KEB COMBIVERT F6 Programming Manual

FSoE Watchdog time type 3 (only F6-A / S6-A)
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12 Safety modules
12.1 FSoE Watchdog time type 3 (only F6-A / S6-A)
The minimum watchdog time is specified with 80ms.
The watchdog time for FSoE should be set higher, because the runtime of the safe PLC
and the EtherCAT cycle time must be considered.
i
➢ If a watchdog time lower than 80ms is set, it will be rejected by the safety
module.
12.2 FSoE watchdog time type 5 (only F6-P / S6-P)
The minimum watchdog time is specified with 35ms.
The watchdog time for FSoE should be set higher, because the runtime of the safe PLC
and the EtherCAT cycle time must be considered.
i
➢ If a watchdog time lower than 35ms is set, it will be rejected by the safety
module.
12.3 Safety module objects
There are additional functional (not safety-related) objects for the safety module. These
objects are in the "fs: safety drive profile parameters (FSoE):“- and in the "pa: PROFIsafe
parameters“ group.
fs: safety drive profile parameters (FSoE):
Index
Name
affects on KEB specific object:
Type 3
Type 5
0x6600
Time Unit
Resolution of objects which are time-
specific.
●
●
0x6601
Position Unit
Resolution of objects which are posi-
tion-specific.
●
0x6602
Velocity Unit
Resolution of objects which are
speed-specific.
●
●
0x6603
Acceleration Unit
Resolution of objects which are ac-
celeration-specific.
●
●
0x6611
Safe position actual value
32Bit
Position calculated by the safety
module. The number of decimal
places is changed by the safe config-
uration parameter number of bits per
revolution.
●
0x6613
Safe velocity actual value
32 Bit
Speed calculated by the safety mod-
ule. The scaling is 19 bit integer posi-
tions and 13 bit decimal places.
●
●
0x6620
Safe Controlword
Safety-oriented controlword.
●
●
0x6621
Safe Statusword
Safety-oriented statusword.
●
●

KEB COMBIVERT F6 Specifications

General

Brand	KEB
Model	COMBIVERT F6
Category	Controller
Language	English