Final cap for connecting the last DR2020 to the end of the safety feedback
By including the two STO commands in series in the “safety device” circuit, the axis enable command is operated only
when the PLC controls both S1 and S2 signals, and at the same time all machine safety devices are “closed”. When a
“safety” contact is opened, the axis is released without control; in situations where this is not compatible with machine
movement (for example axes that are interpolated or cause mechanical interference), appropriate delayed safety
contacts should be used to release the axis only after movement has fully stopped in a position that does not damage
the machine. The double channel comprises two separate, independent circuits; each command line is independent but
acts on devices connected to each other in series; motor movement can only take place when both commands are
supplied correctly. Absorption on the S1 and S2 inputs is below 50 mA at 24 V. As feedback of the two commands, the
drive relays corresponding S1 and S2 feedback (3.3 V, 1 kOhm) to the PLC to check that commands are correct and
consistent, and to operate movements with an adequate sequence. The delay between Command application (S1 or S2)
and Feedback, which signals that the command has been executed, is below 50 ms; the delay between removal of the
command and feedback signalling is below 20 ms. In any case, wait for at least 50 ms before moving the axes after
executing commands, and 20 ms before checking that the drive is in a “safe” condition.
4.3.6.5.
Transducers Connection
The DR2020 can handle most of the common feedback transducers in the table below:
−
2-pole
RESOLVER
−
Single-turn Capacitative Sincos Hiperface
ENCODER
−
Multi-turn Capacitative Sincos Hiperface ENCODER
−
Single-turn Endat 22 optical
ENCODER
−
Muti-turn Endat 01 optical
ENCODER
−
Multi-turn Endat 22 oprtcal
ENCODER
−
Single-turn Endat 01 optical
ENCODER
−
Single-turn Endat 22 inductive
ENCODER
−
Multi-turn Endat 22 inductive ENCODER
The connection is made internally and is carried out in the factory: it is not possible to change the coupling of
electronics and motor outside our factory.
MAR2-E-191
42
