Stober SD6 Series, SD6A06, SD6A02, SD6A14, SD6A16 Commissioning Instructions

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Page 1

SD6

Commissioning Instructions

442537.0101/2015en

Page 2

Table of contents

Commissioning Instructions SD6

Table of contents

1 General Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . .4

1.1 About this documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

1.2 Other manuals .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

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

1.4 Abbreviations, symbols, indexes . . . . . . . . . . . . . . . . . . . . . . . . . 5

1.5 Symbols, identifiers, marks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

2 Notes on safety .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . .7

2.1 Operation in accordance with its intended use . . . . . . . . . . . . . . 7

2.2 Component part of the product . . . . . . . . . . . . . . . . . . . . . . . . . . 7

2.3 Risk assessment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

2.4 Qualified personnel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

2.5 Working on the machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

2.6 Disposal .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

2.7 Presentation of notes on safety .. . . . . . . . . . . . . . . . . . . . . . . . . 8

3 Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . .9

3.1 Notes on safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

3.2 Nameplate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

3.3 Type designation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

3.4 Sizes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

3.5 Electrical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

3.5.1 Control board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

3.5.2 Power board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

3.6 Mechanical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

3.6.1 Device features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

3.6.2 Dimensions .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

4Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18

4.1 Notes on safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

4.2 Drive controller .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

4.3 Terminal modules .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

4.4 Communication modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

4.5 Quick DC-Link . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

4.6 Bottom brake resistor .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

4.7 EMC shroud .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

5 Connecting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .25

5.1 Notes on safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

5.2 General information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

5.2.1 EMC connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

5.2.2 Selecting the cables . . . . . . . . . . . . . . . . . . . . . . . . . . 26

5.3 Wiring .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

5.4 Protective measures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

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Table of contents

Commissioning Instructions SD6

5.4.1 Line fuse .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

5.4.2 Residual current safety device .. . . . . . . . . . . . . . . . . 28

5.4.3 Housing ground . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

5.5 Drive controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

5.5.1 Overview of terminals .. . . . . . . . . . . . . . . . . . . . . . . . 30

5.5.2 X1: Enable and relay 1 .. . . . . . . . . . . . . . . . . . . . . . . 35

5.5.3 X2: Motor temperature sensor . . . . . . . . . . . . . . . . . . 36

5.5.4 X3A, X3B: PC, IGB . . . . . . . . . . . . . . . . . . . . . . . . . . 37

5.5.5 X4: Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

5.5.6 X5, X6: Motor holding brake .. . . . . . . . . . . . . . . . . . . 41

5.5.7 X10: 230 V/400 V power . . . . . . . . . . . . . . . . . . . . . . 42

5.5.8 X11: 24 V power .. . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

5.5.9 X12: Safety technology . . . . . . . . . . . . . . . . . . . . . . . 44

5.5.10 X20: Motor .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

5.5.11 X30: Quick DC-Link, braking resistor . . . . . . . . . . . . . 47

5.6 Terminal modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

5.6.6 X103C . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

5.6.7 X120 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

5.6.8 X140 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

5.7 Communication modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

5.7.1 X200, X201: EtherCAT .. . . . . . . . . . . . . . . . . . . . . . . 60

5.7.2 X200: CANopen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

5.8 Drive controller wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

5.8.1 Examples of connections . . . . . . . . . . . . . . . . . . . . . . 62

6 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .63

6.1 Drive controller – control unit . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

6.1.1 Menu structure and navigation . . . . . . . . . . . . . . . . . . 64

6.2 Wiring and function test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

6.2.1 Schematic test sequence . . . . . . . . . . . . . . . . . . . . . . 65

6.2.2 Practical test sequence . . . . . . . . . . . . . . . . . . . . . . . 66

6.3 Additional parameter information .. . . . . . . . . . . . . . . . . . . . . . . 67

5.6.1 X100 .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

5.6.2 X101 .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

5.6.3 X102 .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

5.6.4 X103A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

5.6.5 X103B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

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General Information

Commissioning Instructions SD6

1 General Information

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. You also have the option of connecting the drive controllers in a DC intermediate circuit, which improves the energy footprint of the entire system.

Properties

• Wide power range thanks to 4 sizes

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

• Very good control performance

• Easy to service

• Real-time cross-communication (in preparation)

• Modular safety technology (in preparation)

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

To ensure proper functionality, we recommend using cables from STOBER (see SD6 manual). In case of use of unsuitable connection cables, we reserve the right to reject claims under the warranty.

What is new?

Index Date Changes

01 01/2015 • General corrections

Additions

• Technical Data

• Installation

• Connection

• Commissioning

1.2 Other manuals

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

1.1 About this documentation

This documentation provides support for you in the assembly of the SD6 drive controller together with associated components such as terminal and communication modules, EMC shrouds, chassis brake resistors and a quick DC link. You will also find information for wiring the drive controller correctly and checking its functionality in the group with an initial test.

For technical data and more detailed information regarding braking resistors and chokes, projecting a quick DC link as well as assembly and wiring of the LA6 adapter box, please refer to the SD6 manual.

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Device/software Documentation Contents ID

SD6 drive controllers Manual Technical data,

442426 installation, connection, setup, commissioning and customer service

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General Information

Commissioning Instructions SD6

1.3 Further support

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

• Phone: +49 7231 582-3060

• E-mail: [email protected]

1.4 Abbreviations, symbols, indexes

Abbreviations

AES Absolute Encoder Support BG Size CAN Controller Area Network CiA Can in Automation CNC Computerized Numerical Control DC Direct Current EMC Electromagnetic Compatibility RCD Residual Current protective Device UL Underwriters Laboratories ZK DC link

Formula symbol

CCapacity D Derating f Frequency K Ratio of the DC link circuit capacity being charged in the

compound DC link system to the max. charging capacity

of the drive controllers that are supplied with power I Current λ (lambda) Power factor; equivalent to cos φ between the effective

and apparent power

Formula symbol

n Speed p Number of pole pairs P (Effective) power R Resistance T Temperature τ (tau) Thermal time constant tTime UVoltage

Indices

1 Input 2 Output amb Ambient BBrake BAT Battery BR Braking resistor CH Brake chopper Supply Supply current hHeight max Maximum min Minimum N Nominal Mains Mains power supply off Off on On PWM Pulse Width Modulation T Temperature VLoss

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General Information

Commissioning Instructions SD6

1.5 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 2011-65-

EU.

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.

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

EtherCAT EtherCAT and the EtherCAT logo are registered

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

trademarks of Beckhoff Automation GmbH, Verl, Germany.

All other trademarks that are not listed here are the property of their respective owners.

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Notes on safety

Commissioning Instructions SD6

2 Notes on safety

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 important 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 detailed 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 have acquired the authorisation 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 standards and existing technical documentation including the safety information contained in it.

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Notes on safety

Commissioning Instructions SD6

2.5 Working on the machine

Apply the 5 safety rules in the order stated before 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 regulations! 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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Technical data

Commissioning Instructions SD6

3 Technical data

3.1 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

3.2 Nameplate

Implementation of the following applications is only permitted after approval is obtained from STOBER:

• Use in non-stationary applications

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Technical data

Commissioning Instructions SD6

Designation Value in the example Meaning

Type SD6A06TEX Drive controller type

according to the type designation

Date 1318 Production week in format

YYWW, in the example shown here year 2013, week

18 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

Nominal connection voltage

Output data

3.3 Type designation

Sample code

SD 6 A 0 6 T E X

Explanation

Code Designation Design

SD Type Servo Drive

6 Generation 6th generation

A, B Version

0 – 3 Size

0 – 9 Power output stage (Within the size)

T Safety module ST6: Safe Torque Off (STO)

C N

Communication module Empty

EC6: EtherCAT CA6: CANopen

Terminal module Empty

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

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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Technical data

Commissioning Instructions SD6

3.4 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

3.5 Electrical Data

3.5.1 Control board

Control board

20.4 – 28.8 V

1max

a) Depending on the accessories used.

1.5 A

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Technical data

Commissioning Instructions SD6

3.5.2 Power board

3.5.2.1 Size 0: SD6A0x

Type SD6A02 SD6A04 SD6A06

(L1 – N) 1 x 230 V,

+20 % / -40 %,

50/60 Hz;

(L1 – N) 1 x 240 V,

50/60 Hz

2max

PWM

= 4 kHz) 8.3 A 2.8 A 5.4 A

PWM

= 8 kHz) 6 A 2.2 A 4 A (f (f

PWM

= 4 kHz)

PWM

= 8 kHz)

PWM

= 4 kHz) 180 % for 5 s; 150 % for 30 s

PWM

= 8 kHz) 250 % for 2 s; 200 % for 5 s

PWM

4 A 2.3 A 4.5 A 3 A 1.7 A 3.4 A

Adjustable: 4, 8, 16 kHz

PV (I2 = IN) 80 W 65 W 90 W P

(I2 = 0 A) Max. 30 W

V a) Note the derating for 4 kHz. b) Note the derating for 8 kHz. c) Note the details for the nominal output current and derating for 16 kHz. d) Depending on the option modules and encoders connected.

Properties of the brake chopper

Type SD6A02 SD6A04 SD6A06

400 – 420 V 780 – 800 V

CHon

CHoff

BRmin

BRmax

360 – 380 V 740 – 760 V

1.8 kW 6.4 kW

(L1 – L3) 3 x 400 V,

+32 % / -50 %,

50/60 Hz;

(L1 – L3) 3 x 480 V,

50/60 Hz

0 – 700 Hz

0 – U

100 Ω

3.5.2.2 Size 1: SD6A1x

Type SD6A14 SD6A16

2max

PWM

= 4 kHz) 12 A 19.2 A

PWM

= 8 kHz) 9.3 A 15.8 A (f (f

PWM

= 4 kHz)

PWM

= 8 kHz)

PWM

= 4 kHz) 180 % for 2 s; 150 % for 30 s

PWM

= 8 kHz) 250 % for 2 s; 200 % for 5 s

PWM

PV (I2 = IN) 170 W 200 W P

(I2 = 0 A) Max. 30 W

Properties of the brake chopper

Type SD6A14 SD6A16

780 – 800 V

CHon

CHoff

BRmin

BRmax

(L1 – L3) 3  400 V, +32 % / -50 %, 50/60 Hz;

(L1 – L3) 3  480 V, 50/60 Hz

10 A 16 A

6 A 10 A

Adjustable: 4, 8, 16 kHz

0 – 700 Hz

0 – U

740 – 760 V

47 Ω

6.4 kW 13.6 kW

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Technical data

Commissioning Instructions SD6

3.5.2.3 Size 2: SD6A2x

Type SD6A24 SD6A26

2max

PWM

= 4 kHz) 26.4 A 38.4 A

PWM

= 8 kHz) 24.5 A 32.6 A

PWM

(f (f

= 4 kHz)

PWM

= 8 kHz)

PWM

= 4 kHz) 180 % for 5 s; 150 % for 30 s

PWM

= 8 kHz) 250 % for 2 s; 200 % for 5 s

PWM

PV (I2 = IN) 220 W 280 W P

(I2 = 0 A) Max. 30 W

(L1 – L3) 3  400 V, +32 % / -50 %, 50/60 Hz;

(L1 – L3) 3  480 V, 50/60 Hz

22 A 32 A 14 A 20 A

Adjustable: 4, 8, 16 kHz

0 – 700 Hz

0 – U

3.5.2.4 Size 3: SD6A3x

Type SD6A34 SD6A36 SD6A38

2max

PWM

= 4 kHz) 45.3 A 76 A 76 A

PWM

= 8 kHz) 37 A 62 A 76 A

PWM

(f (f

= 4 kHz)

PWM

= 8 kHz)

PWM

= 4 kHz) 180 % for 5 s; 150 % for 30 s

PWM

= 8 kHz) 250 % for 2 s; 200 % for 5 s

PWM

PV (I2 = IN) 350 W 600 W 1000 W P

(I2 = 0 A) Max. 55 W

(L1 – L3) 3 x 400 V, +32 % / -50 %, 50/60 Hz;

(L1 – L3) 3 x 480 V, 50/60 Hz

44 A 70 A 85 A 30 A 50 A 60 A

Adjustable: 4, 8, 16 kHz

0 – 700 Hz

0 – U

Properties of the brake chopper

Type SD6A24 SD6A26

780 – 800 V

CHon

CHoff

BRmin

BRmax

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29.1 kW 29.1 kW

740 – 760 V

22 Ω

Properties of the brake chopper

Type SD6A34 SD6A36 SD6A38

CHon

CHoff

BRmin

BRmax

780 – 800 V 740 – 760 V

15 Ω

42 kW

Page 14

Technical data

Commissioning Instructions SD6

3.5.2.5 Derating

When dimensioning the drive controller, observe the derating of the 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.

3.5.2.5.1 Effect of the clock frequency

Changing the clock frequency f produced by the drive. 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 for dimensioning the drive controller.

Type Nominal output current I2N [A]

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 60 37.8

affects the amount of noise

PWM

3.5.2.5.2 Effect of surrounding temperature

Derating depending on the ambient temperature is determined as follows:

• 0° C to 45° C: No restrictions (D

= 100 %)

• 45° C to 55° C: Derating -2.5 % / K

Example

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

for DT = 100 % - 5  2.5 % = 87.5 %.

3.5.2.5.3 Effect of installation altitude

Derating depending on the installation altitude is determined as follows:

• 0 m to 1000 m above sea level: No restrictions (D

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

= 100 %)

Example

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

for Dh = 100 % - 5  1.5 % = 92.5 %.

3.5.2.5.4 Calculating the derating

Follow these steps for the calculation:

1. Determine the highest clock frequency (f

during operation and use it to determine the nominal current I

) that will be used

PWM

(see

section 3.5.2.5.1).

2. Determine the derating factors for installation altitude and

surrounding temperature (see section 3.5.2.5.3 and 3.5.2.5.2).

3. Calculate the output current I

= I2N  DT  D

according to the following formula: 

Information

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

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Technical data

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Example

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 temperature of 50° C. The nominal current of the SD6A06 at 8 kHz is 3.4 A (see 3.5.2.5.1). The resulting derating factor D (see 3.5.2.5.3). The resulting derating factor D (see 3.5.2.5.2). The output current to be observed for project configuration is: I

= 3.4 A  0.875  0.925 = 2.75 A

for DT = 100 % - 5  2.5 % = 87.5 %

for Dh = 100 % - 5  1.5 % = 92.5 %

3.6 Mechanical Data

3.6.1 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

IP 20

At least IP 54

EN 61800-3, interference emission class C3

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

• Communication module: 50 g

• Terminal module: 135 g

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Technical data

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3.6.2 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

194 284

212 302

300 355 367

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Dimensions [mm] Size 3

Drive controller Height h

Height incl. EMC shroud h Width w Depth d

382.5 540 190 305

EMC shroud Height e 174

Width w

147

Depth f 34

Fastening  holes

113

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

fastening holes of the drive

150+0.2/-0.2

controller Horizontal distance from the side

edge of the drive controller Horizontal distance from the

132

fastening holes of the EMC shroud Horizontal distance from the side

7.5

edge of the EMC shroud

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4Installation

4.1 Notes on safety

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

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 (bits 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.

4.2 Drive controller

WARNING!

Electrical voltage!

Danger to life caused by touching live parts!

 Activate the control cabinet according to the 5 safety rules.

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 heatgenerating 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.

You need:

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

• a tool to tighten the fastening screws.

Drive controller installation

1. If present, install both a terminal module and a communication module (see section

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

5. Connect the drive controller, terminal module and communication module according to the contact plan.

4.3 Terminal modules and 4.4 Communication

5.4.3 Housing ground).

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4.3 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 connected 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 one 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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4.4 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.

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 the top of the 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 controller so that the tips are resting under the edge.

6. Fasten the cover with the two screws.

You 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 installation is identical for both communication modules.

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4.5 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.

Quick DC-Link – installation of DL6 modules

Requirements:

• For reasons related to EMC, use mounting plates 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 heatgenerating 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 enclosed with the DL6 modules.

• A PH2 Phillips screwdriver.

• An 8 mm hexagonal socket wrench.

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

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

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.

4.7 EMC

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4.6 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 consideration 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.

Installation of the submounting brake resistor

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

2. Place the device on the guides:

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3. Press the device down on the guides:

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

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

6. Parameterize the braking resistor in the drive controller.

5.5.11.

 You have installed the submounting brake resistor.

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4.7 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

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.

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 controller and mounting plate or 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 drive controller with the enclosed fastening screws in the tapped holes provided for that purpose (max. tightening torque: 2.4 Nm).

You need:

• A PH2 Phillips screwdriver.

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

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Commissioning Instructions SD6

5 Connecting

5.1 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.

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

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

For information regarding use under UL conditions (UL – Underwriters Laboratories) please pay close attention to section 2 in the SD6 manual (see section 1.2 Other manuals).

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.

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5.2 General information

5.2.1 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 separately 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.

5.2.2 Selecting the cables

Note that the motor, cables and drive controller each have electrical properties which influence one another. Unfavorable combinations could possibly result in impermissible voltage peaks on the motor and drive controller and therefore 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 of how the cables are laid and the surrounding temperature.

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

• When using a motor brake, pay attention to the voltage drop in the supply voltage on the lead.

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5.3 Wiring

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

5.4 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 according to the following table.

Size Max. symmetrical nominal short-circuit current

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

5.4.1 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 60269-2-1/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)

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

Input current

(4 kHz)

Recommended

max. mains fuse

The following applies to size 3 (SD6A34, SD6A36, SD6A38):  Operation is permitted exclusively with network commutation reactors and line fuses for operating class gG (see paragraph "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.

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UL-compliant mains 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 Size 0 and Size 1 you can also use fuses of class CC.

• For drive controllers sizes 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 –

5.4.2 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 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.

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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 lowcapacitance 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.

5.4.3 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 S Feeder

S ≤ 2.5 mm

2.5 < S ≤ 16 mm 16–35 mm > 35 mm

2.5 mm2

≥16 mm2

S/2

Minimum cross-section SP Earth conductor at earth bolts

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5.5 Drive controller

5.5.1 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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5.5.1.1 Size 0

1 Housing grounding 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)

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)

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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

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5.5.1.2 Size 1

1 Housing grounding 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)

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)

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5.5.1.3 Size 2

1 Housing grounding 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)

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)

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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

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5.5.1.4 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)

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)

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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

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5.5.2 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

Relay 1

Enable

2max

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

High level 12 – 30 V Low level 0 – 8 V I

16 mA

1max

30 V

1.0 A

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

operations.

Maximum conductor cross-section

Connection type Maximum conductor cross-section [mm2]

Rigid 1.5 Flexible 1.5 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

1.5

0.5

—

Terminal description

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.

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Recommended fuse: max.

1 AT

Enable

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5.5.3 X2: Motor temperature sensor

Terminal X2 is provided for connecting motor temperature sensors. This means you can connect either one KTY 84 in one winding, one PTC per winding or up to two PTC drillings for operation with multiple motors.

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.

Terminal description X2

Pin Designation Function

7 1TP1/1K1 + Connection of PTC or KTY

8 1TP2/1K2 -

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

—

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5.5.4 X3A, X3B: PC, IGB

You can implement the functions of the IGB (Integrated Bus) with the X3A and X3B interfaces:

• Direct connection to the PC

• IGB Motionbus

• Remote maintenance

Terminal description X3A and X3B

Pin Designation Function

1 TxData+ Ethernet communication 2 TxData3 RecvData+ 4 — Not used 5— 6 RecvData- Ethernet communication 7 — Not used 8—

It is also possible to use cables with the following specification:

Plug wiring Patch or crossover Quality CAT5e Shielding SFTP or PIMF

Cable specification

STOBER provides ready-made cables for

• direct connection of PC drive controllers and

• to set up the integrated bus.

These cables must be used to ensure proper functionality. On this aspect, pay attention to the section on Accessories.

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5.5.5 X4: Encoder

NOTICE

Danger of encoder destruction!

 X4 may not be connected or disconnected when the device is on!

General specification

2max

2min

Maximum cable length 100 m

EnDat 2.1 specification

Encoder type Single and multiturn, not suitable for linear encoders Clock frequency 2 MHz

EnDat 2.2 specification

Encoder type Single and multiturn

5-15 V (see encoder supply) X4: 250 mA

Total of X4, X120, X140: 500 mA 13 mA

SSI specification

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

format

Transfer Double (default setting) or single

Specification for incremental signals

Limit frequency ≤ 1 MHz (evaluation and simulation) Signal level TTL and HTL

Calculation example – limit frequency  ... for encoder with 2,048 pulses per revolution:  3000 revolutions per minute (equivalent to 50 revolutions per second) * 2048 pulses per revolutions = 102,400 pulses per second  = 102.4 kHz << 1 MHz

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

Clock frequency 4 MHz

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

Connecting

Commissioning Instructions SD6

Encoder supply Terminal description X4 – EnDat and SSI encoders

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 (UB+)

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

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 UB+ is created in the bracket flange socket

Pin Designation Function

1— —

Socket

2 GND Reference for encoder power on pin 4 3— — 4U

Encoder power 5 DATA+ Differential input for DATA 6— — 7— — 8 CLK+ Differential input for CLOCK 9— — 10 — — 11 — — 12 Sense Sensor lead for power supply to settle the

encoder power 13 DATA- Inverse, differential input for DATA 14 — — 15 CLK- Inverse, differential input for CLOCK

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Connecting

Commissioning Instructions SD6

Terminal description X4 for HTL encoder

Pin Designation Function, data

Socket

1 B+ Differential input for B-track 2 GND Reference for encoder power on pin 4 3 N+ Differential input for N-track 4U

Encoder power 5— — 6 A+ Differential input for A-track 7— — 8— — 9 B- Inverse, differential input for B-track 10 N- Inverse, differential input for N-track 11 A- Inverse, differential input for A-track 12 Sense Sensor lead for power supply to settle the

encoder power 13 — — 14 — — 15 — —

Terminal description X4 for TTL encoder

Pin Designation Function, data

1— —

Socket

2 GND Reference for encoder supply to pin 4 3— — 4U

Encoder supply 5 B+ Differential input for B channel 6— — 7 N+ Differential input for N channel 8 A+ Differential input for A channel 9— — 10 — — 11 — — 12 Sense Sensor line for the supply voltage to adjust

the encoder supply 13 B- Inverse, differential input for 

B channel 14 N- Inverse, differential input for 

N channel 15 A- Inverse, differential input for 

A channel

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1_+2

Connecting

Commissioning Instructions SD6

5.5.6 X5, X6: Motor holding brake

Information

Note that motor holding brakes from other manufacturers may only be connected after consultation with STOBER.

Electrical data

Bmax

Brake

Maximum switching frequency

Terminal description X5

Pin Designation Function

5 1BD1 Control brake

6 1BD2 Reference potential

24 – 30 V

3.0 A 1 Hz

Terminal description X6

Pin Designation Function

1 Acknowledge-

ment

2 GND Reference potential for acknowledgement + + 24 V Power supply voltage for the brake

- GND Reference potential for power supply voltage

a) Use of a 4 A fuse (slow-blow) is mandatory for a UL-compliant application. The fuse must be approved according to UL 248.

Maximum conductor cross-section

Connection type Maximum conductor cross-section [mm2]

Rigid 2.5 Flexible 2.5 Flexible with cable end,

without plastic sleeve

Acknowledgement input of an optional switching amplifier for brake diagnostics – provided the holding brake is connected to the SD6 indirectly (for example via a coupling contactor)

Recommended fuse: max. 6 AT

of the brake

2.5

Flexible with cable end, with plastic sleeve

2 leads with the same crosssection with double cable end

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2.5

—

Page 42

N PE

L1 L2

L1L2

Connecting

Commissioning Instructions SD6

5.5.7 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

Terminal description – three-phase power supply connection  size 0, size 1 and size 2

Pin Designation Function

Size 0 Size 1 Size 2 L1

Input voltageL2 L3 PE Protective ground

Maximum conductor cross-section of power supply connection terminals

Size Size 0 Size 1 Size 2 Size 3

Max. cross-section for conductor with ferrule

[mm

]

2.5 4

(10 for rigid

conductors)

(35 for rigid

conductors)

Terminal description – three-phase power supply connection size 3

Pin Designation Function

Input voltageL2 L3 PE Protective ground

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Connecting

Commissioning Instructions SD6

5.5.8 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 X11, 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

1max

a) depending on the accessories used

Terminal description X11

Pin Designation Function

++ 24 V ++ 24 V –GND –GND

Auxiliary voltage (PELV) for control electronics supply; bridged in the terminal

Reference potential for + 24 V; bridged in the terminal

20.4 – 28.8 V

1.5 A

Information

The drive controller must not be connected to a DC mains power supply. Supply the drive controller instead with a local 24 V DC power supply.

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

—

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1 2345678

Connecting

Commissioning Instructions SD6

5.5.9 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 Other manuals). If you do not want to use the safety function, connect 24 V to X12.STO

Electrical data

Pin Designation/function Data

STO

(bridged internally)

3 4

5GND for STO

6STO 7GND for STO

8 Power supply of STO

(bridged internally)

STO

(bridged internally with terminal

status

(bridged internally with terminal

and X12 STOb, for example by connecting X11.

1max

High level = 12–30 V Low level = 0–8 V I

1max

Max terminal

= 100 nF

and STOb 

—

U2 = U1 - (200 mΩ * I1)

and STOb 

status

—

U1 = 18–28.8 V I

1max

= 30 VDC (PELV)

= 100 mA (< 30 mA at 24 V)

= 4 A

= 100 mA

Terminal description X12

Pin Designation/function

STO

(bridged internally)

STO

(bridged internally)

4 5GND for STO 6STO

Status

and STOb (bridged internally with terminal 7)

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

Status

Cable requirements

Feature Line type Unit Min Max

0.14 1

0.2 1

Crosssection

Fine wire line without cable end sleeve mm Fine wire line 

with cable end sleeve without plastic collar Fine wire line 

with cable end sleeve and plastic collar according to AWG AWG26 18

Length — m — 30

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Page 45

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

Connecting

Commissioning Instructions SD6

5.5.10 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

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

Terminal description X20 – size 3

Pin Designation Function

RR+ W Motor connection phase W V Motor connection phase V U Motor connection phase U DD+ PE Protective ground

Brake resistor

DC link (Ger. Zwischenkreis)

Maximum conductor cross-section of power supply connection terminals

Size Size 0 Size 1 Size 2 Size 3

Max. cross-section for conductor with ferrule

[mm

]

2.5 4

(10 for rigid

conductors)

(35 for rigid

conductors)

Maximum motor cable length

Size Size 0 to Size 2

Without output derater 50 m With output choke 100 m

Connection without output choke

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

• 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 circuits that are sensitive to EMC must be kept at a distance of at least 0.3 m.

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Page 46

Pin 7 and 8 are bridged at the output derator

1U1 1U2 1V1 1V2

1W1

1W2

7PE8

Connecting

Commissioning Instructions SD6

Connection with output choke

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

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

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

Example of the shield connection of the motor cable when connecting the motor with an output choke (graphic: icotek GmbH):

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D- D+

R+

R-

D-

D+

R+

R-

D- D+

R+

R-

Connecting

Commissioning Instructions SD6

5.5.11 X30: Quick DC-Link, braking resistor

Terminal X30 is available for connecting a braking resistor and – in the case of a Quick DC-Link – for connecting a drive controller with module DL6. Regarding the structure of Quick DC-Link, please refer to the SD6 manual (see section 1.2 Other manuals).

Terminal description X30

Pin Designation Function

Size 0 Size 1 Size 2 D-

DC link

D+ R+ R-

Braking resistor

Principal circuit diagram

Caption

1 Power contactor 2 Circuit breaker 3 Short circuit protection 4 Relay 1: 

Must be integrated into the control unit! Note the parameterization of the relay in F75.

5 Braking resistor: Dimension the braking resistor according to the braking

output of the Quick DC-Link and the technical data of the drive controller.

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1 2 3 4 5 6 7 8

Connecting

Commissioning Instructions SD6

5.6 Terminal modules

WARNING!

Danger of faulty machine behavior due to EMC faults!

 Use exclusively cables up to 30 m in length for analog and binary

inputs and outputs (AE, AA, BE, BA)!

Information

Note that the sampling time and refresh rate T and outputs depend on parameter A150 cycle time (corresponding values: at least 1 ms).

5.6.1 X100

X100 specification

General specification

Maximum cable length

30 m, shielded

of the inputs

a_min

Electrical data

Analog inputs  AE1 and AE2

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

Analog outputs  AA1 and AA2

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 Parameterizable in F15 Level ±10 V Maximum output current XI6: 10 mA

Terminal description X100

Pin Designation Function

1 AE1+ + Input of the analog input AE1 2 AE1-Shunt Current input; shunt connection Pin 2 must

be jumpered with pin 1. 3 AE1- Inverted input of analog input AE1 4 AE2+ + Input of analog input AE2

application

XI6, RI6: 16 bits

IO6, RI6: ± 20 mA

5 AE2- Inverted input of analog input AE2 6 AA1 Analog output 1 7 AA2 Analog output 2

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8 AGND Reference ground

Page 49

Connecting

Commissioning Instructions SD6

Maximum conductor cross-section

Connection type Maximum conductor cross-section [mm2]

Rigid 1,5 Flexible 1,5 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

1,5

0,5

—

5.6.2 X101

X101 specification

General specification

Maximum cable length 30 m, shielded

Electrical data

Binary inputs  BE1 to BE3

Binary inputs  BE4 and BE5

Binary outputs  BA1 and BA2

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 XI6: max. 100 kHz

Maximum output current XI6: 50 mA 

Typical voltage drop < 2 V Refresh rate Cycle time of the

Output frequency Max. 250 kHz

IO6, RI6: max. 250 kHz

IO6, RI6: 100 mA

application (at least 1 ms)

24 vdc power supply Input voltage 18–28.8 V

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9 10

11 12 13 14 15 16 17 18 19

Connecting

Commissioning Instructions SD6

Terminal description X101 for binary signals BE encoder and BA encoder simulation

Pin Designation Function

9DGND 10 DGND 11 BE1 12 BE2 13 BE3 14 BE4 15 BE5 16 BA1 17 BA2 18 24 V-In 24-V supply for all binary outputs and 19 24 V-In

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

Maximum conductor cross-section

Connection type Maximum conductor cross-section [mm2]

Rigid 1.5 Flexible 1.5 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

Reference ground

Binary input

Binary output

binary inputs BE6 to BE13. Recommended fuse: max. 1 AT

1.5

0.5

—

To be able to simulate or evaluate encoders on binary interfaces, you must place one of the terminal modules XI6, RI6 or IO6 in operation.

To evaluate single-ended incremental encoder or stepper motor signals, use binary inputs BE3, BE4 and BE5. If you would like to simulate them, use outputs BA1 and BA2. Hall encoders are connected to binary inputs BE1, BE2 and BE3.

General specification

Maximum cable length

Evaluation – incremental and stepper motor signals

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

E max

Limit frequency 100 kHz if High level > 15

a_min

30 m, shielded

HTL TTL

30 V 6 V 16 mA 13 mA

250 kHz V and external push pull configuration

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

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11 12 13 14 15 16 17 18 19

Connecting

Commissioning Instructions SD6

Simulation – incremental and stepper motor signals

2max

Eff. update rate 4 kHz Limit frequency 250 kHz Extrapolation

frequency

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

3000 revolutions per minute (equivalent to 50 revolutions per second) * 2048 pulses per revolution = 102,400 pulses per second  = 102.4 kHz

XI6: 50 mA, RI6 and IO6: 100 mA

66 MHz

Terminal description X101 incremental encoders and stepper motor signals

Pin Designation Function

9DGND

Reference ground, bridged internally

10 DGND 11 BE1 — 12 BE2 — 13 BE3 Evaluation

Incremental encoder: N Stepper motor signals: –

14 BE4 Evaluation

Incremental encoder: A Stepper motor signals: Frequency

15 BE5 Evaluation

Incremental encoder: B Stepper motor signals: direction

16 BA1 Simulation

Incremental encoder: A Stepper motor signals: Frequency

17 BA2 Simulation

Incremental encoder: B

Stepper motor signals: direction 18 24 V-In 19 24 V-In

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24-V supply, bridged internally

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9 10

11 12 13 14 15 16 17 18 19

Connecting

Commissioning Instructions SD6

Terminal description X101 for Hall sensor signals

a) Connection to LA6, terminal X302. b) Use a 1 A fuse (delayed-action) upstream from relay 1 for fuse protection. Make certain for

UL-compliant operation that the fuse has been approved for the requirements of UL 248.

Designation Function

9DGND 10 DGND 11 BE1 HALL A 12 BE2 HALL B 13 BE3 HALL C 14 BE4 15 BE5 16 BA1 17 BA2 18 24 V-In 24-V supply for all binary outputs and 19 24 V-In

Reference ground

Binary input

Binary output

binary inputs BE6 to BE13. Recommended fuse: max. 1 AT

5.6.3 X102

X102 specification

General specification

Maximum cable length

30 m, shielded

Electrical data

Analog input AE3 Level ±10 V

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

application (at least 1 ms)

Terminal description X102

Pin Designation Function

1 AE3+ + input of analog input AE3 

Differential input voltage

2 AE3- Inverted input of analog input AE3

Maximum conductor cross-section

Connection type Maximum conductor cross-section [mm2]

Rigid 1.5 Flexible 1.5 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

1.5

0.5

—

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1 2 3

Connecting

Commissioning Instructions SD6

5.6.4 X103A

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

Maximum conductor cross-section

Connection type Maximum conductor cross-section [mm2]

Rigid 1.5 Flexible 1.5 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

1.5

0.75

—

Terminal description X103A

Pin Designation Function

1 BA3 2 BA4 3 BA5 4 BA6

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Binary output

Page 54

7 8

5 6

Connecting

Commissioning Instructions SD6

5.6.5 X103B

Information

When the 24 V power fails, binary inputs BE6 to BE13 have signal status 0 (regardless of the physical signal state).

X103B 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

Terminal description X103B

Pin Designation Function

5 BA7 6 BA8 7 BA9 8 BA10 9 BE6 Binary input

Maximum conductor cross-section

Connection type Maximum conductor cross-section [mm2]

Rigid 1.5 Flexible 1.5 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

Binary output

1.5

0.75

—

Input current Max. 16 mA Input frequency Max. 3 kHz

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11 12 13 14 15 16

Connecting

Commissioning Instructions SD6

5.6.6 X103C

Information

When the 24 V power fails, binary inputs BE6 to BE13 have signal status 0 (regardless of the physical signal state).

X103C specification

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

Maximum conductor cross-section

Connection type Maximum conductor cross-section [mm2]

Rigid 1.5 Flexible 1.5 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

1.5

0.75

—

5.6.7 X120

Encoder connection X120 is an integral part of terminal modules XI6 and RI6.

General specification

15 V (see encoder supply)

Terminal description X103C

Pin Designation Function

10 BE7 11 BE8 12 BE9 13 BE10 14 BE11 15 BE12

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16 BE13

Binary input

2max

Maximum cable length

250 mA, sum X4, X120, X140: 500 mA 50 m

Page 56

Connecting

Commissioning Instructions SD6

Specification SSI (evaluation and simulation)

Cycle frequency (SSI master)

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

Transfer Double transmission, can be switched off

Specification incremental and stepper motor signals  (evaluation and simulation) and Hall signals (evaluation only)

Limit frequency Evaluation: ≤ 1 MHz

Signal level TTL

Calculation example – limit frequency  ... or encoder with 2048 pulses per revolution: 

3000 revolutions per minute (equivalent to 50 revolutions per second) * 2048 pulses per revolution = 102,400 pulses per second  = 102.4 kHz

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

Single-turn: 13 bit short or 13 bit tree

Simulation: 500 kHz

Terminal description X120 for SSI encoder

Pin Designation Function

1 GND-ENC Reference potential for pin 4 to pin 7

Connector

2— — 3— — 4 CLK- Inverse differential input/output for

CLOCK 5 CLK+ Differential input/output for CLOCK 6 DATA+ Differential input/output for DATA 7 DATA- Inverse differential input/output for DATA 8U

9 GND Reference for pin 8

Encoder supply

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

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

Bridge

Page 57

Connecting

Commissioning Instructions SD6

Terminal description of X120 for incremental signals

Pin Designation Function

1 GND-ENC Reference potential for pin 2 to pin 7

Connector

2 N+ Differential input/output for the 

N channel

3 N- Inverse differential input/output for the N

channel

4 A- Inverse differential input/output for the A

channel

5 A+ Differential input/output for the 

A channel

6 B+ Differential input/output for the

B channel

7 B- Inverse differential input/output for the B

channel

Encoder supply

9 GND Reference for pin 8

Terminal description of X120 for stepper motor signals

Pin Designation Function

1 GND-ENC Reference potential for pin 2 to pin 7

Connector

2— — 3— — 4 Imp- Inverse differential input/output for pulses 5 Imp+ Differential input/output for pulses 6 Direction+ Differential input/output for the direction 7 Direction- Inverse differential input/output for the

direction

Encoder supply

9 GND Reference for pin 8

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Connecting

Commissioning Instructions SD6

5.6.8 X140

Encoder connection X140 is an integral part of terminal module RI6.

Resolver specification (evaluation)

max

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

length

EnDat 2.1 specification with and without sin-cos channels (evaluation)

2 max

2 min

Limit frequency 225 kHz Encoder type Single and multiturn

-10 V ... +10 V 80 mA 7-9 kHz

0.8 W

100 m

5–12 V, see encoder supply 250 mA, 

total of X4, X120 and X140 (EnDat): 500 mA 13 mA

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

3000 revolutions per minute (equivalent to 50 revolutions per second) * 2048 pulses per revolution = 102,400 pulses per second  = 102.4 kHz

Specification for EnDat 2.2

Encoder type Single and multiturn Clock frequency 4 MHz

Encoder supply

5 V  (controlled at cable end)

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 servo motors  EnDat 2.1/2.2

TTL  (for customerspecific solutions)

Pin 12 (sense) not used

Maximum cable length

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100 m

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

Connecting

Commissioning Instructions SD6

Terminal description X140 resolver Terminal description X140 EnDat sin/cos

Socket

a) View of sub-D

Designation Function

1 Sin+ Sin input 2 R1 Ref- Resolver excitation signal 3 Cos+ Cos input 4— — 5— — 6 R2 Ref+ Resolver excitation signal 7— — 8— — 9 Sin- Sin input (inverse) 10 — — 11 Cos- Cos input (inverse) 12 — — 13 — — 14 — — 15 — —

Socket

a) View of sub-D

Designation Function

1 Sin+ Sin input 2 GND Reference for encoder supply to pin 4 3 Cos+ Cos input 4U

Encoder supply 5 DATA+ Differential input for DATA 6— — 7— — 8 CLK+ Differential input for CLOCK 9 Sin- Inverse sin input 10 — — 11 Cos- Inverse cos input 12 Sense Sense signals for voltage control 13 DATA- Inverse differential input for DATA 14 — — 15 CLK- Inverse differential input for CLOCK

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Commissioning Instructions SD6

5.7 Communication modules

5.7.1 X200, X201: EtherCAT

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 Other manuals)!

X200 and X201 terminal description

Pin Designation Function

1 TxData+ EtherCAT communication 2 TxData3 RecvData+ 4— — 5— — 6 RecvData- EtherCAT communication 7— — 8— —

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:

5.7.2 X200: CANopen

Accessory part EC6 is required for a CANopen connection.

Terminal description X200

Pin Designation Function

Connec- tor

Cable specification

To ensure error-free operation, especially at high baud rates, we recommend a shielded fieldbus cable that meets all necessary technical requirements (for example a ripple resistor or sufficiently low cable capacitance – about 60 nF/km) for CANopen communication (in accordance with ISO 11898).

1— — 2 CAN-Low CAN-Low lead 3 GND Reference ground 4— — 5— — 6— — 7 CAN-High CAN-High lead 8— — 9— —

Plug wiring Patch or crossover Quality CAT5e Shielding SFTP or PIMF

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Commissioning Instructions SD6

5.8 Drive controller wiring

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 a system contact plan describing the connection of the drive controller.

You need

• a tool to mount the accessory and tighten the fastening screws.

Bottom of the device

1. Disconnect all the terminals on the bottom of the drive controller.

2. Attach the EMC shroud (see

3. Optional:  Connect a braking resistor and the DL6 module for Quick DC-Link to terminal X30 and attach the terminal.

4. To connect the motor temperature sensor, control of the motor holding brake and the motor itself with the drive controller, wire the conductors of the power cable with terminals X2, X5 and X20.

5. Attach the power cable to the EMC shroud.

6. Attach terminal X20.

4.7 EMC shroud).

7. Connect the power supply voltage for the holding brake to terminal X6 and attach it.

8. Attach terminals X2 and X5.

9. Optional:  Connect an encoder to terminal X4.

10. Wire the enable signal and relay 1 to terminal X1 and attach them.

Top of the device

11. Connect the protective ground (see section

12. Connect the power supply to terminal X10.

13. Connect the 24 vdc power supply for the control electronics to terminal X11.

14. If you do not need any safety technology, connect 24 V to terminal X12.  If you need the STO safety function, proceed as described in the ST6 manual.

15. Optional:  To use IGB motion bus functionality, connect additional drive controllers, PCs or Internet connections to an IGB network via sockets X3A and X3B.

16. Optional:  Connect EtherCAT or CANopen fieldbuses to sockets X200 and X201 via EC6 or CA6 modules.

 The drive controller is connected. Use an appropriate function test

to check to ensure the wiring and functionality of the individual components are correct.

5.4.3 Housing ground).

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Connecting

Commissioning Instructions SD6

5.8.1 Examples of connections

The graphic below shows wiring connection examples with direct brake control.

The graphic below shows wiring connection examples with indirect brake control.

Legend

A1 Drive controller M1 Motor A2 Control system n Speed F Fuse R Resistance L1 – L3 Three-phase supply Y Brake L+ 24 vdc power supply M Reference ground

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Signal (variable)

Legend

A1 Drive controller M Reference ground A2 Control system M1 Motor A3 Brake rectifier n Speed F Fuse N Neutral conductor K Contactor R Resistance L 230 vdc power supply Y Brake L1 – L3 Three-phase supply L+ 24 vdc power supply

Signal (variable)

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Esc

I/0

Commissioning

Commissioning Instructions SD6

6 Commissioning

6.1 Drive controller – control unit

The control unit consists of a graphical display (LCD) and sensor keys.

• Select the level, parameter groups and parameters.

• Accept modified parameter values.

• Display parameters of the start display.

• Navigate one level back.

• Reject modified parameter values.

• Acknowledge fault.

• Enable drive in local mode if parameterized.

• To save data with protection against power failure: Press the key and hold it for 3 seconds.

• Select parameter within a parameter group.

• Change parameter values.

• Select parameter group.

• Select character position of a parameter.

• Activate/deactivate local mode (deactivation causes the enable to be deleted).

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Esc

Parameter groups

A:Drive controller

C:Machine

B:Motor

Esc

B:Motor

B41 Autotuning

B40 Phase test

B24 Switching freq.

Esc

B26 Motor encoder

2:X4-encoder

Change parameter value

B26 Motor encoder

B:Motor B04 El. nameplate

B02BackEMF B00 Motor type B310 Brake management

Parameters

Quick access to parameters

Status display

123.567°

0.000 Upm

0.0 A

3:SwitchOnDis.

0.0 A

Status display 1 E49 Inhibit reason

01000011 E47 Inhibit reason 1:Enable

0.0 A

Status display 2 E19 Binary inputs

0000000000000000

E27 Binary outputs

0000000000000001

Esc

Status display I80 Current position

E08 N-motor filtered E00 I-Motor E80 Oper. Cond.

START DISPLAY

Esc

0.0 A

Status display 3 E52 DriveCtrlrInfo

[0] SD6A06 [1] 999 [2] 7000043

Commissioning

Commissioning Instructions SD6

6.1.1 Menu structure and navigation

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Commissioning

Commissioning Instructions SD6

Parameters – quick access

Quick access gives you direct access to the status of the most important (diagnostic) parameters. This level consists of a start display and four overviews of specific content: Status display 1 switch on disable; status display 2 analog and binary inputs and outputs; status display 3 controller data including type, firmware, integrated option modules, etc. You can navigate within this level with the right and left arrow keys. Press "ESC" to reach the parameters associated with the values that appear in the start display. These parameters are individually configurable.

Parameter groups

Parameters are combined together in groups based on their functional properties, for example "Drive controller," "Motor," "Machine," "Terminals", etc.You can navigate within this level with the right and left arrow keys; Select one of the possible groups with "OK.

Parameters

You can navigate in a parameter group with the upper and lower arrow keys. Select one of the possible parameters with "OK." To change a parameter value, choose the corresponding character position with the right and left arrow keys, then select the new value with the upper and lower arrow keys. Accept changes with "OK" or reject them with "Esc.

provides information about the causes of a possible

provides information about the

for general drive

6.2 Wiring and function test

You have connected the SD6 drive controller together with accessory and you would like to check whether the wiring is correct and test the functionality of the components as a group. You can perform an initial function test with STOBER standard parameterization if you are operating the drive controller together with a STOBER synchronous servo motor and an EnDat encoder. In this case the electronic nameplate of the motor is read when the device starts and the corresponding data is transferred to the drive controller.

6.2.1 Schematic test sequence

The diagram below shows the schematic sequence of the wiring and function test. A detailed description follows.

Information

Note that a modified parameter value can only be saved so it will be retained through a power failure with the save key on the control unit.

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Switch on disable?

(E48)

Turn on 24 vdc

brake power suppy

Turn on 24 vdc drive

controller power

suppy

Turn on mains

power suppy

Beginning of test

Determine cause

(E47, E49)

Rectify cause

Yes

Single cause:

Application enable missing?

(E47, E49.x)

Activate local

operation

Yes

Ready to

switch on

Enable drive

controller

Move motor

End of test

Commissioning

Commissioning Instructions SD6

6.2.2 Practical test sequence

WARNING!

Danger due to moving parts!

The motor shaft is turning in the wiring and function test described below!

 Clear the danger zone before the test.  Do not connect any mechanical systems to the motor or gear unit

until the function test is completed.

 Make certain the components fastened to the motor, such as feather

keys or coupling elements, are sufficiently secured against centrifugal forces.

Perform each step in the specified order.

Test preparations

1. Switch on the 24 vdc power supply of the brake.

2. Switch on the 24 vdc power supply of the drive controller.

3. Switch on the power supply.

4. Deactivate the STO safety function by connecting 24 V to terminal X12.

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 The drive controller switches either to the Ready to switch on

state (continue with step 5 step 6

) or the disabled state (continue with

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Commissioning

Commissioning Instructions SD6

Performing the test

5. The drive controller is ready to switch on

5.1 Activate local mode with the manual button.

5.2 Enable the drive controller with the I/O key.

5.3 Turn the motor axis with the right and left arrow keys at the velocity and acceleration configured in parameter I12.

 You have wired all components correctly. The function test

was completed successfully. 

6. Drive controller is disabled (Display = 3: switchOnDis, parameter E48).

6.1 Determine the causes for the switch on disable and rectify them:

Parameter E49 contains a coded version of the possible causes and parameter E47 shows them in plain text.

6.2 Next proceed as described in step 5.

Note:  If the missing enable for the CBM application is the only cause for the switch on disable, switch directly to local mode and continue with the test as described in step 5.

Finishing the test

7. Disable the drive controller with the I/O key.

8. Switch to normal mode with the manual key.

6.3 Additional parameter information

You can use to parameters to

• adjust the functionality of the drive controller to your application,

• display current values such as actual speed or actual torque and

• trigger actions such as "Save values" or "autotuning."

Parameter group I controls all movements, while group E is used for device and application display. You can use parameter I10 to control the maximum velocity of the motor axis. E47 and E49 provide information about the device state of the drive controller as well as possible causes for a switch on disable.

E 47: Cause for the "Switch on disable" state

This parameter contains the causes for the "Switch on disable" state in plain text. Multiple causes appear in the display successively for 1.5 seconds each.

0 Inactive 1 Enable 2 Network/DC link 3Axis 4 IGB motion bus 5 STO active 6 Quick stop 7 Control word

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Commissioning

Commissioning Instructions SD6

E 49 – "Switch on disable" state

This parameter contains the causes for the "Switch on disable" state in coded format (each bit encodes one cause).

0 Enable The following rules apply, depending on the relevant

device state machine:

• CiA 402:  X1 enable is inactive ("Low");  X1 enable must always be active.

• Standard device state machine: A34 auto-start is inactive and X1.Enable is active. 

X1 Enable must be Low  (protection against automatic restart).

1Network/DC

link

2 Axis • No axis is active or

3 Motion bus The IGB motion bus is projected, but:

4 STO The STO safety function is active (Safe Torque Off).

• There is no/not sufficient network voltage

• A38 DC power-input is not active.

• axis switchover is running.

• A124 IGB exception state is not activated or

• A155 IGB-state is not equal to 3 or

• The IGB motion bus is not synchronized (see A182 IGB motion bus conditions)

I10 – Maximum velocity

Maximum velocity as a limit for

• CiA 402 Homing mode: A587

• CiA 402 Jog: I12

Information

The limit is set without event 54:following error occurring.

5 Quick stop CiA 402 only:

The quick stop signal to block 191 must be "Low" and no quick stop command is permitted via A515 Controlword

6 Control word CiA 402 only:

The value of A515 Controlword is not "Stop".

7 Reserved —

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STÖBER ANTRIEBSTECHNIK GmbH & Co. KG

Technische Änderungen vorbehalten

Errors and changes excepted

ID 442537.01

01/2015

442537.01

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