Sto Startup Validation Testing - Aerotech XR3 Hardware Manual

Chapter 2: Installation and Configuration
The software controlled stop functionality must be excluded when considering overall system safety. This is
because the software is not safety rated and cannot be included as part of the safety function.
The XR3 will tolerate short diagnostic pulses on the STO 1+ and STO 2+ inputs. The parameter
"STOPulseFilter" specifies the maximum pulse width that the XR3 will ignore.
To resume normal operation, apply power to both STO 1 and STO 2 inputs and clear the Emergency Stop
software fault using the Fault Acknowledge button or command. The recommended use of the Emergency
Stop Fault fault mask bits prevent the system from automatically restarting.
You can achieve longer delay times through the use of an external delay timer, such as the Omron G9SA-
321 Safety Relay Unit. Place this device between the system ESTOP wiring and the XR3's STO inputs.
Connect the ESTOP signal directly to a digital input, in addition to the external timer, to allow the XR3 to
begin a software-controlled stop as soon as the ESTOP signal becomes active. Use the
EmergencyStopFaultInput [A3200: ESTOPFaultInput] parameter to configure a digital input as an ESTOP
input.
Non-standard STO delay times are provided by special factory order. In this case, the non-standard STO
delay time is indicated by a label placed on the slice amplifier's main connector (STO DELAY = xx sec).
Table 2-50: STO Signal Delay
STO Time Delay
Table 2-51: Motor Function Relative to STO Input State
STO 1
Unpowered
(1)
Unpowered
(1)
Powered
Powered
1. This is considered a Fault Condition since STO 1 and STO 2 do not match. Refer to

2.11.3. STO Startup Validation Testing

Verify the state of the STO 1 and STO 2 channels by manually activating the external STO hardware. Each
STO channel must be tested separately in order to detect potential short circuits between the channels. The
current state of the STO 1 and STO 2 inputs is shown in the Status Utility. A "–" indicates that the STO input
is powered by a high voltage level (24 V). An "ON" indicates that the voltage source has been removed from
the input (open circuit or 0 V), and that the STO channel is in the safe state.
DANGER: The STO circuit does not remove lethal voltage from the motor terminals. AC mains
power must be removed before servicing.
78
Value
450-550 msec
STO 2
Unpowered
(1)
Powered
(1)
Unpowered
Powered
Section 2.11.4.
XR3 Hardware Manual
Motor Function
No force/torque
No force/torque
No force/torque
Normal Operation
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