Beckhoff ATH2000-0250 Page 16 Operating Instructions Manual Download

Page: 16 / 100

Product overview

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Version: 1.0

eXtended Transport System

Number

Explanation

Curved rail

Lock

Mover

LED status display

Cover with connection card

Straight guide rail with lock

Cover with supply

Machine bed

Straight guide rail without lock

Straight module

Curved module

Summary of Contents for ATH2000-0250

Page 1: ...eXtended Transport System XTS Hygienic Operating Instructions EN 5 7 2020 Version 1 0...

Page 2: ......

Page 3: ...n 28 Data for operation and environment 29 XTS Hygienic 30 Dimensional drawings 32 Scope of supply 44 Packaging 44 Transport and storage 45 Conditions 45 Long term storage 45 Mechanical installation 4...

Page 4: ...sion 1 0 eXtended Transport System Accessories 86 Rail on support 86 6 roller 75 mm mover 86 Fault correction 87 Motor modules 87 TcIoXts object 90 SoftDrive object 94 Decommissioning 96 Disassembly 9...

Page 5: ...CAT G EtherCAT G10 EtherCAT P Safety over EtherCAT TwinSAFE XFC XTS and XPlanar are registered and licensed trademarks of Beckhoff Automation GmbH The use of other brand names or designations by third...

Page 6: ...hibited and nullify the liability of Beckhoff Automation GmbH Co KG The following is excluded from the liability Failure to observe these operating instructions Improper use Use of untrained personnel...

Page 7: ...nal Product features Only the product properties specified in the current operating in structions are valid Further information given on the product pages of the Beckhoff homepage in emails or in othe...

Page 8: ...l safety requirements including all appli cable laws regulations provisions and standards Instructed person Instructed persons have a clearly defined task area and have been informed about the work to...

Page 9: ...tion They are familiar with relevant standards and directives Quali fied electricians can Independently recognize avoid and eliminate sources of danger Implement specifications from the accident preve...

Page 10: ...a clear arrangement The triangle indicates instructions that you should execute The bullet point indicates an enumeration The square parentheses indicate cross references to other text passages in the...

Page 11: ...ows a QR code via which you can watch videos or animations Internet access is required in order to use it You can read the QR code for example with the camera of your Smartphone or Tablet PC If your c...

Page 12: ...ngement at the customer s premises Hotline 49 0 5246 963 5000 Fax 49 0 5246 963 95000 E mail training beckhoff com Web www beckhoff de training 1 7 3Service The Beckhoff Service Center supports you wi...

Page 13: ...the machine manufacturer 2 1 1Before operation Danger from magnetic fields The magnetic fields of some of the components of the XTS are dan gerous to people fitted with cardiac pacemakers persons wit...

Page 14: ...stickers Observe tightening torques Install connections and components in compliance with the specified tightening torques and check them regularly Earth electrical components or modules correctly Do...

Page 15: ...a ture is too high Do not touch moving or rotating components Do not touch moving or rotating parts during operation Ensure that all parts components on the machine plant are firmly seated 2 1 3After...

Page 16: ...6 3 2 1 5 7 8 9 11 10 4 Number Explanation 1 Curved rail 2 Lock 3 Mover 4 LED status display 5 Cover with connection card 6 Straight guide rail with lock 7 Cover with supply 8 Machine bed 9 Straight g...

Page 17: ...0 17 eXtended Transport System 3 1LED status display 3 1 5 1 4 3 2 Number Explanation 1 48 V 16 A power supply status LED 2 24 V 4 A power supply status LED 3 Link Act status LED 4 EtherCAT status LE...

Page 18: ...osite the LED sta tus display 4 6 8 7 5 1 3 9 10 11 2 Number Explanation 1 Product designation 2 Series 3 Serial number 4 EAC conformity 5 RoHS conformity 6 CE conformity 7 cURus approval 8 Firmware a...

Page 19: ...180 curve clothoid with supply xxxx Product length Module length in mm 000x Execution 2 modules with rail support cover The ordering detail is not extended with standard modules Mover ATH 901x 0075 x...

Page 20: ...oduct line AT drive technology H Series H Hygienic Design 9x Product type 0 without lock 1 with lock 2 connector for straight rails xx Rail variants 00 straight 50 180 curve clothoid xxxx Product leng...

Page 21: ...suit every application Mover variants There is a choice of two materials for the housing of the movers stainless steel or aluminum Armature short circuit brake In case of an emergency stop the movers...

Page 22: ...nfigured as a complete system 3 5 1Motor modules A system consists of individual motor modules that can be combined to form a complete drivetrain The following modules are available for the XTS Hygien...

Page 23: ...1Straight guide rails 3 5 2 1 Without lock Straight guide rails are available in the following lengths without lock cover Available lengths 250 mm 1000 mm 500 mm 1500 mm 750 mm 2000 mm With lock Strai...

Page 24: ...he 180 curved module 3 5 3Mover The movers are available in the following versions stainless steel or aluminum Stainless steel The stainless steel mover is 75 mm long has 6 rollers and is mounted with...

Page 25: ...t be ordered separately The listed components cannot be retrofitted 3 6 1Mover 1 3 6 1 Stainless steel The stainless steel mover with the Mover 1 magnetic plate set is available as a 75 mm mover with...

Page 26: ...sport System 3 6 2Magnetic plate sets 3 6 2 The magnetic plate set is available for Beckhoff 75 mm movers are well as for third party movers The Mover 1 magnetic plate set is available for Beckhoff 75...

Page 27: ...d commissioned with the help of the Beckhoff TwinCAT automation software Read the entire drive system documentation This translation of the original instructions Translation of the original instructio...

Page 28: ...oaching the set position from different directions multi directional The absolute accuracy is valid within a module and is defined as the difference between the set position and the actual position of...

Page 29: ...c only in accordance with the specifications for operation and the environment listed in this chap ter This ensures a long service life and proper operation The service life of the system may be short...

Page 30: ...1 0075 0550 ATH9013 0075 0550 Length mm 75 75 Number of rollers 6 6 Weight without magnetic plate set g 830 550 Weight assembled with magnetic plate set AT9001 0550 g 1 060 780 Weight of magnetic plat...

Page 31: ...rce F0 N 30 Winding resistance of a phase R20 0 78 Synchronization accuracy at 1 5 m s within a straight module mm Dependent on the mechanical rigidity and applied load on the mover 0 15 Absolute accu...

Page 32: ...drawings Dimensional drawings and 3D models online You have the option to download the dimensional drawings and 3D models of the individual components from the Beckhoff website www beckhoff de downloa...

Page 33: ...Technical data Version 1 0 33 eXtended Transport System ATH2001 0250 Straight module with supply All figures in millimeters...

Page 34: ...Technical data 34 Version 1 0 eXtended Transport System ATH2050 0500 Clothoid module 180 curve All figures in millimeters...

Page 35: ...Technical data Version 1 0 35 eXtended Transport System ATH2051 0500 Clothoid module 180 curved with supply All figures in millimeters...

Page 36: ...Technical data 36 Version 1 0 eXtended Transport System 4 4 2Mover ATH9011 0075 0550 Stainless steel mover Length 75 mm 6 guide rollers All figures in millimeters...

Page 37: ...Technical data Version 1 0 37 eXtended Transport System ATH9011 0075 1550 Stainless steel mover 1 Length 75 mm 6 guide rollers All figures in millimeters...

Page 38: ...Technical data 38 Version 1 0 eXtended Transport System ATH9013 0075 0550 Aluminum mover Length 75 mm 6 guide rollers All figures in millimeters...

Page 39: ...Technical data Version 1 0 39 eXtended Transport System ATH9013 0075 1550 Aluminum mover 1 Length 75 mm 6 guide rollers All figures in millimeters...

Page 40: ...Technical data 40 Version 1 0 eXtended Transport System 4 4 3Magnetic plate set ATH9001 0550 0001 Standard magnetic plate set All figures in millimeters...

Page 41: ...hnical data Version 1 0 41 eXtended Transport System ATH9001 0550 Magnetic plate set for third party movers All figures in millimeters 8 min 8 min 35 4 55 4 0 0 2 27 43 9 82 4 6 0 05 2x 6 0 05 2x 5 5...

Page 42: ...Technical data 42 Version 1 0 eXtended Transport System ATH9001 1550 0001 Mover 1 magnetic plate set All figures in millimeters...

Page 43: ...al data Version 1 0 43 eXtended Transport System ATH9001 1550 Mover 1 magnetic plate set for third party movers All figures in millimeters 8 min 8 min 35 4 55 4 0 0 2 27 43 9 82 4 6 0 05 2x 6 0 05 2x...

Page 44: ...g Carton Symbol Explanation This is the correct position for the packaging Protect the packaging against wetness The contents are fragile Label Symbol Explanation The carton contains electrostatically...

Page 45: ...ording to EN 60721 Temperature 25 C to 85 C maximum fluctuation 20 K hour Use of the vendor s original packaging 6 2Long term storage Perform recurring inspections Check every six months that the XTS...

Page 46: ...e manufacturer s documentation Wear protective gloves and safety glasses if nec essary Adhesive can irritate the eyes the respiratory organs and the skin Do not inhale the vapor Avoid contact of the a...

Page 47: ...pins in the machine bed are correct 250 mm 0 05 mm The distance between the center of the first locating pin bore for one module to the center of the first locating pin bore for the next module must b...

Page 48: ...po nents that you need for the mechanical installation of the XTS Hy gienic in the configuration described here Please note that the de sign and composition of the components can deviate and that not...

Page 49: ...s 15 Seals between modules and rails 16 Seals between machine bed and modules short end 17 Seals between machine bed and modules long end 18 Locating pins 5 x 14 for modules and rails 19 Locating pins...

Page 50: ...ble screwdrivers Cutting tool such as scalpel or hobby knife Adhesive Elastosil E43 N Vaseline with brush Lint free cloth 7 2Modules 7 2 1 Insert locating pin 1 in the curved module 1 2 3 Position cur...

Page 51: ...e bed 2 Screw in the screws with sealing ring 3 in the center of the mod ule leaving only a minimal gap 1 2 3 Place further modules 1 the second curved module 2 and fur ther modules on the opposite si...

Page 52: ...he seal downwards with a little pressure Fold the seal end 2 back and carefully push it into the groove be tween the machine bed and the modules 2 1 Following the assembly brush seal 1 downwards until...

Page 53: ...on the electrical interfaces in the same way Simplified assembly Initially insert only the locating pins between the curved modules and straight modules in order to facilitate the mounting of the sea...

Page 54: ...of seal 1 on the other side of the curved module 2 in the same way 2 1 Screw in the screws 2 of the curved module hand tight in order to fix the seals 1 on both sides 3 1 2 Press the long end of the...

Page 55: ...time 3 1 2 Press the long leg 3 of the seal in between the straight mod ules 1 and the machine bed 2 with your fingernail To facilitate mounting lift or move the modules slightly Long legs overlap th...

Page 56: ...flush and correct them if necessary 1 2 3 Cut diagonally through both ends 3 of the overlapping seals 1 and 2 with a cutting tool A scalpel or a hobby knife for example is a suitable cutting tool Cut...

Page 57: ...l installation Version 1 0 57 eXtended Transport System 1 2 Screw in screws 1 in order to fix the locating pin 2 between the modules Fix all other locating pins between the modules in the same way wit...

Page 58: ...rect align ment of the connector Screw in the screws with sealing rings 3 and 4 tightly Mount all other covers with supply in the same way 2 1 Grease the edge 2 on the cover with connection card 1 wit...

Page 59: ...ide rails First switch the 24 V on then the 48 V Make sure that the LEDs 2 light up 2 The following LEDs 2 must light up Link Act 48 V 16 A 24 V 4 A If the LEDs do not light up Check the power supply...

Page 60: ...rail on support Further information is given in the course of the mechanical instal lation in the chapter Mover 7 5 1Straight guide rails 7 5 1 1 2 3 Always use guide rail 2 with lock 1 at the top on...

Page 61: ...the screws with sealing rings 1 leaving only a minimal gap in order to fix guide rail and lock Assemble the lower guide rail in the same way securing the guide rail with your hand until the screws ha...

Page 62: ...3 with your fingernail To facilitate mounting lift or move the guide rail slightly Continue pressing the seal in up to the end of the guide rail 2 1 Press seal 1 into the groove 2 on the other side o...

Page 63: ...s 1 and 2 of the curved rail 3 with Vaseline 2 1 3 Insert locating pins 1 and 2 into the curved rail 3 1 4 2 3 Insert locating pins 1 and 4 into the guide rails Push seals 2 and 3 with the pre cut edg...

Page 64: ...ame way Press seal 1 into the groove 2 between guide rail and the straight modules with your fingernail To facilitate mounting lift or move the guide rail slightly Continue pressing the seal in up to...

Page 65: ...sealing rings 1 and 3 hand tight 1 Loosen the fixed screws 1 in the upper guide rail somewhat in order to mount the ends of the seals Mount the second curved rail with seals in the same way The ends...

Page 66: ...Apply adhesive to one end 1 Press the end into the groove in order to glue the two ends to gether Remove surplus adhesive with a lint free cloth Glue the seal on the other side of the system in the sa...

Page 67: ...system tight Observe tightening torques Components Tightening torque Nm Screws M4 x 45 6 Screw all screws on the electrical interfaces of the entire system tight Observe tightening torques Components...

Page 68: ...running surfaces on the curved rails with Vaseline before mounting the movers and commissioning the XTS Hygienic 1 2 Grease the running surfaces on both sides of the curved rails 1 and 2 with Vaseline...

Page 69: ...e set of the mover and the modules strongly attract one another magnetically If you do not hold the movers tight with both hands in a controlled manner the magnetic forces can attract the movers in an...

Page 70: ...r 1 carefully with both hands centrally onto the rail on support 2 1 2 3 As soon as you place the magnetic plate set 2 of the mover 1 in the vicinity of the module 3 the magnetic plate set and the mod...

Page 71: ...movers and the modules 2 is symmetrical on both sides of the system and is approximately 0 70 mm Check that the magnetic plates are positioned parallel to the modules Remove rail on support 2 1 Loose...

Page 72: ...ty For proper application and assembly we recommend Wiring in accordance with applicable regulations and standards Use the pre assembled and shielded Beckhoff cables for power and EtherCAT connections...

Page 73: ...4 A1 1 R1 R3 3 A2 2 R2 R4 4 ZB8110 10 100W EL9576 Brake chopper teminal with ZB8110 Brake resistor Power Supply Control cabinet earth Power Supply 48V 24V 24 V 48 V 24 V GND 48 V GND C 4A B 16A B 4A T...

Page 74: ...tomatic start up of a machine in the case of a cross circuit U U I 48V I 24V I compensation 0 A R 24 V R 48 V I 48 V I 24 V U 48 V U 24 V 1 5 mm 1 5 mm 4 mm 4 mm 4 mm Modules Supply line 3G 4 mm 2 x 1...

Page 75: ...nds the use of wide connections with large contact surfaces Wide earth straps are suitable for this The table below illustrates typical suit able connectors 1 2 3 Number Connector 1 Copper rail 2 Eart...

Page 76: ...surfaces 8 4 1 1 2 4 5 3 Earth painted surface as shown in the figure with spring washer 1 washer 2 contact washer 3 nut 4 and bolt 5 8 4 2Unpainted surfaces 8 4 2 1 2 3 4 1 2 4 5 3 Earth unpainted s...

Page 77: ...4 4 X2 2 XTS B 16A EtherCAT cable 24 VDC power supply unit 48 VDC power supply unit Puls power supply unit QS20 241 QT20 241 QS40 481 QT40 481 Primary fusing See documentation on Puls website See docu...

Page 78: ...wer supply unit Puls power supply unit QS20 241 QT20 241 QS40 481 QT40 481 Primary fusing See documentation on Puls website See documentation on Puls website Secondary fusing Overcurrent protection te...

Page 79: ...1 R3 3 A2 2 R2 R4 4 A1 1 R1 R3 3 A2 2 R2 R4 4 X3 B 16A n XTS A1 1 R1 R3 3 A2 2 R2 R4 4 A1 1 R1 R3 3 A2 2 R2 R4 4 Xn B 16A Power Supply 48V Buffer Modul 48V EtherCAT cable EtherCAT cable EtherCAT cable...

Page 80: ...1 R1 R3 3 A2 2 R2 R4 4 24 VDC power supply unit 48 VDC power supply unit Puls power supply unit QS20 241 QT20 241 QS40 481 QT40 481 Primary fusing See documentation on Puls website See documentation o...

Page 81: ...al protective devices Check the wiring connection and proper earthing 9 2During commissioning Make sure that all fittings were checked for function and adjust ment Observe information for environment...

Page 82: ...irt leaks moisture or dust Check temperature development Observe recommended maintenance intervals Check function of safety devices 9 4After operation WARNING Ensure safe condition of the machine syst...

Page 83: ...n the function of the components In the worst case contamination can lead to failure Therefore clean and maintain the components at regular and necessary intervals 10 1Cleaning Avoid damaging the seal...

Page 84: ...eaning Visual inspection to ensure seals are seated correctly Modules Module side surfaces 2 weeks Visual inspection for abrasion marks on the magnet carriers Interface cover 6 months Unscrew the cove...

Page 85: ...uired Lubricate the running surfaces Recommended lubricant Vaseline Mover Guide rollers 3 months Check the seating of the guide rollers on the rail Magnetic plates 6 months Check the magnetic plates f...

Page 86: ...ers are mounted on the guide rail by means of the rail on support 11 26 roller 75 mm mover 11 2 The roller set is available for the replacement of worn or damaged guide rollers in the 75 mm long stain...

Page 87: ...Omitted after firmware version 14 0x840B Peak module overall current threshold exceeded Peak overall current threshold ex ceeded 12 1 1Warning 12 1 1 ID Message Error Number of the cause 0x4101 Modul...

Page 88: ...ercurrent Coil x Current on coil x too high 11 12 0x8406 Undervoltage DC Link 48 V power supply lower than 20 V 2 3 4 0x8407 Overvoltage DC Link 48 V power supply higher than 56 V 2 5 0x8409 I2T Motor...

Page 89: ...sponding pause times Reduce the mover dynamics 7 XTS task overflow Add further XTS task distribute movers and motor modules to both tasks Incorrect Distributed Clock settings Adjust the Distributed Cl...

Page 90: ...pt 4 5006 Abnormal behavior is de tected All values of XTS module x are negative All values on the sensor side of the XTS motor module are negative 5 5007 Abnormal behavior is de tected All values of...

Page 91: ...is invalid The stored teaching file does not match the XTS system Teaching file originates from a differ ent system 16 9007 Teaching data file y is cor rupt The teaching file in the directory C TwinCA...

Page 92: ...ake sure that there is only one mover with Mover 1 magnet plate set on the System More than one mover with Mover 1 magnetic plate set on the system 20 9016 The Axis x gets an enable command before Mov...

Page 93: ...ort 8 Reconfigure the path with the manager of the TcIoXtsDrv object 9 After starting the Mover 1 detection wait until a TRUE is displayed in the parameters online for IsMoverIdDetectionValid or HasMo...

Page 94: ...50 mm s 2 3 10001 Emergency ramp takes too long Emergency ramp triggered by TcSoft Drive requires more time than the time of 0 5 sec configured in the parameter EmergencyRamp 4 5 10002 Velocity follow...

Page 95: ...on another mover 8 Check whether the mover was correctly detected when starting up and that no metallic components are affecting the sensor sig nal 9 Increase parameter CommutationErrorVelocity or sw...

Page 96: ...when disassembling the magnetic plate sets Make sure that the magnetic plate sets do not magnetically attract one another with your hands in between If you don t take care during the disassembly oppos...

Page 97: ...nt Batteries and rechargeable batteries Batteries and rechargeable batteries may also be marked with the crossed out trash can symbol You must separate these compo nents from the waste and are legally...

Page 98: ...es Mounting 58 L LED status display 17 Lock 60 M Maintenance 83 Intervals 84 Modules Activation 78 Connection 77 Curved 22 Mounting 50 Straight 22 Mounting Guide rails 60 Interfaces 58 Modules 50 Move...

Page 99: ...upport 12 Symbols 10 System properties 31 System test 59 T Target group 8 Technical data 29 Tightening torques Electrical interfaces 67 Machine bed 67 Rails 67 71 Transport 45 Type key 19 X XTS Hygien...

Page 100: ...Beckhoff Automation GmbH Co KG H lshorstweg 20 D 33415 Verl www beckhoff com info beckhoff com More Information www beckhoff com xts...

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Beckhoff ATH2000-0250, Operating Instructions Manual

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