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XR3 Hardware Manual
2.11. Safe Torque Off Input (STO)
The STO circuit is comprised of two identical channels, each of which must be energized in order for the
XR3 to produce motion. Each channel is opto-isolated and provides individual connections to each terminal
of the opto-coupler LED. Current limiting resistors are provided internally and the STO inputs are designed to
work with 24 V signals.
NOTE: The XR3 might be equipped with an STO bypass plug. The bypass plug defeats the STO safety
circuit and allows the system to run at all times. To use the STO safety functionality, remove the plug and
make connections as outlined in this section.
NOTE: The application circuit and its suitability for the desired safety level is the sole responsibility of the
user of XR3.
WARNING: STO wires must be insulated to prevent short circuits between connector pins. The
primary concern is a short circuit between STO 1+ and STO 2+ wire strands or solder bridges.
Table 2-45:
STO Connector Pinout
Pin # Signal
1
STO 1+
2
STO 2+
3
Reserved
4
Power Supply +
5
Reserved
6
STO 1-
7
STO 2-
8
Reserved
9
Power Supply -
Table 2-46:
Mating Connector Part Numbers for the STO Connector
Mating Connector
9-Pin D-Connector
Backshell
Table 2-47:
STO Electrical Specifications
Status
STO off (motion allowed )
STO on (safe state entered, no motion)
Recommended Wire Gauge
STO System Power Supply
STO Wire Length (maximum)
Figure 2-42
shows one safety device connected to multiple XR3s in a parallel.
www.aerotech.com
Chapter 2: Installation and Configuration
Description
STO Channel 1 Positive Input
STO Channel 2 Positive Input
Reserved
Used to defeat STO by connecting to STO
1+ and STO 2+
Reserved
STO Channel 1 Negative Input
STO Channel 2 Negative Input
Reserved
Used to defeat STO by connecting to STO 1-
and STO 2-
Aerotech P/N
ECK00137
ECK01021
In/Out/Bi
Input
Input
--
--
Input
Input
--
Third Party P/N
Cinch DE-9P
Amphenol 17E-1724-2
Value
18-24 V, 7 ma
0-6 V
22-26 AWG (0.5 - 0.14 mm
PELV
50 m
Connector
2
)
75
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