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2.4. Safe Torque Off Input (STO)

The STO circuit is comprised of two identical channels, each of which must be energized in order for

the drive to produce motion. Each STO input is opto-isolated and accepts 24 V levels directly without

the need for external current limiting resistors.

IMPORTANT

: The drive might be equipped with an STO bypass circuit board. The

bypass circuit board defeats the STO safety circuit and allows the system to run at all

times. To use the STO safety functionality, remove the circuit board and make

connections as outlined in this section.

IMPORTANT

: The application circuit and its suitability for the desired safety level is the

sole responsibility of the user of the drive.

WARNING

: STO wires must be insulated to prevent short circuits between connector

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

Power Use only to defeat STO by connecting to STO

1 IN and STO 2 IN. Not for customer use.

Output

STO 1 IN

STO Channel 1 Positive Input

Input

RETURN

STO Negative Input

Input

STO 2 IN

STO Channel 2 Positive Input

Input

Power Supply -

Use only to defeat STO by connecting to

RETURN. Not for customer use.

Output

Table 2-24:

STO Mating Connector Ratings

Specification

Description

Type

5-Pin Terminal Block

Part Numbers

Aerotech: ECK02393

Phoenix: 1827622

Conductor Cross

Section

One conductor, stranded with ferrule

and plastic sleeve

18...22 AWG (0.25...0.75 mm

)

Two conductors (same cross-

section), stranded , twin ferrule with

plastic sleeve

20 AWG (0.5 mm

)

Tightening Torque

0.22...0.25 N·m

Conductor Insulation Strip Length

7 mm (0.25 in)

(1) Refer to the manufacturer website for additional information.

iXL2e/XL2e Hardware Manual

2.4. Safe Torque Off Input (STO)

www.aerotech.com

Содержание Automation1 iXL2e

Страница 1: ...Revision 1 04 Automation1 iXL2e and XL2e High Performance Linear 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: ...Motor Phasing 33 2 2 3 Stepper Motor Connections 34 2 2 3 1 Stepper Motor Phasing 34 2 2 4 Three Phase Stepper Motor Connections 35 2 2 4 1 Stepper Motor Phasing 35 2 3 Feedback Connector 36 2 3 1 Pri...

Страница 4: ...s EB1 75 3 6 Industrial Ethernet iXL2e EB2 Option Only 78 Chapter 4 Cables and Accessories 79 4 1 DIN Rail Mounting 80 4 2 Joystick Interface 81 4 3 Handwheel Interface 82 Chapter 5 Maintenance 83 5 1...

Страница 5: ...tor Input Schematic Feedback Connector 43 Figure 2 21 Encoder Fault Input Schematic Feedback Connector 44 Figure 2 22 End of Travel and Home Limit Input Connections 46 Figure 2 23 End of Travel and Ho...

Страница 6: ...igital Inputs Connected to Current Sourcing PNP Devices EB1 77 Figure 3 16 Digital Inputs Connected to Current Sinking NPN Devices EB1 77 Figure 4 1 Din Rail Clip Dimensions 80 Figure 4 2 Two Axis Joy...

Страница 7: ...ck Pins on the Feedback Connector 42 Table 2 18 Thermistor Input Pin on the Feedback Connector 43 Table 2 19 Encoder Fault Input Pin on the Feedback Connector 44 Table 2 20 End of Travel and Home Limi...

Страница 8: ...utput Connector Pinout EB1 72 Table 3 16 Digital Output Mating Connector Ratings EB1 72 Table 3 17 Digital Input Specifications EB1 75 Table 3 18 Digital Input Connector Pinout EB1 75 Table 3 19 Digit...

Страница 9: ...rements of the following standard s when installed and used in accordance with the manufacturer s supplied installation instructions EN 61010 1 2010 AMD1 2016 Safety Requirements for Electrical Equipm...

Страница 10: ...A1 2018 11 UL 61010 1 2012 R2019 07 Certificate N8AUS 068995 0032 Rev 01 Standards CE Attestation of Conformity Low Voltage Directive 2014 35 EU EN 61010 1 2010 AMD1 2019 Visit https www tuev sued de...

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 iXL2e XL2e Hardware Manual 16 www aerotech com...

Страница 17: ...ance linear amplifier The XL2e is based on the HyperWire communication protocol and receives commands from a PC or drive based controller Both drives provide deterministic behavior and auto identifica...

Страница 18: ...Figure 1 2 XL2e High Performance Linear Digital Drive iXL2e XL2e Hardware Manual 18 www aerotech com...

Страница 19: ...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 PSO2 Two axis PSO firing includes Two ax...

Страница 20: ...The block diagram that follows shows a summary of the connector signals Figure 1 3 Functional Diagram iXL2e XL2e Hardware Manual 20 www aerotech com...

Страница 21: ...istor Temperature 75 C Time to reach maximum temperature at maximum continuous power 8 minutes Power Amplifier Bandwidth 2500 Hz maximum software selectable Modes of operation Brushless Brush Stepper...

Страница 22: ...line reactors line filters and motor chokes or inductance should be made during the initial cabinet design phase Table 1 3 Mounting Specifications XL2e Customer Supplied Enclosure IP54 Compliant For D...

Страница 23: ...1 2 2 Dimensions IMPORTANT iXL2e and XL2e dimensions are the same iXL2e is shown Figure 1 4 Dimensions EB0 Hardware Manual iXL2e XL2e www aerotech com 23...

Страница 24: ...IMPORTANT iXL2e EB1 EB2 and XL2e EB1 dimensions are the same iXL2e EB1 is shown Figure 1 5 Dimensions EB1 EB2 iXL2e XL2e Hardware Manual 24 www aerotech com...

Страница 25: ...maximum relative humidity is 80 for temperatures that are less than 31 C and decreases linearly to 50 relative humidity at 40 C Operating Altitude 0 m to 2 000 m 0 ft to 6 562 ft above sea level If y...

Страница 26: ...ported each drive In the Last Software Version column drives that show a specific version number are not supported after that version Table 1 5 Drive and Software Compatibility Drive Type First Softwa...

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 w...

Страница 28: ...ed pair wiring to minimize radiated noise emissions refer to Figure 2 2 Figure 2 2 Motor Supply Connections Table 2 3 Motor Supply Connector Pinout Pin Description B DC Motor Supply Input RET DC Motor...

Страница 29: ...cal shock The 8 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 30: ...tors are commutated electronically by the controller The use of Hall effect devices for commutation is recommended The controller requires that the Back EMF of each motor phase be aligned with the cor...

Страница 31: ...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 32: ...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 33: ...l 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 terminals 2 Connect th...

Страница 34: ...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 35: ...tor With 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...

Страница 36: ...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 37: ...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 38: ...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 39: ...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 40: ...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 41: ...e observing the position of the encoder in the diagnostics display see Figure 2 18 For dual loop systems the velocity feedback encoder is displayed in the diagnostic display Figure 2 18 Figure 2 17 En...

Страница 42: ...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 43: ...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 44: ...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 45: ...polarity in the diagnostics display refer to Figure 2 24 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 46: ...Figure 2 22 End of Travel and Home Limit Input Connections Figure 2 23 End of Travel and Home Limit Input Schematic Feedback Connector iXL2e XL2e Hardware Manual 46 www aerotech com...

Страница 47: ...e connections to the 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 li...

Страница 48: ...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 49: ...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 defeat STO by connecting to STO 1 IN and...

Страница 50: ...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 51: ...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 MTTFD 1000 years DCAVG 99 Maximu...

Страница 52: ...able 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 functiona...

Страница 53: ...efer 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 separately...

Страница 54: ...the 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 S...

Страница 55: ...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 56: ...Function Description DriveEncoderOutputConfigureDivider DriveEncoderOutputConfigureInput DriveEncoderOutputOn DriveEncoderOutputOff Configure each Sync port as an input or an output PsoDistanceConfigu...

Страница 57: ...2 7 System Interconnection Figure 2 28 Drive Based System Wiring Drawing Best Practice Figure 2 29 PC Based System Wiring Drawing Best Practice Hardware Manual iXL2e XL2e www aerotech com 57...

Страница 58: ...Figure 2 30 Drive Based System Interconnection Drawing Best Practice iXL2e XL2e Hardware Manual 58 www aerotech com...

Страница 59: ...Figure 2 31 PC Based System Interconnection Drawing Best Practice Hardware Manual iXL2e XL2e www aerotech com 59...

Страница 60: ...uration and Operation Information For more information about hardware requirements PC configuration programming system operation and utilities refer to the Help file iXL2e XL2e Hardware Manual 60 www...

Страница 61: ...8 digital outputs 1 analog input 1 analog output and PSO outputs The EB2 option board is only available on the iXL2e It has an auxiliary encoder PSO Outputs and two Industrial Ethernet ports not shown...

Страница 62: ...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 63: ...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 64: ...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 65: ...open or shorted signal 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 maxi...

Страница 66: ...hest performance and 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...

Страница 67: ...X3 option does not generate 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...

Страница 68: ...Figure 3 8 Sine Wave Encoder Schematic Aux Connector iXL2e XL2e Hardware Manual 68 www aerotech com...

Страница 69: ...N A 6 Analog Output 0 Output Table 3 9 Analog I O Mating Connector Ratings EB1 Specification Description Type 6 Pin Terminal Block Part Numbers Aerotech ECK02405 Phoenix 1704755 Conductor Cross Secti...

Страница 70: ...power on the system or reset the drive Table 3 10 Analog Output Specifications EB1 Specification Value Output Voltage 10 V to 10 V Output Current 5 mA Resolution bits 16 bits Table 3 11 Analog Output...

Страница 71: ...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 72: ...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 73: ...Figure 3 11 Digital Outputs Schematic EB1 Hardware Manual iXL2e XL2e www aerotech com 73...

Страница 74: ...Figure 3 12 Digital Outputs Connected in Current Sourcing Mode EB1 Figure 3 13 Digital Outputs Connected in Current Sinking Mode EB1 iXL2e XL2e Hardware Manual 74 www aerotech com...

Страница 75: ...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 76: ...Figure 3 14 Digital Inputs Schematic EB1 iXL2e XL2e Hardware Manual 76 www aerotech com...

Страница 77: ...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 Hardw...

Страница 78: ...Industrial Ethernet ports IMPORTANT Industrial Ethernet is only available on the iXL2e EB2 Option l For the location of the ports refer to Chapter 1 l For cable part numbers refer to Table 4 1 l For...

Страница 79: ...les Cable Part Description Joystick Refer to Section 4 2 Joystick Interface Handwheel Refer to Section 4 3 Handwheel Interface C20934 XX or C20935 XX BB MP Interconnect Cable Refer to the BB MP manual...

Страница 80: ...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 81: ...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 82: ...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 83: ...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 84: ...let fluids and electrically conductive material go into the chassis Examine all cables and connections to make sure they are correct Make sure that all connections are correctly attached and not loose...

Страница 85: ...ications Fuse Description Size Aerotech P N Third Party P N F1 Control Power at 24V Input 2 A S B EIF01066 Littelfuse 0473002 MRT1L F201 Motor Power at B Input 5 A S B EIF01061 Littlefuse 39215000440...

Страница 86: ...This page intentionally left blank iXL2e XL2e Hardware Manual 86 www aerotech com...

Страница 87: ...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 88: ...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 89: ...03 Updated Agency Approvals 1 02 Added support for Three Phase Stepper Motors Section 2 2 4 1 01 The following sections have been updated l Section 1 1 Electrical Specifications l Chapter 4 Cables and...

Страница 90: ...This page intentionally left blank iXL2e XL2e Hardware Manual 90 www aerotech com...

Страница 91: ...71 Analog Output Pins Analog I O Connector EB1 70 Analog Output Specifications EB1 70 Analog Output Typical Connection EB1 70 Analog Outputs EB1 70 Aux Connector Analog Encoder 67 Sine Wave Encoder 6...

Страница 92: ...ng Mode EB1 74 Digital Outputs Connected in Current Sourcing Mode EB1 74 Digital Outputs Schematic EB1 73 Dimensions 23 Dimensions without EB1 23 Dimensions with EB1 24 DIN Rail Mounting 80 DIN Rail M...

Страница 93: ...tic PSO 63 Motor Supply Connections 28 Outputs Connected in Current Sinking Mode IO 74 Outputs Connected in Current Sourcing Mode EB1 74 Positive Motor Direction 31 PSO Isolated Output Sinks Current 6...

Страница 94: ...60 Phasing DC Brush Motor 33 End of Travel Limits 47 Powered Brushless Motor 31 Stepper Motor 34 35 Unpowered Brushless Motor Feedback 32 Pinout Analog I O AI O Connector EB1 69 Analog Input Pins Anal...

Страница 95: ...ve Encoder Aux Encoder 65 Square Wave Encoder Schematic Feedback Connector 38 Square Wave Encoder Schematic EB1 65 Square Wave Encoder Specifications Feedback Connector 38 65 Standard Features 19 Step...

Страница 96: ...Wire Colors for Aerotech Supplied DC Brush Motor Cables 33 Wire Colors for Aerotech Supplied Stepper Motor Cables 34 Index iXL2e XL2e Hardware Manual 96 www aerotech com...

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