Stober SD6 User Manual

SD6

Manual

442426.0406/2015en

Table of contents

Manual SD6

Table of contents

1 General instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . .3

2 Safety information, UL-compliant use . . . . . . . . . . . . . . .. . . .10

3 Components of the drive system .. . . . . . . . . . . . . . . . . . .. . . .15

4 Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . .27

5 Transportation and storage .. . . . . . . . . . . . . . . . . . . . . . . .. . . .71

6 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . .74

7 Connection .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . .85

8 Basic properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . .145

9 Drive controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . .155

10 Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . .208

11 Holding brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . .229

12 Encoder .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . .249

13 Mechanical drive model . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . .259

14 Communication .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . .264

15 Optimize
16 Diagnosis

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. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . .295

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . .363

1

General instructions

Manual SD6

1 General instructions

Overview of sections

1.1 About this manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . .4

1.2 Further documentation .. . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . .5

1.3 Further support .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . .5

1.4 Directives and norms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . .5

1.5 Abbreviations, formula symbols and indices . . . . . . . . .. . . . .6

1.6 Symbols, identifiers, marks .. . . . . . . . . . . . . . . . . . . . . . . .. . . . .8

1.7 Licenses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . .9

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1

General instructions

Manual SD6

The new SD6 drive controller offers maximum precision and productivity for
automation technology and machine manufacturing despite ever more
complex functions. Highly dynamic drives ensure the shortest recovery times
from fast changes in reference value and load jumps. Y o u also have the option
of connecting the drive controllers in a DC intermediate circui t, which improves
the energy footprint of the entire system.

Properties

• Large power range using 4 sizes

• Quick DC-Link: Innovative installation concept for the DC link connection

• Very go od control performance

• Easy to service

• Isochronous system bus (in preparation)

• Modular safety technology (in preparation)

• Free, graphical programming in accordance with IEC 61131-3 CFC (in
preparation)

1.1 About this manual

This manual describes the SD6 drive controller. It contains information on the
following topics:

• Projecting

• Transport and storage

• Installation

• Connection

• Operation and setup of the drive controller, motor and its att achment s and
the entire drive.

• Communication between the startup computer and drive controller

• Optimization of the drive controller

• Diagnostics in the event of errors

The safety function Safe Torque off (STO) is implemented by means of safety
card ST6. Detailed information about ST6 can be found in the corresponding
manual (see section 1.2 Further documentation).

Original version

The original version of this manual is in German.

This documentation applies to the following devices:

• Drive controller SD6 from 
DriveControlSuite V 6.0-F and 
Firmware version V 6.0-F

What is new?

Index Date Changes

02 06/2014 • General corrections

Supplemented:

• Size 3

• Quick DC-Link

• Terminal modules RI6 and IO6

• Synchronous linear motors and LA6 adapter
box

• UL-compliant use

03 12/2014 • Electrical data: size 3, derating
04 06/2015 • General corrections

• Electrical data: derating

• Mechanical drive model, CiA 402

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General instructions

Manual SD6

1.2 Further documentation

The documentation listed in the following t able provides relevant information on
the SD6 drive controller. 
You can find the latest document versions at www.stoeber.de.

Device/software Documentation Contents ID

SD6 drive controllers Commissioning

instructions

Controller Based Mode
(CBM) application

Communication
module EtherCAT EC6

Communication
module CANopen CA6

MC6 Motion Controller Manual Projecting,

Manual Operation and

Operating manual Installation,

Operating manual Installation,

Installation and
functional test

setup,
commissioning

connection, setup,
commissioning and
customer service

connection, setup,
commissioning and
customer service

installation,
connection, setup,
customer service
and maintenance

442537

442454

442516

442637

442461

1.3 Further support

If you have technical questions that are not answered by this document, please
contact:

• Phone: [phone]

• E-mail: [email protected]

1.4 Directives and norms

The SD6 drive controller meets the requirement s of the following directives and
standards:

• Machinery Directive 2006/42/EC

• Low Voltage Directive 2006/95/EC

• EMC Directive 2004/108/EC

• EN 61326-3-1:2008

• EN 61800-3:2004

• EN 61800-5-1:2007

• EN 61800-5-2:2007

• EN 50178:1997

ST6 safety technology Manual Projecting,

connection, setup

Absolute Encoder
Support AES

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Operating manual Function,

connection

442478

442343

1

General instructions

Manual SD6

1.5 Abbreviations, formula symbols and indices

Abbreviations

AA Analog output
AC Alternating Current
AE Analog input
AES Absolute Encoder Support
AWG American Wire Gauge
BA Binary output
BAT Battery
BE Binary input
BG Size
CAN Controller Area Network
CBM Controller Based Mode
CH Brake chopper
CiA CAN in Automation
CNC Computerized Numerical Control
csp Cyclic synchronous position mode
cst Cyclic synchronous torque mode
csv Cyclic synchronous velocity mode
CU Control Unit
DC Direct Current
I/O Input/output
EMF Electromotive force
EMC Electromagnetic Compatibility
HTL High threshold logic
I/O Input/Output

Abbreviations

IA Installation Altitude
IGB Integrated Bus
ip Interpolated position mode
IP International Protection
LS Limit Switch
MAC Media-Access-Control
MTF Motor temperature sensor
PE Protective Earth
PELV Protective Extra Low Voltage
PLC Programmable Logic Controller (dt.: SPS)
PTC Positive Temperature Coefficient
PU Power Unit
PWM Pulse Width Modulation
RB Brake Resistor
RS Referenc e Switc h
RCD Residual Current protective Device
PLC Programmable logic controller
SSI Serial Synchronous Interface
STO Safe Torque Off
TTL Transistor-transistor logic
rpm Revolutions per minute
UL Underwriters Laboratories
W&S Wake and Shake
ZK DC link
ZP Zero pulse

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General instructions

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Formula

Unit Explanation

symbols

D%Derating

D

IA

% Derating depending on the installation altitude of

the drive controller

D

T

% Derating depending on the surrounding

temperature of the drive controller

f Hz Frequency

f

2

f

2PU

Hz Output frequency
Hz Output frequency of the drive controller power

board

f

max

f

PWM,PU

Hz Maximum frequency
Hz Internal pulse clock frequency of the drive

controller power board

I A Current

I

1

I

1maxPU

A Input current
A M a xim um inp ut cu rr en t of th e dr ive contro ller

power board

I

1maxCU

A M a xim um inp ut cu rr en t of th e dr ive contro ller

control board

I

2max

I

2maxPU

A Maximum output current
A M a xim um ou tp ut curr en t of the dr ive con tro ller

power board

I

2min

I

2N,PU

A Minimum output current
A Nominal output current of the drive controller

power board

I

N

A Nominal current

nrpmSpeed

n

N

rpm Nominal speed: Speed at which the nominal torque

is reached.

M

N

PWPower

P

maxRB

P

V,PU

P

V,CU

W Maximum power at the external braking resistor
W Power loss of the drive controller power board
W Power loss of the drive controller contr ol board

R Ω Resistance

R

2minRB

Ω Minimum resistance of the external braking

resistor

ϑ °C Temperature

ϑ

amb,max

°C Maximum surrounding temperature

I

1N,PU

A Nominal input current of the drive controller power

board

I

2

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A Output current

τ

th

tsTime

t

min

s Thermal time constant

s Minimum time

1

General instructions

Manual SD6

RVVoltage

U

1

U

1CU

U

1PU

U

1max

U

2

U

2BAT

U

2PU

U

max

U

maxPU

U

offCH

U

onCH

p Number of pole pairs

λ

Line

V Input voltage
V Input voltage of the drive controller control board
V Input voltage of the drive controller power board
V Maximum input voltage
V O utput voltage
V Output voltage of the backup battery
V Output voltage of the drive controller power board
V Maximum voltage
V Maximum voltage of the drive controller power

board
V Off limit of the brake chopper
V On limit of the brake chopper

Other

Power factor at the supply network: equivalent to

cos φ between the effective and apparent power

1.6 Symbols, identifiers, marks

Symbols

EN 61558-2-20

Choke without overload protection.
Grounding symbol according to IEC 60417-5019

(DB:2002-10).

Identification and test symbols

Lead-free identifier for RoHS

Lead-free identifier according to RoHS directive 2011-65­EU.

CE mark

Manufacturer's self declaration: The product meets the
requirements of EU directives.

UL test mark

This product is listed by UL for the USA and Canada.
Representative samples of this product have been
evaluated by UL and meet the requirements of applicable
standards.

UL test marks for recognized component

This component or material is recognized by UL.
Representative samples of this product have been
evaluated by UL and meet applicable requirements.

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General instructions

Manual SD6

The following names that are used in conjunction with the device, its optional
equipment and its accessories are trademarks or registered trademarks of
other companies:

Trademarks

CANopen,
CiA

EnDat EnDat and the EnDat logo are registered trademarks of Dr.

EtherCAT EtherCAT and the EtherCAT logo are registered

HIWIN The HIWIN logo is a registered trademark of HIWIN

Microsoft,
Windows,
Windows XP

CANopen and CiA are registered Community trademarks
of CAN in Automation e.V., Nuremberg, Germany.

Johannes Heidenhain GmbH, Traunreut, Germany.

trademarks of Beckhoff Automation GmbH, Verl,
Germany.

TECHNOLOGIES CORP., Taichung, Taiwan.

Microsoft, Windows, Windows XP and the Windows logo
are registered trademarks of Microsoft Corporation in the
USA and/or other countries.

1.7 Licenses

Software of the following license provider is used in SD6:
SEGGER Microcontroller GmbH & Co. KG
In den Weiden 11
D-40721 Hilden
Germany
Tel.[phone]
Fax.[phone]
E-mail: [email protected]
Internet: http://www.segger.com

PROFIBUS,
PROFINET

All other trademarks that are not listed here ar e the property of their r espective
owners.

Products that are registered as trademarks are not specially indicated in this
documentation. Existing property rights (patents, trademarks, protection of
utility models) are to be observed.

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The PROFIBUS/PROFINET logo is a registered
trademark of PROFIBUS Nutzerorganisation e. V.
Karlsruhe, Germany.

2

Safety information, UL-compliant use

Manual SD6

2 Safety information, UL-compliant use

Overview of sections

2.1 Operation in accordance with its intended use . . . . . . .. . . .11

2.2 Component part of the product . . . . . . . . . . . . . . . . . . . . .. . . .11

2.3 Risk assessment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . .11

2.4 Qualified personnel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . .11

2.5 Working on the machine . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . .12

2.6 Disposal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . .12

2.7 Presentation of notes on safety .. . . . . . . . . . . . . . . . . . . .. . . .12

2.8 UL-compliant use .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . .13

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Safety information, UL-compliant use

Manual SD6

The devices can represent a source of danger. Therefore observe

• the safety guidelines, technical rules and regulations given in the following
sections

• and points.

STOBER shall assume no liability for damage resulting from failure to comply
with the instruction manual or relevant regulations. We reserve the right to
make technical changes for the purpose of improving the devices.

2.1 Operation in accordance with its intended

use

As defined by DIN EN 50178 (previously VDE 0160), the drive controllers are
electrical equipment operating as power electronics to control the flow of
energy in high voltage systems. They are designed exclusively for installation
in switching cabinets, protection class at least IP54, and for supplying

• synchronous servo motors and

• asynchronous motors.

Designated use does not include connecting other electrical loads!

2.2 Component part of the product

The technical documentation is a component part of a product.

• Since the technical documentation contains import ant information, always
keep it handy in the vicinity of the device until the machine is disposed of.

• If the product is sold, disposed of, or rented out, always include the
technical documentation with the product.

2.3 Risk assessment

Before the manufacturer may bring a machine onto the market, he must
conduct a risk assessment according to Machine Directive 06/42/EC. As a
result, the risks associated with the use of the machine are determined. The
risk assessment is a multi-stage and iterative process. On no account can
sufficient insight into the Machine Directive be given as part of this
documentation. For this reason, seek det ailed information about the norms and
legal position. When installing the drive controller in machines, commissioning
is forbidden until it has been determined that the machine meets the
requirements of EC Directive 06/42/EC.

2.4 Qualified personnel

Devices may cause residual risks. For this reason, all work on the devices as
well as operation and disposal must only be performed by qualified personnel
who are aware of the possible dangers.
Qualified personnel are persons who hav e ac qu ire d the au th orisa tio n to
perform these activities by

• Training from specialists and/or

• Instruction from specialists
In addition, they must have

• read,

• understood and

• observed the applicable regulations, legal provisions, rules and st andard s
and existing technical documentation including the safety information
contained in it.

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Safety information, UL-compliant use

Manual SD6

2.5 Working on the machine

Apply the 5 safety rules in the order stated befor e performing any work on the
machine:

1. Disconnect.
Also ensure that the auxiliary circuits are disconnected.

2. Protect against being turned on again.

3. Check that voltage is not present.

4. Ground and short circuit.

5. Cover or block off adjacent live parts.

Information

Note that the discharge time of the DC link capacitors is up to 5
minutes. You can only determine the absence of voltage after this
time period.

2.6 Disposal

Please comply with the latest national and regional reg ulations! Dispose of the
individual parts separately depending on their nature and currently valid
regulations such as, for example:

• Electronic scrap (PCBs)

• Plastic

• Sheet metal

• Copper

•Aluminum

2.7 Presentation of notes on safety

NOTICE

Notice

means that property damage may occur
 if the stated precautionary measures are not taken.

CAUTION!

Caution

with warning triangle means that minor injury may occur
 if the stated precautionary measures are not taken.

WARNING!

Warning

means that there may be a serious danger of death
 if the stated precautionary measures are not taken.

DANGER!

Danger

means that serious danger of death exists
 if the stated precautionary measures are not taken.

Information

refers to important information about the product or serves to
emphasize a section in the documentation to which the reader
should pay special attention.

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Safety information, UL-compliant use

Manual SD6

2.8 UL-compliant use

Additional information for use under UL conditions (UL – Underwriters
Laboratories).

Surrounding temperature and pollution degree

The maximum surrounding temperature for UL-compliant operation is 45 °C.
Observe the specifications in the general data for use in an environment with a
pollution degree, see section 4.4.

Mains configuration

All device types that are supplied with 480 V are designed exclusively for
operation on Wye source with 480/277 V.

Power supply and motor overload protection

Observe the specifications in the electrical data of the drive controller for this,
see section 4.2.

Mains fuse 
Observe the specifications for the UL-compliant mains fuse in section 4.6.1.
Applies to use in Canada in accordance with CSA-C22.2 No. 14-13
Depending on the device type, additional overvoltage protection must be
positioned mains-side from the device that meets the following conditions.

• Single-phase – SD6A02: 

- Overvoltage category 3

- Phase ground = 240 V (permissible rating surge voltage = 4 kV peak)

- phase-phase (or N) = 240 V (permissible rating surge voltage = 4 kV
peak)

• Three-phase – from SD6A04: 

- Overvoltage category 3

- Phase ground = 277 V (permissible peak rating surge voltage = 4 kV
peak)

- phase-phase (or N) = 480 V (permissible rating surge voltage = 6 kV
peak)

Motor protection

All models of STOBER 6th generation drive controllers have a certified i²t
model, a calculation model for thermal monitoring of the motor. This fulfils the
requirements for semiconductor motor overload protection in accordance with
the change to UL 508C dated May 2013. T o activate the protective function and
set it up, make the following parameter settings – which differ from the default
values: U10 = 2:Warning and U11 = 1.00 s. This module can be used as an
alternative or in addition to motor protection with temperature monitoring as
described in section 7.3.8.

Information

STOBER recommends using PTC thermistors as thermal motor
protection.

Motor temperature sensor

All models of STOBER 6th generation drive controllers have connections for
PTC thermistors (NAT 145 °C) or KTY temperature sensors (KT84-130).
Observe the terminal description X2 for proper connection, see section 7.3.8.

Braking resistor

If the drive controllers will be fitted with an externally mounted braking resistor ,
separate overtemperature protection must be made available.

24 V power supply

Low voltage circuits must be supplied by an isolated source whose maximum
output voltage does not exceed 28.8 V. Note also the technical specifications
for the X11 connector in this regard, see section7.3.3.

Lines

Use only copper conductors for an surrounding temperature of 60/75 °C.

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Safety information, UL-compliant use

Manual SD6

Fuses

Fuses must be approved according to UL 248.

• Use a 1 A fuse (delayed-action) upstream from relay 1. Note al so terminal
description X1, pin 1, see section 7.3.4.

• Protect the supply of the motor holding brake with a 4 A fuse (delayed­action). Note also terminal description X6, see section 7.3.7

• The following points apply to extended interfaces with terminal module XI6,
RI6 or IO6: Protect the 24-V supply with a 1 A fuse (delayed-action). Note
also terminal description X101, pin 18 or 19, see section 7.4.2.

Branch circuit protection

An integral solid state short circuit protection does not provide branch circuit
protection. If you would like to branch the output of the drive controller, branch
circuit protection must be ensured in conformity with the instructions of
STOBER, the National Electrical Code and all additional applicable local
regulations or equivalent specifications.

UL test

During the UL acceptance process of STOBER, only risks for electrical shock
and fire hazard were examined. Aspects of functional sa fety were not assessed
in the UL acceptance. These aspects are assessed for STOBER by the TÜV
SÜD certification authority, for example.

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3

Components of the drive system

Manual SD6

3 Components of the drive system

Overview of sections

3.1 Drive controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . .16

3.1.1 Nameplate .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

3.1.2 Type designation .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

3.1.3 Sizes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

3.2 Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . .18

3.2.1 Synchronous servo motors and asynchronous motors . . . . . . . 18

3.2.2 Synchronous linear motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

3.3 Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . .19

3.4 Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . .19

3.4.1 Safety technology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

3.4.2 Terminal modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

3.4.7 EMC shroud .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

3.4.8 Encoder adapter box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .25

3.4.9 Battery module for encoder buffering . . . . . . . . . . . . . . . . . . . .26

3.4.10 Removable data storage .. . . . . . . . . . . . . . . . . . . . . . . . . . . . .26

3.4.11 Product CD .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .26

3.4.3 Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

3.4.4 DC link connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

3.4.5 Braking Resistors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

3.4.6 Chokes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

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Components of the drive system

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3.1 Drive controller

3.1.1 Nameplate

Designation Value in the

example

Type SD6A06TEX Drive controller type

Date 1318 Production week in format

S/N 7000204 Serial number
Nominal connection

voltage

Nominal connection
power

Input current 4.0 A Input current
Output data 3 x 3.4 A

Protection class IP20 Protection class

3 x 400 V ~ 
50 Hz
UL: 3 x 480 V ~
50–60 Hz

2.5 kVA Nominal connection power

0...460 V

0...700 Hz

Meaning

according to the type
designation

YYWW, in the example
shown here year 2013, week
18

Nominal connection voltage

Output data

UL test mark

UL and cUL (CSA-UL) certified drive controllers with corresponding test mark
meet the requirements of standards UL 508C and UL 840.

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Components of the drive system

Manual SD6

3.1.2 Type designation

Sample code

SD 6 A 0 6 T E X

Explanation

Code Designation Design

SD Series Servo Drive

6 Generation 6. Generation

A, B Version

0 – 3 Size

0 – 9 Power output stage (within the size)

T Safety module ST6: Safe Torque Off (STO)

N

E

C
N

X

R

I

Communication module Empty

EC6: EtherCAT
CA6: CANopen

Terminal module Empty

XI6: Extended I/O
RI6: Resolver I/O
IO6: Standard I/O

3.1.3 Sizes

The drive controller SD6 includes the following types and sizes:

Type Size

SD6A02 0
SD6A04 0
SD6A06 0
SD6A14 1
SD6A16 1
SD6A24 2
SD6A26 2
SD6A34 3
SD6A36 3
SD6A38 3

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Components of the drive system

Manual SD6

3.2 Motors

3.2.1 Synchronous servo motors and asynchronous

motors

Y ou can use the SD6 drive co ntroller to operate synchronous servo motors (for
example the STOBER series EZ) or asynchronous motors.
Evaluation options for feedback are available on the X4 connection for
following encoder types:

• Absolute value encoder EnDat 2.1/2.2 digital

• Absolute value encoder SSI

• Incremental encoder (HTL and TTL)

Other encoder types can be connected via the optionally available terminal
modules (see section 3.4.2 Terminal modules), for example:

• Resolver

• Absolute value encoder EnDat 2.1 sin/cos

• Sin/cos encoder

• Incremental encoder (HTL and TTL), single-ended

All modules from the 6th generation of STOBER drive controllers have
connections for PTC thermistors or KTY temperature sensors and can control
a 24 V/DC brake as standard.

a dimensional element or magnetic tape that determines the position of the
motor through interaction with a read head or probe.
An additional linear encoder transfers this information to the drive controller as
position data.
Depending on the key requirement in each specific case (for example speed,
accuracy, etc.), different linear encoders (together with accessories) can be
used.
All modules have connections for PTC thermistors or KTY te mperature sensors
and can control a 24 V/DC brake as standard.

Supported measurement system (linear encoders)

Absolute measurement systems:

• Linear encoder EnDat 2.2 digital

• Linear encoder SSI
Relative measurement systems:

• Incremental encoder (HTL and TTL)

• Sin/cos linear encoder: connection via optional terminal module RI6
(terminal X140)

Determine commutation with relative measurement systems using:

• Hall sensor via adapter box LA6 (see section 3.4.8 Encoder adapter box)

• Wake and Shake (W&S)

3.2.2 Synchronous linear motors

The SD6 drive controller supports control of iron-core, permanent-magnet
linear motors from a wide range of different manufacturers such as HIWIN
GmbH, isel Germany AG and Siemens AG.
Linear motors are used for linear movements when speed, acceleration and
increased positional accuracy are primary concerns.
The position of the linear motor is determined based on an optical, magnetic or
inductive measurement system. These measurement systems consist of

ID 442426.04 18WE KEEP THINGS MOVING

Adapter box LA6

The LA6 adapter box makes it possible to connect sensor signals of various
linear motor types to SD6. The adapter box is responsible for splitting the
different sensor signals, which are in some cases combined on one connector,
depending on the motor type, and for the level adjustment and potential
separation of the Hall signals.
Depending on the different moto r manufacturers, the signals a re forwarded via
different connections (D-sub 15-pin, D-sub 9-pin or free cable ends).

3

STOb

STOa

Power

board

ST6

PWM

Control

board

PWM

PWM

Components of the drive system

Manual SD6

3.3 Controller

MC6 Motion Controller

The development of the new MC6 Motion
Controller and its integration into the STOBER
product portfolio opens up new solutions for
drive technology, especially for complex
functions with demanding requirements for
timing and precision.
SD6 and Motion Controller MC6 are either
connected to each other via EtherCAT or via
CANopen.

Information

Detailed information about the MC6 Motion Controlle r can be found
in the corresponding manual (see section 1.2 Further
documentation).

3.4 Accessories

3.4.1 Safety technology

Safe T orque Off – ST6

Included in the standard design.

The ST6 accessory makes it possible to use the
"Safe Torque Off" (STO) safety function in the
SD6 drive controller in safety-relevant
applications according to EN ISO 13849-1.

The pulse board in the drive controller generates the pulse patterns required
by the power board to produce the rotary field. The pulse patterns in the SD6
are transferred from the control board to the power board via the ST6 safety
card.
If the safety function is active, a reliable pulse inhibit prevents the pulse pattern
from being transferred to the power board. The power board is unable to
generate a rotary field and the motor is torque-free.
If the safety function is active, pulse patterns are directed to the power board
and the motor can be operated.

Fig. 3-1Overall system SD6 drive controller with ST6

This is equivalent to the safety function Safe torque off (STO) in accordance
with DIN EN 61800-5-2:2007. This type of shutdown is designated as Stop
category 0 in DIN EN 60204-1:2006.

ID 442426.04 19WE KEEP THINGS MOVING

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Components of the drive system

Manual SD6

In the safety block diagram (Fig. 3-2 Safety block diagram) the SD6 drive
controller with the ST6 safety card corresponds to the actuator and forms the
basis for a restart inhibit:

Fig. 3-2Safety block diagram

Detailed information about using the safety technolo gy and the ST6 safety card
can be found in the corresponding manual (see section 1.2 Further
documentation).

3.4.2 Terminal modules

Terminal module XI6

ID no. 138421

Terminal module for connecting analog and
binary signals as well as encoders.

Supported inputs and outputs:

• 13 binary inputs (24 V)

• 10 binary outputs (24 V)

• 3 analog inputs (± 10 V, 1 x 0 – 20 mA, 16
bits)

• 2 analog outputs (± 10 V, 12 bits)

Supported encoders / interfaces:

• SSI encoder (simulation and evaluation)

• TTL incremental encoder, differential
(simulation and evaluation)

• HTL incremental encoder, single-ended
(simulation and evaluation)

• TTL pulse train, differential (simulation and
evaluation)

• HTL pulse train, single-ended (simulation
and evaluation)

ID 442426.04 20WE KEEP THINGS MOVING

3

Components of the drive system

Manual SD6

Terminal module RI6

ID no. 138422

Terminal module for connecting analog and
binary signals as well as encoders.

Supported inputs and outputs:

• 5 binary inputs (24 V)

• 2 binary outputs (24 V)

• 2 analog inputs (± 10 V, 1 x 0 – 20 mA, 16
bits)

• 2 analog outputs (± 10 V, ± 20 mA, 12 bits)

Supported encoders / interfaces:

• Resolver (evaluation)

• Encoder EnDat 2.1 sin/cos (evaluation)

• Encoder EnDat 2.1/2.2 digital (evaluation)

• Sin/cos encoder (evaluation)

• SSI encoder (simulation and evaluation)

• TTL incremental encoder, differential
(simulation and evaluation)

• TTL incremental encoder, single-ended
(evaluation)

• HTL incremental encoder, single-ended
(simulation and evaluation)

• TTL pulse train, differential (simulation and
evaluation)

• TTL pulse train, single-ended (evaluation)

• HTL pulse train, single-ended (simulation
and evaluation)

Interface adapter AP6

Encoder cables that were connected to a
POSIDYN SDS 4000 can be connected via the
AP6 interface adapter to the X140 encoder
interface of the RI6 terminal module.

The following versions are available:

AP6A00

ID no. 56498
Adapter X140 resolver, 9/15-pin.

AP6A01

ID no. 56522
Adapter X140 resolver, 9/15-pin with motor
temperature sensor - lead thro ug h .

AP6A02

ID no. 56523
Adapter X140 EnDat 2.1 sin/cos, 15/15-pin with
motor temperature sensor - lead thro ug h .

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3

Components of the drive system

Manual SD6

Terminal module IO6

ID no. 138420

Terminal module for connecting analog and
binary signals as well as encoders.

Supported inputs and outputs:

• 5 binary inputs (24 V)

• 2 binary outputs (24 V)

• 2 analog inputs (± 10 V, 1 x 0 – 20 mA, 12
bits)

• 2 analog outputs (± 10 V, ± 20 mA)

Supported encoders / interfaces:

• HTL incremental encoder, single-ended
(simulation and evaluation)

• HTL pulse train, single-ended (simulation
and evaluation)

3.4.3 Communication

The SD6 drive controller has two interfaces for IGB communication on the top
of the device as standard.
The communication module is installed in the shaft at the top and the drive
controller is connected to the field bus system via it.
The following communication modules are available:

• EC6 for the EtherCAT connection and

• CA6 for the CANopen connection

IGB connecting cable

Cable for connecting the X3A or X3B interface
for IGB, CAT5e, magenta.

ID 442426.04 22WE KEEP THINGS MOVING

The following versions are available:

ID no. 56489: 0.4 m.
ID no. 56490: 2 m.

3

Components of the drive system

Manual SD6

PC connecting cable

ID no. 49857

To connect the X3 A or X3 B interface to PC,
CAT5e, blue, 5m.

Hi-speed USB 2.0 Ethernet adapter

ID no. 49940

Adapter for connecting Ethernet to a USB
connection.

EC6 communication module

ID no. 138425

Communication module for the EtherCAT
connection.

EtherCAT cable

EtherNet patch cable, CAT5e, yellow.

The following versions are available:

ID no. 49313: approx. 0.2 m.
ID no. 49314: approx. 0.35 m.

CA6 communication module

ID no. 138427

Communication module for the CANopen
connection.

ID 442426.04 23WE KEEP THINGS MOVING

3

Components of the drive system

Manual SD6

3.4.4 DC link connection

If you want to connect SD6 drive controllers as part of Quick DC-Link, you will
need the DL6 Quick DC-Link module. Connect the DC link capacitors of
several devices from the 6th generation of STOBER drive controllers via DL6.

Quick DC-Link DL6

For the horizontal connection, you can get DL6
in three different designs suitable for the size of
the drive controller:

DL6A1

ID no. 56441
DL6 base element for sizes 0 and 1.

DL6A2

ID no. 56442
DL6 base element for size 2.

DL6A3

ID no. 56443
DL6 base element for size 3.

3.4.5 Braking Resistors

If a motor brakes or a drive controller reduces its speed reference value, the
kinetic energy of the drive system is fed back to the DC link capacitors of the
drive controller. However the capacity of these capacitors is limited to a d efined
maximum voltage. From a certain vo ltage level, an integrated brake chopper
connects the braking resistor as a consu mer – this absorbs the existing braking
energy, the voltage lowers and the kinetic energy is mostly converted to heat.
In addition to the different drive controllers, STOBER offers corresponding
braking resistors in different sizes and performa nce classes (see 4.11 Braking
Resistors).

3.4.6 Chokes

Chokes and coils that reduce the susceptibility of drive systems and offset
interfering pulses. They are thus used to protect component s, devices or power
supplies and simultaneously increase their interference immunity and
availability.
STOBER offers network and output deraters corre sponding to your application
(see 4.12 Chokes).

The quick tension clamps for attaching the
copper rails as well as the connection pi eces are
included in the scope of delivery . End pieces ar e
available separately (2 pcs. ID No. 56494). The
copper rails are not included in the scope of
delivery . These must have a cross-se ction of 5 x
12 mm.

ID 442426.04 24WE KEEP THINGS MOVING

3

Components of the drive system

Manual SD6

3.4.7 EMC shroud

You can use the EMC shroud EM6 to connect the cable shield of the power
cable. Two different designs are available.

EMC shroud EM6A0

ID no. 135115

EMC shroud for size 0 to 2. 
Accessory part for shield connection of the
motor line. Attachable to the basic housing.
Including shield connection terminal for power
cable cross-sections of 1 to 10 mm².

EMC shroud EM6A3

ID no. 135120

EMC shroud for size 3.
Accessory part for shield connection of the
motor line. Attachable on the basic housing.
Including shield connection terminal for power
cable cross-sections of 6 to 25 mm².
If necessary you can also connect the cable
shield of the braking resistor and DC link
connection on the shroud. Additional shield
connection terminals are available as
accessories for this purpose (ID No. 56521).

3.4.8 Encoder adapter box

Encoder adapter box LA6A00

ID no. 56510

LA6 for connecting HIWIN-TTL.
Encoder adapter box for transferring TTL and
Hall sensor signals from HIWIN synchronous
linear motors to the SD6 drive controller.
LA6 for the adaptation of additional linear motors
on request.

SSI/TTL connection cable X120

ID no. 49482

Cable for connecting the TTL interface X120 to
the SD6 drive controller (on terminal module RI6
or XI6) with the X301 interface on the LA6
adapter box for transferring Hall sensor signals.

0.3 m.

POSISwitch connection cable

Cable for connecting terminals X4 to the SD6
drive controller and X300 on the LA6 adapter
box for transferring incremental encoder signals.

ID 442426.04 25WE KEEP THINGS MOVING

The following versions are available:

ID no. 45405: 0.5 m.
ID no. 45386: 2.5 m.

3

Components of the drive system

Manual SD6

3.4.9 Battery module for encoder buffering

Absolute Encoder Support AES

ID no. 55452

For buffering the power supply when using the
inductive absolute value encoder EnDat 2.2
digital with battery-buffered Multiturn power
stage, for example EBI1135, EBI135.
A battery is included.

Replaceable battery AES

ID no. 55453

Replaceable battery for Absolute Encoder
Support AES.

3.4.10 Removable data storage

Removable Data Storage Paramodule

Included in the standard design.
ID no. 56403

The plug-in ParaModule with integrated
microSD card (128 MB, industrial) is available as
a storage medium.
The microSD card is also available separately as
a spare part (ID No. 56436).

3.4.11 Product CD

Product CD "STOBER ELECTRONICS 6"

Included in the standard design.
ID no. 442538

The CD-ROM contains the DriveControlSuite
DS6 project configuration and commission in g
software, documentation as well as the device
description files for the drive controller –
controller connection.

ID 442426.04 26WE KEEP THINGS MOVING

4

Technical data

Manual SD6

4 Technical data

Overview of sections

4.1 Notes on safety .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . .29

4.2 Electrical Data .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . .29

4.2.1 Control board .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

4.2.2 Power board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

4.2.2.1 Size 0: SD6A0x . . . . . . . . . . . . . . . . . . . . . . . . . . . . .30

4.2.2.2 Size 1: SD6A1x . . . . . . . . . . . . . . . . . . . . . . . . . . . . .31

4.2.2.3 Size 2: SD6A2x . . . . . . . . . . . . . . . . . . . . . . . . . . . . .31

4.2.2.4 Size 3: SD6A3x . . . . . . . . . . . . . . . . . . . . . . . . . . . . .32

4.2.2.5 Derating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

4.2.2.5.1 Effect of the clock frequency . . . . . . . . . . 32

4.2.2.5.2 Effect of surrounding temperature .

. . . . . . 33

4.5.1 Evaluatable encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .36

4.5.1.1 Connection X4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

4.5.1.2 Connection X120 . . . . . . . . . . . . . . . . . . . . . . . . . . . .37

4.5.1.3 Connection X101 (binary input encoder) . . . . . . . . . .37

4.5.1.4 Connection X140 . . . . . . . . . . . . . . . . . . . . . . . . . . . .38

4.5.2 Controllable brakes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .39

4.5.3 Evaluatable motor temperature sensors . . . . . . . . . . . . . . . . . . 39

4.6 Protective measures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . .40

4.6.1 Line fuse . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

4.6.2 Residual current safety device .. . . . . . . . . . . . . . . . . . . . . . . . . 41

4.6.3 Housing ground . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .42

4.7 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .43

4.8 Terminal modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .45

4.8.1 Specification - XI6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

4.2.2.5.3 Effect of installation altitude . . . . . . . . . . . 33

4.2.2.5.4 Calculating the derating . . . . . . . . . . . . . . 33

4.3 Device features .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . .33

4.4 Transportation, storage and operating 
environment

4.5 Operating motors

ID 442426.04 27WE KEEP THINGS MOVING

.. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . .34

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . .35

4.8.2 Specification – RI6 .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .48

4.8.3 Specification – IO6 .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .49

4.9 Communication modules . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . .50

4.9.1 EC6 communication module . . . . . . . . . . . . . . . . . . . . . . . . . . .50

4.10 Quick DC-Link .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .50

4.10.1 Electrical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .52

4

Technical data

Manual SD6

4.10.2 Power supply .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

4.10.3 Line fuse . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

4.10.4 Power contactor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

4.10.5 Projecting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

4.11 Braking Resistors .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . .58

4.11.1 FZMU, FZZMU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

4.11.2 FGFKU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

4.11.3 GVADU, GBADU .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

4.11.4 Bottom brake resistor RB 5000 . . . . . . . . . . . . . . . . . . . . . . . 62

4.12 Chokes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . .63

4.12.1 Power choke . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

4.12.2 Output derater . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

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4

Technical data

Manual SD6

4.1 Notes on safety

Drive controllers are products subject to sales restrictions in accordance with
IEC 61800-3.
The drive controllers are not designed for use in a public low frequency network
that supplies residential areas.
In a residential environment this product may cause high-frequency
interference. If this occurs the user may be asked to take suitable measures.

The drive controllers are not designed for use in a public low frequency network
that supplies residential areas. High-frequency interference can be expected if
the drive controllers are used in a network of this type.

Always operate the devices within the limits specified in the technical data.
The following applications are prohibited:

• Use in areas subject to explosion hazard

• Use in environments with harmful substances as specified by EN 60721,
for example oils, acids, gases, vapors, dust and radiation

Implementation of the following applications is only p ermitted af ter a pproval is
obtained from STOBER:

• Use in non-stationary applications

4.2 Electrical Data

Information

An explanation of the most important formula symbols can be found
in section 1.5 Abbreviations, formula symbols and indices.

4.2.1 Control board

Type All SD6 drive controller types

20.4 – 28.8 V

U

1CU

a)

V,CU

(I2 = 0 A)

b)

Size 0 – Size 2: max. 30 W

I

1maxCU

P

a) Depending on the accessories used.
b) Depending on the option modules and encoders connected.

1.5 A

Size 3: max. 55 W

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4

Technical data

Manual SD6

4.2.2 Power board

4.2.2.1 Size 0: SD6A0x

Type SD6A02 SD6A04 SD6A06

U

1PU

1 x 230 V,

+32 % / -50 %, 50/60 Hz;

+20 % / -40 %, 50/60 Hz

+10 % / -58 %, 50/60 Hz

f

2PU

U

2PU

P

(I2 = IN) 80 W 65 W 90 W

V,PU

0 – 700 Hz

0 – max. U

Type SD6A02 SD6A04 SD6A06

f

PWM,PU

I

1N,PU

I

2N,PU

I

2maxPU

a) Clock frequency adjustable from 4 to 16 kHz, see section 4.2.2.5 Derating.

8.3 A 2.8 A 5.4 A
4 A 2.3 A 4.5 A

180 % for 5 s; 150 % for 30 s

4 kHz

3 x 400 V,

3 x 480 V,

1

a)

Properties of the brake chopper

Type SD6A02 SD6A04 SD6A06

400 – 420 V 780 – 800 V

U

onCH

U

offCH

R

2minRB

P

maxRB

360 – 380 V 740 – 760 V

100 Ω

1.8 kW 6.4 kW

Type SD6A02 SD6A04 SD6A06

a)

f

PWM,PU

I

1N,PU

I

2N,PU

I

2maxPU

a) Clock frequency adjustable from 4 to 16 kHz, see section 4.2.2.5 Derating.

ID 442426.04 30WE KEEP THINGS MOVING

6 A 2.2 A 4 A
3 A 1.7 A 3.4 A

250 % for 2 s; 200 % for 5 s

8 kHz

4

Technical data

Manual SD6

4.2.2.2 Size 1: SD6A1x

Type SD6A14 SD6A16

U

1PU

f

2PU

U

2PU

P

(I2 = IN) 170 W 200 W

V,PU

Type SD6A14 SD6A16

f

PWM,PU

I

1N,PU

I

2N,PU

I

2maxPU

a) Clock frequency adjustable from 4 to 16 kHz, see section 4.2.2.5 Derating.

Type SD6A14 SD6A16

f

PWM,PU

I

1N,PU

I

2N,PU

I

2maxPU

a) Clock frequency adjustable from 4 to 16 kHz, see section 4.2.2.5 Derating.

3  400 V, +32 % / -50 %, 50/60 Hz;

3  480 V, +10 % / -58 %, 50/60 Hz

0 – 700 Hz

0 – max. U

4 kHz

1

a)

12 A 19.2 A
10 A 16 A

180 % for 2 s; 150 % for 30 s

a)

8 kHz

9.3 A 15.8 A

6 A 10 A

250 % for 2 s; 200 % for 5 s

4.2.2.3 Size 2: SD6A2x

Type SD6A24 SD6A26

U

1PU

f

2PU

U

2PU

P

(I2 = IN) 220 W 280 W

V,PU

Type SD6A24 SD6A26

f

PWM,PU

I

1N,PU

I

2N,PU

I

2maxPU

a) Clock frequency adjustable from 4 to 16 kHz, see section 4.2.2.5 Derating.

Type SD6A24 SD6A26

f

PWM,PU

I

24.5 A 32.6 A

1N,PU

14 A 20 A

I

2N,PU

I

2maxPU

a) Clock frequency adjustable from 4 to 16 kHz, see section 4.2.2.5 Derating.

250 % for 2 s; 200 % for 5 s

3  400 V, +32 % / -50 %, 50/60 Hz;

3  480 V, +10 % / -58 %, 50/60 Hz

0 – 700 Hz

0 – max. U

4 kHz

1

a)

26.4 A 38.4 A
22 A 32 A

180 % for 5 s; 150 % for 30 s

a)

8 kHz

Properties of the brake chopper

Type SD6A14 SD6A16

780 – 800 V

U

onCH

U

offCH

R

2minRB

P

maxRB

ID 442426.04 31WE KEEP THINGS MOVING

13.6 kW 13.6 kW

740 – 760 V

47 Ω

Properties of the brake chopper

Type SD6A24 SD6A26

780 – 800 V

U

onCH

U

offCH

R

2minRB

P

maxRB

740 – 760 V

22 Ω

29.1 kW 29.1 kW

4

Technical data

Manual SD6

4.2.2.4 Size 3: SD6A3x

Type SD6A34 SD6A36 SD6A38

U

1PU

f

2PU

U

2PU

P

(I2 = IN) 350 W 600 W 1000 W

V,PU

Type SD6A34 SD6A36 SD6A38

f

PWM,PU

I

1N,PU

I

2N,PU

I

2maxPU
a) Clock frequency adjustable from 4 to 16 kHz, see section 4.2.2.5 Derating.
b) Specification applies for the default setting of the field weakening voltage limit: B92 = 80 %.

Type SD6A34 SD6A36 SD6A38

f

PWM,PU

I

1N,PU

I

2N,PU

I

2maxPU
a) Clock frequency adjustable from 4 to 16 kHz, see section 4.2.2.5 Derating.

Properties of the brake chopper

Type SD6A34 SD6A36 SD6A38

U

onCH

U

offCH

R

2minRB

P

maxRB

3 x 400 V, +32 % / -50 %, 50/60 Hz;

3 x 480 V, +10 % / -58 %, 50/60 Hz

0 – 700 Hz

0 – max. U

4 kHz

1

a)

45.3 A 76 A 76 A
44 A 70 A 85 A

b)

180 % for 5 s; 150 % for 30 s

a)

8 kHz
37 A62 A76 A
30 A50 A60 A

250 % for 2 s; 200 % for 5 s

780 – 800 V
740 – 760 V

15 Ω

42 kW

4.2.2.5 Derating

When dimensioning the drive controller, observe the derating of the nominal
output current depending on the clock frequency, surrounding temperature,
and installation altitude. There is no restriction for a surrounding temperature
from 0 °C to 45 °C and an installation altitude of 0 m to 1000 m. The details
given below apply to values outside these ranges.

4.2.2.5.1 Effect of the clock frequency Changing the clock frequency f the drive amongst other things. However, increasing the clock frequency

results in increased losses. During project configuration, define the highest
clock frequency and use it to determine the nominal output current I
dimensioning the drive controller.

Nominal output current I

2N,PU

switching frequency 4 kHz 8 kHz 16 kHz

SD6A02 4 3 2
SD6A04 2.3 1.7 1.1
SD6A06 4.5 3.4 2.3
SD6A14 10 6 4
SD6A16 16 10 5.7
SD6A24 22 14 8.1
SD6A26 32 20 12
SD6A34 44 30 18
SD6A36 70 50 31
SD6A38 85

a) Specification applies for the default setting of the field weakening voltage limit: B92 = 80 %.

Information

Enter the defined clock frequency for setting up the d rive controller
in B24.

affects the amount of noise produced by

PWM

[A]

a)

60 37.8

2N,PU

for

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Manual SD6

4.2.2.5.2 Effect of surrounding temperature Derating depending on the surrounding temperature is determined as follows:

• 0 °C to 45 °C: no restrictions (D

= 100 %)

T

• 45 °C to 55 °C: Derating -2,5 % / K

Example

The drive controller will be operated at 50 °C.
The derating factor D

= 100 % - 5  2.5 % = 87.5 %

D

T

is calculated as follows

T

4.2.2.5.3 Effect of installation altitude Derating depending on the installation altitude is determined as follows:

• 0 m to 1000 m above sea level: no restriction (D

= 100 %)

IA

• 1000 to 2000 m above sea level: Derating -1.5 % / 100 m

Example

The drive controller will be installed at an altitude of 1500 m above sea level.
The derating factor D

= 100 % - 5  1,5 % = 92.5 %

D

IA

is calculated as follows:

IA

4.2.2.5.4 Calculating the derating Follow these steps for the calculation:

1. Determine the highest clock frequency (f
operation and use it to determine the nominal current I

) that will be used during

PWM

2N,PU

.

2. Determine the derating factors for installation altitude and surrounding
temperature.

3. Calculate the nominal output current I

according to the following

2N,PU

formula: 
I

2N,PU

= I

2N,PU

 DT  D

IA

A drive controller of type SD6A06 will be operated at a clock frequency of 8 kHz
at an altitude of 1500 m above sea level and an surrounding temperatu re of
50 °C.
The nominal current of the SD6A06 at 8 kHz is 3.4 A.

The derating factor D

= 100 % - 5  2.5 % = 87.5 %

D

T

The derating factor D

= 100 % - 5  1.5 % = 92.5 %

D

IA

is calculated as follows:

T

is calculated as follows:

IA

The output current to be observed for project configuration is:

= 3.4 A  0.875  0.925 = 2.75 A

I

2N,PU

4.3 Device features

Protection class of the
device

Protection class of the
control cabinet

Radio interference
suppression

Overvoltage category III to EN 61800-5-1

Size Weight

Without packaging [kg] With packaging [kg]

0 2,53 3.52
1 3.7 5.47
2 5.05 6.49
3 13.3 14.8

If you order a drive controller with accessory parts, the weight is increased as
follows:

• Communication module: 50 g

• Terminal module: 135 g

IP20

At least IP54

EN 61800-3, interference emission class C3

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4.4 Transportation, storage and operating

environment

NOTICE

Material damage!

The DC link capacitors in devices of sizes 0, 1 and 2 can lose their electrical
strength through long storage times. Considerable material damage can arise
from a reduced electrical strength of the DC link capacitors when switching on.

 Use devices in storage annually or before startup.

Surrounding operating
temperature

Storage/
transport temperature

Relative humidity Maximum relative humidity 85 %, non-

Installation altitude Up to 1000 m above sea level without restrictions
Pollution degree Pollution degree level 2 as per EN 50178
Ventilated Installed fan
Vibration (operation) 5 Hz ≤ f ≤ 9 Hz: 0.35 mm

Vibration (transport) 5 Hz ≤ f ≤ 9 Hz: 3.5 mm

0 °C to 45 °C for nominal data

-20 °C to +70 °C 
Maximum change: 20 K/h

condensing

9 Hz ≤ f ≤ 200 Hz: 1 m/s

9 Hz ≤ f ≤ 200 Hz: 10 m/s
200 Hz ≤ f ≤ 500 Hz: 15 m/s

2

2



2

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Manual SD6

4.5 Operating motors

You can operate the following motors together with the specified control modes on the SD5 drive controller:

Motor type B20 control mode Encoder Other settings Characteristics

Synchronous
servo motor

Synchronous
linear motor

Asynchronous
motor

64:SSM - vector control

70:SLM - vector control

2:ASM - vector control Encoder required

3:ASM - Sensorless
vector control

1:ASM - V/f slip
compensated

0:ASM - V/f control

Absolute value encoder
required

Linear encoder and
commutation
information required

No encoder required

Without field weakening
(B91 field weakening =
0:inactive)

With field weakening
(B91 field weakening = 1:active)

—

—

—

Linear characteristic curve
(B21 V/f characteristic = 0:linear)
Quadratic characteristic curve
(B21 V/f characteristic =
1:quadratic)
Linear characteristic curve
(B21 V/f characteristic = 0:linear)
Quadratic characteristic curve
(B21 V/f characteristic =
1:quadratic)

High dynamics, high accuracy, very
constant speed, high overcurrent
protection

High dynamics, high accuracy, very
constant speed, high overcurrent
protection, greater speed range, but also
higher current requirement

High dynamics, high overcurrent
protection

High dynamics, high accuracy, very
constant speed, high overcurrent
protection
Dynamics, accuracy, constant speed,
overcurrent protection

Very constant speed, accuracy

Very con stant speed, accuracy, especially
suitable for fan applications

Very constant speed

Very constant speed, especially suitable
for fan applications

Note that the settings described here are adequate for initial commissioning and for operation with most drives. If you would like to optimize your drive, find a
description in section 15 Optimize.

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Manual SD6

4.5.1 Evaluatable encoders

4.5.1.1 Connection X4

General specification

U

2

I

2max

I

2min

Maximum cable
length

Specification for EnDat 2.1

Encoder type Single and Multiturn, not suitable for linear encoders
Switching frequency 2 MHz

Specification for EnDat 2.2

Encoder type Single-turn and multiturn
Switching frequency 4 MHz

SSI specification

Switching frequency 250 kHz
Sampling rate 250 µs
Code Binary or Gray
Encoder type and
format

Transfer Double (default setting) or single

5-15 V (see encoder supply)
X4: 250 mA
Sum X4, X120, X140: 500 mA
13 mA
100 m

Multiturn: 24 or 25 bits
Single-turn13 bits short or 13 bits tree 
(13 bits of data in a 25-bit telegram)

Calculation example – limit frequency f
... for an encoder with 2,048 pulses per revolution: 
3,000 revolutions per minute (equivalent to 50 revolutions per
second) * 2,048 pulses per revolution
= 102,400 pulses per second 
= 102.4 kHz << 1 MHz

Encoder supply

U

2

5 V 
(controlled at the
encoder)
5 V
(controlled at X4)

10 V 
(unregulated)
15 V
(controlled at X4)

Through

Encoder sense line
connected to pin 12 (sense)

Pin 12 (sense) bridged with
pin 4 (U

Pin 12 (sense) bridged with
pin 2 (GND)

)

2



max

STOBER synchronous
servo motors
Standard: EnDat 2.1/2.2
STOBER asynchronous
motors
TTL (for customer-specific
solutions),
without cable
compensation
Pin 12 (sense) not used

STOBER asynchronous
motors
HTL encoder: Bridge
created in the cable plug
that is connected to X4
SSI encoder: Bridge for U
is created in the bracket
flange socket

2

Specification for incremental signals

f

max

Signal level TTL and HTL

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≤ 1 MHz (evaluation and simulation)

4

Technical data

Manual SD6

4.5.1.2 Connection X120

General specification

U

2

I

2max

Maximum cable
length

Specification SSI encoder (evaluation and simulation)

switching frequency 592 kHz (motor encoder) or 250 kHz (position

Code Binary or Gray
Encoder type Multiturn: 24 or 25 bits

Transfer Double transmission, can be switched off

Specification incremental encoder, pulse train 
(evaluation and simulation) and Hall sensor (only evaluation)

f

max

Signal level TTL

Calculation example – limit frequency f
... for an encoder with 2,048 pulses per revolution:: 

3,000 revolutions per minute (equivalent to 50 revolutions per
second) * 2,048 pulses per revolution 
= 102,400 pulses per second 
= 102.4 kHz

15 V (see encoder supply)
250 mA, sum X4, X120, X140: 500 mA
50 m

encoder)

Single-turn: 13 bit short or 13 Bit short

Evaluation: ≤ 1 MHz
Simulation: 500 kHz



max

Encoder supply

Depending on the power consumption of the encoder, an external supply is
required whereby differences in the GND connection arise.

U

2

Internal: Pin 8 (U
External Pin 1 (GND-ENC) to GND of external supply

Bridge

) Pin 1 (GND-ENC) to pin 9 (GND)

2

4.5.1.3 Connection X101 (binary input encoder)

General specification

Maximum cable
length

Evaluation – Incremental encoder and pulse train

High level 12-30 V 2 – 6 V
Low level 0-8 V 0 – 0.8 V
U

1 max

I

1 max

f

max

t

min

30 m, shielded

HTL TTL

30 V 6 V
16 mA 13 mA
100 kHz if High level > 15

V and external push pull
configuration

Cycle time of the application with time stamp
correction (resolution 1 µs)

250 kHz

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Manual SD6

Simulation – Incremental encoder and pulse train

U

2

I

2max

18–28,8 V

XI6: 50 mA, RI6 and IO6: 100 mA
Eff. Update rate 4 kHz
f

max

250 kHz

(Maximum output frequency for one track)
Extrapolation

66 MHz
frequency

Calculation example – limit frequency 
... for encoder with 2,048 pulses per revolution: 

3,000 revolutions per minute (equivalent to 50 revolutions per
second) * 2,048 pulses per revolution 
= 102,400 pulses per second 
= 102.4 kHz

4.5.1.4 Connection X140

Resolver specification (evaluat ion )

U

2

I

2max

f

2

P

max

Transfer ratio 0.5 ± 5 %
Number of poles 2, 4 and 6
Phase shift ± 20 el.°

-10 V ... +10 V
80 mA
7 – 9 kHz

0.8 W

Specification encoder EnDat 2.1 digital, EnDat 2.1 sin/cos and 
sin/cos encoder (evaluation)

U

2

I

2max

5 – 12 V, see encoder supply
250 mA, 

sum X4, X120 and X140 (EnDat): 500 mA

I

2min

f

max

13 mA

225 kHz
Encoder type Single-turn and multiturn
Maximum cable

100 m
length

Calculation example – limit frequency f

max



... for encoder with 2,048 pulses per revolutio n : 

3,000 revolutions per minute (equivalent to 50 revolutions per
second) * 2,048 pulses per revolution
= 102,400 pulses per second 
= 102.4 kHz

Specification encoder EnDat 2.2 digital (evaluation)

Encoder type Single-turn and multiturn
switching frequency 4 MHz

Maximum cable

100 m

length

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Technical data

Manual SD6

Encoder supply

U

2

5 V 
(controlled at
the encoder)

5 V
(controlled at
X4)

10 V 
(unregulated)

Through

Encoder sense line connected to pin
12 (sense)

Pin 12 (sense) bridged with pin 4
(UB+)

STOBER
synchronous servo
motors 
Standard: EnDat 2.1/

2.2
STOBER

asynchronous
motors
TTL 
(for customer­specific solutions),
without cable
compensation

Pin 12 (sense) not
used

4.5.2 Controllable brakes

You can control the following brakes:

• 24-V brakes connected directly to X5 (in accordance with the technical
data).

• Indirectly connected brakes with different nominal voltage (controlled via
an external 24 V

The brake is supplied via X6.

Electrical data

U

1

I

1max

Brake

Maximum
switching
frequency

switching device).

DC

24–30 V

3.0 A
1 Hz

4.5.3 Evaluatable motor temperature sensors

A maximum of 2 PTC drillings in series or one KTY -84 can be connected to the
SD6.

Information

Before using a KTY, note that motor protection is not ensured to the
same extent as when monitoring with PTC drilling.

Information

Note that evaluation of the temperature sensors is always active. If
operation without temperature sensor is permitted, the connections
must be bridged on X2. Otherwise a fault will be triggered when the
device is switched on.

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Technical data

Manual SD6

4.6 Protective measures

The drive controllers are only suitable for operation on TN networks and only
for use in supply current networks that are able to prov id e a ma xima lly
symmetrical nominal short circuit current at 480 volts according to the following
table.

Size Max. symmetrical nominal short-circuit current

Size 0 – size 2 5000 A
Size 3 10,000 A

4.6.1 Line fuse

The mains fuse ensures line and power protection in the drive controller.
You can use the following protective devices:

• Full range safety melt fuses for cable and circuit protection to IEC 60269­2-1/DIN VDE 0636, part 201 NH fuses (operating class gG in accordance
with IEC operating class specification or slow blow in accordance with
VDE)

• Circuit breaker with trigger characteristics C in accordance with EN 60898

• Power circuit breaker

Type Input current

(8 kHz)

I

1N,PU

SD6A02 5.9 A 8.3 A 10 A
SD6A04 2.2 A 2.8 A 10 A
SD6A06 4 A 5.4 A 10 A
SD6A14 9.3 A 12 A 16 A
SD6A16 15.8 A 19.2 A 20 A
SD6A24 24.5 A 26.4 A 35 A
SD6A26 32.6 A 38.4 A 50 A
SD6A34 37 A 45.3 A 50 A
SD6A36 62 A 76 A 80 A
SD6A38 76 A 76 A 80 A

The following applies to size 3 (SD6A34, SD6A36, SD6A38): 
Operation only with mains commutation reactors and mains fuse for operating
class gG (see section "Line fuses" > "Full range safety melt fuses").

Information

Note that these values apply only to the drive controllers that are
connected to the mains individually. Different parameters apply to
drive controllers in a Quick DC-Link system.

Input current

(4 kHz)

I

1N,PU

Recommended

mains fuse (max.)

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Manual SD6

UL-compliant line fuse

Use the following fuses for UL-compliant operation:

• Fuses of class RK1, for example Bussmann KTS-R-xxA/600 V.

• For drive controllers sizes and 1 you can also use fuses of class CC.

• For drive controllers size 0 to 2 you can also use type E motor starters from
Eaton Industries, consisting of a motor protection switch and supply
terminal.

See the table below for suitable fuses:

Type Class CC Class RK1 Type E motor starters

(Eaton Industries)

SD6A02 10 A 10 A PKZM0-10/SP + BK25/3-PKZ0-E
SD6A04 10 A 10 A PKZM0-10/SP + BK25/3-PKZ0-E
SD6A06 10 A 10 A PKZM0-10/SP + BK25/3-PKZ0-E
SD6A14 15 A 15 A PKZM0-16/SP + BK25/3-PKZ0-E
SD6A16 20 A 20 A PKZM0-25/SP + BK25/3-PKZ0-E
SD6A24 – 35 A PKZM0-32/SP + BK25/3-PKZ0-E
SD6A26 – 50 A PKZM4-50 + BK50/3-PKZ4-E
SD6A34 – 50 A –
SD6A36 – 80 A –
SD6A38 – 80 A –

4.6.2 Residual current safety device

STOBER devices can be protected with a Residual Current protective Devices
(RCD) to detect residual currents. Residual current protective devices prevent
electrical accidents, especially ground fault through the body. They are
generally distinguished according to their triggering limit and suitability for
detecting different types of residual current.
Depending on the function, stray currents may occur when opera ting drive
controllers. Stray currents are interpreted as residual currents by residual
current protective devices and may therefore lead to false triggering.
Depending on the relevant power supply connections, residual currents may
occur with or without a DC current component. Because of this, you should
take into consideration both the height and also the shape of the possible stra y
or residual current when selecting a suitable RCD.

DANGER!

Electric shock hazard!

The combination of single-phase drive controllers and residual current
protective devices type A or AC can lead to false triggering of the RCDs.

Stray currents with a DC current component may occur in 3-phase drive
controllers.

 Always protect single-phase drive controllers with residual current

protective devices type B, sensitive to all currents, or with type F , sensitive

to mixed currents.

 Always protect 3-phase drive controllers with residual current protective

devices type B, sensitive to all currents.

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1

43652

Technical data

Manual SD6

False triggering – causes

Depending on stray capacitances and asymmetries, stray currents up to 40 mA
may occur during operation. Undesirable false triggering occurs

• ... when drive controllers to the supply voltage.
This false triggering can be rectified by using short-time delayed (super-

resistant), selective (delayed switch-off) residual current protective devices
or RCDs with increased trigger current 
(for example 300 or 500 mA).

• ... Due to higher frequency stray currents for long motor cables under
normal operating conditions: 
This false triggering can be rectified for example using low-capacitance
cables or output deraters.

• ... due to unbalances in the supply network. 
This false triggering can be rectified for example using an isolating
transformer.

Information

Check whether the use of residual current protective devices with
increased trigger current as well as with short-time de layed or
delayed switch-off trigger characteristics are permitted in your
application.

Installation

DANGER!

Electric shock hazard!

Stray and residual currents with a DC current component can restrict the
functionality of residual current protective devices types A and AC.

 Always follow the installation instructions for the protective devices you are

using.

4.6.3 Housing ground

Note the following information on the connection of the protective earth to
ground the housing correctly:

• Note the assembly sequence:

• 1 M6 earth bolt

• 2 Contact disk

• 3 Cable socket

•4 Washer

• 5 Return spring
(optional)

•6 Nut

Contact disk, washer, return spring and nuts are supplied with the drive
controller.

• Tightening torque: 4 Nm

• Stray currents > 10 mA can arise in normal operation. To fulfill DIN EN
61800-5-1 and EN 60204-1, connect the earth bolts with a copper
conductor according to the following table:

Cross-section A
Feeder

2

A ≤ 2.5 mm

2.5 < A ≤ 16 mm
16 – 35 mm
> 35 mm

2.5 mm2

2

≥16 mm2

2

A/2

2

A

Minimum cross-section A
Earth conductor at earth bolts

min

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d2

d1

h2

h1

h3

e

f

a

b

w

Technical data

Manual SD6

4.7 Dimensions

Dimensions [mm] Size 0 Size 1 Size 2

Drive controller Height h

Height incl. EMC shroud h
Height incl. AES h
Width w 70 105
Depth d
Depth incl. braking resistor 

RB 5000

EMC shroud Height e 27

Depth f 40

Fastening holes Vertical distance a 283+2

Vertical distance 
to upper edge

1
2
3

194 284

1

212 302

d

2

b6

300
355
367

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Technical data

Manual SD6

Dimensions
[mm]

Drive
controller

Height h
Height incl. EMC shroud h
Width w
Depth d

1
2

1

1

Size 3

382.5
540
190
305

EMC shroud Height e 174

Width w

2

147

Depth f 34

113

150+0.2/-0.2

20

132

Fastening 
holes

d

2

Vertical distance a 365+2
Vertical distance from bottom edge b 6
Horizontal distance from the

fastening holes of the drive controller
Horizontal distance from the side

edge of the drive controller
Horizontal distance from the

c

1

g

1

c

2

fastening holes of the EMC shroud
Horizontal distance from the side

g

2

7.5

edge of the EMC shroud

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Manual SD6

4.8 Terminal modules

4.8.1 Specification - XI6

X100 specification

General specification

Maximum cable
length

Electrical data

Analog inputs 
AE1 and AE2

Analog input 
AE1 as current input
(AE1+ and AE1 shunt
bridged)

Analog outputs 
AA1 and AA2

30 m, shielded

Level ±10 V
Resolution 16 bits
Internal resistance > 40 kΩ
Refresh rate Cycle time of the

Level ±20 mA
Resolution IO6: 12 bits

Internal resistance 492 Ω
Wire break monitoring Parametrizable in F15
Level ±10 V
Maximum output current XI6: 10 mA

application

XI6, RI6: 16 bits

IO6, RI6: ± 20 mA

X101 specification

General specification

Maximum cable
length

Electrical data

Binary inputs 
BE1 to BE3

Binary inputs 
BE4 and BE5

Binary outputs 
BA1 and BA2

24 vdc power supply Input voltage 18–28.8 V

30 m, shielded

Low level 0–8 V
High level 12–30 V
Input voltage Max. 30 V
Input current Max. 16 mA
Input frequency Ma x. 10 kHz
Low level 0–8 V
High level 12–30 V
Input voltage Max. 30 V
Input current Max. 16 mA
Input frequency XI6: max. 100 kHz

IO6, RI6: max. 250 kHz

Maximum output current XI6: 50 mA 

IO6, RI6: 100 mA
Typical voltage drop < 2 V
Refresh rate Cycle time of the

application (at least 1

ms)
Output frequency Max. 250 kHz

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Technical data

Manual SD6

X102 specification

General specification

Maximum cable
length

Electrical data

Analog input AE3 Level ±10 V

30 m, shielded

Resolution 16 bits
Internal resistance > 40 kΩ
Refresh rate Cycle time of the

application (at least 1
ms)

X103A specification

General specification

Maximum cable
length

Electrical data

Binary outputs 
BA3 and BA4

Binary outputs 
BA5 and BA6

30 m, shielded

Maximum output current 50 mA
Typical voltage drop < 2 V
Refresh rate Cycle time of the

application
Inductive load Max. 1.2 VA
Maximum output current 50 mA
Typical voltage drop < 2 V
Refresh rate Cycle time of the

application

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Technical data

Manual SD6

X103B specification X103C specification

General specification

Maximum cable
length

Electrical data

Binary outputs 
BA7 to BA10

Binary input BE6 Low level 0–8 V

30 m, shielded

Maximum output current 50 mA
Typical voltage drop < 2 V
Refresh rate Cycle time of the

application

High level 12–30 V
Input voltage Max. 30 V
Input current Max. 16 mA
Input frequency Max. 3 kHz

General specification

Maximum cable
length

Electrical data

Binary inputs 
BE7 to BE13

30 m, shielded

Low level 0–8 V
High level 12–30 V
Input voltage Max. 30 V
Input current Max. 16 mA
Input frequency Max. 3 kHz

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Technical data

Manual SD6

4.8.2 Specification – RI6

X100 specification

Electrical data

Analog inputs 
AE1 and AE2

Analog input 
AE1 as current input
(AE1+ and AE1 shunt
bridged)

Analog outputs 
AA1 and AA2
(short-circuit-proof)

Level ± 10 V
Resolution 16 bits
Internal resistance > 40 kΩ
Refresh rate Cycle time of the

Level ± 20 mA
Resolution 16 bits
Internal resistance 492 Ω
Wire break monitoring Parameterizable in F15
Level ± 10 V, ± 20mA
Maximum output current ± 20mA

application

X101 specification

Electrical data

Binary inputs 
BE1 to BE3

Binary inputs 
BE4 and BE5

Binary outputs 
BA1 and BA2

Binary outputs 
BA1 and BA2 as
encoder output

Low level 0–8 V
High level 12–30 V
Input voltage Max. 30 V
Input current Max. 16 mA
Input frequency Max. 10 kHz
Low level 0–8 V
High level 12–30 V
Input voltage Max. 30 V
Input current Max. 16 mA
Input frequency Max. 400 kHz
Maximum output current 100 mA
Typical voltage drop < 2 V
Refresh rate Cycle time of the

application
Maximum output current 50 mA
Typical voltage drop < 2 V
Output frequency Max. 1 MHz

24-V power supply Input voltage 18–28.8 V

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Technical data

Manual SD6

4.8.3 Specification – IO6

X100 specification

Electrical data

Analog inputs 
AE1 and AE2

Analog input 
AE1 as current input
(AE1+ and AE1 shunt
bridged)

Analog outputs 
AA1 and AA2
(short-circuit-proof)

Level ± 10 V
Resolution 12 bits
Internal resistance > 40 kΩ
Refresh rate Cycle time of the

Level ± 20 mA
Resolution 12 bits
Internal resistance 492 Ω
Wire break monitoring Parameterizable in F15
Level ± 10 V, ± 20mA
Maximum output current ± 20mA

application

X101 specification

Electrical data

Binary inputs 
BE1 to BE3

Binary inputs 
BE4 and BE5

Binary outputs 
BA1 and BA2

Binary outputs 
BA1 and BA2 as
encoder output

Low level 0–8 V
High level 12–30 V
Input voltage Max. 30 V
Input current Max. 16 mA
Input frequency Max. 10 kHz
Low level 0–8 V
High level 12–30 V
Input voltage Max. 30 V
Input current Max. 16 mA
Input frequency Max. 400 kHz
Maximum output current 100 mA
Typical voltage drop < 2 V
Refresh rate Cycle time of the

application
Maximum output current 50 mA
Typical voltage drop < 2 V
Output frequency Max. 1 MHz

24-V power supply Input voltage 18–28.8 V

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Technical data

Manual SD6

4.9 Communication modules

4.9.1 EC6 communication module

Accessory part EC6 is required for an accessory part.

Information

For more extensive information about EtherCAT consult the
EtherCAT operating instructions (see section 1.2 Further
documentation)!

Cable specification

STOBER provides ready-made cables for the EtherCAT connection. These
cables must be used to ensure proper functionality.
It is also possible to use cables with the following specification:

Plug wiring Patch or crossover
Quality CAT5e
Shielding SFTP or PIMF

4.10 Quick DC-Link

Electrical energy recovery

Motors that are being braked act like generat or s: in op er at ion wi th an active
drive controller, they convert the kinetic energy inherent in the movement into
electrical energy. 
This electrical energy is fed into the DC link capacitors of the drive controller . It
can be made available to driving motors if the DC intermediate circuits are
connected, which makes for efficient use.
When a motor brakes, the voltage in the DC intermediate circuit increases.
However, the capacitors in the DC link are only able to abso rb a limited amount
of energy. If the DC link voltage increases above a defined limit, a chopper
circuit is activated that converts excess energy to he at via a connected braking
resistor.
If the maximum admissible voltage is reached, it is important to prevent
possible damage: The drive controller takes on the "Fault" status and switch es
off.
In a DC link connection, the DC link capacitors of the relevant drive controllers
are switched in parallel. That increases the maximum amount of energy that
can be absorbed in the DC intermediate circuit in comparison to an individual
device.

Information

In a controlled emergency stop, all drive controllers may possibly be
braking at the same time. You should take this into consider ation in
the design to determine whether a central braking resistor is
necessary to be able to st op s ys t em parts safely within a specified
time.

Especially in winding technology that use motors for permanent braking or in
general for regular acceleration and braking cycles, the DC link connection
saves energy and money.

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Technical data

Manual SD6

Connecting Quick DC-Link – drive controller

The DC link capacitors of exactly two drive controllers can be connected via the
SD6 output terminals. To connect the capacitors of multiple drive controllers,
you need a separate module DL6. (see also 6.5 Quick DC-Link).

Information

Note that you can only connect the 6th generation of ST OBER drive
controllers.

Relevant design and operating instructions

Note the following factors in the planning phase and during subseque nt Quick
DC-Link operation:

• the capacity of the charging circuits of the drive controllers that are
supplied with power

• the sizes of the drive controllers and

• their maximum output power.

•

Information

Quick DC-Link may be subject to system-specific or country­specific standards.

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Technical data

Manual SD6

4.10.1 Electrical Data

When designing and operating the Quick DC-Link, always observe the electrical data and the individual drive controller sizes and types.
The maximum DC link voltage is 750 V and the maximum permitted current is 200 A.

Size (voltage) Type I

0 (1 x 230 V) SD6A02 8.3 4 3 340 1620 1280

0 (3 x 400 V)

1 (3 x 400 V)

2 (3 x 400 V)

3 (3 x 400 V)

SD6A04 2.8 2.3 1.7 135 540 405
SD6A06 5.4 4.5 3.4 135 540 405
SD6A14 12 10 6 470 1405 935
SD6A16 19.2 16 10 560 1405 845
SD6A24 26.4 22 14 680 1405 725
SD6A26 38.4 32 20 1000 1405 405
SD6A34 45.3 44 30 430 5100 4670
SD6A36 76 70 50 900 5100 4200
SD6A38 76 85 60 900 5100 4200

1N,PU

[A]

I

2N,PU

[A] 4 kHz

I

2N,PU

[A] 8 kHz

Own capacity

[µF]

Charging

capacity

[µF]

Remaining

charging

capacity

[µF]

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Technical data

Manual SD6

4.10.2 Power supply

Mains supply

Operate only drive controllers with the same power supply voltage as part of
Quick DC-Link. 

DANGER!

Device damage!

If single-phase and three-phase drive controllers are connected, the single­phase drive controllers will be damaged.
Connect either all one-phase or else all three-phase drive controllers.

Note also the following rules:

• All single-phase drive controllers must be connected to the same external
conductor.

• All three-phase drive controllers must be connected to the same mains
power supply.

Special features for a connection with drive controllers size 3

• AC supply
If a Quick DC-Link consists of drive controllers of sizes 0, 1, 2 and 3, only
those of size three may be supplied with power. The others must be
supplied exclusively with DC voltage.

•Number 
The maximum number of size 3 drive controllers you can connect is 3.

• Power choke
A power choke of type TEP4010-2US00 must be installed for each size 3
drive controller supplied with power (see 4.12.1 Power choke).

NOTICE

Material damage!

If the EMC limit values are exceeded while a DC link connection is in operation,
take suitable measures to maintain electromagnetic compatibility.
Always route the compound DC link connections as short as possible. If they
are longer than 30 cm, they must be shielded.

Protection against failure of a drive controller

NOTICE

Danger of device damage!

The failure of a drive controller in the DC link can cause dam age to other drive
controllers. For this reason, a failure must initiate the separation of the
complete Quick DC-link system from the network.

 Note in this regard the wiring and parameterization of relay 1 in 7.3.9 X30:

Quick DC-Link, braking resistor, page 103].

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Technical data

Manual SD6

4.10.3 Line fuse

Fuse protection against overload and short circuit

Every drive controller in the compound DC link system supplied with power must be protected by a fuse at the mains input by both overload and short circuit
protection connected in series. A miniature circuit breaker protects against overload and a safety fuse against short circuit.

Information

To ensure problem-free operation, always co mply with the recommended trigger limits and trigger
characteristics of the fuse elements.

Size I

SD6A04 2,8 5,0 Fa. EATON

0

SD6A06 5,4 9,7
SD6A14 12,0 21,6 Fa. EATON

1

SD6A16 19,2 34,6
SD6A24 26,4 47,5 Fa. EATON

2

SD6A26 38,4 69,1
SD6A34 45,3 81,5 Fa. EATON

SD6A36 76 136,8

3

SD6A38 76 136,8

a) Reduces the input current from 73 A to 63 A. This causes the power output to be reduced, however reliable rectifier protection is not guaranteed.
b) Circuit breaker size S3, CLASS 10, adjustable current range: 57 A – 75 A, electromagnetic triggering: 975 A. Rectifier diodes are not protected in the range of 2 times to 13 times the nominal current.

[A] I

1N,PU

1maxPU

[A]

Circuit Breaker Safety fuse

Type: FAZ-B6/3, Art.No.: 278841

Trigger characteristic: B 6 A

Type: FAZ-Z20/3, Art.No.: 278928

Trigger characteristic: Z 20 A

Type: FAZ-Z40/3, Art.No.: 278931

Trigger characteristic: Z 20 A

Type: FAZ-B63/3, Art.No.: 278853

Trigger characteristic: B 63 A

Fa. Siemens

Type: SIRUS, Art.No.: 3RV 1041-4KA10

Trigger characteristic: 57 A – 75 A

Selecting fuse protection

Fa. SIBA

Type: URZ, Art.No. 50 140 06.20

Trigger characteristic: gR 20 A

Fa. SIBA

Type: URZ, Art.No. 50 140 06.32

Trigger characteristic: gR 32 A

Fa. SIBA

Type: URZ, Art.No. 50 140 06:80

Trigger characteristic: gR 80 A

a)

Fa. SIBA

Type: URZ, Art.No. 50 140 06.100

Trigger characteristic: gR 100 A

b)

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Technical data

Manual SD6

Mains fuse – maximum number of drive controllers

Multiple drive controllers with the power can be connected via a common mains
fuse. The size of the mains fuse as well as the mains input current of the drive
controllers that are supplied with power correspond to that of a single drive
controller.
To prevent damage to the safety fuse, the number of possible drive controllers
on a common mains fuse is limited as follows:

• Size 0 Maximum 4 drive controllers,

• Size 1 Maximum 2 drive controllers,

• Size 2 Maximum 5 drive controllers,

• Size 3 Maximum 2 drive controllers.

NOTICE

Material damage!

To ensure uniform distribution of the charge current to all the drive controllers
supplied with AC power, all fuses must be closed when the supply voltage is
turned on. 

To ensure that the input rectifier is not overloaded in case a fuse fails, the
evaluation of phase monitoring of the drive controllers that are supplied with AC
power must result in the entire compound DC link system being disabled.

4.10.4 Power contactor

All drive controllers supplied with power must be connected with the mains
voltage via a common contactor. Make certain to observe the instructions in

7.3.9 X30: Quick DC-Link, braking resistor.

NOTICE

Material damage!

Use only one contactor! 
If multiple contactors are used, the charge resistors of the drive controllers will
be damaged by the scattering of switching times that will occur.

ID 442426.04 55WE KEEP THINGS MOVING

4

I

mains requ ired

I

mains max



P

mainsPmotor concurrent



P

motor

3U

motorImotor



motor

cos=

P

mains

3U

mainsImains required



mains

 =

U

motor max

08 U

mains

=

I

mains requir ed

U

motor

U

mains

------------------

I

motor



motor

cos



mains

---------------------------

=



mains

06 I

mains

40A=



mains

07 I

mains

40A=

Technical data

Manual SD6

4.10.5 Projecting

Charging capacity

The charging circuit integrated into a drive controller is also able to charge the
DC intermediate circuit of other drive controllers in addition to its own DC
intermediate circuit.
During projecting of a Quick DC-Link, make certain that the total of the charging
capacities of the drive controllers that are supplied with power is greater than
or equal to the total of the charging capacity of the entire compound DC link
system.

Checking the charging capacity of drive controllers supplied with power –
example
Two dr ive controllers type SD6A26 that are supplied with power should be able
to charge six type SD6A04 drive controllers. Calculate the maximum ch arging
capacity of the two drive controllers that are supplied with po we r as follow s:
2 x 1405 µF = 2810 µF.



The DC link circuit capacity in the system to be charged is: 
2 x 1000 µF (SD6A26) + 6 x 135 µF (SD6A04) = 2810 µF.
It is therefore equal to the maximum charging capacity. 
Quick DC-Link is permissible in this case.

Calculating the mains current for motors
The required drive power can be used to determine the mains current for
motors:

Calculating motor power and voltage
The following formulas and assumptions apply when calculating motor power
and voltage:

In addition, the field weakening range also begins.

The effective factor of a servo motor (cos φ

) is about 0.9 when operating

Motor

at 4 kHz and about 0.98 when operating at 8 kHz. The effective factor of an
asynchronous motor can be determined based on the relevant electrical data.
The following rule applies to the power factor of the mains power supply:

Current-carrying capacity of the input rectifier

When designing the Quick DC-Link, make certain that the tot al required mains
current does not exceed the maximum mains current.

To be able to determine the required mains current and the sizes of the drive

To calculate both the effective and the maximum mains current, SERVOsoft
may be required as mechanical and electrical design software for drive
systems.

®

controllers to be supplied with power in the context of Quick DC-Link, the
required motor power must be calculated.
The total maximum permitted input current I
of the maximum input currents I
continuous operation.

ID 442426.04 56WE KEEP THINGS MOVING

mains,max

mains,max

is derived from the total

of all connected drive controllers in

4



1680F
2810F

-------------------- -

0598==

Technical data

Manual SD6

Dynamic movements of the connected motors are possible in the permitted
range, see 4.2.2 Power board.
The following applies for the total of the input currents of the connected drive
controller:

• If all the drive controllers supplied with power have the same power, the
total of maximum mains-side input currents can be calculated using the
formula

I

mains, max

• If all drive controllers supplied with power do not have the same power , the
total of the input current can be calculated by multiplying the input current
of the smallest drive controller supplied with power by the number of all
drive controllers supplied with power:
I

mains,max

To prevent current asymmetries, all drive controllers supplied with power that
have different power must have the same fuse protectio n, which must also be
equivalent to the drive controller with the lowest power.

Current-carrying capacity of the copper wires

"DC rails" connect the DC link capacitors of the drive controllers with each
other. These are copper rails that are mounted with corresponding holding
clamps and must have a cross-sectional dimension of 5 x 12 mm.
The maximum permitted current-carrying cap acity of the copper rails is 200 A.

Minimum time between two mains power-on processes

The drive controllers have temperature-dependent resistors in the charging
circuit to prevent the devices from being destroyed when the mains current is
switched after an error – such as a short-circuited DC intermediate circuit,
wiring error, etc. When the DC intermediate circuit is being charged, the
resistors heat up. T o prevent an overload, it is essential to maintain a minimum
amount of time between two power-on processes.

= 0.8 · n

= 0.9 · n

supply

supply

· I

mains, individual device

· I

mains, individual device, min

Depending on the DC link circuit capacity in the system being charged, the
minimum time between two mains power-on processes can be determined by
the maximum charging capacity of the drive controllers connecte d to the mains
(K factor).

The times specified below are worst-case values for a regularly recurring
power-on with full discharge of the DC link circuit capacity.
These times are reduced for a single instance of repeated power-on, or if the
DC link circuit capacities remain entirely or partially charged.

AC-supplied drive

controllers

Size 0

Sizes 1, 2

Size 3 0.5

Calculation example
Three SD6A16 drive controllers are connecte d and two of them are co nnected
to the mains. The K factor can be calculated according to the formula
previously noted as follows:

The minimum time between two mains power-on processes is three minutes
(see table).

Factor K

≤ 0.5 1
≥ 0.5 2

≤ 0.427 1

0.428 – 0.570 2

0.571 – 0.712 3

0.713 – 0.854 4
> 0.854 5

Minimum time between

two mains power-on

processes [min]

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Technical data

Manual SD6

4.11 Braking Resistors

In addition to the different drive controllers, STOBER of fers braking resistors in
different sizes and performance classes described in the following.
When selecting, note the minimum permitted braking resistors of the in dividual
SD6 types (see 4.2.2, page 30).

4.11.1 FZMU, FZZMU

Properties

Type FZMU 400x65 FZZMU 400x65
ID no. 49010 55445 53895 55447

Resistance [Ω] 100 22 47 22
Power [W] 600 1200
Therm. time const. τ
Pulse power for < 1 s [kW] 18 36

[V] 848 848

U

max

Weight [kg] approx. 2.2 approx. 4.2
Protection class IP20 IP20
Test marks

[s] 40 40

th

Braking resistor – drive controller assignment

Type FZMU 400x65 FZZMU 400x65
ID no. 49010 55445 53895 55447

SD6A02 X — — —
SD6A04 X — — —
SD6A06 X — — —
SD6A14 (X) — X —
SD6A16 (X) — X —
SD6A24 — X (X) X
SD6A26 — X (X) X
SD6A34 — (X) — (X)
SD6A36 — (X) — (X)
SD6A38 — (X) — (X)

Not possible: —
Recommended: X
Possible: (X)

The internal connections are wired with heat-resistant, silicon-insulated
strands of wire on terminals. Also ensure a heat-resistant and stress-resistance
design for the connection!

Conductor cross-section

Connection type Conductor cross-section [mm2]

Rigid 0.5 – 4.0
Flexible with cable end sleeve 0.5 – 2.5

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4

RR

FZMU FZZM(U)

L

UUO

KK

M

K

U

M

X

H

øD

Drill pattern

Technical data

Manual SD6

Dimensions [mm]

Type FZMU 400x65 FZZMU 400x65
ID no. 49010 55445 53895 55447

L x D 400  65 400  65
H 120 120
K6.5  12 6.5  12
M 430 426
O 485 450
R 92 185
R 64 150
X10 10

4.11.2 FGFKU

Properties

The internal connections are wired with heat-resistant, silicon-insulated
strands of wire on terminals. Also ensure a heat-resistant and stress-resistance
design for the connection!

Conductor cross-section

Type FGFKU
ID no. 55449 55450 55451 53897

Resistance [Ω]22151515
Power [W] 2500 6000 8000
Therm. time const. τ
Pulse power for < 1 s [kW] 50 120 160

[V] 848 848 848

U

max

Weight [kg] Approx. 7.5 12 18
Test marks

Connection type Conductor cross-section [mm2]

[s] 30 20 20

th

Rigid 2.5 – 10
Flexible with cable end sleeve 2.5 – 10

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490 C

A
B

Ø10,5

380

260

A

10,5

380

Drill pattern

Technical data

Manual SD6

Braking resistor – drive controller assignment

Type FGFKU
ID no. 55449 55450 55451 53897

SD6A24 X———
SD6A26 X———
SD6A34(X)XXX
SD6A36(X)XXX
SD6A38(X)XXX

Not possible: —
Recommended: X
Possible: (X)

Dimensions [mm]

Type FGFKU
ID no. 55449

A 270 370 570
B 295 395 595

55450

55451 53897

C 355 455 655

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Technical data

Manual SD6

4.11.3 GVADU, GBADU

Properties

Type GVADU

21020

ID no. 55441 55442 55444 55443 55499

Resistance [Ω] 100 100 22 47 100
Power [W] 150 300 300 400 500
Therm. time const. 

[s]

τ

th

Pulse power 
for < 1 s [kW]

[V] 848 848

U

max

Cable design Radox FEP
Cable length [mm] 50 50
Cable cross-

section [AWG]

Weight [g] 300 950 950 1200 1450
Protection class IP54 IP54
Test marks

60 60

3.3 6.6 6.6 8.8 11

18/19

(0.82
mm²)

GBADU

26530

GBADU

33530

14/19

(1.9 mm²)

GBADU

40530

Braking resistor – drive controller assignment

Type GVADU

21020

ID no. 55441 55442 55499 55443 55444

SD6A02 X X X — —
SD6A04 X X X — —
SD6A06 X X X — —
SD6A14 (X) (X) (X) X —
SD6A16 (X) (X) (X) X —
SD6A24 — — — (X) X
SD6A26 — — — (X) X
SD6A34————(X)
SD6A36————(X)
SD6A38————(X)

Not possible: —
Recommended: X
Possible: (X)

GBADU

26530

GBADU
40530

GBADU
33530

GBADU
26530

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Technical data

Manual SD6

Dimensions [mm]

Type GVADU

21020

ID no. 55441 55442 55444 55443 55449

A 210 265 335 405
H 192 246 316 386
C20 30 3030
D40 60 6060
E 18.2 28.8 28.8 28.8
F 6.2 10.8 10.8 10.8
G2 3 33
K2.5 4 44
J 4.3 5.3 5.3 5.3
 65° 73° 73° 73°

GBADU

26530

GBADU

33530

GBADU

40530

4.11.4 Bottom brake resistor RB 5000

Properties

Type RB 5022 RB 5047 RB 5100
ID no. 45618 44966 44965

Resistance [Ω]2247100
Power [W] 100 60 60
Therm. time const. τ
Pulse power for < 1 s [kW] 1.5 1.0 1.0
U
Weight [g] Approx. 640 Approx. 460 Approx. 440
Cable design Radox
Cable length [mm] 250
Cable cross-section [AWG] 18/19

Maximum torque for studs
[Nm]

Protection class IP40

[s] 8

th

[V] 800

max

(0.82 mm²)

5

Test marks

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Technical data

Manual SD6

Drive controller – braking resistor assignment

Type RB 5022 RB 5047 RB 5100

ID no. 45618 ID no. 44966 ID no. 44965

SD6A04 — — X
SD6A06 — — X
SD6A14 — X (X)
SD6A16 — X (X)
SD6A24 X — —
SD6A26 X — —
SD6A34———
SD6A36———
SD6A38———

Not possible: —
Recommended: X
Possible: (X)

Note the attachment to the drive controller (section 6.6 Bottom brake resistor)!

Dimensions [mm]

4.12 Chokes

To reduce high-frequency currents on electrical cables and thus increase the
interference immunity and availabilit y of drive systems, coils such as network
or output deraters are used – corresponding to your application.

Power chokes involve inductive metal wire coils that reduce undesired
harmonics or distortion in the network (e.g. for commutation of the current
flow). In addition, they relieve the DC-Link circui t capacity of the dr ive
controller.

Output deraters reduce charge current peaks due to the cycle signal and line
capacity . They make long motor cables possible, increase the motor service life
and reduce harmonic currents.

Type RB 5022 RB 5047 RB 5100
ID no. 45618 44966 44965

Height 300 300
Width 94 62
Depth 18 18
Drilling pattern corresponds to

size

ID 442426.04 63WE KEEP THINGS MOVING

2 1 0 and 1

4

Technical data

Manual SD6

4.12.1 Power choke

WARNING!

Risk of burns! Fire hazard! Material damage!

Chokes can heat up to over 100 °C under permitted operating conditions.
 Take protective measures against accidental and intentional contact with

the choke.

 Make sure that no flammable material is in the vicinity of the choke.
 Do not install chokes under or near the drive controller.

WARNING!

Fire hazard!

Using chokes outside of the nominal data (cable length, current, frequency,
etc.) can cause the chokes to overheat.

 Always comply with the maximum nominal data when operating the

chokes.

Type TEP4010-2US00
ID no. 56528

Phases 3
Permitted thermal continuous current 100 A
Rated current 90 A
Rated inductance 0.1410 mH
Mains voltage 480 V
Voltage drop (Uk) 2 %
Frequency 60 Hz
Protection class IP 00
Max. surrounding temperature ϑ
Insulation class B
Connection Flange connection
Mounting Screws
Specification EN 61558-2-20
UL Recognized Component (CAN; USA) Yes
CE mark Yes
Identification/test mark, symbol , ,

amb,max

40° C

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Technical data

Manual SD6

Dimensions TEP4010-2US00

Height [mm] 235
Width [mm] 219
Depth [mm] 118
Vertical distance 1 –

fastening holes [mm]
Vertical distance 2 –

fastening holes [mm]

201

136

Horizontal distance 1 –
fastening holes [mm]

Horizontal distance 2 –
fastening holes [mm]

Drill holes – depth [mm] 7
Drill holes – width [mm] 12
Screw connection – M M6
Weight [kg] 10

88

75

ID 442426.04 65WE KEEP THINGS MOVING

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Technical data

Manual SD6

ID 442426.04 66WE KEEP THINGS MOVING

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Technical data

Manual SD6

4.12.2 Output derater

WARNING!

Risk of burns! Fire hazard! Material damage!

Chokes can heat up to over 100 °C under permitted operating conditions.
 Take protective measures against accidental and intentional contact with

the choke.

 Make sure that no flammable material is in the vicinity of the choke.
 Do not install chokes under or near the drive controller.

WARNING!

Fire hazard!

Using chokes outside of the nominal data (cable length, current, frequency,
etc.) can cause the chokes to overheat.

 Always comply with the maximum nominal data when operating the

chokes.

NOTICE

Danger of machine standstill!

The motor temperature sensor evaluation is malfunctioning due to cable
capacities.

 If you use cables which are longer than 50 m and the cables are not from

STOBER, the cores for the motor temp eratur e sensor an d the brake must
be separate (maximum length: 100 m).

Information

The following technical data applies for a rotary field frequency of
200 Hz. For example, this rotary field frequency is achieved with a
motor with 4 pole pairs and a nominal speed of 3000 rpm.
Always observe the specified derating for higher rotary field
frequencies.
Also observe the dependency of the cycle frequency.

Type TEP3720-

0ES41

ID no. 53188 53189 53190

Voltage range 3 x 0 to 480 V
Frequency range 0 to 200 Hz
I

at 4 kHz 4 A 17.5 A 38 A

N

I

at 8 kHz 3.3 A 15.2 A 30.4 A

N

Max. permitted motor
cable length with
output derater

Max. surrounding
temperature ϑ

amb,max

Design Open
Winding losses 11 W 29 W 61 W
Iron losses 25 W 16 W 33 W
Connections Screw terminals
Max. conductor
cross-section
UL Recognized

Component 
(CAN; USA)

Test marks

TEP3820-

0CS41

100 m

40 °C

10 mm

2

Yes

TEP4020-

0RS41

ID 442426.04 67WE KEEP THINGS MOVING

4

fn

N

p

60

------

=

0

0,5

1

1,5

2

2,5

3

3,5

4

4,5

0 100 200 300 400 500 600 700

1

2

IN [A]

f [Hz]

0

2

4

6

8

10

12

14

16

18

20

0 100 200 300 400 500 600 700

1

2

IN [A]

f

[Hz]

Technical data

Manual SD6

Projecting

Select the output chokes according to the rated currents of the motor and
output chokes. In particular , observe the derating of the output choke for rotary
field frequencies higher than 200 Hz.
You can calculate the rotary field frequency for your dr ive with the following
formula:

f Rotary field frequency in Hz
n Speed in rpm
p Number of pole pairs
N Nominal value

Derating TEP3720-0ES41

Derating TEP3820-0CS41

1 Cycle frequency 4 kHz
2 Cycle frequency 8 kHz

1 Cycle frequency 4 kHz
2 Cycle frequency 8 kHz

ID 442426.04 68WE KEEP THINGS MOVING

4

0

5

10

15

20

25

30

35

40

0 100200300400500600700

1

2

IN [A]

f [Hz]

Technical data

Manual SD6

Derating TEP4020-0RS41

1 Cycle frequency 4 kHz
2 Cycle frequency 8 kHz

Dimensions TEP3720-

0ES41

TEP3820-

0CS41

TEP4020-

0RS41

Height h [mm] Max. 153 Max. 153 Max. 180
Width w [mm] 178 178 219
Depth d [mm] 73 88 119
Vertical distance –

166 166 201
fastening holes
a1 [mm]

Vertical distance –

113 113 136
fastening holes
a2 [mm]

Horizontal distance –

53 68 89
fastening holes
b1 [mm]

Horizontal distance –

49 64 76
fastening holes
b2 [mm]

Drill holes – depth

5.8 5.8 7

[mm]

ID 442426.04 69WE KEEP THINGS MOVING

Drill holes – width 

11 11 13

f [mm]
Screw connection – M M5 M5 M6
Weight [kg] 2.9 5.9 8.8

4

h

a

1

w

A

b1

b2

fed

A

M 1:2

a

2

a1

b1

M

Mounting borings in
acc. to DIN EN 60852-4

Technical data

Manual SD6

ID 442426.04 70WE KEEP THINGS MOVING

5

Transportation and storage

Manual SD6

5 Transportation and storage

Overview of sections

5.1 Notes on safety .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . .72

5.2 Transportation .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . .72

5.3 Storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . .72

ID 442426.04 71WE KEEP THINGS MOVING

5

Transportation and storage

Manual SD6

5.1 Notes on safety

Inspect the delivery for any transport damage immedi ately afte r you rece ive it.
Notify any damage to the transport company immediately. Do not operate the
product if damaged.
Store the device in a dry and dust- free room if yo u do not inst all it immediately.
If the device will be stored for one year or more, make certain to read section

5.3 Storage.

5.2 Transportation

Protect the drive controller against impacts du ring transpo rt. Fo r examp le u se
the carton in which the drive controller was delivered. Please note the figures
specified in section 4.4 Transportation, storage and operating environment.

5.3 Storage

NOTICE

Material damage!

The DC link capacitors in devices of sizes 0, 1 and 2 can lose their electrical
strength through long storage times. Considerable material damage can arise
from a reduced electrical strength of the DC link capacitors when switching on.

 Use devices in storage annually or before startup.

Perform forming for stored devices.

The graphics below show the principle network connection for 3-phase and 1­phase devices.

Legend

L1–L3 = lines 1 to 3
N = neutral conductor
PE = protective ground
F1 = fuse
A1 = drive controllers

Information

STOBER recommends connecting stored devices to the supply
voltage according to the wiring shown for one hour every year.
Please note that the drive controllers are designed exclusively for
operation in TN networks.

ID 442426.04 72WE KEEP THINGS MOVING

If annual forming is not possible, form the stored devices before commissioning
according to the wiring and voltage levels shown below.

5

X10

L1

L2F1L3

PE

L1 L2

L3

PE

A1

X10

L1F1PE

L1

NPE

A1

N

T1

T1

10.50

0

25

50

75

100

2468

Time [h]

Power voltage [%]

Storage time 1 - 2 years:

Before enabling, apply voltage for

one hour.
Storage time 2 - 3 years: Before enabling, form as per curve.
Storage time 3 years: Before enabling, form as per curve.
Storage time under 1 year: No action required.

Transportation and storage

Manual SD6

Legend

L1–L3 = lines 1 to 3
N = neutral conductor
PE = protective ground
F1 = fuse
T1 = variable transformer
A1 = drive controllers

ID 442426.04 73WE KEEP THINGS MOVING

6

Installation

Manual SD6

6 Installation

Overview of sections

6.1 Notes on safety .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . .75

6.2 Drive controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . .75

6.3 Terminal modules .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . .77

6.4 Communication modules .. . . . . . . . . . . . . . . . . . . . . . . . . .. . . .78

6.5 Quick DC-Link .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . .79

6.6 Bottom brake resistor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . .81

6.7 EMC shroud .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . .83

6.8 Encoder adapter box .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . .84

6.8.1 Top-hat rail fastening .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

6.8.2 Screw fastening .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

ID 442426.04 74WE KEEP THINGS MOVING

6

Installation

Manual SD6

6.1 Notes on safety

Installation work is only admissible when no volt age is present. Observe the 5
safety rules.

Remove the additional covers before commissioning so that the device will not
overheat.

Note the minimum open areas specified in the technical data during installation
to prevent the drive controller from overheating.

Protect the device against falling parts (bit s or strands of wire, pieces of metal,
etc.) during installation or other work in the control cabinet. Parts with
conductive properties may result in a short circuit or device failure within the
drive controller.

6.2 Drive controller

Min. clearance
[mm]

Size 0 – 2 100 100 5
... with EMC shroud 100 120 5
Size 3 100 100 5
... with EMC shroud 100 220 5

a) Only without Quick DC-Link module DL6

ID 442426.04 75WE KEEP THINGS MOVING

A

Above

B

Below

Ca)

On the side

6

Installation

Manual SD6

The clearance dimensions noted here apply only to installation without a DL6
Quick DC-Link module. If you would like to operate drive controllers as part of
Quick DC-Link, see the applicable dimensions 6.5 Quick DC-Link.

Requirements:

• Prevent condensation, for example with anti-condensation heating
elements.

• Note that drive controllers in storage must be used annually or no later than
before commissioning.

• For reasons related to EMC, use mounting plates with a conductive surface
(unpainted, etc.).

• Fasten the devices onto the mounting plate with M5 screws.

• Attach the devices vertically.

• Avoid installation above or in the immediate vicinity of heat-generating
devices 
such as output deraters or braking resistors.

• To ensure there is sufficient air circulation in the control cabinet, observe
the minimum clearances.

• A contact plan of the system in which the connection of the drive controller
is described must be present.

Drive controller installation

1. If present, install both a terminal module and a communication modu le
(see section 6.3 Terminal modules).

2. Prepare the mounting plate according to the separately enclosed drilling
diagram.

3. Install the drive controller on the mounting plate. Make certain chips and
oil are cleaned from the mounting plate.

4. Connect the housing ground (see section 4.6.3 Housing ground).

5. Connect the drive controller , termin al module and communication mod ule
according to the contact plan.

You need:

• a tool to drill the tapped holes in the mounting plate.

• a tool to tighten the fastening screws.

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6

Installation

Manual SD6

6.3 Terminal modules

WARNING!

Danger of personal injury and material damage due to electric shock!

 Always switch off all power supply voltage before working on the drive

controller! Note that the discharge time of the DC link capacitors is 5
minutes. You can only determine the absence of voltage after this time
period.

CAUTION!

Danger of property damage due to electrostatic discharge, among
others!

 Provide suitable protective measures while handling open PCBs (e.g., ESD

clothing, environment free of dirt and grease).

 Do not touch the contact surfaces.

Analog and binary signals can only be con nected via one of terminal modules
XI6, RI6 or IO6. Installation is identical for all terminal modules.
You need:

• A Torx screwdriver TX10.

• The accessory enclosed with the terminal module.

Terminal module installation

1. Press the spring lock on the front cover lightly to unlock it.

2. Push the front cover down as far as it will go.

3. Remove the cover towards the front.

4. Insert the terminal module so that the recesses on the module and the
holding down mechanisms on the drive controller can be guided past o ne
another. The rear of the plug-in card must be resting against the drive
controller.

5. Push the terminal module up so that the pin contacts are pushed into the
female connector strip.

6. Fasten the terminal module onto the drive controller with the fastening
screw.

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6

Installation

Manual SD6

6.4 Communication modules

WARNING!

Danger of personal injury and material damage due to electric shock!

 Always switch off all power supply voltage before working on the drive

controller! Note that the discharge time of the DC link capacitors is 5
minutes. You can only determine the absence of voltage after this time
period.

CAUTION!

Danger of property damage due to electrostatic discharge, among
others!

 Provide suitable protective measures while handling open PCBs (e.g., ESD

clothing, environment free of dirt and grease).

 Do not touch the contact surfaces.

WARNING!

Danger of personal injury and material damage due to electric shock!

 Always switch off all power supply voltage before working on the drive

controller! Note that the discharge time of the DC link capacitors is up to 5
minutes. You can only determine the absence of voltage after this time
period.

Y ou will need the EC6 or CA6 communication module to connect EtherCAT or
CANopen. EC6 is installed on the upper slot, the same as CA6. The installa tion
is identical for both communication modules.

You need:

• A Torx screwdriver TX10.

• The cover and screw included with the communication module.

Installation of the communication module

1. Loosen the fastening screw for the dummy cover on th e to p of th e drive
controller.

2. Push the communication module into the drive controller on the guide
rails.

3. Push the module in so that the pin contacts are pushed into the female
connector strip.

4. Insert the tips of the cover included with the communication module into
the recess in the front at an angle.

5. Set the cover down on the drive contro ller so that the tips are resting under
the edge.

6. Fasten the cover with the two screws.

CAUTION!

Danger of material damage due for example to electrostatic discharge!

 Take suitable protective measures when handling open printed circuit

boards, for example clothing appropriate for ESD and an environmen t free
of dirt and grease.

 Do not touch the contact surfaces.

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6

Installation

Manual SD6

6.5 Quick DC-Link

WARNING!

Danger of personal injury and material damage due to electric shock!

 Always switch off all power supply voltage before working on the drive

controller! Note that the discharge time of the DC link capacitors is 5
minutes. You can only determine the absence of voltage after this time
period.

To connect the SD6 drive controllers as part of Quick DC-Link, you will need
the DL6 Quick DC-Link modules. They are mounted downstr eam fro m a drive
controller. The linked system is implemented by copper rails.
Note the following dimensions for the overall installation.

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6

Installation

Manual SD6

Clearance of 
fastening holes [mm]

Size 0/1
Size 3 a — — — 380 380 380
Drive

controller
Drive

controller
with
bottom
braking
resistor

Drive
controller
with DL6

DL6 – length of copper rails

Length of copper rails (5 x 12) [mm]

Size 0/1 Initial dimension c 57

Vertical

distance

Horizontal

distance

SZ 0/1

SZ 0/1

a 283 283 283 — — —

b 75 93 110 56 73 45

b75 93 110 — — —

b73 ± 291 ± 2
d — — — 150 150 150

–

SZ 0/1

–

SZ 2

SZ 2

–

SZ 2

108 ±

2

SZ0/1

SZ 3

62 ± 2 79 ± 2 51 ± 2

–

SZ 2

–

SZ 3

SZ 3

SZ 3

–

Quick DC-Link – installation of DL6 modules

Requirements:

• For reasons related to EMC, use mounting p lates with a conductive surface
(unpainted, etc.).

• You have tapped holes for threaded bolts on the mounting plate at the
installation location, taking into consideration the different device
dimensions.

• Avoid installation above or in the immediate vicinity of heat-generating
devices 
such as output deraters or braking resistors.

• To ensure there is sufficient air circulation in the control cabinet, observe
the minimum clearances.

• The copper rails must be straight, smooth, free of burrs and cleaned.

You need:

• Copper rails (cross-sectional dimension: 5 x 12 mm).

• The threaded bolts enclosed with the DL6 modules as well as the
corresponding screws and washers.

• The insulation inserts and holding clamps e nclosed with the DL6 mo dules.

• A PH2 Phillips screwdriver.

• An 8 mm hexagonal socket wrench.

Distance dimension b 73

Size 2 Initial dimension c 90

Distance dimension b 108

Size 3 Initial dimension c 198

Distance dimension b 201

Total length n x distance dimension

ID 442426.04 80WE KEEP THINGS MOVING

+ 2 x initial dimension

6

Installation

Manual SD6

Installation of DL6 modules

1. Fasten the DL6 modules onto the mounting plate with the threaded bolts.

2. Insert the insulation inserts between the modules and on both ends.

3. Clean the copper rails, especially on the contact points.

4. Insert the two copper rails one after the other and fasten them in place with
two holding clamps per module. Make certain the contact points of the
copper rails do not become contaminated.

5. Pull the X30 clamps off the relevant drive controllers.

6. Connect the brown cables D+ to X30 terminals D+ and the black cables
D- to X30 terminals D-.

7. Size 3: 
Mount the EM6A3 EMC shrouds as described in section 6.7 EMC shroud .

8. Place the drive controllers on the respective guides.

9. Press the drive controllers down on the respective guides.

10. Sizes 0 – 2: 
Mount the EM6A0 EMC shrouds as described in section 6.7 EMC shroud .

11. Attach each drive controller to the corresponding threaded bolt with the
enclosed screws and washers.

12. Fasten the X30 terminals to the bottoms of the corresponding drive
controllers.

6.6 Bottom brake resistor

WARNING!

Danger of personal injury and material damage due to electric shock!

 Always switch off all power supply voltage before working on the drive

controller! Note that the discharge time of the DC link capacitors is 5
minutes. You can only determine the absence of voltage after this time
period.

Requirements:

• You have tapped holes for threaded bolts on the mounting plate in the
control cabinet at the installation location, taking into conside ration the
different device dimensions. The threaded bolts are included with the
submounting braking resistor.

You need:

• The threaded bolts included with the submounting brake resistor.

• The screws and washers included with the submounting brake resistor.

• A PH2 Phillips screwdriver.

• An 8 mm hexagonal socket wrench.

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6

Installation

Manual SD6

Installation of the submounting brake resist or

1. Attach the bottom brake resistor to the mounting plate with the studs:

2. Place the device on the guides:

3. Press the device down on the guides:

4. Attach the device to the studs with the screws and washers:

 You have installed the submounting brake resistor.

5. Connect the braking resistor.
Refer to the terminal description for X30 (R+ and R-) for prop er connection
of the cable, see section 7.3.9.

6. Parameterize the braking resistor in the drive controller.

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6

Installation

Manual SD6

6.7 EMC shroud

WARNING!

Danger of personal injury and material damage due to electric shock!

 Always switch off all power supply voltage before working on the drive

controller! Note that the discharge time of the DC link capacitors is 5
minutes. You can only determine the absence of voltage after this time
period.

You can use the EM6 EMC shroud to connect the cable shield of the power
cable. Different designs are available for sizes 0 to 2 and also for size 3.
Attachment of this accessory part accordingly differs on drive controllers sizes
0 to 2 compared to attachment on drive controllers size 3.

Preconditions:

• Sizes 0 – 2: You have already installed the drive controller in the control
cabinet, if necessary in combination with a Quick DC-Link or a bottom
brake resistor.

You need:

• A PH2 Phillips screwdriver.

• Size 3: The two enclosed screws and washers (combination screws with
toothed lock washer, M4x8).

Attaching the EMC shroud EM6A0 to a drive controller size 0, 1 or 2

1. Undo the lower fastening screw and washers of the drive controller.

2. Insert the shroud into the openings on the bottom of the drive controller at
a slight angle.

3. Press the back of the shroud either directly on the mounting plate or on
the stud in the bottom.

4. Attach the shroud to the drive contro ller and mou nting plate o r studs with
the fastening screw and washers.

Attaching the EMC shroud EM6A3 to a drive controller size 3

1. Fasten the shroud onto the bottom of the dr ive controller with the enclosed
fastening screws in the tapped holes provided for that purpose (max.
tightening torque: 2.4 Nm).

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6

Installation

Manual SD6

6.8 Encoder adapter box

WARNING!

Danger of personal injury and material damage due to electric shock!

 Always switch off all power supply voltage before working on the drive

controller! Note that the discharge time of the DC link capacitors is 5
minutes. You can only determine the absence of voltage after this time
period.

The adapter box LA6 should be directly mounted next to the drive controller.
The following dimensions apply for installation:

6.8.1 Top-hat rail fastening

Preconditions:

• Already mounted, 35 mm wide and symmetrical top-hat rail according to
EN 50022 (TS 35)

Mounting an adapter box on a top-hat rail

1. Place the spring of the installation aid on the back of the adapter box on
the top-hat rail.

2. Press the adapter box up and back until you hear the clamping
mechanism engage.

6.8.2 Screw fastening

You need:

• A Torx screwdriver TX10 for loosening the installation aid.

• Two M5 screws (not included with delivery).

Direct mounting of the adapter box

1. Remove the installation aid on the back of the adapter box before
assembly. To do this loosen the two screws.

2. Fasten the adapter box onto the mounting plate with the M5 screws.

The permissible installation possibilities are described in the following sections.

ID 442426.04 84WE KEEP THINGS MOVING

7

Connection

Manual SD6

7 Connection

Overview of sections

7.1 Notes on safety .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . .87

7.2 General information .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . .87

7.2.1 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

7.2.2 Protective measures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

7.2.2.1 Line fuse .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

7.2.2.2 Residual current safety device .. . . . . . . . . . . . . . . . . 89

7.2.2.3 Housing ground . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

7.2.3 EMC connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

7.2.4 Selecting the cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

7.3 Drive controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . .91

7.3.1 Overview of terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

7.3.5 X12: Safety technology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .98

7.3.6 X20: Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .99

7.3.7 X5, X6: Motor holding brake . . . . . . . . . . . . . . . . . . . . . . . . . . 101

7.3.8 X2: Motor temperature sensor .. . . . . . . . . . . . . . . . . . . . . . . . 102

7.3.9 X30: Quick DC-Link, braking resistor .. . . . . . . . . . . . . . . . . . .103

7.3.10 X3A, X3B: PC, IGB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .104

7.3.11 X4: Encoder .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104

7.4 Terminal modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..107

7.4.1 X100 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .108

7.4.2 X101 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .109

7.4.3 X102 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112

7.4.4 X103A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112

7.4.5 X103B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113

7.4.6 X103C . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114

7.3.1.1 Size 0 .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

7.3.1.2 Size 1 .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

7.3.1.3 Size 2 .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

7.3.1.4 Size 3 .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

7.3.2 X10: 230 V/400 V power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

7.3.3 X11: 24 V power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

7.3.4 X1: Enable and relay 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

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7.4.7 X120 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115

7.4.8 X140 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117

7.5 Communication modules . . . . . . . . . . . . . . . . . . . . . . . . . . .. ..122

7.5.1 X200, X201: EtherCAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .122

7.5.2 X200: CANopen .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .122

7.6 Encoder adapter box .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. ..123

7

Connection

Manual SD6

7.6.1 Linear encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .123

7.6.1.1 Linear encoder EnDat 2.1/2.2 digital and SSI .. . . . . 123

7.6.1.2 Linear encoder TTL with Wake and Shake . . . . . . . 123

7.6.1.3 Linear encoder TTL with Hall sensor .. . . . . . . . . . .123

7.6.1.4 Sin/cos linear encoder with Wake and Shake .. . . . . 123

7.6.2 Overview of terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124

7.6.3 X300 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .125

7.6.4 X301 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .126

7.6.5 X302 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .126

7.6.6 X303 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .127

7.6.7 X304: Connection via D-sub connector .. . . . . . . . . . . . . . . . . 127

7.6.8 X305, X306: Connection via loose cable ends . . . . . . . . . . . .128

7.7 Cables .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . .129

7.7.1 Power cable .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129

7.7.2 Encoder Cables .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131

7.7.2.1 Encoder EnDat 2.1/2.2 digital and SSI .. . . . . . . . . . 131

7.7.2.2 EnDat 2.1 sin/cos encoder .. . . . . . . . . . . . . . . . . . . 135

7.7.2.3 Encoder HTL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139

7.7.2.4 Encoder TTL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140

7.7.2.5 Resolver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .141

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7.1 Notes on safety

Connection work is only admissible when no voltage is present. Observe the 5
safety rules (see chapter 2.5 Working on the machine).

Make note of the following points:

• The drive controller housing must be closed before you turn on the power
supply voltage.

• When the power supply voltage is turned on, hazardous voltages may be
present on the connection terminals and the cables connected to them.

• The device is not reliably free of voltage simply because all the displays are
blank!

The following actions are prohibited while the power supply voltage is turned
on:

• Opening the housing

• Connecting or disconnecting connection clamps

• Connecting or disconnecting connection wiring

• Removing or installing accessories.

Protect the device against falling parts (bit s or strands of wire, pieces of metal,
etc.) during installation or other work in the control cabinet. Parts with
conductive properties may result in a short circuit or device failure within the
drive controller.

Use only copper conductors. For the corresponding lead cross-sections
consult standards DIN VDE 0298-4 or DIN EN 60204-1 (appendices D, G) as
well as the relevant terminal specifications in this documentation.

The protection class is protective grounding. Because of this, operation is only
admissible if the protective ground wire is connected according to
requirements.

The drive controllers are not designed for use in a public low frequency network
that supplies residential areas. High-frequency interference can be expected if
the drive controllers are used in a network of this type.

Drive controllers are products subject to sales restrictions in accordance with
IEC 61800-3.
The drive controllers are not designed for use in a public low frequency network
that supplies residential areas.
In a residential environment this product may cause high-frequency
interference. If this occurs the user may be asked to take suitable measures.

7.2 General information

7.2.1 Wiring

Observe the regulations applicable for your machine or system when installing
the electrical equipment, e.g. DIN IEC 60364 or DIN EN 50110.

7.2.2 Protective measures

The drive controllers are only suitable for operation on TN networks and only
for use in supply current networks that are able to provide a maximally
symmetrical nominal short circuit current at 480 volts accor ding to the following
table.

Size Max. symmetrical nominal short-circuit current

Size 0 – size 2 5000 A
Size 3 10,000 A

The essential protective ground connections are identified by "PE" or the
international symbol for grounding (IEC 60417, symbol 5019 ).

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7.2.2.1 Line fuse

The mains fuse ensures line and power protection in the drive controller.
You can use the following protective devices:

• Full range safety melt fuses for cable and circuit protection to IEC 60269­2-1/DIN VDE 0636, part 201 NH fuses (operating class gG in accordance
with IEC operating class specification or slow blow in accordance with
VDE)

• Circuit breaker with trigger characteristics C in accordance with EN 60898

• Power circuit breaker

Type Input current

(8 kHz)

I

1N,PU

SD6A02 5.9 A 8.3 A 10 A
SD6A04 2.2 A 2.8 A 10 A
SD6A06 4 A 5.4 A 10 A
SD6A14 9.3 A 12 A 16 A
SD6A16 15.8 A 19.2 A 20 A
SD6A24 24.5 A 26.4 A 35 A
SD6A26 32.6 A 38.4 A 50 A

Input current

(4 kHz)

I

1N,PU

Recommended

mains fuse (max.)

Information

Note that these values apply only to the drive controllers that are
connected to the mains individually. Different parameters apply to
drive controllers in a Quick DC-Link system.

UL-compliant line fuse

Use the following fuses for UL-compliant operation:

• Fuses of class RK1, for example Bussmann KTS-R-xxA/600 V.

• For drive controllers sizes and 1 you can also use fuses of class CC.

• For drive controllers size 0 to 2 you can also use type E motor st arters from
Eaton Industries, consisting of a motor protection switch and supply
terminal.

See the table below for suitable fuses:

Type Class CC Class RK1 Type E motor starters

(Eaton Industries)

SD6A02 10 A 10 A PKZM0-10/SP + BK25/3-PKZ0-E
SD6A04 10 A 10 A PKZM0-10/SP + BK25/3-PKZ0-E
SD6A06 10 A 10 A PKZM0-10/SP + BK25/3-PKZ0-E

SD6A14 15 A 15 A PKZM0-16/SP + BK25/3-PKZ0-E
SD6A34 37 A 45.3 A 50 A
SD6A36 62 A 76 A 80 A
SD6A38 76 A 76 A 80 A

The following applies to size 3 (SD6A34, SD6A36, SD6A38): 
Operation only with mains commutation reactors and mains fuse for ope rating
class gG (see section "Line fuses" > "Full range safety melt fuses").

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SD6A16 20 A 20 A PKZM0-25/SP + BK25/3-PKZ0-E

SD6A24 – 35 A PKZM0-32/SP + BK25/3-PKZ0-E

SD6A26 – 50 A PKZM4-50 + BK50/3-PKZ4-E

SD6A34 – 50 A –

SD6A36 – 80 A –

SD6A38 – 80 A –

7

Connection

Manual SD6

7.2.2.2 Residual current safety device

STOBER devices can be protected with a Residual Current protective Devices
(RCD) to detect residual currents. Resi dual current protective devices prevent
electrical accidents, especially ground fault through the body.
They are generally distinguished accordin g to their trig ge rin g limit and
suitability for detecting different types of residual current.

Depending on the function, stray currents may occur when operating drive
controllers. Stray currents are interpreted as residual currents by residual
current protective devices and may therefore lead to false triggering.
Depending on the relevant power supply connections, residual currents may
occur with or without a DC current component. Because of this, you should
take into consideration both the height and also the shape of the possible stray
or residual current when selecting a suitable RCD.

DANGER!

Electric shock hazard!

The combination of single-phase drive controllers and residual current
protective devices type A or AC can lead to false triggering of the RCDs.

Stray currents with a DC current component may occur in 3-phase drive
controllers.

 Always protect single-phase drive controllers with residual current

protective devices type B, sensitive to all currents, or with type F, sensitive

to mixed currents.

 Always protect 3-phase drive controllers with residual current protective

devices type B, sensitive to all currents.

False triggering – causes

Depending on stray capacitances and asymmetr ies, stray currents up to 40 mA
may occur during operation. Undesirable false triggering occurs

• ... when drive controllers to the supply voltage.
This false triggering can be rectified by using short-time delayed (super­resistant), selective (delayed switch-of f) residual current protective devices
or RCDs with increased trigger current 
(for example 300 or 500 mA).

• ... Due to higher frequency stray currents for long motor cables under
normal operating conditions: 
This false triggering can be rectified for example using low-capacitance
cables or output deraters.

• ... due to unbalances in the supply network. 
This false triggering can be rectified for example using an isolating
transformer.

Information

Check whether the use of residual current protective devices with
increased trigger current as well as with short-time delayed or
delayed switch-off trigger characteristics are permitted in your
application.

Installation

DANGER!

Electric shock hazard!

Stray and residual currents with a DC current component can restrict the
functionality of residual current protective devices types A and AC.

 Always follow the installation instructions for the protective devices you are

using.

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7

1

4

3

6

5

2

Connection

Manual SD6

7.2.2.3 Housing ground

Note the following information on the connection of the protective earth to
ground the housing correctly:

• Note the assembly sequence:

• 1 M6 earth bolt

• 2 Contact disk

• 3 Cable socket

•4 Washer

• 5 Return spring
(optional)

•6 Nut

Contact disk, washer,
return spring and nuts are supplied with the drive contro ller.

• Tightening torque: 4 Nm

• Stray currents > 10 mA can arise in normal operation. To fulfill DIN EN
61800-5-1 and EN 60204-1, connect the earth bolts with a copper
conductor according to the following table:

Cross-section A
Feeder

2

A ≤ 2.5 mm

2.5 < A ≤ 16 mm
16 – 35 mm
> 35 mm

2.5 mm2

2

≥16 mm2

2

A/2

2

A

Minimum cross-section A
Earth conductor at earth bolts

min

7.2.3 EMC connection

Information

This section provides general information on EMC-compliant
installation. This involves recommendations. Depending on the
application, ambient conditions as well as the legal requirements,
measures beyond these recommendations may be required.

• Lay the power line, motor cable and signal lines sep arately from each other,
e.g. in separate cable channels.

• Only use shielded, low-capacitance cables as motor cables.

• If the brake line is carried in the motor cable, it must be separately shielded.

• Connect the shield of the motor cable with large contact areas and in the
immediate vicinity of the drive controller. Use the EM6 EMC shroud to do
this.

• Shield the cable for connection to a braking resistor if it exceeds a length
of 30 cm. In this case, connect the shield with large contact areas and in
the immediate vicinity of the drive controller.

• For motors with terminal boxes, connect the shield to the terminal box with
large contact areas. For example, use EMC cable screw connections.

• Connect the shield of the control lines on one side with the reference
ground of the source, e.g. the PLC or CNC.

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7.2.4 Selecting the cables

Note that the motor , cables and drive controlle r each have electrical properties
which influence one another. Unfavorable combinations could possibly result
in impermissible voltage peaks on the motor and drive controller and therefor e
to increased wear.
Take into consideration the following instructions when selecting suitable
leads:

• Lead cross-sections for the cables to the motor: 
Make certain you choose the permissible continuous open-circuit current
for the motor.

• Lead cross-sections for the power connection of the drive controller: 
When choosing the mains fuse, make certain to select the maximum
admissible conductor cross-section of terminal X10. Be careful o f how th e
cables are laid and the surrounding temper a tur e .

• Pay attention also to the trailability and torsional strength of the leads.

• When using a motor brake, pay attention to the voltag e dr op in th e supp ly
voltage on the lead.

7.3 Drive controller

7.3.1 Overview of terminals

The terminal overview described in this section show the SD6 drive controller
with the following equipment in the pictures:

• Safety technology ST6

• Terminal module XI6

• Communication module EC6 (EtherCAT)



The following equipment is also optionally available as an alternative:

• Terminal module RI6 or IO6

• Communication module CA6 (CANopen)

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7.3.1.1 Size 0

1 Housin g gr ou n ding
2 X10: 230 V/400 V power supply
3 X11: 24-V power supply
4 X12: Safety technology (ST6)
5 X3A and X3B: PC, IGB
6 X200 and X201: Optional communication module EtherCAT (EC6)

(X200: CANopen DS-301 (CA6), alternatively available)

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7 X120: Encoder connection to optional terminal module XI6

(X120 and X140: Encoder connections to terminal module RI6,
alternatively available)

(Without encoder connection: Terminal module IO6, alternatively available)
8 X4: Encoder
9 X1: Enable and relay 1
10 X2: Motor temperature sensor
11 X6: Motor holding brake (feedback and supply)
12 X5: Motor holding brake (control)
13 X20: Motor
14 X30: Quick DC-Link, braking resistor

7

Connection

Manual SD6

7.3.1.2 Size 1

1 Housin g gr ou n ding
2 X10: 400 V power supply
3 X11: 24-V power supply
4 X12: Safety technology (ST6)
5 X3A and X3B: PC, IGB
6 X200 and X201: Optional communication module EtherCAT (EC6)

(X200: CANopen DS-301 (CA6), alternatively available)

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7 X120: Encoder connection to optional terminal module XI6

(X120 and X140: Encoder connections to terminal module RI6,

alternatively available)

(Without encoder connection: Terminal module IO6, alternatively available)
8 X4: Encoder
9 X1: Enable and relay 1
10 X2: Motor temperature sensor

11 X6: Motor holding brake (feedback and supply)
12 X5: Motor holding brake (control)
13 X20: Motor
14 X30: Quick DC-Link, braking resistor

7

Connection

Manual SD6

7.3.1.3 Size 2

1 Housin g gr ou n ding
2 X10: 400 V power supply
3 X11: 24 V power supply
4 X12: Safety technology (ST6)
5 X3A and X3B: PC, IGB
6 X200 and X201: Optional communication module EtherCAT (EC6)

(X200: CANopen DS-301 (CA6), alternatively available)

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7 X120: Encoder connection to terminal module XI6

(X120 and X140: encoder connections to optional terminal module RI6,

alternatively available)

(Without encoder connection: Terminal module IO6, alternatively available)
8 X4: Encoder
9 X1: Enable and relay 1

10 X6: Motor holding brake (feedback and supply)
11 X2: Motor temperature sensor
12 X5: Motor holding brake (control)
13 X20: Motor
14 X30: Quick DC-Link, braking resistor

7

Connection

Manual SD6

7.3.1.4 Size 3

1 X10: 400 V power supply
2 X11: 24 V power supply
3 X12: Safety technology (ST6)
4 X3A and X3B: PC, IGB
5 X200 and X201: Optional communication module EtherCAT (EC6)

(X200: CANopen DS-301 (CA6), alternatively available)

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6 X120: Encoder connection to terminal module XI6

(X120 and X140: encoder connections to optional terminal module RI6,

alternatively available)

(Without encoder connection: Terminal module IO6, alternatively available)
7 X4: Encoder
8 X1: Enable and relay 1
9 X2: Motor temperature sensor

10 X6: Motor holding brake (feedback and supply)
11 X5: Motor holding brake (control)
12 X20: Motor, Quick DC-Link, braking resistor

7

L1
N

PE

L1 L2

L3
PE

L1 L2

L3
PE

L1 L2

L3

PE

L1L2

L3

PE

Connection

Manual SD6

7.3.2 X10: 230 V/400 V power

Terminal description – single-phase power connection size 0

Pin Designation Function

— Plastic dummy plug
L1 Input voltage
N Neutral conductor
PE Protective ground

T erminal descript ion – three-phase power supply connect ion size 0, size
1 and size 2

Pin Designation Function

Size 0 Size 1 Size 2 L1

Input voltageL2
L3
PE Protective ground

Terminal description – three-phase power supply connection size 3

Pin Designation Function

L1

Input voltageL2

Maximum conductor cross-section of power supply connection
terminals

Size 0 1 2 3

Max. cross-section for
conductor with ferrule

2

]

[mm

2.5 4

6

(10 for rigid

conductors)

25

(35 for rigid

conductors)

7.3.3 X11: 24 V power

Connection of 24 V to X11 is required for powering the control part.

NOTICE

Device damage due to overload!

If the 24-V supply is looped to multiple devices via terminal X1 1, the device may
be damaged by a current that is too high.

 Make certain that the current via terminal X11 does not exceed 15 A (UL:

10 A).

Control board

U

1

a)

I

1max

a) Depending on the accessories

20.4 – 28.8 V

1.5 A

L3
PE Protective ground

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7

+

_

12

3

4

Connection

Manual SD6

Terminal description X11

Pin Designation Function

++ 24 V 24 V
++ 24 V

according to EN 60204:

supply of the control unit, design

DC

PELV, secondary earthed,

max. line length 30 m
–GND
–GND

Reference potential for 24 V ; bridged in the

terminal

Information

The drive controller may not be connected to a DC mains supply.
Instead supply the drive controller via a local 24 V

power supply .

DC

Maximum conductor cross-section

Connection type Maximum conductor cross-section [mm2]

Rigid 2.5
Flexible 2.5
Flexible with cable end,

without plastic sleeve
Flexible with cable end, with

plastic sleeve
2 leads with the same cross-

section with double cable end

2,5

2,5

—

7.3.4 X1: Enable and relay 1

Use the enable signal to enable the power pack of the drive controller. The
function of relay 1 can be adjusted in parameter F75.

General specification

Maximum cable length 30 m

Electrical Data

U

2max

I

2max

Relay 1

Life expectancy Mechanical: min. of 5,000,000 switching

High level 12–30 V

Enable

Low level 0–8 V

16 mA

I

1max

Terminal description X1

Pin Designation Function

1 Contact 1 Relay 1
2 Contact 2
3GND

4 Input

a) Use a 1 A fuse (delayed-action) upstream from relay 1 for fuse protection. Make certain for UL­compliant operation that the fuse has been approved for the requirements of UL 248.

30 V
1,0 A

operations
At 24 V/1A (ohmic load): 300,000 switching

operations.

Recommended fuse: max.

a)

1 AT

Enable

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1
2345678

Connection

Manual SD6

Maximum conductor cross-section

Connection type Maximum conductor cross-section [mm2]

Rigid 1.5
Flexible 1.5
Flexible with cable end, without

1.5

plastic sleeve
Flexible with cable end, with

0.5

plastic sleeve
2 leads with the same cross-

—

section with double cable end

7.3.5 X12: Safety technology

Information

Please note:
If you will be using the safety function, make certain to read the ST6
manual (see section 1.2 Further documentation ) .
If you do not want to use the safety function, connect 24 V to
X12.STO

and X12 STOb, for example by connecting X11.

a

Electrical data

Pin Designation/function Data

1

(bridged internally)

STO

2

a

U
High level = 15–30 V
Low level = 0–8 V
I

3

(bridged internally)

STO

4

b

5 GND for STO

and STOb 

a

1max

I

Max terminal

C
—

(bridged internally with terminal

7)

6STO

status

7 GND for STO

and STOb 

a

U2 = U1 - (200 mΩ * I1)
—

(bridged internally with terminal

5)

8 Power supply of STO

status

U1 = 18–28.8 V
I

1max

Terminal description X12

Pin Designation/function

1

STO

(bridged internally)

2

a

3

STO

(bridged internally)

4

b

= 30 VDC (PELV)

1max

= 100 mA (< 30 mA at 24 V)

= 4 A

= 100 nF

1

DC

= 100 mA

5GND for STO
6STO

Status

7GND for STOa and STOb (bridged internally with terminal 5)
8 Supply of STO

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and STOb (bridged internally with terminal 7)

a

Status

7

UV

W
PE

UV

W
PE

UV

W

PE

R- R+ W V U D- D+ PE

Connection

Manual SD6

Cable requirements

Feature Line type Unit Min Max

2
2

0.14 1

0.2 1

Cross-section Fine wire line without cable end sleeve mm

Fine wire line 

mm
with cable end sleeve without plastic
collar

Fine wire line 

mm

2

0.2 1

with cable end sleeve and plastic collar
According to AWG AWG 26 18

Length — m — 30
Insulation

—mm—9

Terminal description X20 – size 3

Pin Designation Function

R-

Brake resistor

R+
W Motor connection phase W
V Motor connection phase V
U Motor connection phase U
D-

DC link

D+
PE Protective ground

stripping
length

Maximum conductor cross-section of power supply connection

7.3.6 X20: Motor

Terminal description X20 – size 0, size 1, size 2

Pin Designation Function

Size 0 Size 1 Size 2 U Motor connection phase U

terminals

Size 0 1 2 3

Max. cross-section for
conductor with ferrule

2

]

[mm

2.5 4

6

(10 for rigid

conductors)

(35 for rigid

conductors)

25

V Motor connection phase V
W Motor connection phase W
PE Protective ground

Maximum motor cable length

Size 0 to 2 3

Without output derater 50 m 100 m
With output choke 100 m —

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7

Pin 7 and
8 are
bridged at
the output
derator

1U1 1U2 1V1 1V2

1W1

1W2

7PE8

PE

Connection

Manual SD6

Connection without output derater

Observe the following points when connecting the motor without the output
derater:

• Ground the shield of the motor cable with the shield connection clamp on
the EMC shroud.

• Keep the exposed conductor as short as possible. All devices and circuit s
that are sensitive to EMC must be kept at a distance of at least 0.3 m.

Connection with output derater

Observe the following points when connecting the motor to the output derater:

• Ground the shield of the motor cable with large area contacts in the
immediate vicinity of the output derater, for example with electrically
conductive metal cable terminals on a grounded connection rail.

• Keep the exposed conductor as short as possible. All devices and circuit s
that are sensitive to EMC must be kept at a distance of at least 0.3 m.

The graphic below shows an example for the shielded connection of a motor
with output derater (graphic: icotek GmbH).

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