WAS.handling Electro Documentation 18
3.2.2 Circuits for EMERGENCY STOP
The customer must assign the Pick & Place to a safety category that corresponds to the risk potential for the
whole machine.
For the interruption of the energy supply in the case of an E-Stop, below we have provided examples of three
options. The customer must decide which version to use.
For more information see chapter 4.1.2.
Version 1a: Interruption of mains feed
L 3
PE
L2 / N
L 1
+DC2
+DC2
-DC1
-DC1
X2 X3
ACOPOS
X1
Trigger 1
1
Quickstop
2
COM (1, 2)
3
Shield
4
Endlagenschalter +
5
Endlagenschalter -
6
Referenzschalter
7
Enable
8
Enable
9
COM (8, 9)
10
COM (8, 9)
11
n.c.
12
24V OUT
13
+24V
14
+24V
15
COM (5-7, 13-15)
16
COM (5-7, 13-15)
17
COM (5-7, 13-15)
18
+24V
GND
M
3 ~
T
T
V
X5
U
W
PE
T-
T+
B-
B+
X4bX4a
S3
S4
S1
S2
4
3
2
1
4
3
2
1
4
3
2
1
Slot 1 Slot 2 Slot 3
AC120
Encoder
PLC
AC140
4
3
2
1
4
3
2
1
L 1
L 2
L 3
PE
K1
K2
K1 K2
NOT-AUS
24V
N
The following must be taken into consideration:
- Adequate sizing of the mains contactors
- Terminal X1/9 on the amplifier should open parallel with the opening of the mains contactors. Due to
time overlap an error (“main power low”) can occur.
- Switch-on interval: > 30sec. Please note!
- Wait at least 5 minutes after the system has been switched off before touching live parts or
disconnecting connections.
- Rapid start-up is not possible (required when using a light curtain), please consider switch-on interval.
Please note the following disadvantages of this type of circuit:
- Longer E-Stop time
When you shut down the mains voltage, the DC-bus capacitor is still charged. It can still pass energy
on to the motor. This extends the stopping time of the indexing table.
- Increases the wear / early failure of the drive
Every switch-on of the mains puts stress on the charge circuit. Switching on the mains too rapidly in
succession can lead to early defects in the charge circuit. The complete servo drive has to be
replaced.
This is why all servo manufacturers advise against this version!
The switch-on interval (> 30 sec) must be considered!
Excessively frequent switching often occurs during the start-up, or if you use door contacts without
locks.
- If the Motor is in move at power off, the Axis Y/Z could be run onto its block or damage the part or
gripper.
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