DIGITAL SERVO DRIVES FOR BRUSHLESS AC MOTORS XtrapulsEasy™ 60VDC STO Safe Torque Off manual

XtrapulsEasy "Safe Torque Off" manual ! This manual describes a series of servo drives having output capability suitable for driving AC brushless sinusoidal servo motors. Please see also: o o o XtrapulsEasy Installation Guide for the hardware installation of the drive (mounting, wiring, ...) XtrapulsEasy User Guide for the operation of the drive (commissioning, configuration, ...) Gem Drive Studio software Quick Start manual for the drive parameterization. Instructions for storage, use after storage, commissioning as well as all technical details require the MANDATORY reading of the manual before...

XtrapulsEasy "Safe Torque Off' manual Information and sorting instructions regarding INFRANOR® products Sorting instructions may vary according to regions / countries. INFRANOR does not assume any responsibility for any physical or material damage due to improper handling or wrong descriptions of the ordered items. Any intervention on the items, which is not specified in the manual, will immediately cancel the warranty. Infranor reserves the right to change any information contained in this manual without notice.

XtrapulsEasy "Safe Torque Off” manual OINFRANOR

XtrapulsEasy "Safe Torque Off" manual Chapter 1 - General description Safe Torque Off (STO) definition according to the EN 61800-5-2 standard: "Power, that can cause the rotation of a motor (or displacement in the case of a linear motor), is not applied to the motor. The drive will not provide energy to the motor which can generate torque (or force in the case of a linear motor)". Used alone, the STO function corresponds to an uncontrolled stopping in accordance with the stop category 0 of the EN 60204-1 standard. The STO function may be used where power removal is required to prevent an unexpected...

XtrapulsEasy "Safe Torque Off" manual 2.1 - FUNCTIONAL DIAGRAM The "Safe Torque Off" function allows keeping the motor shaft free by avoiding the IGBT module commutation. This is achieved by means of two techniques: - IGBT command supply removal, - PWM removal. XtrapulsEasy drive PWM INTELLIGENT POWER MODULE BUFFER The different parts of the functional diagram are described below: • • The green part is the channel of the safety function. PWM signals are disabled by inhibiting the buffer commutation. The black part is the functional part of the drive which is not used to achieve the safety function....

XtrapulsEasy "Safe Torque Off" manual OINFRANOR9 In applications with vertical axes, additional measures (mechanical brake) may be necessary. Please, refer to the EN13849-2 standard for any complementary information. *) From serial number 11420004, the capacitor value is 10 pF for the IN4 input only, in order to support safety relays with test pulse output (for short-circuit detection). The STO function has an activation / release response time of max. 50 ms. However, an additional delay of 6.5 ms is necessary for initialization before PWM becomes active, and 2 s in "Sensorless" or "HES only"...

XtrapulsEasy "Safe Torque Off" manual Used alone, the STO function corresponds to an uncontrolled stop in accordance with stop category 0 of the EN 60204-1 standard (see 3.1 - Example 1: Stop category 0). So, this function is suited for machines with low inertia or high resistive torque. When using high inertia or low resistive torque machines, the user should initiate a controlled stop. To achieve a controlled stop in accordance with stop category 1 of the EN 60204-1 standard (see 3.2 - Example 2: Stop category 1), the control system of the machine must generate the following sequences: ■ Deceleration...

XtrapulsEasy "Safe Torque Off" manual The well-working of the function needs to be checked at least once a year and during the validation of the machine safety functions. The goal of this procedure is to verify that all subsystems of the safety function are operational. The command system must integrate a checking mode reserved to an operator aware of potential risks due to a wrong operation of the safety system. It is highly recommended to get the operator signing a register in order to sensitize him. At each step, the operator must verify whether the motor is providing torque or not. If the...

XtrapulsEasy "Safe Torque Off" manual The following diagram examples are given to make the integration of the safety function easier. The integration of the STO function must be the result of a risk analysis of the global machine.3.1 - EXAMPLE 1: STOP CATEGORY 0 ACCORDING TO EN 60204-13.1.1 - Hardware configurationLow inertia axis application / high resistive torque XtrapulsEasy-ak-230/17 Power relay remote control Motor U phase 1 Motor V phase 2 Motor W phase Use only copper conductors for the wiring terminations. The torque values of the wiring terminations must comply with the certified blockterminal....

XtrapulsEasy "Safe Torque Off" manual Link IN1 to ENABLE function Basic digital inputs configuration Physical input 17 flN4 3~ r | None 3~ r |None ^— r |None 3 r I None TJ— r | None 3~ r |None ^ r | None jJ— r[None 3— r |None 3 r |None 3 r |None 3— r |None ^ r I None jJ— r | None 3_ r |None ^— r I None jJ— Chapter 3 - Connection examples Reset configuration Reversed polarity Reversed polarity Reversed polarity Reversed polarity Reversed polarity Reversed polarity Reversed polarity Reversed polarity Reversed polarity Reversed polarity Reversed polarity Reversed polarity Reversed polarity Reversed...

XtrapulsEasy "Safe Torque Off" manual High inertia axis application /low resistive torque In the following example, a safe Stop 1 is performed. The delay between the deceleration ramp and the STO activation is safe. The deceleration ramp is not safe according to EN13849-1 because it uses a common drive function. Use only copper conductors for the wiring terminations. The torque values of the wiring terminations must comply with the certified blockterminal. In the connection diagram example above, the PILZ safety relay orders the drive to decelerate via the QUICK STOP signal (assigned to digital...