Справочник Пользователя для Delta Tau GEO BRICK LV
Geo Brick LV User Manual
PinOuts and Software Setup
24
TB3: Safe Torque Off (STO)
This 5-pin Phoenix Terminal Block connector is used to wire the Safe Torque Off (STO) safety function
or alternately disabling it.
or alternately disabling it.
Note
The STO feature (and connector) was introduced into the Geo Brick
LV in October of 2012. It will be installed on all new shipments and
certain RMAs.
LV in October of 2012. It will be installed on all new shipments and
certain RMAs.
The STO allows the complete “hardware” disconnection of the power amplifiers from the motors. This
mechanism prevents unintentional “movement of” or torque output to the motors in accordance with
IEC/EN safety standards.
Pin #
Symbol
Function
Description
1
STO OUT
Output
STO Output
2
STO IN 1
Input
STO Input #1
3
STO IN 2
Input
STO Input #2
4
STO DISABLE
-
STO disable
5
STO DISABLE RTN
-
STO disable return
Phoenix Contact Mating Connector Part #: 1850699
Delta Tau mating connector part #
Delta Tau mating connector part #
1
2
3
4
5
1
2
3
4
2
3
4
5
Dynamic Braking
Traditionally, and before the introduction of the STO, when an axis is killed the motor leads are shorted
internally (inside the Geo Brick LV) causing “dynamic braking”, which stops the motor from coasting
freely. The STO feature alters slightly how the dynamic braking is applied. The following table
summarizes the various conditions of dynamic braking when an axis is killed:
internally (inside the Geo Brick LV) causing “dynamic braking”, which stops the motor from coasting
freely. The STO feature alters slightly how the dynamic braking is applied. The following table
summarizes the various conditions of dynamic braking when an axis is killed:
Safe Torque Off (STO)
Dynamic Braking
Disabled (not wired)
Enabled (wired) but Not Triggered
Enabled (wired) and Triggered