Beckhoff eXtended Transport System Operating Instructions Manual
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Beckhoff eXtended Transport System Operating Instructions Manual

Beckhoff eXtended Transport System Operating Instructions Manual

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XTS | eXtended Trans-
port System
Operating Instructions | EN
4/20/2020 | Version 2.2

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Summary of Contents for Beckhoff eXtended Transport System

  • Page 1 XTS | eXtended Trans- port System Operating Instructions | EN 4/20/2020 | Version 2.2...

  • Page 3: Table Of Contents

    Version numbers...............................  7 Scope of the documentation .......................... 7 Staff qualification...............................  8 Safety and instruction .............................  10 Explanation of symbols ...........................  10 Beckhoff Services ............................ 12 For your safety.............................. 13 General safety instructions .......................... 13 Product overview...............................  16 Name plate.............................. 17 Type key .................................
  • Page 4 Table of contents 6-roller 50 mm mover............................ 98 6-roller 70 mm mover............................ 99 12-roller 50 mm mover............................  99 ESD brushes.............................. 100 Fault correction.............................. 101 Motor modules ..............................  101 TcIoXts object ...............................  104 SoftDrive object.............................  108 Decommissioning............................ 110 Disassembly.............................. 110 Disposal ................................  111 Index .................................

  • Page 5: Documentation Notes

    1.1.2 and registrations in various other countries: • EP1590927 • EP1789857 • EP1456722 • EP2137893 • DE102015105702 ® EtherCAT is a registered trademark and patented technology, li- censed by Beckhoff Automation GmbH & Co. KG, Germany. Version: 2.2 ───...
  • Page 6 • Use of untrained personnel • Use of unauthorized spare parts Copyright © Beckhoff Automation GmbH & Co. KG, Germany 1.1.4 The copying, distribution and utilization of this document as well as the communication of its contents to others without express autho- rization is prohibited.

  • Page 7: Version Numbers

    Product features Only the product properties specified in the current operating in- structions are valid. Further information given on the product pages of the Beckhoff homepage, in emails or in other publications is not authoritative. Scope of the documen- In addition to this documentation, the following documents are part...

  • Page 8: Staff Qualification

    Documentation notes Staff qualification These operating instructions are intended for trained control and au- tomation specialists with knowledge of the applicable and required standards and directives. Qualified personnel must have knowledge of drive technology and electrical equipment as well as knowledge of safe working on electri- cal systems and machines.
  • Page 9 • assess the work environment • independently optimize and carry out their work Customer service Customer service personnel and service personnel are verifiably trained and authorized by Beckhoff or the machine manufacturer for the work on the machine or plant. Version: 2.2 ───...

  • Page 10: Safety And Instruction

    Documentation notes Safety and instruction Read the contents that refer to the activities you have to perform with the product. Always read the chapter For your safety in the op- erating instructions. Observe the warning notes in the chapters so that you can handle and work properly and safely with the product.
  • Page 11 Documentation notes Notes are used for important information on the product. The possible consequences of failure to observe these include: • Malfunctions of the product • Damage to the product • Damage to the environment Information This sign indicates information, tips and notes for dealing with the product or the software.

  • Page 12: Beckhoff Services

    Beckhoff and its international partner companies offer comprehen- sive support and service. Support The Beckhoff Support offers technical advice on the use of individ- ual Beckhoff products and system planning. Staff provide assistance 1.7.1 for programming and commissioning complex automation systems and offer a comprehensive training program.

  • Page 13: For Your Safety

    For your safety Read this chapter containing general safety information. The chap- ters in these operating instructions also contain warning notices. Al- ways observe the safety instructions for your own safety, the safety of other persons and the safety of the product. When working with control and automation products, many dangers can result from careless or incorrect use.
  • Page 14 For your safety Do not use damaged components Observe the specifications in the technical data during storage, transport and operation. Do not use damaged components. Check safety pictograms Check whether the designated pictograms are on the product. Re- place missing or illegible stickers. Observe tightening torques Install connections and components in compliance with the specified tightening torques and check them regularly.
  • Page 15 For your safety After operation De-energize and switch off components before working on them 2.1.3 Carry out a voltage test and check all safety-relevant devices for functionality. Secure the working environment and the control cabi- net against inadvertent power-up. See chapter: "Decommissioning", [Page 110].

  • Page 16: Product Overview

    Product overview Number Explanation Curved rail Straight guide rail with lock Mover Lock Name plate Machine bed Straight guide rail without lock Straight module Curved module ─── Version: 2.2...

  • Page 17: Name Plate

    XTS Drive 250 mm ECAT Run Link / Act Automation GmbH & Co.KG Huelshorstweg 20 48V | 16A 33415 Verl / Germany www.beckhoff.com 24V | 4A Made in Germany 2000 002082 Number Explanation Link / Act status LED EtherCAT status LED...
  • Page 18 Product overview DataMatrix code 3.1.1 3.1.1 The DataMatrix code can be found on all movers and modules. If there is no BTN number under the DataMatrix code, you can read it out via the DataMatrix code. For example, you can read the DataMatrix code with the camera of your smartphone or tablet.

  • Page 19: Type Key

    Product overview Type key Module 3.2.1 AT 20 xx – xxxx – 000x Explanation Product line AT = drive technology Product type 2 = module Module variants 00 =   straight 01 =   straight with supply 20 = 22.5° outside curve 21 = 22.5°...
  • Page 20 Product overview Guide rail 3.2.3 AT 9x xx – xxxx – 0070 Explanation Product line AT = drive technology Product type 0 = without lock 1 = with lock Rail variants 00 =   straight 20 = 22.5° outside curve 25 = - 22.5° inside curve 40 = 45°...

  • Page 21: Product Characteristics

    Product overview Product characteristics Permanent magnets Permanent magnets made of a hard magnetic material are built into the XTS movers. The permanent magnets develop high forces even in small designs. They enable the precise and highly dynamic posi- tioning of the XTS movers. Modular travel path You have the possibility to choose from a wide variety of module ge- ometries and to assemble them together as you wish.

  • Page 22: Components

    Product overview Components A complete XTS system consists of: • Motor modules • Guide rails • Movers The individual components are defined via the type key and can be ordered separately or preconfigured as a complete system. Motor modules A system consists of individual motor modules that can be combined to form a complete drivetrain.
  • Page 23 Product overview 45° motor module This module is available with a +45° curve, with or without supply. 180° clothoid This module is available as a 180° clothoid, optionally with a mount- ing plate for cooling systems. Version: 2.2 ───...
  • Page 24 Product overview Guide rails In addition to the motor modules you need a rail system, which con- sists of various guide rails. The guide rails are available in different 3.4.2 versions. Straight guide rails 3.4.2.1 3.4.2.1 Straight guide rails are available in the following lengths, with or without lock cover: Available lengths 250 mm...
  • Page 25 Product overview 90° guide rail A 90° guide rail is available for different applications. You can install this guide rail in case of an arrangement of a straight module with two consecutive 45° modules. 180° guide rail The 90° guide rail can be extended to 180° with this additional guide rail.
  • Page 26 Product overview Mover The movers are mounted on the guide rails and are available in the following variants: 3.4.3 50 mm 3.4.3.1 3.4.3.1 The XTS mover with a width of 50  mm is available with 6 or 12 guide rollers. 70 mm 3.4.3.1.1 3.4.3.1.1 The XTS mover with a width of 70 ...

  • Page 27: Ordering Options

    Product overview Ordering options Order options are defined by the type key and must be ordered sep- arately. Mover 1 magnetic plate set The special magnetic plate set is identified by an engraving on the set itself and a logo on the encoder flag. The Mover 1 functionality is 3.5.1 used for the unambiguous identification of the individual movers.
  • Page 28 Product overview Encoder flag The use of the 1.6 mm-thick encoder flag is recommended for exter- nal movers. 3.5.2 1.6 mm encoder flag standard The 1.6  mm encoder flag can be ordered with the following order number: • AT9001-0550-1640 1.6 mm encoder flag Mover 1 The Mover 1 magnetic plate set with pre-mounted 1.6 mm encoder flag is available under the following order number: •...

  • Page 29: Special Geometries

    Product overview Special geometries Special geometries can be realized with the XTS system by using the motor module with a length of 233 mm. Systems can be config- ured in the shape of an L, U, O or Z by combining curved modules with different radii and straight modules with different lengths.
  • Page 30 Product overview O shape 3.6.3 3.6.3 Z shape 3.6.4 3.6.4 ─── Version: 2.2...

  • Page 31: Intended Use

    All components of the XTS are intended only to be programmed and commissioned with the help of the Beckhoff TwinCAT automation software. Read the entire drive system documentation: •...

  • Page 32: Technical Data

    Technical data Below you will find definitions of terms, environmental conditions and operating specifications as well as technical data. Definition All details relate to an ambient temperature of 40 °C. The data can have a tolerance of +/- 10%. Technical terms Nominal force F 4.1.1 Nominal force that a mover can continuously apply.

  • Page 33: Data For Operation And Environment

    Operate the XTS only under the specified environmental con- ditions Operate the Beckhoff XTS only in accordance with the specifica- tions for operation and the environment listed in this chapter. This ensures a long service life and proper operation.

  • Page 34: Xts Standard

    Technical data XTS Standard Electrical data Control voltage [V 24 -15/+20% Power supply [V Current consumption - power supply nominal current [A] Current consumption power supply < 48 short-term peak current [A] Power consumption control voltage module [W/m] Maximum segment length per power ≤ 3 supply module [m] Rated power P...
  • Page 35 Technical data System properties Typical thermal time constant t [min] Force constant K at standstill [N/A] Maximum force at 2 m/s [N] Velocity at 48 V [m/s] Acceleration without payload [m/s ≥ 100 Nominal force F Voltage constant K [Vs/m] Winding resistance of a phase R [Ω] Maximum force at standstill [N] Dependent on the air gap between stator and drive magnet...

  • Page 36: Dimensional Drawings

    Technical data Dimensional drawings Dimensional drawings and 3D models online You have the option to download the dimensional drawings and 3D models of the individual components from the Beckhoff website: www.beckhoff.de/download • Direct link to the download Dimensional drawings - 4.4.1...
  • Page 37 Technical data AT2001-0250 • Motor straight with supply • All figures in millimeters 250 - 0,3 49,9 39,9 A ( 1 : 2 ) ~ 15 39,1 5 F6 (2x) M (3x) 80 0,1 90 0,1 90 0,2 35 0,1 180 0,2 Version: 2.2 ───...
  • Page 38 Technical data AT2001-0250-0003 • Motor straight with supply and UL • All figures in millimeters ─── Version: 2.2...
  • Page 39 Technical data AT2000-0233 • Motor straight 233 mm • All figures in millimeters Version: 2.2 ───...
  • Page 40 Technical data AT2002-0249 • Motor straight 249 mm with plug • All figures in millimeters ─── Version: 2.2...
  • Page 41 Technical data AT2002-0250 • Motor straight 250 mm with plug • All figures in millimeters Version: 2.2 ───...
  • Page 42 Technical data AT2020-0250 • Motor +22.5° curved • All figures in millimeters (256,2) 22,5° A ( 1 : 2 ) 5 F6 (2x) 120 0,1 39,1 ─── Version: 2.2...
  • Page 43 Technical data AT2021-0250 • Motor +22.5° curved with supply • All figures in millimeters (256,2) 22,5° 5 F6 (2x) ( 1 : 2 ) 120 0,1 39,1 Version: 2.2 ───...
  • Page 44 Technical data AT2025-0250 • Motor -22.5° curved • All figures in millimeters (278,05) A ( 1 : 2 ) 39,1 ─── Version: 2.2...
  • Page 45 Technical data AT2026-0250 • Motor -22.5° curved with power supply • All figures in millimeters Version: 2.2 ───...
  • Page 46 Technical data AT2040-0250 • Motor +45° curved • All figures in millimeters (258,93) 45° A ( 1 : 2 ) 5 F6 (2x) 110 0,1 M (3x) 39,1 130 0,2 ─── Version: 2.2...
  • Page 47 Technical data AT2041-0250 • Motor +45° curved with supply • All figures in millimeters (258,93) 45° A ( 1 : 2 ) 5 F6 (2x) 110 0,1 M (3x) 39,1 130 0,2 Version: 2.2 ───...
  • Page 48 Technical data AT2050-0500 • Motor clothoid 180° curved • All figures in millimeters 194,5 ~ 13,5 20,8 (3x) 96,8 0,2 9,8 (3x) 17,1 0,1 9,7 - 0,1 39,1 ─── Version: 2.2...
  • Page 49 Technical data AT2050-0500-0001 • Motor clothoid 180° curved with mounting plate for cooling sys- • All figures in millimeters ~ 13,5 20,8 (3x) 9,8 (3x) 96,8 0,2 17,1 0,1 9,7 - 0,1 50,7 0,2 48,6 0,2 39,1 Z ( 1 : 2 ) 52,1 M4x10 (8x) 104,8 0,2...
  • Page 50 Technical data Dimensional drawings - 4.4.2 mover AT9011-0050-0550 • Mover with a length of 50 mm and 6 guide rollers • All figures in millimeters ─── Version: 2.2...
  • Page 51 Technical data AT9011-0050-1550 • Mover 1 with a length of 50 mm and 6 guide rollers • All figures in millimeters Version: 2.2 ───...
  • Page 52 Technical data AT9011-0070-0550 • Mover with a length of 70 mm and 6 guide rollers • All figures in millimeters ─── Version: 2.2...
  • Page 53 Technical data AT9011-0070-1550 • Mover 1 with a length of 70 mm and 6 guide rollers • All figures in millimeters Version: 2.2 ───...
  • Page 54 Technical data AT9012-0050-0550 • Mover with a length of 50 mm and 12 guide rollers • All figures in millimeters ─── Version: 2.2...
  • Page 55 Technical data AT9012-0050-1550 • Mover 1 with a length of 50 mm and 12 guide rollers • All figures in millimeters Version: 2.2 ───...
  • Page 56 Technical data Dimensional drawings mag- 4.4.3 netic plate sets AT9001-0550 • Standard magnetic plate set • All figures in millimeters AT9001-1550 • Mover 1 magnetic plate set • All figures in millimeters ─── Version: 2.2...

  • Page 57: Scope Of Supply

    Scope of supply Check missing or damaged parts Check your delivery for completeness. If any parts are missing or became damaged during transport, contact the carrier, vendor or our service department immediately. Packaging Instructions for handling are printed on the packaging: Carton Symbol Explanation...

  • Page 58: Transport And Storage

    Transport and storage Avoid damage to the components and loss of guarantee Observe the conditions and the following chapters on transport and storage. Disregarding the conditions can lead to damage to the components and the voiding of the guarantee. Conditions Take care during transport and storage to avoid damage to individ- ual XTS components.

  • Page 59: Mechanical Installation

    The following illustration provides you with an initial overview of the components that you need for the mechanical installation of the XTS assembly example. Please note that the design of individual compo- nents can vary depending on the application. BECKHOFF Version: 2.2 ───...
  • Page 60 Curved modules Rail on support Mover 50 mm depending on the application Mover 70 mm depending on the application M5 x 20 bolts and washers for modules with a Beckhoff machine Short locating pins for modules Long locating pins for modules Rubber seal...
  • Page 61 XTS system and you can minimize the downtime and maintenance work. With locating pins BECKHOFF With the standard assembly, all guide rails are connected with the locating pins 1 and all individual modules with locating pins 2. The...
  • Page 62 Mechanical installation Module segment BECKHOFF Without the locating pins this module segment 1 then consists of a guide rail 2 and a module without supply 3 with a power supply mod- ule 4. You can lift the module segment vertically out of the XTS sys- tem.

  • Page 63: Modules

    Mechanical installation Modules Straight modules 7.2.1 7.2.1 ► Insert short locating pins 1 and 2 on the module ► Insert long locating pins 3 and 4 at the sides ► Insert short locating pins 5 and 6 underneath the module ►...
  • Page 64 The marking 2 then lines up with the outer edge of the module. The lettering 3 is for orientation. BECKHOFF ► Insert the seal 1 ► Insert connector card 2 at the position of the seal 1 ►...
  • Page 65 Assembly with alignment gauge [+] (ordering option) The alignment gauge is not included in the standard scope of deliv- ery. Beckhoff recommends the use of the alignment gauge for the assembly of the straight modules. If you don't use an alignment gauge you can use, for example, a vernier caliper instead.
  • Page 66 Assembly with vernier caliper Assembly without alignment gauge [+] If you don't use an alignment gauge [+], Beckhoff recommends that you use a vernier caliper for the assembly of the straight modules. If a vernier caliper is used, the distance from the outer edge of the first locating pin to the outer edge of the first locating pin in the at- tached module is 255 mm...
  • Page 67 Mechanical installation ► Connect further modules 1 in line and fix them hand tight in the center to the machine bed with screw and washer 2 ► Checking the distance between the outer edges of the locating pins with a vernier caliper. It should be 255 mm ►...
  • Page 68 Mechanical installation ► Connect further modules in line and fix them hand tight in the center to the machine bed with screws and washers 1 and 2 ► Maintain distance 3 by using the alignment gauge [+] or a vernier caliper during the installation ►...
  • Page 69 Mechanical installation Curved modules Assemble curved modules after straight modules 7.2.2 Make sure that you assemble the curved modules only after having assembled the upper and lower straight modules. You cannot mechanically close the system if you have not fully as- sembled the straight modules.
  • Page 70 Mechanical installation ► Make sure that you insert the screw 4 behind the cables 5 ► Tighten the screw and washer 4 immediately by hand No connector card exists on the power supply modules No connector card is inserted on the cable side of power supply modules.
  • Page 71 ► Check the power supply units and fuses for voltage ► Check whether the connector card has been inserted ► Contact the Support/Applications Department TwinCAT Beckhoff also recommends checking the modules using the Twin- CAT software. ► Start a TwinCAT project ► Scan the modules ►...

  • Page 72: Guide Rails

    Mechanical installation Guide rails Straight guide rails 7.3.1 7.3.1 ► Always use guide rail 1 with lock 2 on top of the installed system Pre-mounted lock A lock is available for installing the movers on the guide rails. The lock must be replaced by a rail on support during the assembly. Further information is given in the course of the mechanical instal- lation in the chapter "Mover", [Page 79].
  • Page 73 Mechanical installation ► Place the guide rail 1 with lock 2 straight down onto the locating pins 3 of the XTS Version: 2.2 ───...
  • Page 74 XTS. Subsequent movement Beckhoff recommends initially fixing all guide rails hand tight with a screw in the center. This allows you to compensate unequal distances later on.
  • Page 75 Mechanical installation ► Observe the alignment of the guide rails 1 and 2 to each other ► The guide rails on the lower side of the XTS are now mounted horizontally and vertically mirrored ► Fix the opposite guide rail 1 with screw 2 and threadlocker hand tight again ►...
  • Page 76 ► Insert locating pins 1 and 2 into the curved rail 3 Facilitated assembly Beckhoff recommends greasing the connecting surfaces and the inner running surfaces of the curved rails before assembly. Straight guide rails and curved rails will be easier to fit together as a result.
  • Page 77 Mechanical installation ► Insert all screws 1 with threadlocker immediately into the curved rails 2 and screw in hand tight The hole 3 in the center of the curved rail is not used for fixing. You have the option to use hole 3 for dismantling. Completion of the assembly ►...
  • Page 78 Tightening torque [Nm] Screws, M4 x 40 Small washer with power supply modules Beckhoff recommends using a smaller washer at the cut-outs for the cables in the machine bed. That way you can avoid damage to the cables. ► Insert all screws with washers 1 and 2 into the remaining straight modules on the machine bed and screw tight ►...

  • Page 79: Mover

    Mechanical installation Mover Better running characteristics Beckhoff recommends greasing the contact surface on the guide rails of the entire system before mounting the movers and commis- sioning the XTS. A suitable substance for greasing is, for example: • Vaseline ► Grease the running surface on the guide rails on both sides in the entire system 1 with Vaseline ►...
  • Page 80 Mechanical installation 50 mm mover Damage due to strong magnetic attraction 7.4.1 When mounting the movers on the rails, always hold them tight with both hands. The magnetic plate set of the mover and the modules strongly attract one another magnetically. If you don't hold the movers tight with both hands, the magnetic forces can attract the mover to the XTS in an uncontrolled manner, so that components hit against one another and are damaged.
  • Page 81 Mechanical installation ► Carefully push the mover 1 by hand along the guide rail 2 and out of the rail on support The mover is now mounted on the guide rail. ► Mount the remaining movers of the XTS When all remaining movers have been mounted: ►...
  • Page 82 Mechanical installation 70 mm mover Damage due to strong magnetic attraction 7.4.2 When mounting the movers on the rails, always hold them tight with both hands. The magnetic plate set of the mover and the modules strongly attract one another magnetically. If you don't hold the movers tight with both hands, the magnetic forces can attract the mover to the XTS in an uncontrolled manner, so that components hit against one another and are damaged.
  • Page 83 Mechanical installation ► Carefully push the mover 1 by hand along the guide rail 2 and out of the rail on support The mover is now mounted on the guide rail. ► Mount the remaining movers of the XTS When all remaining movers have been mounted: ►...

  • Page 84: Electrical Installation

    The EtherCAT cable is available with an RJ45 connector, connection TSB568A. Cables Beckhoff cables have been tested with regard to the materials, shielding and connection method used. They ensure proper func- 8.1.1 tioning and compliance with statutory regulations such as EMC and UL.

  • Page 85: Pin Assignment Of The Power Cable

    Electrical installation Pin assignment of the Here is an overview of the cable configuration for the establishment of the power supply: power cable 11 31 1 R1 R3 1 R1 R3 12 32 2 R2 R4 2 R2 R4 4 1 2 3 4 1 2 EtherCAT wire...

  • Page 86: Earthing Of The Supply

    U 48 V R 48 V I 48V 2,5 mm  2,5 mm Load current circuit Beckhoff recommends not to earth the 48 V power supply unit 8.3.2 on the secondary side The 24 V return line (0.75 mm ) could be overloaded. If the 48 V power supply unit is earthed, the currents will be distrib- uted to the 48 V...

  • Page 87: Earthing Of The Machine Beds

    Beckhoff recommends the use of wide connections with large contact surfaces. Wide earth straps are suitable for this. The table below illustrates typical suit-...

  • Page 88: Fuse Protection

    Electrical installation Painted surfaces 8.4.1 8.4.1 ► Earth painted surface as shown in the figure with spring washer 1, washer 2, contact washer 3, nut 4 and bolt 5 Unpainted surfaces 8.4.2 8.4.2 ► Earth unpainted surface as shown in the figure with spring washer 1, washer 2, nut 3 and bolt 4 Fuse protection Ensure adequate fuse protection is provided for the power supply units...
  • Page 89 Electrical installation Parallel connection of the Single-channel contactor switch-off 8.5.1 The figure below shows a wiring example of a single-channel con- modules tactor switch-off for a maximum of two modules: 24 V power supply unit 48 V power supply unit Puls power supply QS20.241 / QT20.241 QS40.481 / QT40.481 unit...
  • Page 90 Electrical installation Control Single-channel contactor switch-off 8.5.1.1 The figure below shows a wiring example of a single-channel con- tactor switch-off: 24 V power supply unit 48 V power supply unit Puls power supply QS20.241 / QT20.241 QS40.481 / QT40.481 unit Primary fusing See documentation on Puls website See documentation on Puls website Secondary fusing...
  • Page 91 Electrical installation parallel connection of the Single-channel contactor switch-off 8.5.2 The figure below shows a wiring example of a single-channel con- power supply tactor switch-off: 11 31 1 R1 R3 1 R1 R3 1 R1 R3 1 R1 R3 1 R1 R3 1 R1 R3 12 32 2 R2 R4...
  • Page 92 Electrical installation Control Two-channel contactor switch-off 8.5.2.1 The figure below shows a wiring example of a two-channel contactor switch-off: 24 V power supply unit 48 V power supply unit Puls power supply QS20.241 / QT20.241 QS40.481 / QT40.481 unit Primary fusing See documentation on Puls website See documentation on Puls website Secondary fusing 2-pin 4 A circuit breaker...

  • Page 93: Commissioning

    • Observe information for environment and operation • Check protective measures against moving and live parts Configuration Beckhoff recommends the use of the latest TwinCAT XAE and TF5850 for the configuration of new projects • Create a new TwinCAT project and select the target system •...

  • Page 94: Prerequisites During Operation

    Commissioning Prerequisites during op- • Pay attention to atypical noise development eration • Pay attention to smoke development • Always check drive surfaces and cables for dirt, leaks, moisture or dust • Check temperature development • Observe recommended maintenance intervals •...

  • Page 95: Maintenance And Cleaning

    Beckhoff recommends regular maintenance in order to prevent per- manent damage to the system. Contamination, dust or chips can have a negative effect on the function of the components. In the worst case, contamination can lead to failure.

  • Page 96: Intervals

    Maintenance and cleaning Intervals Operation outside the permissible environmental conditions and op- erating states shortens the intervals. The service life of consum- 10.2 ables may be shortened depending on the mechanical dynamics due to mounted devices and movements. We have provided you with a list of maintenance work and intervals for the associated components below.
  • Page 97 Maintenance and cleaning Guide rails 10.2.3 Components Interval Maintenance Straight guide rails 6 months Check all connections for tightness and wear Every month Clean the running surfaces Recommended cleaner: Isopropanol As required Lubricate the running surfaces Recommended lubricant: Vaseline 6 months Check the fastening of the guide rails to the modules Curved rails 6 months...

  • Page 98: Accessories

    Accessories Alignment gauge 11.1 11.1 The alignment gauge is designed for aligning straight XTS standard modules. Rail on support 11.2 11.2 The XTS standard movers are mounted on the guide rails using the rail on support. 6-roller 50 mm mover 11.3 11.3 The roller set is available to replace worn or damaged guide rollers...

  • Page 99: 6-Roller 70 Mm Mover

    Accessories 6-roller 70 mm mover 11.4 11.4 The roller set is available to replace worn or damaged guide rollers in the 70 mm long movers with 6 guide rollers: • AT9011-0070-0550 • AT9011-0070-1550 Scope • 4 x cylindrical guide rollers with short shoulder bolts •...

  • Page 100: Esd Brushes

    Accessories ESD brushes 11.6 11.6 The ESD brushes are available to replace worn ESD brushes in 50 mm movers and 70 mm movers: • ZX9016-0000 Scope • 30 x ESD brushes for standard movers ─── Version: 2.2...

  • Page 101: Fault Correction

    Fault correction The following tables describe a selection of errors that are displayed either as "warning" or "error" messages. Depending on the applica- tion, other causes may be responsible for the malfunction. Motor modules Changes from firmware version 15 12.1 Up to firmware version 14 From firmware version 15 0x4101...
  • Page 102 Fault correction Error 12.1.2 12.1.2 Message Error Number of the cause 0x8103 Undervoltage control voltage 24 V control voltage lower than 18.8 V 0x8104 Module overtemperature Motor module temperature exceeds 75 °C, see: COE 9000:19…9000:1C 0x8105 PD-Watchdog Process Data Watchdog: XTS Task has not sent any new data over three cycles 0x8109 Overvoltage control voltage...
  • Page 103 Discharge brushes on the movers defective or missing Replace the discharge brushes Short-circuit in coil "x" of the motor module Contact Beckhoff Support Excessively heavy braking on coil "x" of the motor module Adjust the braking ramp Reduce the load weight on the movers...

  • Page 104: Tcioxts Object

    Fault correction TcIoXts object 12.2 Warning 12.2.1 12.2.1 Message Cause Number of the solution 5000 The XTS is designed to run Cycle time of the XTS task is not with a cycle time of 250 us. equal to 250 µs: Other cycle times are not sup- A cycle time of 375 µs is also possi- ported ble, but leads to losses of perfor-...
  • Page 105 Fault correction Error 12.2.2 12.2.2 Message Cause Number of the solution 9000 Xts task cannot be accessed. Context setting in the "TcIoXtsDrv" Is the context of the TcIoXts object incorrect driver set correctly? 9001 Cycle time "x" µs of XTS task Cycle time of the XTS task is not is not supported! Set cycle equal to 250 µs:...
  • Page 106 Fault correction Message Cause Number of the solution 9014 No Mover1 has been de- No mover with Mover 1 magnetic tected! Check if there is a plate set on the system "Mover1" on the system and restart the detection. 9015 Too many Mover1's have More than one mover with Mover 1 been detected! Make sure magnetic plate set on the system...
  • Page 107 Fault correction Solution 12.2.3 12.2.3 Number Solution Adjust cycle time If necessary, adjust Base Time Check number of movers on the system. If necessary, adjust the number of mover objects in the TcIoXtsDrv object Adjust the Distributed Clocks settings Repeat the teaching if necessary Check whether the "Designation string"...

  • Page 108: Softdrive Object

    Fault correction SoftDrive object 12.3 Error 12.3.1 12.3.1 Message Cause Number of the solution 10000 Interpolator Object is missing Damaged TcSoftDrive configuration within the TwinCAT configuration 10000 PositionCtrl Object is missing Damaged TcSoftDrive configuration within the TwinCAT configuration 10000 VelocityCtrl Object is missing Damaged TcSoftDrive configuration within the TwinCAT configuration 10000 Encoder Object is missing...
  • Page 109 Fault correction Solution 12.3.2 12.3.2 Number Solution Check the TcSoftDrive configuration. If necessary, delete the damaged TcSoftDrive object and create a new TcSoftDrive object Check the application program within the PLC project Check the velocity setpoint Check the application program within the PLC project to ascertain the conditions under which the NC controller switches an axis Check the settings of the parameters "EmergencyRamp"...

  • Page 110: Decommissioning

    Do not remove components from the products Only Beckhoff Automation GmbH & Co. KG is permitted to remove components. Contact Beckhoff Service if you have any questions. Removing XTS from the machine •...

  • Page 111: Disposal

    The trans- 13.2.1 port costs are borne by the sender. Send the used devices with the note "For disposal" to: Beckhoff Automation GmbH & Co. KG "Service" Building Stahlstrasse 31 D-33415 Verl You can also contact a certified waste disposal company in your area that deals with old electrical and electronic devices.

  • Page 112: Index

    Index I n d e x Modules Activation  90 Accessories Curved  22 12-roller set for 50 mm mover  99 Generating supply segments  61 6-roller set for 50 mm mover  98 Mounting  63 6-roller set for 70 mm mover  99 Straight  22 Alignment gauge  98...
  • Page 113 Index Tightening torques Curved modules  77, 78 Curved rails  77 Straight guide rails  78 Transport  58 Dismantling  110 Electrical installation  84 Mechanical installation  59 Storage  58 Transport  58 Version: 2.2 ───...
  • Page 114 Beckhoff Automation GmbH & Co. KG Hülshorstweg 20 D-33415 Verl www.beckhoff.com info@beckhoff.com More Information: www.beckhoff.com/xts...

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