Integrated Development Environment

COMBIVIS studio 6

COMBIVIS studio 6 is the intelligent automation suite from KEB. It combines motion control IEC 61131-3 project generation, assistant-guided component selection, fieldbus configuration and drive parametrisation. From the planning and layout phase to the implementation of control sequences and multi-axis movement profiles right through to the start-up and fine-tuning phases, the user is supported by a software tool. Based on the extensive library, template and device database, solutions for the widest range of applications can be generated quickly and easily.


  • IEC 61131-3 application development
  • Device and library database
  • Start-up and diagnosis assistants
  • COMBIVIS studio HMI integration
  • Document database


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Program Specification

COMBIVIS studio 6

In KEB’s COMBIVIS studio 6, IEC 61131-3 application development and drive parametrisation are combined into an efficient engineering tool for individual automation solutions. 

The software allows easy access to programming according to IEC 61131-3, and thus lays the foundations for independent and future-oriented source codes with a flexible choice of programming languages. Users benefit from convenient “SmartCoding” with tools for declaration, error diagnosis, debugging and online data analysis.
Access to the KEB database also provides time-saving access to operating instructions, technical drawings and datasheets for project preparation and documentation

KEB’s libraries open up direct access to motion programming for real-time-compatible, synchronised action drives. Integrated editors provide support when preparing profiles in the sectors of cam discs, electronic gears, angle synchronisation and the integration of G codes.

Start-up assistants, digital oscilloscopes, tools for data backup and recovery, and extensive expert settings for the optimised fine-tuning of systems round off the COMBIVIS studio 6 engineering software.

Automation with standards

COMBIVIS studio 6 has been developed so that even complex tasks can be programmed with ease. 

Working with the standardised languages of IEC 61131-3 clears the way for reusing previously developed code in future projects. Designed for industrial automation, COMBIVIS studio 6 offers everything that users need for programming control systems — including protection of expertise. 

  • Standardised languages of IEC 61131-3 
  • Object-orientation at high language level 
  • Extensive toolboxes and standard libraries 
  • Multi-task management that can be prioritised 

IEC 61131-3 editors

The development level of COMBIVIS studio 6 offers flexible programming possibilities, complete on-line and off-line functions, compilers and  components for configuration, visualisation and diagnosis. Thanks to user feedback, all editors are designed practically for simple and time-saving use.

The KEB software uses the international standardised programming languages of IEC 61131-3 as a basis:

  • Ladder Diagram (LD)
  • Function Block Diagram (FBD)
  • Instruction List (IL)
  • Continuous Function Chart (CFC)
  • Sequential Function Chart (SFC)
  • Structured Text (ST)

 In addition, use of Continuous Function Chart (CFC) is also possible.

Debugging and watching

  • Read, write and assign values on-line
  • Programmable stop points
  • Sequence control
  • Project comparison
  • Call stack
  • Cross reference list
  • Event logger
  • User-defined watching window
  • Binary, decimal and hexadecimal switching
  • Multichannel trends with trigger function

COMBIVIS studio HMI: integrated visualisation

COMBIVIS studio 6 links the visualisation software, COMBIVIS studio HMI, with the control project and organises automated variable and driver exchange as well as project archiving. 


  • Automated driver and variable exchange
  • Parallel development of HMI and control projects
  • One HMI and multiple control sources
  • Higher-level archiving possibilities


Document database

The KEB document database provides the user with a versatile and flexible knowledge database. It keeps itself updated in the background which means that it is always state-of-the-art.


  • Automatic online update
  • Individual selection of off-line content 
  • Direct search function by parameter documents

Start-up, Diagnosis and optimisation of drives

The tool includes functionalities that make it even easier to commission and optimise drives

  • Start-up
  • Motor
  • Encoders
  • Encoderless regulated operation
  • Drive control 
  • Safety
  • Fieldbus analysis 
  • Cogging compensation

KEB Channelhandler - Multi-Fieldbus-Gateway

The gateway functionality enables communication to KEB devices via various fieldbus interfaces.

  • Direct access to drive parameters by the network and fieldbus topology
  • Multi-fieldbus gateway for EtherCAT, CAN open, HSP5, EtherNet/IP, EtherNet TCP/IP, serial RS232 /RS458, PROFINET, PROFIBUS, INTERBUS, POWERLINK 
  • Access even in synchronous operation

Expansion packages for COMBIVIS studio 6

Expansion packages are special additions that enable you to adapt the COMBIVIS studio 6 software even more specifically to your application if necessary. A package is integrated into the COMBIVIS studio 6 environment and is therefore linked with the core functionalities. Find the right package for your requirements below


  • Easy and flexible configuration of the CNC kernel with COMBIVIS studio 6 in an object-oriented design
  • Package contents:
  • KEB + ISG libraries
  • GUI for setting kinematics, compensations, axis and channel parameters
  • CNC instructions
  • License-protected
  • Easy and flexible configuration of the CNC kernel with COMBIVIS studio 6 in an object-oriented design

The wizard for starting up a servo pump can be integrated into COMBIVIS 6 as a package in order to use the functions specifically and easily.

  • Assistant-guided start-up with COMBIVIS 6 for a servo pump in combination with a drive controller and motor

  • Fast and efficient operation – no expert knowledge required

  • Possibility to carry out start-up in a structured way

  • Visual support for servo pump application parameters

  • Optimal settings for speed and pressure controllers through an auto-tuning function

  • Determination of hydraulic resonance generated by the geared pump

  • Definition of parameter settings for the notch filter used for reducing vibrations which is integrated into the servo pump software

The T6 APD wizard facilitates the start-up of the modular drive controller. It is integrated into COMBIVIS 6 and enables easy and flexible configuration.

  • Menu-guided start-up assistant
  • Rapid solving of drive tasks including interface definition for the primary vehicle control system (EVCU).
  • GUI for the different applications available
  • Possibility to create a user-defined GUI for your own applications
  • Status display for the current device status and fault history
  • Easy access to all available documentation

Downloads for COMBIVIS studio 6

Revision List No.: 968/FSP 2081.00/20
(pdf, 02.07.2020, 71 KB)
TÜV Certificate COMBIVIS studio
(pdf, 02.07.2020, 620 KB)
FAQ C6 IPC 0003 NvRamUsage (en)
(pdf, 22.07.2019, 302 KB)
FAQ CV6 0004 H6 Motorwizard (en)
(pdf, 22.07.2019, 2 MB)
FAQ CVstudio6 0018 License (en)
(pdf, 29.09.2020, 532 KB)
Package Device Naming
(package, 23.06.2023, 3 MB)
Wizard Servo pump
(package, 10.01.2023, 5 MB)

COMBIVIS studio 6


To round off the automation concept, KEB offers a fully integrated safety solution based on the CODESYS SAFETY development environment in the COMBIVIS studio 6 automation platform. This complete solution allows freely programmable development for applications in accordance with the safety standards IEC 61508 SIL3 and DIN EN ISO 13849-1 Ple. 
To ensure maximum flexibility, KEB offers the Safety over EtherCAT (FSoE) safety protocol based on existing EtherCAT topology, without any additional wiring.

Standard programming with CODESYS Safety

The C6 Safety PLC is programmed with a certified plug-in which is fully integrated into the KEB COMBIVIS studio 6 development environment. The safety controller constitutes a sub-node of the standard controller and manages other Safety over EtherCAT slaves. The system is programmed in the integrated Safety Editor with the Function Block Diagram (FBD) programming language in conjunction with certified modules according to PLCopen Safety. Additional features, such as change tracking, safe signal flow, safe version (pinning), separation of safe mode and debug mode, add to the range of functions.


  • Automated driver and variable exchange
  • Parallel development of HMI and control projects
  • One HMI and multiple control sources
  • Higher-level archiving options

Safety module editior

With the safety module editor, KEB offers users in the COMBIVIS 6 engi-neering environment a tool for configuration and analysis of the safety modules. The functions and values necessary for an application can be set off-line in order to be transmitted to the module on completion in just a few clicks.

Die mit dem Sicherheitsmodul-Editor erzeugten Parameterlisten lassen sich jederzeit abrufen und immer wieder neu auf weitere Module übertragen. 


  • Part of the COMBIVIS 6 development environment 
  • Safe transfer of configuration data 
  • Rapid parameter list download for series machine construction 
  • Scalable user rights with six different password levels 
  • Status and error messages:
  • global status 
  • status of safety functions 
  • error status 
  • status of inputs and outputs 
  • current rotation speed 
  • current position 
  • system time and date           


Downloads for COMBIVIS studio 6 safety

Revision List No.: 968/FSP 2081.00/20
(pdf, 02.07.2020, 71 KB)
TÜV Certificate COMBIVIS studio
(pdf, 02.07.2020, 620 KB)



CONTROL RUNTIME as basis for PLC and motion control functionality.

  • BASIC basic function scope for the KEB automation platform (IEC 61131-3 Standard and KEB Basic libraries)
  • PRO Professional function scope for the KEB automation platform (cam discs, electronic gears, angle synchronisation)
  • ADVANCED Advanced function scope for the KEB automation platform (CNC functionality, G-Code, prepared movements)
  • CNC HIGH-END-Solution – For complex requirements, the high-end solution with the integrated ISG CNC kernel offers extensive functions for CNC, robotics and motion control


The entry-level product for the KEB range of control systems is Runtime Basic. Even at the basic level, the real-time program core guaran-tees the deterministic behaviour with a jitter in the μs range. This clears the way for true multitasking without program-induced restrictions.
Deterministic communication channels such as EtherCAT or CANopen today offer the possibility of using decentralised drive hardware simulta-neously as remote I/O points. Also, digital cam switchgear can be achieved via the incremental encoder positions, without additional hardware.
KEB’s basic solution is generally suitable for movement controllers in which the tasks are divided over controller and drives.


  • Editors, functions and libraries are already fully available, right from the basic version
  • Function modules for movement and control of drives shorten the engineering 
  • Standard equipment: versatile communication facilities from control to field level


As an extended solution, CONTROL Runtime PRO is also based on the  programming standards IEC 61131-3 and PLC Open. The controllers and their interfaces to the drive regulators work with open, manufacturer- independent commands which correspond to the definitions of the PLC Open user organisation. The result is maximum flexibility in the choice of devices and code portability even if different manufacturer platforms are used on the controller side. 

In the PRO solutions, the system transfers the movement profiles of all axes via the deterministic communication bus. In this way the number of possible profiles is unlimited and the profile itself can be changed in one movement cycle with a short reaction time. KEB offers an efficient solution for current and future machine developments.


  • Motion control in real-time 
  • Adaptation of the movement task on the fly
  • Simple conversion into application units 
  • Axis control libraries create order

CAM Editor

The graphic editor of COMBIVIS studio 6 gives users a powerful tool with which they can produce and digitally manage cam profiles. System  developers appreciate the layout options most. These extend from linear or spline interpolators to loss compensation for cam switchgear.
Cam profiles are stored in table form and can be changed in real-time via the IEC function blocks. So developers can store many cam profiles directly in the control system for retrieval at any time.


ADVANCED is the extension of the PRO solution and performs CNC and robotic functionalities. 

The CNC program is translated into the drive position coordinates in real-time for all points of the three-dimensional Cartesian axes.

The KEB solution supports the following kinematics:

  • Five-axis transformation
  • Two- and three-dimensional gantry systems with functions for cutting, tool correction
    and stationary axes
  • Scara systems with two and three arms
  • Parallel systems as bipod and tripod with vertical or rotary axes
  • Robot movements with four and six axes


  • CNC G-code according to DIN 66025
  • Wide range of functions with low programming complexity
  • Numerous kinematics, safety functions and transformations
  • Graphic templates for simulating movements and applications



With the CNC Editor to DIN 66025, COMBIVIS studio 6 offers a 3D-motion tool. With this, users can use movement profiles with trusted G-code workpiece files, and also TXT, DXF and CAD files for controlling movement profiles. The KEB software tool can treat the G-code path as part of the compiled code, or process a buffered external file which can in turn be edited in real time - a great advantage in longer processes.

Programming aids consist of a number of assistants for avoiding loops, for calculation of round or smooth paths, working with polynomials of the 3rd or 5th order, rotation speed limitation, 3D scaling, rotation and splitting. The engineering approach of KEB makes the implementation of CNC tasks as simple as possible while retaining high flexibility because the individual modules can easily be exchanged.

Designing Robot Applications

KEB CONTROL Runtime ADVANCED enables the user to conveniently configure complex robot axis groups with an integrated editor. The user can select and parametrise the desired kinematics, and connect to the physical robot axes. The robot function is processed using standardised function modules according to PLCopen MotionControl Part 4. A highlight such as dynamic tracking ensures that the movement of the product is automatically superimposed with the movement relative to the product.


  • PLCopen MotionControl Part 4
  • PTP (point-to-point interpolation) optimisation
  • Dynamic tracking
  • Parametrisation of axis groups for pre-defined kinematics in the Editor


CNC High-End Solution

For complex requirements, the high-end solution with the integrated ISG CNC kernel offers extensive functions for CNC, robotics and motion control. KEB enables CNC machine manufacturers to automate their machine technologies with open automation tools based on standards (IEC 61131) without limiting the CNC functionality. This allows machine manufacturers to create their individual solution on demand. 


  • Simple and flexible configuration with COMBIVIS studio 6 in object-oriented design
  • Speed and acceleration pre-control, jerk limitation
  • Powerful, clock-synchronous CNC-PLC interface
  • Coupling functions, gantry axis functions, measuring functions
  • Look-ahead function
  • Linear, circular, spiral interpolation
  • DIN 66025 program syntax with high-level language extension
  • Subprogram technology, macro definitions, coordinate systems, spindle and additional functions
  • Operation with automatic mode, manual mode, single block mode, referencing, block advance, handwheel operation mode
  • Tool management
  • CNC Channels: Up to 12 channels expandable, channel synchronization, axis exchange between the channels
  • Transformation: Expansion of all CNC channels through kinematic transformation
  • High-Speed Cutting (HSC): Faster processing time, higher accuracy, better surface quality
  • Spline: Use of gearing (AKIMA, B-Spline) for geometry optimization
  • Cutting: CNC technology extension for cutting (e.g. laser, plasma, oxyfuel, water jet)
  • Volumetric compensation: Effective way to increase machine accuracy

Downloads for COMBIVIS Control Runtime

FAQ C6 IPC 0003 NvRamUsage (en)
(pdf, 22.07.2019, 302 KB)
FAQ CV6 0004 H6 Motorwizard (en)
(pdf, 22.07.2019, 2 MB)



The KEB_RawCan Library allows an easy access to CAN Layer 2. This can be used for simple applications or for complex protocol developments.


  • Application programming
  • Communication and data processing
  • CAN protocol development


  • Direct links from CAN data to user data by the KEB_MappingManager
  • Automatic datatype detection
  • Simple function block design and usage


The KEB_j1939 Library allows the user to communicate via the SEA J1939 CAN protocol. The modular design of the software allows the user to define what parameter groups shall be send or received by the j1939 stack.

DM1, DM2, DM3, DM4, TD, PropA, PropB, CCVS, EEC1, EEC2, ET1, IC1, CustomPg8Byte, CustomPgNByte


  • Application programming
  • Communication and data processing


  • j1939 license installed on runtime



  • Modular and extenable CA functionality
  • DM1-4 with included error history function
  • Transmit of up to 1785 Bytes in one parameter group
  • Automatic detection of telegram size and the necessary network services CMDT/BAM

The KEB_SMC_Utility includes simple function block for the implementation of axis movement jobs. The axis control FB’s get linked to the drive hardware and allows access to all single or multi axis functions.



  • Application programming
  • Motion design


  • Included in COMBIVIS studio 6
  • Control PRO


  • Easy startup of single- and multi-axis applications
  • Low programming effort for complex movements jobs

Allows the user the creation of a doubly linked list. This can be used to handle complex data types or function blocks in form of a list.
The list includes functions like add, delete, search, compare or sort of list objects. It also offers the possibility to import or export the list into the file system.


  • Application programming
  • Creation of databases
  • Simple and structured use of huge and complex data in any file format



  • Efficient sort algorithm
  • Datatype independent
  • Possibility of dynamic extension of the list
  • Import and export function

The KEB_Drive_Utility offers tools and function blocks for generell drive handling. Drives can be handled by the KEB_CIA402-Control-FB in all modes defined inside the CIA 402. Additional FB’s allow functions like torque sharing or angle synchronous movement. Also different controller, filter, parameter download or Ramp FB’s are part of the tools.


  • BASIC drive handling regarding CiA 402
  • Flexible movement and controlling jobs



  • Universal CiA 402 drive handling
  • Huge drive toolbox 

The KEB_Gateway_Utility manages all asynchronous communication for all possible communication interfaces of the PLC. It allows the user a direct drive access with COMBIVIS and its startup wizards via the Ethernet port of the PLC. Furthermore, the flexible SetCom FBs can also be used to tunnel higher-level interfaces such as PROFINET or CANopen and visualise them via a user-definable object dictionary.


Ethernet, Serial, EtherCAT, CANopen, PROFINET, PROFIBUS, Interbus, POWERLINK, EtherNet IP, HSP5, DIN 66019

Application group

  • Startup and service
  • Asynchronous communication


  • Universal communication gateway
  • Standard function of the C6 controller

PLC variables of different data types can be logged cycle accurate with microsecond time stamp. The logger additionally enables the time range to record an event trigger in two temporal resolutions. Thus the amount of data for longer recordings can be reduced and at the same time the important area around an event can be recorded exactly. The data is automatically saved in a file ring memory.


  • Data and event logging
  • Diagnosis


  • Flexible sampling settings
  • Accurate plug&play event diagnosis

The library enables the server-client data exchange via Ethernet or serial interface. The diagnostic output can be used to quickly detect errors during configuration or data transmission.


  • Applicators, M2M communication 


  • Universal M2M communication
  • Simple integration via IEC function blocks

The library KEB _RioUtility supports the commissioning of KEB Stepper and BLDC Remote-IO-Drives by a FB with the most important settings and the AutoTune function. In connection with the KEB_Drive_Utility the drives can be operated according to the Cia402 standard.


  • Stepper/BLDC drive commissioning


  • Simple configuration by setting FB inputs 

The KEB_Yaw_Library provides a collection of modules for programming the yaw drives of a wind turbine. This considerably reduces the programming effort for such an application. Special algorithms for torque distribution over several motors minimize wear and mechanical stress on the drive train and tower of the wind turbine.


  • Programming of a multi-motor system for yaw adjustment of a wind power plant


  • Drive control for the gentle movement of the wind turbine nacelle
  • Special control method for uniform torque distribution to all motors
  • Monitoring of gears and motor cables
  • Error history and 56-channel data logger for recording any program variable
  • Visualization of all relevant functions and drive data

The KEB Energy_Management_Library is used to control and monitor a KEB Active Front End (AFE) inverter in combination with an energy storage device (ultra capacitors) and electric drives or other consumers. Such a system allows the control and limitation of the power consumed from the mains or the power fed back into the mains. Power peaks during motor or generator operation of the drives are completely covered by the energy storage unit.


  • Energy management systems with storage to limitate main power peaks


  • Control of the AFE inverter with limitation of mains power and mains current
  • Control of charge / discharge of the energy storage device
  • Control of the mains power factor (cos ϕ)
  • 56 channel data logger for recording any program variables
  • Visualization of all relevant variables (voltage, current, power, energy)

The KEB P6_Basic_Library forms the basis for programming the pitch inverter KEB COMBIVERT P6. It allows easy use of basic P6 functions using the integrated IEC 61131 controller and significantly reduces programming effort.


  • Application programming with P6 inverters
    -     Pitch angle adjustment of wind turbines
    -     Special applications e.g. in very cold environments or with the use of energy storage devices such as ultra capacitors


  • Startup and communication monitoring between power section, control section and P6-PLC
  • Cyclic reading and writing of all relevant drive parameters
  • Control and monitoring of a 24 V brake or a high-  voltage brake
  • Encoder calibration and monitoring
  • Control and monitoring of the built-in charging circuit for energy storage devices
  • Evaluation of temperature, humidity and acceleration sensors
  • Monitoring and acknowledgement of the certified safety drive
  • Visualization templates for all function blocks

The KEB P6_ExtendedPitch_Library provides a collection of blocks for programming a pitch application based on the KEB COMBIVERT P6 inverter. This considerably reduces the programming effort for such an application.


  • Programming the pitch angle adjustment of wind turbines with P6 converters


  • Contains all functions that are already available in the KEB P6_Basic_Library
  • Additional modules for
    -     Drive control (speed controlled, position controlled) 
    -     Motor and power failure monitoring 
    -     Charging and discharging ultra capacitors
    -     42-channel data logger and error history

The KEB_PLM_UTILITY contains basic function blocks based on the PackML State Machine. By extending this function blocks, the library allows the user to create a modular machine application based on PackML standards. This enables the user a fast and easy way to integrate jobs (machine processes) in his application and call them.


  • Modular PackML based application programming


  • Fast integration of PackML State Machine in machine modules
  • Modular and future-proof software architecture thanks to standardized base function blocks

This library contains function blocks for basis communication function via Ethernet by socket handling, DNS and NTP. The KEB_MappingManager sup-ports the user map the communicated data to application variables of any type. Several monitoring tools for example TaskInfo and SysTimeDiff allows the user to optimize the PLC application in term of cycletime.


  • Communication and data management


  • Socket communication, Data management and Cycle time diagnosis tools

The library allows sending emails with attachments from the IEC61131 application.


  • Communication and data processing


  • Status reports, messages and log files can be processed centrally without access to the PLC

The library allows sending and receiving files from the IEC61131 application.


  • Communication and data processing


  • Simple possibility to exchange files

The KEB_ISG_CncUtility offers the user an easy handling of CNC applications. It starts from easy motion controls without cinematic transformations and ends at multiple channels with complex cinematic.


  • Application programming CNC


  • KEB CNC Package
  • CNC High End Solution



  • Easy implementation in PLC project
  • Integrated Toolhandling and error history
  • Up to 12 Channels and 64 Axis

This library allows the user to control the temperature of one or several heating and cooling zones. The auto tuning function saves the user time by skip-ping the manual setup of the controller. It heats up the zone once and automatically detects all parameters needed for a smooth control loop.


  • Extrusion machines
  • Curing oven Tempering furnace



  • Automatic tuning of heating zones
  • High precision temperature control
  • Limited user inputs
  • Dynamic warn-, alarm- and error-temperature thresholds

This library is designed for pressure control of servo pumps in highly dynamic processes like in plastic injection machineries. By running an auto tuning function, the function block generates up to 8 sets of parameters for the pressure control loop. The sets can be switched during runtime and allow an easy and fast change to the optimal setting of the servo pump.
In addition the library includes filter mechanisms to reduce oscillations of the machine and ensure a constant pressure control if needed.


  • Plastic injection machinery
  • Similar applications requiring highly dynamic servo pump control



  • Auto tuning for up to 8 Sets
  • Several pump protection functions

The KEB_T6_App_Utility is the basis framework of each T6 inverter. The library start all basic functions of a T6 and offers an application slot for each DCU. The library already includes several apps for typical T6 applications. It also allows the user to create own apps for customer specific designs. 


  • E-mobility
  • Application programming for commercial vehicles



  • Modular extension of application

  • Simple app programming due to preprogrammed basic functions

  • Functionality extendable

The KEB_File_Handling Library allows an easy access to the file system of the IEC Runtime.


  • Library Development
  • Application programming



  • Easy access to all file system functions

  • All functions combined in one function module

Downloads for COMBIVIS studio 6 Libraries

(zip, 06.02.2017, 2 MB)