Chapter 2: Installation and Configuration
XC2 Hardware Manual
To resume normal operation, apply power to both STO 1 and STO 2 inputs and clear the Emergency Stop
software fault using the Fault Acknowledge button or command. The recommended use of the Emergency
Stop Fault fault mask bits prevent the system from automatically restarting.
You can achieve longer delay times through the use of an external delay timer, such as the Omron G9SA-
321 Safety Relay Unit. Place this device between the system ESTOP wiring and the XC2's STO inputs.
Connect the ESTOP signal directly to a digital input, in addition to the external timer, to allow the XC2 to
begin a software-controlled stop as soon as the ESTOP signal becomes active. Use the ESTOPFaultInput
parameter to configure a digital input as an ESTOP input.
Non-standard STO delay times are provided by special factory order. In this case, the non-standard STO
delay time is indicated by a label placed on the slice amplifier’s main connector (STO DELAY = xx sec).
Table 2-26:
STO Signal Delay
Value
STO Time Delay
450-550 msec
Table 2-27:
Motor Function Relative to STO Input State
STO 1
STO 2
Motor Function
Unpowered
Unpowered
No force/torque
Unpowered
(1)
Powered
(1)
No force/torque
Powered
(1)
Unpowered
(1)
No force/torque
Powered
Powered
Normal Operation
1. This is considered a Fault Condition since STO 1 and STO 2 do not match. Refer to
2.4.3. STO Startup Validation Testing
Verify the state of the STO 1 and STO 2 channels by manually activating the external STO hardware. Each
STO channel must be tested separately in order to detect potential short circuits between the channels. The
current state of the STO 1 and STO 2 inputs is shown in the Status Utility. A “–” indicates that the STO input
is powered by a high voltage level (24 V). An “ON” indicates that the voltage source has been removed from
the input (open circuit or 0 V), and that the STO channel is in the safe state.
DANGER
: The STO circuit does not remove lethal voltage from the motor terminals. AC mains
power must be removed before servicing.
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