ESI le).

Acyclic data services are primarily SDOs (Service Data Objects), but can also be EoE

(Ethernet-over-EtherCAT) or FoE (File-over-EtherCAT). The features of the acyclic

services are also specied by the individual bus user description le (ESI le).

FSoE and EtherCAT

The Ethernet frame in the EtherCAT network can contain both non-safe and safe data.

The safe data are called FSoE data and assigned to the FSoE master and slave protocol

stack. These data are transmitted cyclically and are therefore contained in the PDO for

the related bus user.

The FSM is designed as an FSoE master and starts the safe transmission via FSoE. This

module is also an EtherCAT slave bus user in the non-safe EtherCAT network.

A separate EtherCAT master starts the non-safe transmission via EtherCAT.

The PDOs are transmitted cyclically with the FSoE data they contain. The cycle time for

the transmission is specied in the conguration for the EtherCAT master. As a rule, the

cycle time should be set to a multiple shorter than the cycle time of the FSoE master to

ensure the data are updated within the watchdog monitoring time in the FSoE master.

S = Safe (Data Transfer) = FSoE

N = Non-safe (Data Transfer) = EtherCAT

Figure 3.2 Example FSoE

3.2 Principle of safe monitoring using FSM

The master module FSM receives the data for inputs from the slave modules and

evaluates these data.

The FSM can then implement safety functions and switch outputs correspondingly – this

action can be undertaken directly via the module's own outputs or the outputs on the

slave modules.

Because the EtherCAT transmission occurs more frequently (e.g. every 62.5 µs), data

can initially be transmitted non-safely and used and then less frequently (every 1 ms)

transmitted safely. This timing can be necessary to optimise response time.

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Application area

ID no.: 1781.20B.3-00 Date: 10/2023

3.3 Operation and service

The FSM module is designed for usage in a protected environment (switch cabinet) (c.f.

technical data).

Before installing or removing the module, or disconnecting the signal wires, the supply of

electrical power to the module is to be switched off. For this purpose the supply cables

to the device are to be switched off and it is to be checked to ensure electrical power is

not present.

During the installation and removal of the module, electrostatic discharges on the

external terminals and connectors are to be prevented by taking appropriate measures.

Contact with these terminals should be restricted to a minimum and you should be

earthed, e.g. using an earthing wrist strap, before and during this contact.

3.4 Storage and transport

The modules are stored and shipped in protective boxes. These boxes protect the

modules against dropping and knocks.

The instructions on transport, storage and proper handling are to be followed. The

climatic requirements as per the chapter "Technical data" are to be met.

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17

Layout of the FSM modules

FSM Module Installation Manual

Layout of the FSM modules

ID no.: 1781.20B.3-00 Date: 10/2023

4 Layout of the FSM modules

4.1 FSM-1 module

X11 X12 X13 X14

X22X21 X23 X24

IN 00 02 0301

IN 04 06 0705

IN 08 10 1109

IN 12 P1 P213

Status

COM X41

ECAT OUT ECAT IN

RUN

EC ST

Function

FSM-1

QX

00 02 0301

QR

1 2

16

15

13

10

8

6

4

14

12

11

9

5

7

X11 Terminal, power supply

X12 Terminal, inputs, pulse outputs

X14 Terminal, inputs

(4) STATUS LED display, system status

(5) LED display, status of inputs, pulse outputs

(6) LED display, status of inputs

(7) Reset button for the indication of the CRC

(8) Socket, EtherCAT cable (IN)

(9) 7-segment display - system status

(10) Socket, EtherCAT cable (OUT)

(11) Socket, service interface

(12) LED display, status of outputs

(13) LED display, status of inputs

(14) LED display, status of outputs

(15) LED display, status of inputs

(16) STATUS LED display, EtherCAT connection

X21 Terminal, outputs

X22 Terminal, outputs

X23 Terminal, inputs

X24 Terminal, inputs

Figure 4.1 Layout of the FSM-1 module

4.1.1 Terminal arrangement, FSM-1

X11

Term. 1 - 24+ Power supply

device +24 VDC

2 - AQ1+ Power supply

device +24 VDC outputs

3 - GND Power supply

device 0 VDC

4 - GND

X12

Term. 1 - I12 Safe digital inputs

2 - I13

3 - P1 Pulse outputs

4 - P2

X21

Term. 1 - QX00

Safe outputs

pn/ pp-switching

2 - QX01

3 - QX02

4 - QX03

X22

Term. 1 - QR1L Safe relay input

2 - QR1 Safe relay output

3 - QR2L Safe relay input

4 - QR2 Safe relay output

X14

Term. 1 - I00

Safe digital inputs

2 - I01

3 - I02

4 - I03

X23

Term. 1 - I04

Safe digital inputs

2 - I05

3 - I06

4 - I07

X24

Term. 1 - I08

Safe digital inputs

2 - I09

3 - I10

4 - I11

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Layout of the FSM modules

FSM Module Installation Manual

Layout of the FSM modules

ID no.: 1781.20B.3-00 Date: 10/2023

4.2 FSM-2 module

X41 X42 X45 X46 X49 X50 X65 X66

X44X43 X47 X48 X52X51 X67 X68

IN 00 02 0301

IN 04 06 0705

08 10 1109

IQ 12 14 1513

IQ 16 18 1917

IQ 02 04 0503

IQ 06 08 0907

QX

00 02 0301

IN 12 P1 P213 IQ 00 01 IQ 10 11

QR

1 2

Status

COM X41

ECAT OUT ECAT IN

RUN

EC ST

Function

FSM-2

IN

16

15

28

27

13

10

8

6

4

14

12

11

9

5

7

26 25

29

30

X41/45 Terminal, power supply

X42 Terminal, inputs, pulse outputs

X46 Terminal, IO, signal outputs

(4) STATUS LED display, system status

(5) LED display, status of inputs, pulse outputs

(6) LED display, status of inputs

(7) Reset button for the indication of the CRC

(8) Socket, EtherCAT cable (IN)

(9) 7-segment display - system status

(10) Socket, EtherCAT cable (OUT)

(11) Socket, service interface

X49 Terminal, power supply

X50 Terminal, IO, outputs

X66 Terminal, inputs

(12) LED display, status of outputs

(13) LED display, status of inputs

(14) LED display, status of outputs

(15) LED display, status of inputs

(16) STATUS LED display, EtherCAT connection

(25/26) LED display, Status IO

(27/28) LED display, Status IO

(29/30) LED display, Status IO

Figure 4.2 Layout of the FSM-2 module

4.2.1 Terminal arrangement, FSM-2

X41

Term. 1 - 24+ Power supply

device +24 VDC

2 - AQ1+ Power supply

device +24 VDC outputs

3 - GND Power supply

device 0 VDC

4 - GND

X42

Term. 1 - I12 Safe digital inputs

2 - I13

3 - P1 Pulse outputs

4 - P2

X43

Term. 1 - QX00

Safe outputs

pn/ pp-switching

2 - QX01

3 - QX02

4 - QX03

X44

Term. 1 - QR1L Safe relay input

2 - QR1 Safe relay output

3 - QR2L Safe relay input

4 - QR2 Safe relay output

X45

Term. 1 - AQ2+ Power supply device +24

VDC outputs

2 - AQ2+

3 - GND Power supply device 0 VDC

4 - GND

X46

Term. 1 - IQ00 Safe digital I/O

2 - IQ01

3 - NC No function

4 - NC

X47

Term. 1 - IQ02

Safe digital I/O

2 - IQ03

3 - IQ04

4 - IQ05

X48

Term. 1 - IQ06

Safe digital I/O

2 - IQ07

3 - IQ08

4 - IQ09

X49

Term. 1 - AQ3+ Power supply device +24

VDC outputs

2 - AQ3+

3 - GND Power supply device 0 VDC

4 - GND

X50

Term. 1 - IQ10 Safe digital I/O

2 - IQ11

3 - NC No function

4 - NC

X51

Term. 1 - IQ12

Safe digital I/O

2 - IQ13

3 - IQ14

4 - IQ15

X52

Term. 1 - IQ16

Safe digital I/O

2 - IQ17

3 - IQ18

4 - IQ19

X66

Term. 1 - I00

Safe digital inputs

2 - I01

3 - I02

4 - I03

X67

Term. 1 - I04

Safe digital inputs

2 - I05

3 - I06

4 - I07

X68

Term. 1 - I08

Safe digital inputs

2 - I09

3 - I10

4 - I11

19

Technical data

FSM Module Installation Manual

Technical data

ID no.: 1781.20B.3-00 Date: 10/2023

5 Technical data

5.1 FSM-1 module

General technical data

Max. number of FSoE slave modules or connections 29

Number of safe inputs: 14 (OSSD support)

Number of safe outputs: 2 pn-switching

(Congurable in the software) 4 pp-switching

Number of relay outputs: 2

Number of pulse outputs (clocked): 2

Type of connection: Plug-in terminals with spring or screw connection

Cycle time PLC 16 ms

Safe master FSoE

Table 5.1 Technical data, FSM-1

NOTE:

OSSD (Output Signal Switching Device) test pulses to be ltered out must

comply with the following specication:

yThe test pulses must have a duration < 500 µs.

yThe repetition rate of the test pulses must be ≥ 16 ms

Mechanical data

Size (H x D x W) 100 x 115 x 45 mm

Weight 312 g

Fastening: DIN rail

Max. connection cross-section/ AWG: 2.5 mm2 / 12

Min. connection cross-section/ AWG: 0.2 mm2 / 24

Table 5.2 Mechanical data, FSM-1

Electrical data

Supply voltage: 24 VDC -15 % / +20 % *)

Power consumption (max.): 3.1W

Rated data, digital inputs: 24 VDC; 20 mA

Rated data, digital outputs: 24 VDC; 2000 mA

Rated data, relay outputs: 24 VDC; 2.0 A / 230 VAC; 2.0 A

Rated data, pulse outputs: 24 VDC; 500 mA

Fuse protection for the supply voltage Max. 3.15 A (min. 30 VDC)

Fuse protection for the outputs: Max. 10 A (min. 30 VDC)

Total current, outputs Max. 10 A per board (QX00 to QX03, QR1 to QR2)

Digital outputs Maximum current carrying capacity of the outputs (QX00 to QX03)

based on the temperature (2 A at 30 °C; 1.8 A at 50 °C)

*) For safe operation, the supply voltage specied above for the device and all outputs must be present.

Table 5.3 Electrical data, FSM-1

Environmental data

Temperature, operation: 0 ° … 50 °C

Temperature, storage/transport: -25 ° … 70 °C

Protection class: IP 20

Climate class: 3K3 as per EN 60721-3

Relative atmospheric humidity (no

condensation) 5 % - 85 % (min. - max.)

EMC DIN EN 61000-6-2, DIN EN 61000-6-4, DIN EN 61000-6-7, DIN EN

61800-3, DIN EN 61326-3, DIN EN 62061

Equipment usage 2000 m

Table 5.4 Environmental data, FSM-1

20

Technical data

FSM Module Installation Manual

Technical data

ID no.: 1781.20B.3-00 Date: 10/2023

5.2 FSM-2 module

General technical data

Max. number of FSoE slave modules or

connections 27

Number of safe inputs: 14 (OSSD support)

Number of safe outputs: 2 pn-switching

(Congurable in the software) 4 pp-switching

Number of safe digital I/Os 20

Number of relay outputs: 2

Number of pulse outputs (clocked): 2

Type of connection: Plug-in terminals with spring or screw connection

Cycle time PLC 16 ms

Safe master FSoE

Table 5.5 Technical data, FSM-2

NOTE:

OSSD (Output Signal Switching Device) test pulses to be ltered out must

comply with the following specication:

yThe test pulses must have a duration < 500 µs.

yThe repetition rate of the test pulses must be ≥ 16 ms.

Mechanical data

Size (H x D x W) 100 x 115 x 90 mm

Weight 512 g

Fastening: DIN rail

Max. connection cross-section/ AWG: 2.5 mm2 / 12

Min. connection cross-section/ AWG: 0.2 mm2 / 24

Table 5.6 Mechanical data, FSM-2

Electrical data

Supply voltage: 24 VDC -15 % / +14.5 % *)

Power consumption (max.): 3.1W

Rated data, digital inputs: 24 VDC; 20 mA

Rated data, digital outputs: 24 VDC; 2000 mA

Rated data, digital IO 24 VDC; 500 mA

24 VDC; 2000 mA *)

Rated data, relay outputs: 24 VDC; 2.0 A / 230 VAC; 2.0 A

Rated data, pulse outputs: 24 VDC; 500 mA

Fuse protection for the supply voltage Max. 3.15 A (min. 30 VDC)

Fuse protection for the outputs: Max. 10 A (min. 30 VDC)

Total current, outputs Max. 10 A per board

(QX00 - QX03, QR1 - QR2 / IQ00 - IQ09 / IQ10 - IQ19)

Digital outputs Maximum current carrying capacity of the outputs **) based on the

temperature (2 A at 30 °C; 1.8 A at 50 °C)

*) For safe operation, the supply voltage specied above for the device and all outputs must be present on X41, X45, X49.

**) QX00 - QX03 / IQ05 - IQ09 / IQ15 - IQ19

Table 5.7 Electrical data, FSM-2

Environmental data

Temperature, operation: 0 ° … 50 °C

Temperature, storage/transport: -25 ° … 70 °C

Protection class: IP 20

Climate class: 3K3 as per EN 60721-3

Relative atmospheric humidity (no

condensation)

5 % - 85 % (min. - max.)

EMC DIN EN 61000-6-2, DIN EN 61000-6-4, DIN EN 61000-6-7,

DIN EN 61800-3, DIN EN 61326-3, DIN EN 62061

Equipment usage 2000 m

Table 5.8 Environmental data, FSM-2

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Keba FSM Modul, FSoE Master Installation guide

Keba FSM Modul, FSoE Master Installation guide

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