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2.4.1. STO Standards

Table 2-26

describes and specifies the safety requirements at the system level for the Safe Torque

Off (STO) feature of the drive. This assumes that diagnostic testing is performed according to

Section

2.4.4.

and

Table 2-27

Table 2-26:

STO Standards

Standard

Maximum Achievable Safety

EN/IEC 61800-5- 2:2016

SIL 3

EN/IEC 61508-1:2010

SIL 3

EN/IEC 61508-2:2010

SIL 3

EN ISO 13849-1:2015

Category 4, PL e

EN/IEC 62061:2005 with Amendments

SIL 3

Table 2-27:

STO Standards Data

Standard

Value

EN ISO 13849-1:2015

MTTF

> 1000 years,

AVG

99%

Maximum PL e, Category 4

EN ISO 13849-1:2015
EN/IEC 61508

Lifetime = 20 years
No proof test required
Interval for manual STO test:

Once per year for SIL2/PL d/category 3

Once per three months for SIL3/PL e/category 3

Once per day for SIL3/PL e/category 4

EN/IEC 61508

SIL3
PFH < 3 FIT
SFF > 99%

iXC2e/XC2e Hardware Manual

2.4. Safe Torque Off Input (STO)

www.aerotech.com

Содержание Automation1 iXC2e

Страница 1: ...Revision 2 05 Automation1 iXC2e and XC2e High Performance PWM Digital Drives HARDWARE MANUAL...

Страница 2: ...spare or replacement parts To get help immediately contact a service office or your sales representative Include your customer order number in your email or have it available before you call This man...

Страница 3: ...k Phasing 33 2 2 2 DC Brush Motor Connections 34 2 2 2 1 DC Brush Motor Phasing 34 2 2 3 Stepper Motor Connections 35 2 2 3 1 Stepper Motor Phasing 35 2 2 4 Three Phase Stepper Motor Connections 36 2...

Страница 4: ...puts EB1 76 3 6 Industrial Ethernet iXC2e EB2 Option Only 79 Chapter 4 Cables and Accessories 81 4 1 DIN Rail Mounting 82 4 2 Joystick Interface 83 4 3 Handwheel Interface 84 4 4 Dual PSO Adapter Cabl...

Страница 5: ...chematic Feedback Connector 44 Figure 2 21 Thermistor Input Schematic Feedback Connector 45 Figure 2 22 Encoder Fault Input Schematic Feedback Connector 46 Figure 2 23 End of Travel and Home Limit Inp...

Страница 6: ...Figure 3 15 Digital Inputs Connected to Current Sourcing PNP Devices EB1 78 Figure 3 16 Digital Inputs Connected to Current Sinking NPN Devices EB1 78 Figure 4 1 Din Rail Clip Dimensions 82 Figure 4 2...

Страница 7: ...onnector 44 Table 2 18 Thermistor Input Pin on the Feedback Connector 45 Table 2 19 Encoder Fault Input Pin on the Feedback Connector 46 Table 2 20 End of Travel and Home Limit Pins on the Feedback Co...

Страница 8: ...Mating Connector Ratings EB1 73 Table 3 17 Digital Input Specifications EB1 76 Table 3 18 Digital Input Connector Pinout EB1 76 Table 3 19 Digital Input Mating Connector Ratings EB1 76 Table 4 1 Stand...

Страница 9: ...ndard s when installed and used in accordance with the manufacturer s supplied installation instructions EN 61010 1 2010 AMD1 2016 Safety Requirements for Electrical Equipment EN 61800 3 2004 A1 2011...

Страница 10: ...onents STO certification is pending for the iXC2e Approval Safety Components STO Approving Agency TUV SUD Certificate Z10 068995 0030 Rev 00 Standards EN ISO 13849 1 2015 up to PL e IEC 61508 1 2010 u...

Страница 11: ...rotection provided by the equipment could be impaired l The life expectancy of the product could be decreased Safety notes and symbols are placed throughout this manual to warn you of the potential ri...

Страница 12: ...Make sure that all components are grounded correctly and that they obey the local electrical safety requirements 7 Install the necessary precautions to supply safety and protection to the operator DAN...

Страница 13: ...important information such as the l Customer order number please provide this number when requesting product support l Drawing number l System part number Handling IMPORTANT It is the responsibility o...

Страница 14: ...tor to the amplifier Motor Output connector Section 2 2 Connect the motor to the amplifier Feedback connector Section 2 3 2 Connect the PC to the USB or Ethernet port N A 3 Connect the next drive in t...

Страница 15: ...drive based controller HyperWire port to the HyperWire In port Section 2 5 3 Connect additional I O as required by your application if you purchased the I O option Chapter 3 4 Connect the Safe Torque...

Страница 16: ...This page intentionally left blank iXC2e XC2e Hardware Manual 16 www aerotech com...

Страница 17: ...rformance digital drive The XC2e is based on the HyperWire communication protocol and receives commands from a PC or drive based controller Both drives provide deterministic behavior and auto identifi...

Страница 18: ...Figure 1 2 XC2e High Performance PWM Amplifier iXC2e XC2e Hardware Manual 18 www aerotech com...

Страница 19: ...l Digital logic laser firing PSO output l Auxiliary encoder input channel l Two 10 100 1000 BASE T Industrial Ethernet Ports PSO Section 3 1 PSO1 One axis PSO firing includes One axis Part Speed PSO P...

Страница 20: ...The block diagram that follows shows a summary of the connector signals Figure 1 3 Functional Diagram iXC2e XC2e Hardware Manual 20 www aerotech com...

Страница 21: ...Control power supply under voltage Power stage bias supply under voltage 1 DC input voltage and load dependent 2 Dependent on total output power efficiency increases with increasing output power 1 1...

Страница 22: ...n phase IMPORTANT The amount of airflow required to keep the drive temperature within a sufficient range is dependent on the operating conditions You could be required to supply additional airflow to...

Страница 23: ...1 2 2 Dimensions IMPORTANT iXC2e and XC2e dimensions are the same iXC2e is shown Figure 1 4 Dimensions EB0 Hardware Manual iXC2e XC2e www aerotech com 23...

Страница 24: ...IMPORTANT iXC2e EB1 EB2 and XC2e EB1 dimensions are the same iXC2e EB1 is shown Figure 1 5 Dimensions EB1 EB2 iXC2e XC2e Hardware Manual 24 www aerotech com...

Страница 25: ...If you must operate this product above 2 000 m or below sea level contact Aerotech Inc Pollution Pollution Degree 2 Typically only nonconductive pollution occurs Operation Use only indoors 1 4 Drive...

Страница 26: ...This page intentionally left blank iXC2e XC2e Hardware Manual 26 www aerotech com...

Страница 27: ...The 24V input is connected to an internal fuse Refer to Table 5 4 for the internal fuse value and part number For an isolated DC supply connect 0V to protective ground at the supply Use twisted pair...

Страница 28: ...gure 2 2 Figure 2 2 Motor Supply Connections Table 2 3 Motor Supply Connector Pinout Pin Description DC Motor Power Input 15 100 VDC 0 V Motor Power Input Common Protective Ground 0 75 mm2 18 AWG min...

Страница 29: ...O wiring 3 Mount drives power supplies and filter components on a conductive panel Keep wire run lengths to a minimum For the AC power lines feeding the VDC Motor supply and VDC Control supply place a...

Страница 30: ...cal shock The 7 pin terminal block style motor output connector is located on the front panel Table 2 5 Motor Power Output Connector Pinout Pin Description Connector Earth Ground to Motor A Brushless...

Страница 31: ...r commutation is recommended The controller requires that the Back EMF of each motor phase be aligned with the corresponding Hall effect signal To ensure proper alignment motor Hall and encoder connec...

Страница 32: ...als in the Diagnostics section of the Status Utility Table 2 8 Hall Signal Diagnostics Hall Signal Status Definition 0 V or logic low ON 5 V or logic high Figure 2 4 Positive Motor Direction Figure 2...

Страница 33: ...Phasing Oscilloscope Example With the designations of the motor and Hall leads of a third party motor determined the motor can now be connected to an Aerotech system Connect motor lead A to motor con...

Страница 34: ...C motor terminal To determine if the motor is properly phased connect a voltmeter to the motor leads of an un powered motor 1 Connect the positive lead of the voltmeter to the one of the motor termin...

Страница 35: ...tepper motor can be run with or without an encoder Without an Encoder You do not need to phase the motor With an Encoder Because the end of travel EOT limit inputs are relative to motor rotation it is...

Страница 36: ...th an Encoder Because the end of travel EOT limit inputs are relative to motor rotation it is important to phase the motor Run a positive motion command The motor is phased correctly if there is a pos...

Страница 37: ...ss motors only Input 11 Hall Effect Sensor C brushless motors only Input 12 Clockwise End of Travel Limit Input 13 Brake Output Output 14 Encoder Cosine Input 15 Encoder Cosine Input 16 5V Power 1 Out...

Страница 38: ...ormance Square Wave or Absolute encoders Square Wave encoders MX3 Sine Wave high performance Square Wave or Absolute encoders Sine Wave standard performance or Square Wave encoders IMPORTANT Physicall...

Страница 39: ...ignal connection Use twisted pair wiring for the highest performance and noise immunity Table 2 15 Square Wave Encoder Specifications Specification Value Encoder Frequency 10 MHz maximum 25 ns minimum...

Страница 40: ...ing for the highest performance and noise immunity You cannot echo an absolute encoder signal Refer to Figure 2 15 for the serial data stream interface Refer to the Help file for information on how to...

Страница 41: ...an generate emulated encoder signals These signals can be output on the Auxiliary Encoder AUX connector or used internally by the PSO Refer to the EncoderDivider and PrimaryEmulatedQuadratureDivider p...

Страница 42: ...Figure 2 17 Sine Wave Encoder Schematic Feedback Connector 2 3 1 Primary Encoder Inputs iXC2e XC2e Hardware Manual 42 www aerotech com...

Страница 43: ...e observing the position of the encoder in the diagnostics display see Figure 2 19 For dual loop systems the velocity feedback encoder is displayed in the diagnostic display Figure 2 19 Figure 2 18 En...

Страница 44: ...t device phasing Table 2 17 Hall Effect Feedback Pins on the Feedback Connector Pin Description In Out Bi 3 5V Power 1 Output 5 Hall Effect Sensor B brushless motors only Input 10 Hall Effect Sensor A...

Страница 45: ...perature causes the resistance of the thermistor to increase the sensor will trigger an over temperature fault The thermistor is connected between Pin 2 and Signal Common The nominal trip value of the...

Страница 46: ...nput is parameter configurable and the controller should be configured to disable the axis when the fault level is active The nominal trip voltage of the encoder fault input is 2 5 V Table 2 19 Encode...

Страница 47: ...polarity in the diagnostics display refer to Figure 2 25 Table 2 20 End of Travel and Home Limit Pins on the Feedback Connector Pin Description In Out Bi 12 Clockwise End of Travel Limit Input 16 5V P...

Страница 48: ...Figure 2 23 End of Travel and Home Limit Input Connections Figure 2 24 End of Travel and Home Limit Input Schematic Feedback Connector iXC2e XC2e Hardware Manual 48 www aerotech com...

Страница 49: ...CW and CCW inputs at the Feedback connector or swap the CW and CCW limit functionality in the software using the EndOfTravelLimitSetup parameter View the logic level of the EOT limit inputs in the Dia...

Страница 50: ...able 2 21 Brake Output Pins on the Feedback Connector Pin Description In Out Bi 13 Brake Output Output 25 Brake Output Output Table 2 22 Brake Control Specifications Specification Value Maximum Voltag...

Страница 51: ...nector pins The primary concern is a short circuit between STO 1 IN and STO 2 IN wire strands Table 2 23 STO Connector Pinout Pin Signal Description In Out Bi Connector 1 Power Supply Use only to defe...

Страница 52: ...shows one safety device connected to multiple drives in parallel WARNING The drive does not check for short circuits on the external STO wiring If this is not done by the external safety device short...

Страница 53: ...EC 61508 2 2010 SIL 3 EN ISO 13849 1 2015 Category 4 PL e EN IEC 62061 2005 with Amendments SIL 3 Table 2 27 STO Standards Data Standard Value EN ISO 13849 1 2015 MTTFD 1000 years DCAVG 99 Maximum PL...

Страница 54: ...sable the axis as soon as the deceleration ramp is complete This is typically configured to occur before the STO channel turns off the power amplifier transistors The software controlled stop function...

Страница 55: ...h Refer to Section 2 4 4 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 separate...

Страница 56: ...listed SIL level the STO circuit must be activated power removed from both inputs according to the interval specified in Table 2 27 Table 2 30 STO Timing Time Description Value T1 STO Delay Time STO i...

Страница 57: ...ontroller to re establish communication WARNING Do not connect or disconnect HyperWire cables while you are loading firmware or damage to the drives may occur Table 2 31 HyperWire Card Part Number Par...

Страница 58: ...2 6 System Interconnection Figure 2 29 Drive Based System Wiring Drawing Best Practice Figure 2 30 PC Based System Wiring Drawing Best Practice iXC2e XC2e Hardware Manual 58 www aerotech com...

Страница 59: ...Figure 2 31 Drive Based Controller System Interconnection Best Practice Hardware Manual iXC2e XC2e www aerotech com 59...

Страница 60: ...Figure 2 32 PC Based Controller System Interconnection Best Practice iXC2e XC2e Hardware Manual 60 www aerotech com...

Страница 61: ...uration and Operation Information For more information about hardware requirements PC configuration programming system operation and utilities refer to the Help file Hardware Manual iXC2e XC2e www aer...

Страница 62: ...This page intentionally left blank iXC2e XC2e Hardware Manual 62 www aerotech com...

Страница 63: ...8 digital outputs 1 analog input 1 analog output and PSO outputs The EB2 option board is only available on the iXC2e It has an auxiliary encoder PSO Outputs and two Industrial Ethernet ports not shown...

Страница 64: ...PSO Interface Connector Pinout EB1 EB2 Pin Description In Out Bi Connector 1 PSO Output Output 2 PSO Output Output 3 PSO Output TTL Output 4 Ground N A Table 3 3 PSO Interface Mating Connector Rating...

Страница 65: ...overload protected and will turn off if the maximum output current is exceeded Figure 3 2 PSO Output Sources Current Figure 3 3 PSO Output Sinks Current TTL Signals This output signal is a 5V TTL sig...

Страница 66: ...mary encoder inputs or with the with the MX2 or MX3 option incremental sine wave primary encoder inputs Table 3 4 Auxiliary Encoder Connector Pinout Pin Description In Out Bi Connector 1 Auxiliary Mar...

Страница 67: ...nal connection Use twisted pair wiring for the highest performance and noise immunity Table 3 6 Square Wave Encoder Specifications Specification Value Encoder Frequency 10 MHz maximum 25 ns minimum ed...

Страница 68: ...noise immunity You cannot use an absolute encoder with incremental signals on the Auxiliary Encoder Connector Refer to Figure 3 6 for the serial data stream interface Refer to the Help file for infor...

Страница 69: ...enerate emulated quadrature signals from the auxiliary connector For the highest performance use twisted pair double shielded cable with the inner shield connected to signal common and the outer shiel...

Страница 70: ...Figure 3 8 Sine Wave Encoder Schematic Aux Connector 3 2 Auxiliary Encoder Interface EB1 EB2 iXC2e XC2e Hardware Manual 70 www aerotech com...

Страница 71: ...e without plastic sleeve 20 24 AWG 0 25 0 5 mm2 Conductor Insulation Strip Length 8 mm 5 16 in 1 Refer to the manufacturer website for additional information 3 3 1 Analog Output 0 EB1 The analog outpu...

Страница 72: ...common Refer to Figure 3 10 Table 3 12 Differential Analog Input Specifications EB1 Specification Value AI AI 10 V to 10 V 1 Resolution bits 16 bits Input Impedance 1 M 1 Signals outside of this range...

Страница 73: ...26 V Maximum Maximum Sink Source Current 250 mA output Output Saturation Voltage 0 9 V at maximum current Output Resistance 3 7 Rise Fall Time 250 s 2K pull up to 24V Reset State Output Off High Impe...

Страница 74: ...Figure 3 11 Digital Outputs Schematic EB1 iXC2e XC2e Hardware Manual 74 www aerotech com...

Страница 75: ...Figure 3 12 Digital Outputs Connected in Current Sourcing Mode EB1 Figure 3 13 Digital Outputs Connected in Current Sinking Mode EB1 Hardware Manual iXC2e XC2e www aerotech com 75...

Страница 76: ...rrent Turn On Time Turn Off Time 5 V to 24 V 6 mA 10 s 43 s Table 3 18 Digital Input Connector Pinout EB1 Pin Description In Out Bi Connector 1 Input Common for Inputs 0 3 Output 2 Input 0 Optically I...

Страница 77: ...Figure 3 14 Digital Inputs Schematic EB1 Hardware Manual iXC2e XC2e www aerotech com 77...

Страница 78: ...d in an all sourcing or all sinking configuration Figure 3 15 Digital Inputs Connected to Current Sourcing PNP Devices EB1 Figure 3 16 Digital Inputs Connected to Current Sinking NPN Devices EB1 iXC2e...

Страница 79: ...Industrial Ethernet ports IMPORTANT Industrial Ethernet is only available on the iXC2e EB2 Option l For the location of the ports refer to Figure 1 1 l For cable part numbers refer to Table 4 1 l For...

Страница 80: ...This page intentionally left blank iXC2e XC2e Hardware Manual 80 www aerotech com...

Страница 81: ...tion 4 2 Joystick Interface Handwheel Refer to Section 4 3 Handwheel Interface ECZ03125 3 and ECZ03125 9 Dual PSO Adapter Cable refer to Section 4 4 Dual PSO Adapter Cable C20934 XX or C20935 XX 1 BB...

Страница 82: ...e DIN Rail to the mounting surface with 10 32 screws spaced every six inches NOTE Do not install the DIN rail to the mounting surface with the components already attached 4 Install all components on t...

Страница 83: ...te unless the joystick is in the center location Third party devices can be used provided they produce a symmetric output voltage within the range of 10 V to 10 V Connecting joystick with an Aerotech...

Страница 84: ...5V differential quadrature signals to the drive IMPORTANT You can find instructions on how to enable the handwheel in the online Help file Connect a handwheel to the Aux connector as shown in Figure...

Страница 85: ...4 4 Dual PSO Adapter Cable The dual PSO adapter cable is available in two lengths 3 dm 9 84 in 9 dm 29 52 in Figure 4 4 Dual Axis PSO Cable Connection Hardware Manual iXC2e XC2e www aerotech com 85...

Страница 86: ...This page intentionally left blank iXC2e XC2e Hardware Manual 86 www aerotech com...

Страница 87: ...ise there is the danger of electric shock 3 All tests must be done by an approved service technician Voltages inside the controller and at the input and output power connections can kill you Table 5 1...

Страница 88: ...ctions are correctly attached and not loose Replace cables that are worn Replace all broken connectors Cleaning DANGER Before you clean the iXC2e XC2e disconnect the electrical power from the drive Us...

Страница 89: ...Materials Authorization RMA number must accompany any returned product s The RMA number may be obtained by calling an Aerotech service center or by submitting the appropriate request available on our...

Страница 90: ...riods then special rates apply If during the on site repair it is determined the problem is not warranty related then the terms and conditions stated in the following On Site Non Warranty Repair secti...

Страница 91: ...l update 2 02 The following sections have been updated l EU Declaration of Conformity l Agency Approvals 2 01 Updated l Section 2 5 HyperWire Interface l Section 2 6 System Interconnection l Section 3...

Страница 92: ...This page intentionally left blank iXC2e XC2e Hardware Manual 92 www aerotech com...

Страница 93: ...ut Pins Analog I O Connector EB1 72 Analog Input Typical Connection EB1 72 Analog Output Pins Analog I O Connector EB1 71 Analog Output Specifications EB1 71 Analog Output Typical Connection EB1 71 An...

Страница 94: ...Outputs Connected in Current Sinking Mode EB1 75 Digital Outputs Connected in Current Sourcing Mode EB1 75 Digital Outputs Schematic EB1 74 Dimensions 23 Dimensions without EB1 23 Dimensions with EB1...

Страница 95: ...t Sinks Schematic PSO 65 Isolated Output Current Sources Schematic PSO 65 Motor Supply Connections 28 Outputs Connected in Current Sinking Mode IO 75 Outputs Connected in Current Sourcing Mode EB1 75...

Страница 96: ...ply specifications 21 Motor Supply Wiring Specifications 28 Mounting and Cooling 22 Mounting Hardware 22 Mounting Orientation 22 O Operation 25 Output Voltage specifications 21 Overview 17 P packing l...

Страница 97: ...og Encoder Auxiliary I O Connector 69 Analog Encoder Feedback Connector 41 Analog Output EB1 71 Brake Control Relay 50 Control Board Fuses 88 Differential Analog Input EB1 72 Digital Inputs EB1 76 Dig...

Страница 98: ...chematic PSO 65 Two Axis Joystick Interface 83 Typical STO Configuration 52 U Unit Weight 22 Use 25 User Power Supply specifications 21 W Warranty and Field Service 89 Wire Colors for Aerotech Supplie...

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