DIGITAL SERVO DRIVES FOR BRUSHLESS AC MOTORS XtrapulsPac™ Safe Torque Off Installation Guide

XtrapulsPac™ "Safe Torque Off" manual ! This is a specific manual describing the Safety function of the XtrapulsPac™ servo drive range having output capability suitable for driving AC brushless sinusoidal servo motors. Please see also: o o o o o o XtrapulsPac™ Installation Guide for the hardware installation of the drive (mounting, wiring, ...) XtrapulsPac™ User Guide for the operation of the drive (commissioning, configuration, ...) XtrapulsPac™ Templates for the templates of target applications. Gem Drive Studio software Quick Start manual for the drive parameterization. EtherCAT® fieldbus...

XtrapulsPac™ "Safe Torque Off" manual All electrical industrial automatisms which lifetime is coming to its end are Waste Electronic and Electrical Equipment (WEEE) according to article R543-172 of the French Environmental Code. WEEE classification of the INFRANOR products Categorie 9: Monitoring and control instruments In accordance with the Decree nr. 2012-617 of May 2nd, 2012 which specifies the provisions related to the professional EEE manufacturers' obligations, INFRANOR France is a member of RECYLUM : ecoorganization ecosystem certified for the collection, treatment and recycling of WEEE....

XtrapulsPac™ "Safe Torque Off" manual

XtrapulsPac™ "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...

XtrapulsPac™ "Safe Torque Off" manual 2.1 - FUNCTIONAL DIAGRAM The "Safe Torque Off" function allows to keep the motor shaft free by avoiding the IGBT module commutation. This is achieved by PWM removal. XtrapulsPac drive INTELLIGENT POWER MODULE STO1/ BUFFER STO revision B diagram The different parts of the functional diagram are described below:  The green part is the first channel of the safety function. Positive PWM signals are disabled by inhibiting the buffer commutation.  The blue part is the second channel of the safety function. Negative PWM signals are disabled by inhibiting the buffer...

XtrapulsPac™ "Safe Torque Off" manual - or a short-circuit detection device must be integrated. Take care that, as the STO function performs the motor power removal without shutting down the power supply, electrical risks are remaining when the STO function is active or inactive. In applications with vertical axes, additional measures (mechanical brake) may be necessary. Refer to the EN13849-2 standard for any complementary information. 2.2.2.2 - Specification of the logic inputs The STO function has a maximum activation / release response time of 10ms / 2ms max according to the following chronogram:...

XtrapulsPac™ "Safe Torque Off" manual If the monitoring part detects incoherences between channel 1 and 2, it locks both channels in the safe state. The STO fault cannot be reset. This state can only be exited by shutting down the 24V power supply. At this moment, the user must find and solve the problem that caused this fault state. The STO function feedback is available in objects:  0x3024,0.bit0 : STO active warning,  0x3022,1.bit4 : STO channel 1 & 2 errors). All these state feedbacks are provided for informative purpose and cannot be used as safe information. Take care of the automatic...

XtrapulsPac™ "Safe Torque Off" manual The performance level of the STO function depends on the revision of the hardware part. According to the drive type and serial number, define your STO revision for knowing the achievable performance level.

XtrapulsPac™ "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 check whether the motor is providing torque or not. If the...

XtrapulsPac™ "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 complete machine. Low inertia axis application / high resistive torque Power relay remote control Motor temp Motor temp Second analog braking resistor Other axes 0 See fuses table for the UL conformity. 1 Is — 10 x In In = 10 A Use only copper conductors for the wiring terminations. The torque values of the wiring terminations must comply with the certified bloc terminal. Please note...

XtrapulsPac™ "Safe Torque Off" manual 3.2 - EXAMPLE 2: STOP CATEGORY 1 ACCORDING TO EN 60204-1 COMPLYING WITH EN13849-1 CAT. 3 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. In the connection diagram example above, the PILZ safety relay orders the servodrive to decelerate by the INHIBIT signal (allocated to digital input IN5). After a safety delay of 0.5 s, it activates...