Keba D3-DA 3 Series, Project Engineering Manual

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D3-DA 3xx/x Table of contents
Project engineering manual V1.07
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© KEBA
6 Connections and wiring.............................................................................................
40
6.1 Single-axis module...........................................................................................
42
6.2 Double-axis module .........................................................................................
44
6.3 Triple-axis module............................................................................................
48
6.4 Grounding ........................................................................................................
51
6.5 Electrical isolation method ...............................................................................
54
6.6 Connection of supply voltages via busbars......................................................
56
6.6.1 24 V voltage supply ...........................................................................
57
6.6.2 D.c. link ..............................................................................................
57
6.6.3 Overview busbars ..............................................................................
58
6.7 Control connections .........................................................................................
58
6.7.1 Digital inputs on X25A (standard functions).......................................
58
6.7.2 Safe digital input (terminal X26A) ......................................................
60
6.7.3 Specification of terminals ...................................................................
60
6.8 Motor connection .............................................................................................
61
6.8.1 Connection diagram motor connections ............................................
61
6.8.2 Monitoring output motor holding brake ..............................................
63
6.8.3 Specification of motor connections ....................................................
64
6.8.4 Switching in the motor cable ..............................................................
64
6.9 Specification of EtherCAT connection interface...............................................
65
6.9.1 Pin assignment ..................................................................................
65
6.10 Encoder connections .......................................................................................
66
6.10.1 Matching motor/encoder cables.........................................................
66
6.10.2 Connection for high-resolution encoder .............................................
67
6.11 Operation on special systems ..........................................................................
68
6.12 DIP-Switch (S-ADR).........................................................................................
68
7 Configuration ..............................................................................................................
69
8 Safety functions .........................................................................................................
70
8.1 STO (Safe Torque OFF) ..................................................................................
70
8.1.1 Configuration of STO safety function .................................................
71
8.2 SBC (Safe Brake Control) ................................................................................
72
8.2.1 Configuration SBC safety function .....................................................
73
8.3 Diagnosis via cross circuit test .........................................................................
74
8.4 Recommended connection examples ..............................................................
75
8.4.1 Example: STO and SBC control via safety control ............................
75
8.4.2 Example: STO without SBC control via safety control .......................
77
8.4.3 Example: STO and SBC control via light grid ....................................
78
8.4.4 Example: STO and SBC control directly via supply module ..............
78
8.5 Validation of safety functions ...........................................................................
79
8.6 Validation of STO safety function.....................................................................
79
8.7 Validation of SBC safety function.....................................................................
80