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2.4.1. STO Standards

Table 2-25

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

(STO) feature of the XC2e. This assumes that diagnostic testing is performed according to

Section 2.4.4.

and

Table 2-26

Table 2-25:

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 2-26:

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%

2.4. Safe Torque Off Input (STO)

XC2e Hardware Manual

www.aerotech.com

Содержание XC2e

Страница 1: ...Revision 1 00 XC2e HARDWARE MANUAL...

Страница 2: ...repairs and 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 ca...

Страница 3: ...1 Brushless Motor Connections 31 2 2 1 1 Brushless Motor Powered Motor and Feedback Phasing 32 2 2 1 2 Brushless Motor Unpowered Motor and Feedback Phasing 33 2 2 2 DC Brush Motor Connections 34 2 2...

Страница 4: ...O EB1 66 3 3 1 Analog Input Differential EB1 67 3 3 2 Analog Output 0 EB1 68 3 4 Digital Inputs EB1 69 3 5 Digital Outputs EB1 71 Chapter 4 Cables and Accessories 75 4 1 DIN Rail Mounting 76 4 2 Joys...

Страница 5: ...oder Fault Input Schematic Feedback Connector 47 Figure 2 21 End of Travel and Home Limit Input Connections 49 Figure 2 22 End of Travel and Home Limit Input Schematic Feedback Connector 49 Figure 2 2...

Страница 6: ...This page intentionally left blank List of Figures XC2e Hardware Manual 6 www aerotech com...

Страница 7: ...der Fault Input Pin on the Feedback Connector 47 Table 2 19 End of Travel and Home Limit Pins on the Feedback Connector 48 Table 2 20 Brake Output Pins on the Feedback Connector 51 Table 2 21 Brake Co...

Страница 8: ...fications EB1 71 Table 3 17 Digital Output Connector Pinout EB1 71 Table 3 18 Mating Connector Part Numbers for the Digital Output Connector EB1 71 Table 4 1 Standard Interconnection Cables 75 Table 4...

Страница 9: ...icable requirements of the following Standard s when installed and used in accordance with the manufacturer s supplied installation instructions EN 61326 1 2013 EMC Requirements for Electrical Equipme...

Страница 10: ...This page intentionally left blank EU Declaration of Conformity XC2e Hardware Manual 10 www aerotech com...

Страница 11: ...010 1 2010 A1 2019 UL 61010 1 2012 R 2016 04 Approval Safety Components STO Approving Agency TUV SUD Certificate Z10 068995 0030 Rev 00 Standards IEC 61508 1 2010 up to SIL 3 Visit https www tuev sued...

Страница 12: ...This page intentionally left blank Agency Approvals XC2e Hardware Manual 12 www aerotech com...

Страница 13: ...ly before doing main tenance or an inspection Otherwise there is the danger of electric shock 3 Before you connect wires to this product disconnect the electrical power 4 To decrease the risk of elect...

Страница 14: ...This page intentionally left blank Safety Procedures and Warnings XC2e Hardware Manual 14 www aerotech com...

Страница 15: ...on section Motor and Feedback Connections Section 2 2 Motor Power Output Connector and Section 2 3 Feedback Connector HyperWire Section 2 5 HyperWire Interface Digital Analog I O Chapter 3 EB1 I O Opt...

Страница 16: ...This page intentionally left blank Quick Installation Guide XC2e Hardware Manual 16 www aerotech com...

Страница 17: ...protocol The drive provides deterministic behavior auto identification is fully software configurable A double precision floating point DSP controls the digital PID and current loops in the XC2e Figur...

Страница 18: ...4 VDC can be connected to current sourcing or sink ing devices l 8 digital logic outputs 5 24 VDC can be connected as current sourcing or sinking l Digital logic laser firing PSO output PSO Section 3...

Страница 19: ...The block diagram that follows shows a summary of the connector signals Figure 1 2 Functional Diagram www aerotech com 19 XC2e Hardware Manual Chapter 1 Introduction...

Страница 20: ...er Amplifier Bandwidth 2500 Hz maximum software selectable Power Amplifier Efficiency 85 95 2 PWM Switching Frequency 20 kHz Minimum Load Inductance 0 1 mH 100 VDC User Power Supply Output 5 VDC 500 m...

Страница 21: ...oximately 90 in the following equations Brushless Motor Output Power Rotary Motors Power Output W Torque N m Angular velocity rad sec Linear Motors Power Output W Force N Linear velocity m sec Rotary...

Страница 22: ...Mounting Specifications XC2e Enclosure IP54 Compliant For DIN Rail Mounting refer to Section 4 1 DIN Rail Mounting Weight 0 54 kg Mounting Hardware M3 5 6 screws four locations not included Mounting O...

Страница 23: ...1 2 2 Dimensions Figure 1 3 Dimensions www aerotech com 23 XC2e Hardware Manual 1 2 2 Dimensions...

Страница 24: ...Figure 1 4 Dimensions EB1 1 2 2 Dimensions XC2e Hardware Manual 24 www aerotech com...

Страница 25: ...emperatures 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 you must operate this product above 2 0...

Страница 26: ...configurators for Automation1 drives will restrict firmware options to only those that are compatible No special considerations are necessary when ordering Automation1 firmware 1 4 Drive and Software...

Страница 27: ...ground at the supply Use twisted pair wiring to minimize radiated noise emissions refer to Figure 2 1 IMPORTANT Refer to local electrical safety requirements to correctly size external system wires F...

Страница 28: ...ctrical safety requirements to correctly size external system wires Figure 2 2 Motor Supply Connections Table 2 3 Motor Supply Connector Wiring Specifications Pin Description Recommended Wire Size DC...

Страница 29: ...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 sup ply place a line filter such as Sc...

Страница 30: ...le motor output connector is located on the front panel The pinout for this connector is shown in Table 2 5 Table 2 5 Motor Power Output Connector Pinout Pin Description Recommended Wire Size Connecto...

Страница 31: ...effect devices for 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...

Страница 32: ...e 2 4 Positive Motor Direction Feedback Monitoring The state of the encoder and Hall effect device signals can be observed in the Status Utility A for the given Hall input indicates zero voltage or lo...

Страница 33: ...tor 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...

Страница 34: ...re Colors for Aerotech Supplied DC Brush Motor Cables Pin Wire Color Set 1 1 Wire Color Set 2 Wire Color Set 3 Green White Shield 2 Green Yellow Shield Green Yellow Shield A Red Orange Red Red Orange...

Страница 35: ...positive or clockwise CW direction by hand Figure 2 9 Positive Motor Direction 4 If the voltmeter indicates a negative value swap the motor leads and move the motor by hand in the positive direction...

Страница 36: ...bus supply is needed to get 40V across the motor Figure 2 10 Stepper Motor Configuration Table 2 9 Wire Colors for Aerotech Supplied Stepper Motor Cables Pin Wire Color Set 1 1 Wire Color Set 2 Green...

Страница 37: ...and the motor moves in a clockwise direction as viewed looking at the motor from the front mounting flange the motor is phased correctly If the motor moves in a counterclockwise direction swap the mot...

Страница 38: ...Effect Sensor A brushless 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...

Страница 39: ...gh performance 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 Ph...

Страница 40: ...nal connection Use twisted pair wiring for the highest performance and noise immunity Table 2 14 Square Wave Encoder Specifications Specification Value Encoder Frequency 10 MHz maximum 25 ns minimum e...

Страница 41: ...Use twisted pair wiring for the highest performance and noise immunity Refer to Figure 2 13 for the serial data stream interface Refer to the Help file for information on how to set up your EnDat or B...

Страница 42: ...ssary The XC2e can 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 PrimaryEmulatedQua...

Страница 43: ...Figure 2 15 Analog Encoder Schematic Feedback Connector www aerotech com 43 XC2e Hardware Manual 2 3 1 Primary Encoder Inputs...

Страница 44: ...nostics display see Figure 2 17 The Motor Phasing Calculator in the Configuration Manager can be used to determine proper encoder polarity For dual loop systems the velocity feedback encoder is displa...

Страница 45: ...vice phasing Table 2 16 Hall Effect Feedback Pins on the Feedback Connector Pin Description In Out Bi 3 5V Power 1 N A 5 Hall Effect Sensor B brushless motors only Input 10 Hall Effect Sensor A brushl...

Страница 46: ...re causes the thermistor s resistance 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 sensor is...

Страница 47: ...ameter 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 18 Encoder Fault Inp...

Страница 48: ...in the diagnostics display refer to Figure 2 23 Table 2 19 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 Power N A...

Страница 49: ...21 End of Travel and Home Limit Input Connections Figure 2 22 End of Travel and Home Limit Input Schematic Feedback Connector www aerotech com 49 XC2e Hardware Manual 2 3 5 End of Travel and Home Limi...

Страница 50: ...he 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...

Страница 51: ...E command Table 2 20 Brake Output Pins on the Feedback Connector Pin Description In Out Bi 13 Brake Output Output 25 Brake Output Output Table 2 21 Brake Control Specifications Specification Value Max...

Страница 52: ...level is the sole responsibility of the user of XC2e 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 ST...

Страница 53: ...e 2 25 shows one safety device connected to multiple XC2es in parallel WARNING The XC2e does not check for short circuits on the external STO wiring If this is not done by the external safety device s...

Страница 54: ...N 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 26 STO Standards Data Standard Value EN ISO 13849 1 2015 MTTFD 1000 years DCAVG 99 Maximum...

Страница 55: ...ware will disable 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 s...

Страница 56: ...atch 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 separ...

Страница 57: ...listed SIL level the STO circuit must be activated power removed from both inputs according to the interval specified in Table 2 26 Table 2 29 STO Timing Time Description Value T1 STO Delay Time STO...

Страница 58: ...scription HYPERWIRE PCIE HyperWire adapter PCIe x4 interface Table 2 31 HyperWire Cable Part Numbers Part Number Description HYPERWIRE AO10 5 HyperWire cable active optical 0 5 m HYPERWIRE AO10 10 Hyp...

Страница 59: ...ection Click on the image below to open a separate pdf window with a larger view of the drawing Figure 2 27 System Interconnection Drawing Best Practice www aerotech com 59 XC2e Hardware Manual 2 6 Sy...

Страница 60: ...n Information For more information about hardware requirements PC configuration programming system operation and utilities refer to the Help file 2 7 PC Configuration and Operation Information XC2e Ha...

Страница 61: ...e EB1 I O option board has 8 digital inputs 8 digital outputs 1 analog input 1 analog output and PSO outputs Figure 3 1 XC2e with EB1 I O Option Board Connectors www aerotech com 61 XC2e Hardware Manu...

Страница 62: ...z Output Latency Fire event to output change TTL 5 ns Isolated 150 ns Table 3 2 PSO Interface Connector Pinout EB1 Pin Description In Out Bi Connector 1 PSO Output Output 2 PSO Output Output 3 PSO Out...

Страница 63: ...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 signal which is used to dr...

Страница 64: ...generate a feedback fault when the axis is enabled Use twisted pair wiring for the highest performance and noise immunity Table 3 4 Auxiliary Encoder RS 422 Specifications Specification Value Encoder...

Страница 65: ...Figure 3 5 Auxiliary Encoder Interface www aerotech com 65 XC2e Hardware Manual 3 2 Auxiliary Encoder Input EB1...

Страница 66: ...nector 1 5 V 250 mA max N A 2 Analog Input 0 Input 3 Analog Input 0 Input 4 Ground N A 5 Ground N A 6 Analog Output 0 Output Table 3 8 Mating Connector Part Numbers for the Analog I O Connector EB1 Ty...

Страница 67: ...to Figure 3 6 Table 3 9 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 may damage th...

Страница 68: ...the system or reset the drive Table 3 11 Analog Output Specifications EB1 Specification Value Output Voltage 10 V to 10 V Output Current 5 mA Resolution bits 16 bits Table 3 12 Analog Output Pins on t...

Страница 69: ...13 Digital Input Specifications EB1 Input Voltage Approximate Input Current Turn On Time Turn Off Time 5 V to 24 V 6 mA 10 s 43 s Table 3 14 Digital Input Connector Pinout EB1 Pin Description In Out...

Страница 70: ...all sourcing or all sinking configuration Figure 3 9 Digital Inputs Connected to Current Sourcing PNP Devices EB1 Figure 3 10 Digital Inputs Connected to Current Sinking NPN Devices EB1 3 4 Digital In...

Страница 71: ...3 16 Digital Output Specifications EB1 Digital Output Specifications Value Maximum Voltage 24 V 26 V Maximum Maximum Sink Source Current 250 mA output Output Saturation Voltage 0 9 V at maximum curre...

Страница 72: ...Figure 3 11 Digital Outputs Schematic EB1 3 5 Digital Outputs EB1 XC2e Hardware Manual 72 www aerotech com...

Страница 73: ...Figure 3 12 Digital Outputs Connected in Current Sourcing Mode EB1 Figure 3 13 Digital Outputs Connected in Current Sinking Mode EB1 www aerotech com 73 XC2e Hardware Manual 3 5 Digital Outputs EB1...

Страница 74: ...This page intentionally left blank 3 5 Digital Outputs EB1 XC2e Hardware Manual 74 www aerotech com...

Страница 75: ...motioncontrol com manuals index aspx Table 4 1 Standard Interconnection Cables Cable Part Description Joystick See Section 4 2 ECZ01231 BBA32 Interconnect Cable 1 The xx indicates length in decimeters...

Страница 76: ...he last component at each end 3 Secure the 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 alrea...

Страница 77: ...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 cable all Aerotech cables are labeled to identif...

Страница 78: ...ifferential quadrature signals to the XC2e IMPORTANT You can find instructions on how to enable the handwheel in the Help file Connect a handwheel to the Aux connector as shown in Figure 4 3 Figure 4...

Страница 79: ...o electrically conductive materials Do not let fluids and electrically conductive material go into the XC2e Examine all cables and connections to make sure they are correct Make sure that all connecti...

Страница 80: ...le 5 2 Control Board Fuse Specifications Fuse Description Size Aerotech P N Third Party P N F1 Control Power at 24V Input 2 A S B EIF01066 Littelfuse 0473002 MRT1L F2 Motor Power at DC Input 5 A S B E...

Страница 81: ...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 website www aerotech com Pr...

Страница 82: ...conditions stated in the following On Site Non Warranty Repair section apply On site Non Warranty Repair If any Aerotech product cannot be made functional by telephone assistance or purchased replace...

Страница 83: ...Appendix B Revision History Revision Description 1 00 New Manual www aerotech com 83 XC2e Hardware Manual Appendix B Revision History...

Страница 84: ...This page intentionally left blank Appendix B Revision History XC2e Hardware Manual 84 www aerotech com...

Страница 85: ...t Pins Analog I O Connector EB1 68 Analog Output Specifications EB1 68 Analog Output Typical Connection EB1 68 Analog Outputs EB1 68 AUX Connector Mating Connector Part Numbers 64 AUX Connector Pinout...

Страница 86: ...ations EB1 69 Digital Inputs EB1 66 69 Digital Inputs Connected to a Current Sinking Device EB1 70 Digital Inputs Connected to a Current Sourcing Device EB1 70 Digital Inputs Schematic EB1 69 Digital...

Страница 87: ...422 Line Driver Encoder 40 Sine Wave Encoder 42 Square Wave Encoder 40 Thermistor Input 46 Travel Limit Input 48 Feedback Monitoring 32 Figure EB1 I O Option Board Connectors 61 Absolute Encoder Sche...

Страница 88: ...H Hall Effect Feedback Pins on the Feedback Connector 45 Hall Effect Inputs Feedback Connector 45 Hall Effect Inputs Schematic 45 Handwheel Interconnection to the Aux Connector 78 Handwheel Interface...

Страница 89: ...tage specifications 20 Overview 17 P PC Configuration and Operation Information 60 Peak Output Current specifications 20 Phasing DC Brush Motor 35 End of Travel Limits 50 Powered Brushless Motor 32 St...

Страница 90: ...Safety Procedures and Warnings 13 serial data stream 41 Sine Wave Encoder Feedback Connector 42 Specifications Analog Encoder Feedback Connector 42 Analog Output EB1 68 Auxiliary Encoder RS 422 Signa...

Страница 91: ...Feedback Connector 46 Thermistor Input Schematic 46 Travel Limit Input Feedback Connector 48 TTL Outputs Schematic PSO 63 Two Axis Joystick Interface 77 Typical STO Configuration 53 U Unit Weight 22...

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

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