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Xenus Plus Compact
STO Manual

P/N 16-01553 Rev 00

September 12, 2016

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Summary of Contents for Xenus Plus Compact

Page 1: ...Xenus Plus Compact STO Manual P N 16 01553 Rev 00 September 12 2016...

Page 2: ...ectric shock 8 3 3 Disclaimer 8 3 4 Installation Overview 9 3 5 Definitions 9 4 0 Introduction to the Xenus Plus COMPACT 10 4 1 Product Description 10 4 2 Model Overview Numbering 10 5 0 Specification...

Page 3: ...art Up Checklist 22 7 2 1 Preliminary checks 22 7 2 2 Start Up Checklist 23 7 3 STO Status Indications 24 7 3 1 J8 AMP LED 24 7 3 2 STO Circuit Status Data Objects 24 7 3 3 CME2 Control Panel 25 7 4 T...

Page 4: ...irective 2014 35 EU Low Voltage Directive 2006 42 EC Machinery Directive and 2011 65 EU RoHS Directive The complete EC Declaration of Conformity is available on the internet at www copleycontrols com...

Page 5: ...mer This manual contains information on the Safe Torque Off STO feature of the Xenus Plus Compact servo drive and how it may be incorporated into an industrial motion control system While every effort...

Page 6: ...rogrammer s Guide CMO Programmer s Guide 1 9 Reference Standards ISO 13849 1 2015 Safety of machinery Safety related parts of control systems Part 1 General Principles for Design ISO 13849 2 2012 Safe...

Page 7: ...OVC Over Voltage Category PDS SR Power Drive Systems Safety Related PELV Protected Extra Low Voltage power supply PFD Probability of Dangerous Failure upon Demand PFH Probability of Failure per Hour...

Page 8: ...determination as to the suitability of the Xenus Plus Compact and its STO function for use in realizing a given overall safety function The installer should be experienced in motion control and funct...

Page 9: ...ehavior of the Xenus Plus Compact STO feature These terms are discussed and defined as follows Activate This term is used to refer to action taken that results in the safe state being entered In the c...

Page 10: ...ame electrical specifications and differ primarily in the communications or the type of motor position feedback they support XEC and 801 1891 1893 models work with EtherCAT and XPC models work with CA...

Page 11: ...therCAT CoE XPC CANopen ASCII and discrete I O Stepper commands 10V position velocity torque PWM velocity torque command Master encoder Gearing Camming 5 3 Power Sources Mains voltage 100 240 Vac 10 1...

Page 12: ...abling the ability of the attached motor to produce torque force This both halts any drive induced acceleration already in process and prevents initiation of motion The expectation is that an inabilit...

Page 13: ...TO input is driven by a 24 Vdc supply voltage switched through a safety relay Note that the STO inputs are designed to withstand input voltages to 60 Vdc to provide a measure of overvoltage protection...

Page 14: ...Vin HI 15 0 Vdc between STO IN and STO IN STO Input De energize Voltage Level Vin LO 6 0 Vdc or open between STO IN and STO IN Input current typical STO IN1 11 2 mA STO IN2 11 2 mA Current flow is int...

Page 15: ...61508 and ISO 13849 1 Functional Safety IEC 61508 1 2010 IEC 61508 2 2010 ISO 13849 1 2015 ISO 13849 2 2003 IEC 61800 5 2 2007 Electrical Safety Directive 2014 35 EU Low Voltage IEC UL CSA 61800 5 1...

Page 16: ...s activated will coast to a stop unless there are other forces operating on the same load The STO function only removes torque force produced by current flow from the drive to the associated motor Tor...

Page 17: ...e requirements for fault exclusions for short circuits between conductors and short circuits between conductors and other conductive parts or earth or the protective bonding conductor Fault exclusion...

Page 18: ...24V power supply for the drive control power must be SELV or PELV rated 7 1 2 STO Wiring Requirements Electrical connections to the STO inputs must meet the requirements for fault exclusions for shor...

Page 19: ...up contacts do not have the minimum 1 24 mm spacing to meet the functional safety requirements and must not be used This is an example of a cable connector that is suitable for the Xenus Plus Compact...

Page 20: ...ay A momentary switch is wired to the safety relay reset input and is used to reset the relay at start up and after an E stop event The enable input on the drive is wired to one of the immediate INST...

Page 21: ...s allows time for the drive to remain in an enabled state while it performs a controlled deceleration that brings the motor to a standstill before the STO function is activated preventing any torque f...

Page 22: ...At the required periodic test intervals 7 2 1 Preliminary checks Before powering the drive and commencing with the functional safety tests check That the installation requirements given in the Xenus P...

Page 23: ...till While keeping STO IN1 energized de energize the STO IN2 circuit and give a start command for the drive Ensure that the motor remains at a standstill Energize the STO IN2 circuit Restart the drive...

Page 24: ...eset Red Solid Transient fault condition Drive will resume operation when the condition causing the fault is removed Green Double Blinking STO circuit active drive outputs are Safe Torque Off Green Sl...

Page 25: ...ed Safety on the CME2 Control Panel screen gives the status of the STO function Green STO inactive Torque production in the motor is under user control Red STO active Drive outputs are Safe Torque Off...

Page 26: ...is necessary to check 0x219D ASCII 0x139 to see if bit 0 or bit 1 is set 1 If this condition is true then the STO function is active 7 4 2 How to tell if the STO function is inactive The voltage appli...

Page 27: ...if the user removes the cover or attempts any repairs For safety and to assure compliance with documented system data only Copley Controls shall perform repairs to the Xenus Plus Compact 8 2 Periodic...

Page 28: ...ndstill While keeping STO IN1 energized de energize the STO IN2 circuit and give a start command for the drive Ensure that the motor remains at a standstill Energize the STO IN2 circuit Restart the dr...

Page 29: ...tion An internal power source in the drive is brought out to the Safety connector J4 Connecting the STO inputs between this bypass power source and its ground supplies power to the STO opto couplers a...

Page 30: ...ve service Evaluate the impact of decommissioning on adjacent operating units and facilities or other field services Conduct a proper review and obtain required authorization Ensure that the safety fu...

Page 31: ...Manual 16 01553 Rev 00 Page 31 of 31 Copley Controls Xenus Plus Compact STO Manual P N 16 01553 Revision 00 September 12 2016 2016 Copley Controls Analogic Motion Controls 20 Dan Road Canton MA 02021...

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