Beckhoff XTS Startup Manual
  1. Manuals
  2. Brands
  3. Beckhoff Manuals
  4. Industrial Equipment
  5. XTS
  6. Startup manual

Beckhoff XTS Startup Manual

Extended transport system
Hide thumbs Also See for XTS:
Table of Contents

Advertisement

Quick Links

Documentation
eXtended Transport System Start-Up
Version:
Date:
1.2
2016-02-18

Advertisement

Table of Contents
loading

Related Manuals for Beckhoff XTS

Summary of Contents for Beckhoff XTS

  • Page 1 Documentation eXtended Transport System Start-Up Version: Date: 2016-02-18...

  • Page 3: Table Of Contents

    Scope of supply .......................... 15 Type label ............................ 15 Type key ............................ 16 6 Technical description.......................... 18 General technical data........................ 18 6.1.1 Dimensions ......................... 19 6.1.2 Connection diagram XTS-Infeed.................. 20 6.1.3 Connection overview...................... 21 Configuration .......................... 22 6.2.1 Basic functions........................ 22 6.2.2 Use of the basic functions.................... 23 6.2.3...
  • Page 4 Table of content 9 Support and Service.......................... 46 Version: 1.2 eXtended Transport System Start-Up...

  • Page 5: Foreword

    EP0851348, US6167425 with corresponding applications or registrations in various other countries. ® EtherCAT is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany Copyright © Beckhoff Automation GmbH & Co. KG, Germany. The reproduction, distribution and utilization of this document as well as the communication of its contents to others without express authorization are prohibited.

  • Page 6: Documentation Issue Status

    They may only be commissioned in connection with components of the eXtended Transport System (XTS) and the previously designed plant. Furthermore, it is essential to take into account all environmental conditions defined in this document before the eXtended Transport System (XTS) is commissioned.

  • Page 7: Guidelines And Standards

    Guidelines and Standards Danger for persons, the environment or equipment The components of the XTS are not products within the meaning of the EC Machinery Di- rective. Operation of the XTS components in machines or systems is only permitted once...

  • Page 8: Safety

    Safety Safety General safety instructions 3.1.1 Personnel qualification This description is only intended for trained specialists in control, automation and drive engineering who are familiar with the applicable national standards. 3.1.2 Description of safety symbols The following safety symbols and associated safety instructions are used in this document. These safety instructions must be read and followed.

  • Page 9: Special Safety Instructions

    The XTS can operate independently. Installation in a machine or system is not mandatory. During independent commissioning or installation of the XTS in a machine or system, the documentation and safety instructions provided by the machine manufacturer must be read and applied.

  • Page 10: Using In Ex Environments

    Also note the requirements of BGV B 11 in connection with magnetic fields (BGV B 11 Section 14). Liability for further transport! Please note that all components of the XTS starter kit may only be forwarded in the original packaging supplied by Beckhoff. The use of other packaging for further transport would Note void all liability and warranty claims against Beckhoff Automation GmbH &...

  • Page 11: Handling

    Handling Handling Transport • The XTS starter kit may only be transported by qualified personnel and in the manufacturer's original packaging. • Avoid shocks, particularly at the corners of the packaging. • If the packaging is damaged, check the XTS starter kit for visible damage. Inform the transport company and, if necessary, the manufacturer.

  • Page 12: Storage

    Maintenance / Cleaning Maintenance The XTS motor modules are maintenance-free! Observe the ambient commissioning conditions! Make sure that the XTS is stored and electrically operated only under the specified condi- tions. WARNING The XTS movers are not maintenance-free! Destruction of the rails! The guide rollers of movers must be checked at regular intervals.

  • Page 13: Replacement Of The Guide Rollers

    Handling Cleaning The XTS modules are sealed according to protection class IP65. They are not protected against aggressive substances. Clean the modules regularly to protect them against rust and corrosion. Use only Isopropanol. Damage to motor modules If damage to the motor modules has occurred, please contact Beckhoff Automation GmbH &...

  • Page 14: Disposal

    In accordance with the WEEE 2002/96/EC Directives we take old devices and accessories back for professional disposal, provided the transport costs are taken over by the sender. Send the devices with the note “For disposal” to: Beckhoff Automation GmbH & Co. KG Service-Center Stahlstraße 31 33415 Verl Version: 1.2...

  • Page 15: Product Identification

    • Control cabinet • Connection cables • Control PC • Switch mode power supply units for 24 V and 48 V • Software licenses (TwinCAT/TC3/XTS Extension) • Commissioning of the XTS (this manual) Type label eXtended Transport System Start-Up Version: 1.2...

  • Page 16: Type Key

    Product identification Type key *Content of the XTS-Starterkit Version: 1.2 eXtended Transport System Start-Up...
  • Page 17 Product identification *Content of the XTS-Starterkit eXtended Transport System Start-Up Version: 1.2...

  • Page 18: Technical Description

    IP65 Ventilation of the machine bed! To improve system utilization, it is strongly recommend to actively or passively cool the ma- chine bed of the XTS. For further information on cooling please contact the Beckhoff appli- Note cations department! System properties Max.

  • Page 19: Dimensions

    Beckhoff applications department. Note Energy recovery from the XTS The XTS is capable of energy recovery. If kinetic energy is fed back during an emergency stop, measures should be taken to avoid voltage overshoot, and associated premature Note auto-shutdown of the motor modules.

  • Page 20: Connection Diagram Xts-Infeed

    Technical description 6.1.2 Connection diagram XTS-Infeed PE connection port of the module body EtherCAT line Circuit diagram 48 V negative not grounded: Do not ground the negative side of the 48V DC Bus Power Supply! The adjacent diagram describes the current distribution in the individual conductors.

  • Page 21: Connection Overview

    If the cables are reversed, agree the teaching data of the respective modules will no longer match. • Pos. 1 shows the two places of assignment for the Harting connector of the XTS. • Pos. 2 shows the input and output slot for the EtherCAT connection eXtended Transport System Start-Up Version: 1.2...

  • Page 22: Configuration

    The desired geometries, lengths and radii are formed by the number and choice of the components. 6.2.1 Basic functions The XTS enables a new class of functions that can be used at the same time in several places. Completely new, particularly flexible: transport and positioning tasks are economically solvable with little effort. 6.2.1.1...

  • Page 23: Use Of The Basic Functions

    Pushing products, adjusting the product gap and product velocity The movers of the XTS can always run with the flow of product. No return travel or return stroke against the product flow is required. The transported material can be accumulated and grouped during the movement via the dynamic buffering.

  • Page 24: Overview

    Technical description Overview Composition of the starter kit This section exclusively deals with the XTS components of the starter kit. Note Basic components • Stand and holder for all mechanical parts • Industrial PC with all necessary interfaces and sufficient system performance •...
  • Page 25 Technical description XTS starter kit large AT2000-1500, 1500 mm, straight length Pos. Number Product description Item number XTS straight module with connecting cable and EtherCAT AT2001-0250 interface XTS straight module AT2000-0250 XTS curved module 180° (clothoid) AT2050-0500 Movers including rollers, magnetic plates and encoder flag AT9011-0050-0550...

  • Page 26: Overview Of The Components

    Machine bed mounting surface Alignment Dowel Pins Exact locations and dimensions of the dowel pins are given in the 3D drawings (.stp files) of the motor modules. For further information please contact the Beckhoff applications depart- Note ment. Version: 1.2...
  • Page 27 Technical description Curved motor module 180° (clothoid) Guide rails with and without lock cover Position number Description Slot for Module to Module connection card (10) Motor Coils Slot for Module to Module connection card (10) Track Mounting Surface Encoder Flag detection surface Straight track without gate Gate which can be removed to allow movers to be added/removed from the track.

  • Page 28: Installation

    Mechanical installation Acute risk of injury or death by electric shock! Before assembly or disassembly of the XTS, make sure all electrical components are in a de-energized idle state! Failure to observe this instruction may result in serious bodily injury...

  • Page 29: Overview Of The Tightening Torques

    Screw: M5x30 DIN EN ISO 4762-A2 Tightening Torque 6Nm Screw Tightening Torque Please note the tightening torque values given are those recommended by Beckhoff Auto- mation GmbH & Co. KG. Use of other tightening torques can result in damage to the com- Note ponents.
  • Page 30 Installation Guide rail with mover 6 rollers Guide rail with lock Mover 6 rollers Position number Description Screw: M4 x 10 DIN EN ISO 4762-A2 Tightening Torque 3Nm Screw: M3 x 30 DIN EN ISO 4762-A2 Nut: M3 DIN 985 Tightening Torque 2Nm Screw M4 x 40 DIN EN ISO 4762-A2 Tightening Torque 4Nm.

  • Page 31: Mounting The Movers On The Guide Rail

    Installation Mounting the movers on the guide rail Installation instructions 1.) First release both socket head screws at the motor module lock with an Allen key (size 3) by turning them clockwise. 2.) Remove the lock cover by lifting it. Avoid contaminating or damaging the released screws or the lock cover.
  • Page 32 Installation 5.) The mover is now mounted on the guide rail. Slowly push the mover out of the work area by hand. Attention: Please take care when rerailing the mover to avoid damaging the plastic rollers on the sharp edges. 6.) Remove the red feed aid, once all movers were replaced or rerailed.

  • Page 33: The Positioning System

    The positioning system Before the movers are set in motion at the new XTS, the offset levels of the encoder sensors have to be calibrated. In ready-made starter kits the system sensors are already calibrated, and the sensor values are stored in a file.

  • Page 34: Teaching The Encoder System

    (to determine peak values). With the new CTcolXstDrv, only still the measurement at standstill is required. Measurements should generally be carried out when the motor modules are assembled. XTS starter kits come with a ready-made calibration file, which can be found under \TwinCAT3.1\Boot folder.
  • Page 35 Installation In this example image, up to 10 motor modules can be selected. Modules 1, 2 and 3 are not part of the teaching procedure, since there are still movers on these motor modules. The other motor modules are part of the teaching process. The zero point is now set for the motor modules. Use the command “Online Write”...
  • Page 36 Installation The teaching process can now be stopped by repeating the command “Online Write”. The process is now stopped. This display window also shows that the technical data of modules 1, 2 and 3 are invalid, because they were excluded from the teaching process. Now, all movers are manually pushed to motor modules 7, 8 and 9.
  • Page 37 Installation The teaching process is identical to the already completed process for motor modules 1, 2 and 3. The modules that are blocked/excluded from the teaching process are 7, 8 and 9. Repeat the command “Online Write” to start a new teaching process. The output window with the setting TwinCAT now shows the values again, which were set in the previous steps.
  • Page 38 When the XTS is started for the first time, the system returns the error “Initial Axis Fault”. This is a step error, which occurs only once. Restart the system to rectify the error. No further errors should occur.
  • Page 39 Risk of injury from moving movers! When the XTS is started up, the movers start moving on the guide rails. There is a risk of injury to body parts. Keep an appropriate safety distance, and stay clear of the operating WARNING space.

  • Page 40: Application Simulation

    The XTS system also enables simulation of the mover movements. It is therefore not imperative to involve real movers on the XTS system. The simulation process is started in the Solution Explorer via SoftDriveEncoder_Obj2. The tab is called Parameter (Init), where the PositionsFeedbackMode can be set to simulation.

  • Page 41: Collision Avoidance

    Installation Collision avoidance 7.5.1 Operating principle of collision avoidance In collision avoidance mode, the parameters “InTarget”, “InPosition” and “HasJob” are disabled, even if they were configured. Collision avoidance is intended to assign all movers concrete travel paths, velocities and gaps. These settings prevent collisions of the movers during motion. All movers are positioned at the zero point (feed-in motor module).
  • Page 42 Installation The diagram now indicates that the mover is active and has assumed the specified velocity over the travel path. At target position (2000) the velocity has reduced, and the activity of the mover has ceased. The mover no. 9 has now arrived at the previously set position. A further mover is now parameterized.
  • Page 43 The diagram shows that the busy and active straight section remains active when the position 1800 is reached. The diagram also illustrates the positioning of the two movers on the XTS system. Mover 8 stops behind mover 9. We now instruct mover 9 to move to position 2500. The velocity and the gap remain the same.
  • Page 44 Installation Changing the commands for mover 9 also changes the diagram. It shows that mover 9 is again active and has assumed a velocity, which decreases to zero at position 2500. Mover 8 has also assumed a velocity, which falls to zero at position 2000. The active and busy straight sections also finish at this position.

  • Page 45: Technical Data

    Technical data Technical data AT9011-0050-0550 Technical data Symbol [Unit] AT9011-0050-0550 Length 50.00 Width 62.00 Height 78.50 Weight 410.00 Center of gravity from above appr. 42.5 Roll 6 x D19 cylindrical Technical drawing AT9011-0050-0550 eXtended Transport System Start-Up Version: 1.2...
  • Page 46 Beckhoff's branch offices and representatives Please contact your Beckhoff branch office or representative for local support and service on Beckhoff products! The addresses of Beckhoff's branch offices and representatives round the world can be found on her internet pages: http://www.beckhoff.com You will also find further documentation for Beckhoff components there.

Table of Contents