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Stöber SX6
Fail Safety over EtherCAT (FsoE) in SI6/SC6 servo controller

  • Fail Safety over EtherCAT / EN 61800-5-2
  • PLe (Cat. 4) according to EN ISO 13849-1
  • Integrated in SI6/SC6/SB6 servo controller
SX6
SX6 Table safety functions
SX6 Stober-Pilz
SX6 Safety functions
SX6 FsoE IO
SX6 Drive FsoE

Flexible and affordable expansion of a large number of safety functions for the Stöber SI6/SC6 servo controller in accordance with EN 61800-5-2. With the PASmotion software from Pilz integrated into the DriveControl Suite setup software from Stöber, the specialist knowledge and experience of two worlds come together.

The result is simple and flexible setup of safety functions for STOP, MOTION, MONITORING, BRAKE, RESTART and STATUS in the high-performance stand-alone SI6/SC6 controller from Stöber.

Key benefits:

  • Failsafe over EtherCAT interface (FsoE)
  • Works with standard servo motor (rotary, linear)
  • Independent of encoder type (resolver, SSI, EnDat2.1, EnDat 2.2, …)
  • So no Sin/Cos encoder required
  • So no limitation 13 bit encoder resolution
  • So no Sin/Cos encoder cable required
  • So no Sin/Cos adapter required
  • No error exclusion required for encoder mounting (FMA) required
  • No Standstill/speed monitor required
  • Reaction time < 20ms guaranteed at the highest safety level
  • Safety level SIL3/ PLe/ Cat. 4
  • Easy to use (configuration, commissioning, service)

This saves space, time and costs

With the SX6 safety module, the SI6/SC6 servo controller can be incorporated into the safety circuit as a “safety related part of the control system” (SRP/CS) for the execution of safety functions (Safe Drive System).

Safety functions (configurable)

  • 2 Safe Stop functions (SS1, SS2)
  • 5 Safe Motion functions (SDI, SLI, SLS, SOS, SSR)
  • 5 Monitoring functions (SDI-M,SLI-M, SLS-M, SOS-M, SSR-M)
  • 2 Safe Brake functions (SBC, SBT)
  • Safe Restart Lock (SRL)
  • Safe Status Output (SSO)

Connections

  • 2 safe, dual-pole hardware outputs for controlling mechanical brake(s)

EtherCAT FSoE interface

  • 1 byte control word per axis (ETG 6100.2 Safety Drive Profile)
  • 1 byte status word per axis (ETG 6100.2 Safety Drive Profile)
  • 4 byte control word (freely available)
  • 4 byte status word (freely available)
  • 8-pin DIP switch for FSoE addressing

The safety functions can be assigned to the freely available inputs and outputs (EtherCAT FSoE status/control bits) in the configuration tool of the safety module.

The table below shows an overview of the safety functions according to EN 61800-5-2 and which of them are available with the SX6 safety module. The mentioned ST6 and SE6 are the safety modules that are available for the Stöber SD6 controller.

Safe Drive System structure

A Safe Drive System consists of the following as standard:

  • Safe Drive Controller (SI6/SC6 + SX6)
  • Standard Stöber Motor with encoder
  • Programmable Safety control system (safety PLC)
  • Configuration tool (PASmotion)

Optionally can be added:

  • Standby current-activated mechanical brakes (standard or safety component)

The Safety module SX6 (depending on the configuration):

  • Performs a plausibility check on the connected motor encoder and uses it to generate safe speed and position values
  • Compares the current speed or position with the limit values ​​and triggers an error reaction when a limit value is exceeded.
  • Transmits the status of safety functions to the safety PLC.
  • Activates controlled shutdown via the Control unit for the SS1 and SS2 safety functions.
  • Activates the integrated STO block (redundant) on request or in the event of an error.
  • Has an option for safely triggering up to two standby, current-activated, mechanical brakes.
  • Detects errors in the mechanical brakes by means of a brake test.

The Control Unit:

  • interrupts the torque/current generation for the motor by activating the STO block.
  • stops the motor when the SS1 or SS2 safety function is activated.
  • sends the configuration data from the configuration tool (PASmotion) to the Safety module.
  • stores the device configuration in the retentive memory of the SI6/SC6 servo controller.
  • reads the fault memory of the Safety module and provides detailed status information.

The Safety control system (safety PLC)

  • evaluates signals from safety devices, such as:
    - Emergency stop button
    - Safety gates
    - Light curtains
    - Two-hand operation
  • activates the safety functions in the safety module (adjustable).
  • processes safe feedback outputs on the safety module (adjustable).

The PASmotion configuration tool:

  • configures and parameterizes the safety module.
  • ensures safe uploading and downloading of the configuration file.
  • shows the status of the inputs/outputs in the online display.
  • displays the error list.

Example of activating the safety function (SS1) with error detection by status feedback:

Pilz PASmotion software tool started from Stöber DriveControl Suite

Example of configuring the Safe Operating Stop (SOS) function in PASmotion

  • Quick response, short lines
  • Renowned manufacturers
  • Profound product knowledge
  • High reliability

We supply slewing ring bearings, oscillating mountings, tensioner devices from stock and we also have spiral bevel gearboxes, servo gears and electromechanical actuators in our delivery program.


In addition we also select and offer the right components and systems for motion control solutions, such as servo gear motors, linear servo actuators and complete XYZ cartesian systems.

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