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Stober SD6 Manual

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Table of Contents

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SD6
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06/2015
442426.04

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Summary of Contents for Stober SD6

  • Page 1 Manual 06/2015 442426.04...

  • Page 2: Table Of Contents

    Table of contents Manual SD6 Table of contents General instructions ........

  • Page 3: General Instructions

    General instructions Manual SD6 General instructions Overview of sections 1.1 About this manual ........

  • Page 4: General Instructions

    • Terminal modules RI6 and IO6 • Synchronous linear motors and LA6 adapter About this manual This manual describes the SD6 drive controller. It contains information on the • UL-compliant use following topics: 12/2014 • Electrical data: size 3, derating •...

  • Page 5: Further Documentation

    Installation and 442537 Directives and norms instructions functional test Controller Based Mode Manual Operation and 442454 The SD6 drive controller meets the requirements of the following directives and (CBM) application setup, standards: commissioning • Machinery Directive 2006/42/EC Communication Operating manual...

  • Page 6: Abbreviations, Formula Symbols And Indices

    General instructions Manual SD6 Abbreviations, formula symbols and Abbreviations indices Installation Altitude Integrated Bus Abbreviations Interpolated position mode Analog output International Protection Alternating Current Limit Switch Analog input Media-Access-Control Absolute Encoder Support Motor temperature sensor American Wire Gauge Protective Earth...
  • Page 7 General instructions Manual SD6 Formula Unit Explanation Maximum output current 2max symbols Maximum output current of the drive controller 2maxPU power board Derating Minimum output current Derating depending on the installation altitude of 2min the drive controller Nominal output current of the drive controller...

  • Page 8: Symbols, Identifiers, Marks

    General instructions Manual SD6 Symbols, identifiers, marks Voltage Input voltage Symbols EN 61558-2-20 Input voltage of the drive controller control board Choke without overload protection. Input voltage of the drive controller power board Grounding symbol according to IEC 60417-5019 (DB:2002-10).

  • Page 9: Licenses

    The following names that are used in conjunction with the device, its optional Licenses equipment and its accessories are trademarks or registered trademarks of Software of the following license provider is used in SD6: other companies: SEGGER Microcontroller GmbH & Co. KG...

  • Page 10: Safety Information, Ul-Compliant Use

    Safety information, UL-compliant use Manual SD6 Safety information, UL-compliant use Overview of sections 2.1 Operation in accordance with its intended use ... 2.2 Component part of the product ......

  • Page 11: Safety Information, Ul-Compliant Use

    The STOBER shall assume no liability for damage resulting from failure to comply risk assessment is a multi-stage and iterative process. On no account can with the instruction manual or relevant regulations. We reserve the right to sufficient insight into the Machine Directive be given as part of this make technical changes for the purpose of improving the devices.

  • Page 12: Working On The Machine

    Safety information, UL-compliant use Manual SD6 Working on the machine Presentation of notes on safety Apply the 5 safety rules in the order stated before performing any work on the NOTICE machine: Notice 1. Disconnect. Also ensure that the auxiliary circuits are disconnected.

  • Page 13: Ul-Compliant Use

    Manual SD6 UL-compliant use Motor protection All models of STOBER 6th generation drive controllers have a certified i²t Additional information for use under UL conditions (UL – Underwriters model, a calculation model for thermal monitoring of the motor. This fulfils the Laboratories).

  • Page 14: Function

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

  • Page 15: Components Of The Drive System

    Components of the drive system Manual SD6 Components of the drive system 3.4.7 EMC shroud ........25 3.4.8 Encoder adapter box .

  • Page 16: Components Of The Drive System

    Components of the drive system Manual SD6 Drive controller Designation Value in the Meaning example 3.1.1 Nameplate 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...

  • Page 17: Type Designation

    Components of the drive system Manual SD6 3.1.2 Type designation 3.1.3 Sizes The drive controller SD6 includes the following types and sizes: Sample code Type Size SD6A02 Explanation SD6A04 Code Designation Design SD6A06 Series Servo Drive SD6A14 Generation 6. Generation...

  • Page 18: Motors

    Depending on the key requirement in each specific case (for example speed, You can use the SD6 drive controller to operate synchronous servo motors (for accuracy, etc.), different linear encoders (together with accessories) can be example the STOBER series EZ) or asynchronous motors.

  • Page 19: Controller

    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 MC6 Motion Controller card.

  • Page 20: Terminal Modules

    Components of the drive system Manual SD6 In the safety block diagram (Fig. 3-2 Safety block diagram) the SD6 drive 3.4.2 Terminal modules controller with the ST6 safety card corresponds to the actuator and forms the basis for a restart inhibit: Terminal module XI6 ID no.
  • Page 21 Components of the drive system Manual SD6 Terminal module RI6 Interface adapter AP6 ID no. 138422 Encoder cables that were connected to a POSIDYN SDS 4000 can be connected via the Terminal module for connecting analog and AP6 interface adapter to the X140 encoder binary signals as well as encoders.

  • Page 22: Communication

    • 2 analog inputs (± 10 V, 1 x 0 – 20 mA, 12 bits) The SD6 drive controller has two interfaces for IGB communication on the top • 2 analog outputs (± 10 V, ± 20 mA) of the device as standard.
  • Page 23 Components of the drive system Manual SD6 EtherCAT cable PC connecting cable EtherNet patch cable, CAT5e, yellow. ID no. 49857 To connect the X3 A or X3 B interface to PC, The following versions are available: CAT5e, blue, 5m. ID no. 49313: approx. 0.2 m.

  • Page 24: Dc Link Connection

    If a motor brakes or a drive controller reduces its speed reference value, the If you want to connect SD6 drive controllers as part of Quick DC-Link, you will kinetic energy of the drive system is fed back to the DC link capacitors of the need the DL6 Quick DC-Link module.

  • Page 25: Emc Shroud

    EMC shroud EM6A3 Cable for connecting the TTL interface X120 to ID no. 135120 the SD6 drive controller (on terminal module RI6 EMC shroud for size 3. or XI6) with the X301 interface on the LA6 Accessory part for shield connection of the adapter box for transferring Hall sensor signals.

  • Page 26: Battery Module For Encoder Buffering

    (ID No. 56436). Replaceable battery AES 3.4.11 Product CD ID no. 55453 Replaceable battery for Absolute Encoder Product CD "STOBER ELECTRONICS 6" Support AES. Included in the standard design. ID no. 442538 The CD-ROM contains the DriveControlSuite DS6 project configuration and commissioning software, documentation as well as the device description files for the drive controller –...

  • Page 27: Technical Data

    Technical data Manual SD6 Technical data 4.5.1 Evaluatable encoders ....... . 36 4.5.1.1...

  • Page 28: Projecting

    Technical data Manual SD6 4.10.2 Power supply ........53 4.10.3 Line fuse .

  • Page 29: Technical Data

    Control board interference. If this occurs the user may be asked to take suitable measures. Type All SD6 drive controller types The drive controllers are not designed for use in a public low frequency network 20.4 – 28.8 V that supplies residential areas. High-frequency interference can be expected if the drive controllers are used in a network of this type.

  • Page 30: Power Board

    Technical data Manual SD6 Properties of the brake chopper 4.2.2 Power board Type SD6A02 SD6A04 SD6A06 4.2.2.1 Size 0: SD6A0x 400 – 420 V 780 – 800 V onCH Type SD6A02 SD6A04 SD6A06 360 – 380 V 740 – 760 V...

  • Page 31: Size 1: Sd6A1X

    Technical data Manual SD6 4.2.2.3 Size 2: SD6A2x 4.2.2.2 Size 1: SD6A1x Type SD6A24 SD6A26 Type SD6A14 SD6A16 3  400 V, +32 % / -50 %, 50/60 Hz; 3  400 V, +32 % / -50 %, 50/60 Hz;...

  • Page 32: Size 3: Sd6A3X

    Technical data Manual SD6 4.2.2.4 Size 3: SD6A3x 4.2.2.5 Derating When dimensioning the drive controller, observe the derating of the nominal Type SD6A34 SD6A36 SD6A38 output current depending on the clock frequency, surrounding temperature, 3 x 400 V, +32 % / -50 %, 50/60 Hz;...

  • Page 33: Effect Of Surrounding Temperature

    Technical data Manual SD6 4.2.2.5.2 Effect of surrounding temperature The derating factor D is calculated as follows: = 100 % - 5  2.5 % = 87.5 % Derating depending on the surrounding temperature is determined as follows: The derating factor D is calculated as follows: •...

  • Page 34: Transportation, Storage And Operating

    Technical data Manual SD6 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.

  • Page 35: Operating Motors

    Technical data Manual SD6 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 Without field weakening High dynamics, high accuracy, very...

  • Page 36: Evaluatable Encoders

    Technical data Manual SD6 4.5.1 Evaluatable encoders  Calculation example – limit frequency f ... for an encoder with 2,048 pulses per revolution:  4.5.1.1 Connection X4 3,000 revolutions per minute (equivalent to 50 revolutions per General specification second) * 2,048 pulses per revolution...

  • Page 37: Connection X120

    Technical data Manual SD6 4.5.1.2 Connection X120 Encoder supply Depending on the power consumption of the encoder, an external supply is General specification required whereby differences in the GND connection arise. 15 V (see encoder supply) 250 mA, sum X4, X120, X140: 500 mA...

  • Page 38: Connection X140

    Technical data Manual SD6 Specification encoder EnDat 2.1 digital, EnDat 2.1 sin/cos and  Simulation – Incremental encoder and pulse train sin/cos encoder (evaluation) 18–28,8 V 5 – 12 V, see encoder supply XI6: 50 mA, RI6 and IO6: 100 mA 2max 250 mA, ...

  • Page 39: Controllable Brakes

    Technical data Manual SD6 4.5.2 Controllable brakes Encoder supply You can control the following brakes: Through • 24-V brakes connected directly to X5 (in accordance with the technical 5 V  Encoder sense line connected to pin STOBER data). (controlled at...

  • Page 40: Protective Measures

    Technical data Manual SD6 Protective measures Type Input current Input current Recommended (8 kHz) (4 kHz) mains fuse (max.) The drive controllers are only suitable for operation on TN networks and only 1N,PU 1N,PU for use in supply current networks that are able to provide a maximally SD6A02 5.9 A...

  • Page 41: Residual Current Safety Device

    4.6.2 Residual current safety device Use the following fuses for UL-compliant operation: STOBER devices can be protected with a Residual Current protective Devices • Fuses of class RK1, for example Bussmann KTS-R-xxA/600 V. (RCD) to detect residual currents. Residual current protective devices prevent •...

  • Page 42: Housing Ground

    Technical data Manual SD6 False triggering – causes 4.6.3 Housing ground Depending on stray capacitances and asymmetries, stray currents up to 40 mA Note the following information on the connection of the protective earth to may occur during operation. Undesirable false triggering occurs ground the housing correctly: •...

  • Page 43: Dimensions

    Technical data Manual SD6 Dimensions Dimensions [mm] Size 0 Size 1 Size 2 Drive controller Height Height incl. EMC shroud Height incl. AES Width Depth Depth incl. braking resistor  RB 5000 EMC shroud Height Depth Fastening holes Vertical distance 283+2 Vertical distance ...
  • Page 44 Technical data Manual SD6 Dimensions Size 3 [mm] Drive Height 382.5 controller Height incl. EMC shroud Width Depth EMC shroud Height Width Depth Fastening  Vertical distance 365+2 holes Vertical distance from bottom edge Horizontal distance from the 150+0.2/-0.2 fastening holes of the drive controller...

  • Page 45: Terminal Modules

    Technical data Manual SD6 Terminal modules X101 specification General specification 4.8.1 Specification - XI6 Maximum cable 30 m, shielded X100 specification length General specification Maximum cable 30 m, shielded Electrical data length Binary inputs  Low level 0–8 V BE1 to BE3 High level 12–30 V...
  • Page 46 Technical data Manual SD6 X102 specification X103A specification General specification General specification Maximum cable 30 m, shielded Maximum cable 30 m, shielded length length Electrical data Electrical data Binary outputs  Analog input AE3 Level ±10 V Maximum output current 50 mA...
  • Page 47 Technical data Manual SD6 X103B specification X103C specification General specification General specification Maximum cable 30 m, shielded Maximum cable 30 m, shielded length length Electrical data Electrical data Binary outputs  Binary inputs  Maximum output current 50 mA Low level 0–8 V...

  • Page 48: Specification - Ri6

    Technical data Manual SD6 4.8.2 Specification – RI6 X101 specification X100 specification Electrical data Binary inputs  Low level 0–8 V Electrical data BE1 to BE3 High level 12–30 V Analog inputs  Level ± 10 V Input voltage Max. 30 V...

  • Page 49: Specification - Io6

    Technical data Manual SD6 4.8.3 Specification – IO6 X101 specification X100 specification Electrical data Binary inputs  Low level 0–8 V Electrical data BE1 to BE3 High level 12–30 V Analog inputs  Level ± 10 V Input voltage Max. 30 V...

  • Page 50: Communication Modules

    Cable specification However, the capacitors in the DC link are only able to absorb a limited amount STOBER provides ready-made cables for the EtherCAT connection. These of energy. If the DC link voltage increases above a defined limit, a chopper cables must be used to ensure proper functionality.
  • Page 51 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).

  • Page 52: Electrical Data

    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.

  • Page 53: Power Supply

    Technical data Manual SD6 4.10.2 Power supply NOTICE Mains supply Material damage! Operate only drive controllers with the same power supply voltage as part of If the EMC limit values are exceeded while a DC link connection is in operation, Quick DC-Link.

  • Page 54: Line Fuse

    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.

  • Page 55: Power Contactor

    Technical data Manual SD6 Mains fuse – maximum number of drive controllers 4.10.4 Power contactor Multiple drive controllers with the power can be connected via a common mains All drive controllers supplied with power must be connected with the mains fuse.

  • Page 56: Projecting

    Technical data Manual SD6 Calculating the mains current for motors 4.10.5 Projecting The required drive power can be used to determine the mains current for Charging capacity motors: The charging circuit integrated into a drive controller is also able to charge the ...
  • Page 57 Technical data Manual SD6 Dynamic movements of the connected motors are possible in the permitted Depending on the DC link circuit capacity in the system being charged, the range, see 4.2.2 Power board. minimum time between two mains power-on processes can be determined by...

  • Page 58: 4.11 Braking Resistors

    4.11 Braking Resistors Braking resistor – drive controller assignment Type FZMU 400x65 FZZMU 400x65 In addition to the different drive controllers, STOBER offers braking resistors in different sizes and performance classes described in the following. ID no. 49010 55445 53895...

  • Page 59: Fgfku

    Technical data Manual SD6 Dimensions [mm] 4.11.2 FGFKU Type FZMU 400x65 FZZMU 400x65 Properties ID no. 49010 55445 53895 55447 Type FGFKU 400  65 400  65 L x D ID no. 55449 55450 55451 53897 Resistance [Ω] 6.5  12 6.5 ...
  • Page 60 Technical data Manual SD6 Braking resistor – drive controller assignment Type FGFKU ID no. 55449 55450 55451 53897 SD6A24 — — — SD6A26 — — — SD6A34 SD6A36 Ø10,5 SD6A38 Not possible: — Recommended: X Possible: (X) Dimensions [mm] Drill pattern...

  • Page 61: Gvadu, Gbadu

    Technical data Manual SD6 4.11.3 GVADU, GBADU Braking resistor – drive controller assignment Properties Type GVADU GBADU GBADU GBADU GBADU 21020 26530 40530 33530 26530 Type GVADU GBADU GBADU GBADU ID no. 55441 55442 55499 55443 55444 21020 26530 33530 40530...

  • Page 62: Bottom Brake Resistor Rb 5000

    Technical data Manual SD6 4.11.4 Bottom brake resistor RB 5000 Dimensions [mm] Properties Type GVADU GBADU GBADU GBADU 21020 26530 33530 40530 Type RB 5022 RB 5047 RB 5100 ID no. 55441 55442 55444 55443 55449 ID no. 45618 44966 44965 Resistance [Ω]...

  • Page 63: 4.12 Chokes

    Technical data Manual SD6 4.12 Chokes Drive controller – braking resistor assignment Type RB 5022 RB 5047 RB 5100 To reduce high-frequency currents on electrical cables and thus increase the interference immunity and availability of drive systems, coils such as network ID no.

  • Page 64: Power Choke

    Technical data Manual SD6 4.12.1 Power choke Type TEP4010-2US00 ID no. 56528 WARNING! Phases Risk of burns! Fire hazard! Material damage! Permitted thermal continuous current 100 A Chokes can heat up to over 100 °C under permitted operating conditions. Rated current 90 A ...
  • Page 65 Technical data Manual SD6 Dimensions TEP4010-2US00 Height [mm] Width [mm] Depth [mm] Vertical distance 1 – fastening holes [mm] Vertical distance 2 – fastening holes [mm] Horizontal distance 1 – fastening holes [mm] Horizontal distance 2 – fastening holes [mm] Drill holes –...
  • Page 66 Technical data Manual SD6 ID 442426.04 WE KEEP THINGS MOVING...

  • Page 67: Output Derater

     If you use cables which are longer than 50 m and the cables are not from Connections Screw terminals STOBER, the cores for the motor temperature sensor and the brake must Max. conductor 10 mm be separate (maximum length: 100 m).

  • Page 68: Projecting

    Technical data Manual SD6 Projecting Derating TEP3820-0CS41 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 drive with the following formula: ...
  • Page 69 Technical data Manual SD6 Derating TEP4020-0RS41 Dimensions TEP3720- TEP3820- TEP4020- 0ES41 0CS41 0RS41 Height h [mm] Max. 153 Max. 153 Max. 180 Width w [mm] Depth d [mm] Vertical distance – fastening holes a1 [mm] Vertical distance – fastening holes...
  • Page 70 Technical data Manual SD6 M 1:2 Mounting borings in acc. to DIN EN 60852-4 ID 442426.04 WE KEEP THINGS MOVING...

  • Page 71: Transportation And Storage

    Transportation and storage Manual SD6 Transportation and storage Overview of sections 5.1 Notes on safety ........

  • Page 72: Commissioning

    If annual forming is not possible, form the stored devices before commissioning Information according to the wiring and voltage levels shown below. 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.
  • Page 73 Transportation and storage Manual SD6 Power voltage [%] L1 N PE L1 L2 L3 PE Time [h] Legend Storage time 1 - 2 years: Before enabling, apply voltage for L1–L3 = lines 1 to 3 one hour. N = neutral conductor Storage time 2 - 3 years: Before enabling, form as per curve.

  • Page 74: Installation

    Installation Manual SD6 Installation Overview of sections 6.1 Notes on safety ........

  • Page 75: Installation

    Installation Manual SD6 Notes on safety Drive controller Installation work is only admissible when no voltage 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.

  • Page 76: Commissioning

    Installation Manual SD6 The clearance dimensions noted here apply only to installation without a DL6 Drive controller installation 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.

  • Page 77: Terminal Modules

    Installation Manual SD6 Terminal modules Terminal module installation 1. Press the spring lock on the front cover lightly to unlock it. WARNING! 2. Push the front cover down as far as it will go. Danger of personal injury and material damage due to electric shock! 3.

  • Page 78: Communication Modules

    Installation Manual SD6 You will need the EC6 or CA6 communication module to connect EtherCAT or Communication modules CANopen. EC6 is installed on the upper slot, the same as CA6. The installation is identical for both communication modules. WARNING! You need: Danger of personal injury and material damage due to electric shock! •...

  • Page 79: Quick Dc-Link

    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 downstream from a drive controller. The linked system is implemented by copper rails.
  • Page 80 Installation Manual SD6 Quick DC-Link – installation of DL6 modules Clearance of  SZ 0/1 SZ 0/1 SZ 2 SZ0/1 SZ 2 SZ 3 fastening holes [mm] – – – – – – Requirements: SZ 0/1 SZ 2 SZ 2...

  • Page 81: Bottom Brake Resistor

    Installation Manual SD6 Bottom brake resistor Installation of DL6 modules 1. Fasten the DL6 modules onto the mounting plate with the threaded bolts. WARNING! 2. Insert the insulation inserts between the modules and on both ends. Danger of personal injury and material damage due to electric shock! 3.
  • Page 82 Installation Manual SD6 3. Press the device down on the guides: Installation of the submounting brake resistor 1. Attach the bottom brake resistor to the mounting plate with the studs: 4. Attach the device to the studs with the screws and washers: 2.

  • Page 83: Emc Shroud

    Installation Manual SD6 EMC shroud Attaching the EMC shroud EM6A0 to a drive controller size 0, 1 or 2 WARNING! 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 Danger of personal injury and material damage due to electric shock! a slight angle.

  • Page 84: Encoder Adapter Box

    Installation Manual SD6 6.8.1 Top-hat rail fastening Encoder adapter box Preconditions: WARNING! • Already mounted, 35 mm wide and symmetrical top-hat rail according to EN 50022 (TS 35) Danger of personal injury and material damage due to electric shock!  Always switch off all power supply voltage before working on the drive...

  • Page 85: Connection

    Connection Manual SD6 Connection 7.3.5 X12: Safety technology ....... 98 7.3.6 X20: Motor .
  • Page 86 Connection Manual SD6 7.6.1 Linear encoder ........123 7.6.1.1...

  • Page 87: Connection

    Connection Manual SD6 Notes on safety 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 Connection work is only admissible when no voltage is present. Observe the 5 the drive controllers are used in a network of this type.

  • Page 88: Line Fuse

    Connection Manual SD6 7.2.2.1 Line fuse Information The mains fuse ensures line and power protection in the drive controller. Note that these values apply only to the drive controllers that are You can use the following protective devices: connected to the mains individually. Different parameters apply to drive controllers in a Quick DC-Link system.

  • Page 89: Residual Current Safety Device

    Residual current safety device False triggering – causes STOBER devices can be protected with a Residual Current protective Devices Depending on stray capacitances and asymmetries, stray currents up to 40 mA (RCD) to detect residual currents. Residual current protective devices prevent may occur during operation.

  • Page 90: Housing Ground

    Connection Manual SD6 7.2.2.3 Housing ground 7.2.3 EMC connection Note the following information on the connection of the protective earth to Information ground the housing correctly: This section provides general information on EMC-compliant • Note the assembly sequence: installation. This involves recommendations. Depending on the •...

  • Page 91: Selecting The Cables

    Overview of terminals which influence one another. Unfavorable combinations could possibly result The terminal overview described in this section show the SD6 drive controller in impermissible voltage peaks on the motor and drive controller and therefore with the following equipment in the pictures: to increased wear.

  • Page 92: Size 0

    Connection Manual SD6 7.3.1.1 Size 0 Housing grounding X120: Encoder connection to optional terminal module XI6 X10: 230 V/400 V power supply (X120 and X140: Encoder connections to terminal module RI6, X11: 24-V power supply alternatively available) X12: Safety technology (ST6)

  • Page 93: Size 1

    Connection Manual SD6 7.3.1.2 Size 1 Housing grounding X120: Encoder connection to optional terminal module XI6 (X120 and X140: Encoder connections to terminal module RI6, X10: 400 V power supply alternatively available) X11: 24-V power supply (Without encoder connection: Terminal module IO6, alternatively available)

  • Page 94: Size 2

    Connection Manual SD6 7.3.1.3 Size 2 Housing grounding X120: Encoder connection to terminal module XI6 (X120 and X140: encoder connections to optional terminal module RI6, X10: 400 V power supply alternatively available) X11: 24 V power supply (Without encoder connection: Terminal module IO6, alternatively available)

  • Page 95: Size 3

    Connection Manual SD6 7.3.1.4 Size 3 X10: 400 V power supply X120: Encoder connection to terminal module XI6 (X120 and X140: encoder connections to optional terminal module RI6, X11: 24 V power supply alternatively available) X12: Safety technology (ST6) (Without encoder connection: Terminal module IO6, alternatively available)

  • Page 96: X10: 230 V/400 V Power

    Connection Manual SD6 7.3.2 X10: 230 V/400 V power Maximum conductor cross-section of power supply connection terminals Terminal description – single-phase power connection size 0 Size Designation Function Max. cross-section for — Plastic dummy plug conductor with ferrule (10 for rigid...

  • Page 97: X1: Enable And Relay 1

    Connection Manual SD6 7.3.4 X1: Enable and relay 1 Terminal description X11 Use the enable signal to enable the power pack of the drive controller. The Designation Function function of relay 1 can be adjusted in parameter F75. + 24 V...

  • Page 98: X12: Safety Technology

    Connection Manual SD6 Electrical data Maximum conductor cross-section Pin Designation/function Data Connection type Maximum conductor cross-section [mm = 30 V (PELV) 1max Rigid (bridged internally) High level = 15–30 V Flexible Low level = 0–8 V Flexible with cable end, without = 100 mA (<...

  • Page 99: X20: Motor

    Connection Manual SD6 Cable requirements Terminal description X20 – size 3 Feature Line type Unit Min Max Designation Function Cross-section Fine wire line without cable end sleeve 0.14 Brake resistor Fine wire line  with cable end sleeve without plastic...
  • Page 100 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 circuits that are sensitive to EMC must be kept at a distance of at least 0.3 m.

  • Page 101: X5, X6: Motor Holding Brake

    Note that motor holding brakes from other manufacturers may only ment switching amplifier for brake diagnostics – be connected after consultation with STOBER. provided the holding brake is connected to the SD6 indirectly (for example via a coupling Electrical data contactor) 24–30 V Reference potential for acknowledgement 3.0 A...

  • Page 102: X2: Motor Temperature Sensor

    2 leads with the same cross- — If you replace a SDS 4000 with a SD6, the lines of the motor temperature section with double cable end sensor are carried in the previously used resolver or EnDat cable. To be able to continue using the cable, you need the accessory part RI6 (see section 3.4...

  • Page 103: X30: Quick Dc-Link, Braking Resistor

    Connection Manual SD6 Schematic diagram for Quick DC-Link 7.3.9 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.

  • Page 104: X3A, X3B: Pc, Igb

    Single and Multiturn, not suitable for linear encoders — Not used Switching frequency 2 MHz — Cable specification Specification for EnDat 2.2 STOBER provides ready-made cables for Encoder type Single-turn and multiturn • direct connection PC - drive controller and Switching frequency 4 MHz •...
  • Page 105 Connection Manual SD6 Encoder supply SSI specification Encoder type and Multiturn: 24 or 25 bits Through Single-turn13 bits short or 13 bits tree  format 5 V  Encoder sense line STOBER synchronous (13 bits of data in a 25-bit telegram)

  • Page 106: Function

    Connection Manual SD6 Terminal description X4 for HTL encoder Terminal description X4 for encoder EnDat 2.1/2.2 digital and SSI encoder Designation Function, data Designation Function Differential input for B-track — — Socket Socket Reference for encoder power on pin 4...

  • Page 107: Terminal Modules

    Connection Manual SD6 Terminal modules Terminal description X4 for TTL encoder Designation Function, data WARNING! — — Danger of faulty machine behavior due to EMC faults! Socket Reference for encoder supply to pin 4  Use exclusively cables up to 30 m in length for analog and binary inputs —...

  • Page 108: X100

    Connection Manual SD6 7.4.1 X100 Terminal description X100 X100 specification Designation Function AE1+ + Input of the analog input AE1 General specification AE1-Shunt Current input; shunt connection Pin 2 must Maximum cable 30 m, shielded be jumpered with pin 1.

  • Page 109: X101

    Connection Manual SD6 Terminal description X101 for binary signals 7.4.2 X101 Designation Function X101 specification DGND General specification Reference ground DGND Maximum cable 30 m, shielded length Binary input Electrical data Binary inputs  Low level 0–8 V BE1 to BE3 High level 12–30 V...
  • Page 110 Connection Manual SD6 BE encoder and BA encoder simulation Simulation – Incremental encoder and pulse train To be able to simulate or evaluate encoders on binary interfaces, you must 18–28,8 V place one of the terminal modules XI6, RI6 or IO6 in operation.

  • Page 111: Function

    Connection Manual SD6 Terminal description X101 – Incremental encoder and pulse train Terminal description X101 for Hall sensor Designation Function Designation Function DGND DGND Reference ground, bridged internally Reference ground DGND DGND — HALL A — HALL B Evaluation HALL C...

  • Page 112: X102

    Connection Manual SD6 7.4.3 X102 Maximum conductor cross-section X102 specification Connection type Maximum conductor cross-section [mm Rigid General specification Flexible Maximum cable 30 m, shielded Flexible with cable end, length without plastic sleeve Flexible with cable end, with plastic sleeve...

  • Page 113: X103B

    Connection Manual SD6 Terminal description X103A 7.4.5 X103B Designation Function Information When the 24 V power fails, binary inputs BE6 to BE13 have signal status 0 (regardless of the physical signal state). Binary output X103B specification General specification Maximum conductor cross-section...

  • Page 114: X103C

    Connection Manual SD6 7.4.6 X103C Terminal description X103B Designation Function Information When the 24 V power fails, binary inputs BE6 to BE13 have signal status 0 (regardless of the physical signal state). Binary output X103C specification BA10 General specification Binary input...

  • Page 115: X120

    Connection Manual SD6 Maximum conductor cross-section Specification incremental encoder, pulse train  (evaluation and simulation) and Hall sensor (only evaluation) Connection type Maximum conductor cross-section [mm Evaluation: ≤ 1 MHz Rigid Simulation: 500 kHz Flexible Signal level Flexible with cable end, without plastic sleeve ...

  • Page 116: Function

    Connection Manual SD6 Terminal description X120 for SSI encoder Terminal description of X120 for incremental encoder Designation Function Designation Function GND-ENC Reference potential for pin 4 to pin 7 GND-ENC Reference potential for pin 2 to pin 7 Connector Connector Differential input/output for the ...

  • Page 117: X140

    Connection Manual SD6 7.4.8 X140 Terminal description X120 for pulse train Encoder connection X140 is an integral part of terminal module RI6. Designation Function GND-ENC Reference potential for pin 2 to pin 7 Resolver specification (evaluation) Connector — — -10 V ... +10 V —...

  • Page 118: Function

    Connection Manual SD6 Terminal description X140 for resolver  Calculation example – limit frequency f ... for encoder with 2,048 pulses per revolution:  Designation Function 3,000 revolutions per minute (equivalent to 50 revolutions per Sin+ Sin input second) * 2,048 pulses per revolution...

  • Page 119: Function

    Connection Manual SD6 Terminal description X140 for encoder EnDat 2.1/2.2 digital Terminal description X140 for encoder EnDat 2.1 sin/cos Designation Function Designation Function — — Sin+ Sin input Socket Socket Reference for encoder supply to pin 4 Reference for encoder supply to pin 4 —...

  • Page 120: Function

    — — a) View of D-sub 9-pole for the connection of the SDS 4000-compatible resolver cable  b) View of D-sub 15-pin for the connection to the SD6, terminal X140 (RI6) Cos- Inverse cos input Sense Sense signals for voltage control —...

  • Page 121: Function

    X2. a) View of D-sub 9-pole for the connection of the SDS 4000-compatible resolver cable b) View of D-sub 15-pin for the connection to the SD6, terminal X140 (RI6) 15 CLK- Inverse differential input for...

  • Page 122: Communication Modules

    Cable specification a shielded fieldbus cable that meets all necessary technical requirements (for STOBER provides ready-made cables for the EtherCAT connection. These example a ripple resistor or sufficiently low cable capacitance – about 60 nF/ cables must be used to ensure proper functionality.

  • Page 123: Encoder Adapter Box

    7.6.1.1 Linear encoder EnDat 2.1/2.2 digital and SSI Linear encoder EnDat 2.1/2.2 digital or SSI are connected directly to SD6 via terminal X4. With EnDat 2.2 digital, the drive controller evaluates the internal information of the encoder and determines automatically whether an encoder of a rotary motor or an encoder of a linear motor is connected.

  • Page 124: Overview Of Terminals

    The terminal overview shows the adapter box for transferring TTL and Hall sensor signals from HIWIN synchronous linear motors to the SD6 drive controller. X302: Connection to SD6, terminal X101 (on terminal module XI6, RI6 or X306: Connection to HIWIN-TTL via loose cable ends IO6)

  • Page 125: X300

    N channel Inverse, differential input for  A channel a) 1:1 connection to SD6: pin assignment corresponds to terminal X4. b) LA6 passes on the encoder supply as well as the sense line to the drive controller. ID 442426.04 WE KEEP THINGS MOVING...

  • Page 126: X301

    HW-End2 Hardware limit switch 2 DGND Reference ground Designation Function a) Connection to SD6, terminal X101 (on terminal module XI6, RI6 or IO6). GND-HALL Reference potential for pin 2 to pin 7 Connector HALL C+ Differential input/output for HALL C...

  • Page 127: X303

    Connection Manual SD6 7.6.6 X303 7.6.7 X304: Connection via D-sub connector General specification WARNING! 20.4-28.8 V Danger of personal injury and material damage due to electric shock! 100 mA There is no potential separation in the LA6 adapter box. 1max ...

  • Page 128: X305, X306: Connection Via Loose Cable Ends

    Connection Manual SD6 Terminal description X304 for connecting HIWIN-TTL 7.6.8 X305, X306: Connection via loose cable ends Designation Function, data General specification HALL A Socket Encoder supply 250 mA 2max Inverse, differential input for  13 mA 2min N channel...

  • Page 129: Cables

    To ensure proper functionality of the drive we recommend using Encoder supply cables from STOBER that are coordinated with the system. In case Inverse, differential input for  of use of unsuitable connection cables, we reserve the right to reject N channel claims under the warranty.
  • Page 130 Connection Manual SD6 Synchronous servo motors of series ED/EK and EZ are equipped with circular Power cable – connector size con.23 plugs as standard and can be connected to drive controllers with the following power cables (the color specifications relate to the connection strands and are Bracket flange socket –...

  • Page 131: Encoder Cables

    D-sub (X4) Dimensions – connector size con.58 Digital absolute encoder EnDat 2.1/2.2 digital of series EBI, ECI, EQI, ECN or EQN can be combined with STOBER motors of series ED/EK and EZ. SSI Length [mm] Diameter [mm] encoders can also be connected to STOBER asynchronous motors.

  • Page 132: Function

    Connection Manual SD6 Encoder cable – plug connector con.15 The voltage supply is buffered for the inductive EnDat 2.2 digital encoders "EBI 1135" and "EBI 135" with multiturn function. In this case, pin 2 and pin 3 are assigned to the backup battery U .

  • Page 133: Function

    Connection Manual SD6 Encoder cable – plug connector con.17 The voltage supply is buffered for the inductive EnDat 2.2 digital encoders "EBI 1135" and "EBI 135" with multiturn function. In this case, pin 2 and pin 3 are assigned to the backup battery U .
  • Page 134 Connection Manual SD6 Encoder cable – plug connector con.23 Cable with plug connector con.23 in combination with EnDat 2.1/2.2 digital encoders can be connected to synchronous servo motors ED/EK; connect these with asynchronous motors in combination with SSI encoders. Motor...

  • Page 135: Endat 2.1 Sin/Cos Encoder

    STOBER encoder cable D-sub (X140) Absolute encoder EnDat 2.1 sin/cos of series ECI, EQI, ECN or EQN can be combined with STOBER motors of series ED/EK and EZ. The suitable encoder cables are described below. ID 442426.04 WE KEEP THINGS MOVING...
  • Page 136 Connection Manual SD6 Encoder cable – plug connector con.15 Motor Signal Wire colors D-sub (X140) Angle flange socket Motor- Encoder internal Sense+ GNRD Sense- GNBK BNGN BNRD CLK+ WHBK CLK- WHYE WHGN BNBU B+ (Sin+) BUBK B- (Sin-) RDBK DATA+...
  • Page 137 Connection Manual SD6 Encoder cable – plug connector con.17 Motor Signal Wire colors D-sub (X140) Angle flange socket Motor- Encoder internal Sense+ GNRD — — — — — — — — Sense- GNBK — — — — — — —...
  • Page 138 Connection Manual SD6 Encoder cable – plug connector con.23 Cable with plug connector con.23 in combination with EnDat 2.1 Sin/Cos encoders can be connected to ED/EK motors. Motor Signal Wire colors D-sub (X140) Angle flange socket Motor- Encoder internal Sense+ GNRD —...

  • Page 139: Encoder Htl

    Connection Manual SD6 7.7.2.3 Encoder HTL HTL incremental encoders can be combined with STOBER asynchronous motors. The suitable encoder cable is described below. Encoder cable – plug connector con.23 Motor Signal Wire colors D-sub (X4) Angle flange socket Motor- Encoder internal —...

  • Page 140: Encoder Ttl

    Connection Manual SD6 7.7.2.4 Encoder TTL TTL incremental encoder in combination with a Hall sensor can be combined with HIWIN synchronous linear motors. The matching encoder cable for the connection to the LA6 adapter box is described below. Encoder cable – plug connector con.17...

  • Page 141: Resolver

    Connection Manual SD6 7.7.2.5 Resolver Bracket flange socket motor STOBER encoder cable D-sub (X140) Resolvers can be combined with STOBER motors of series ED/EK or EZ. The suitable resolver cables are described below. ID 442426.04 WE KEEP THINGS MOVING...
  • Page 142 Connection Manual SD6 Encoder cable – plug connector con.15 Motor Signal Wire colors D-sub (X140) Angle flange socket Motor- Encoder internal S3 Cos+ S1 Cos- S4 Sin+ S2 Sin- — — — Do not connect — — — Do not connect...
  • Page 143 Connection Manual SD6 Encoder cable – plug connector con.17 Motor Signal Wire colors D-sub (X140) Angle flange socket Motor- Encoder internal S3 Cos+ S1 Cos- S4 Sin+ S2 Sin- — — — Do not connect — — — Do not connect...
  • Page 144 Connection Manual SD6 Encoder cable – plug connector con.23 Cable with plug connector con.23 in combination with resolvers can only be connected to synchronous servo motors ED/EK. Motor Signal Wire colors D-sub (X140) Angle flange socket Motor- Encoder internal S3 Cos+...

  • Page 145: Basic Properties

    Basic properties Manual SD6 Basic properties 8.2.2 DriveControlSuite ........153 Overview of sections 8.3 Access level...

  • Page 146: Basic Properties

    Basic properties Manual SD6 Parameters The individual areas of parameter groups are listed in the following table: Parameter group Covers area / dependency Parameters serve the following purposes: • Adapt drive controller functionality to your application A.. Drive controller Drive controller, communication, cycle time •...

  • Page 147: Parameter Description

    Basic properties Manual SD6 1. Title line with coordinate, designation and version 8.1.2 Parameter description 2. Description A parameter description consists of the following sections: 3. If selection parameter: Description of the settings. 4. Parameter data 1: Basic data of the parameter such as fieldbus addresses, level or mapping capability.

  • Page 148: Parameter Data

    Basic properties Manual SD6 Parameter data 2 8.1.3 Parameter data • Default: Default value of the parameter. The following data items are specified for a parameter description: • PreRead: Number of the PreRead function. • PreWrite: Number of the PreWrite function.

  • Page 149: Skip Functions

    Basic properties Manual SD6 8.1.4.2 Skip functions 8.1.5 Data types Skip function hide parameters depending on logical conditions. For example, the drive controller can evaluate an encoder on interface X120 if the XI6 Name Description Value range, decimal terminal module is installed. To activate the evaluation, set parameter H120...

  • Page 150: Interfaces

    Basic properties Manual SD6 Interfaces • Select the level, parameter groups and parameters. • Accept modified parameter values. The following options are available to access the drive controllers. • Display parameters of the start display. For example, if you want to control the drive via local mode or change •...

  • Page 151: Menu Structure And Navigation

    Basic properties Manual SD6 8.2.1.2 Menu structure and navigation Status display Status display Status display Status display Status display Quick access 123.567° I80 Current position E49 Inhibit reason E19 Binary inputs E52 DriveCtrlrInfo to parameters 0.000 Upm E08 N-motor filtered...

  • Page 152: Status Display

    Basic properties Manual SD6 Parameters – quick access 8.2.1.3 Status display Quick access gives you direct access to the status of the most important Note that the default setting of the status display depends on the application. (diagnostic) parameters. This level consists of a start display and four...

  • Page 153: Drivecontrolsuite

    Basic properties Manual SD6 8.2.2 DriveControlSuite 8.3.2 Configuration level You can place the drive in operation with the DriveControlSuite software. Select Information an application in the software and parameterize it for your purposes. On the configuration level only levels 0 to 2 are freely adjustable.

  • Page 154: Events

    Basic properties Manual SD6 Causes that are not documented with a number in the event description in Events section 16 Diagnosis simply provide references to possible errors. They do not Event displays give you information about the status of the drive controller. A appear in the display.

  • Page 155: Drive Controller

    ......... . . 9.2.1 STOBER device state machine ......157 9.5 Energy management...
  • Page 156 Drive controller Manual SD6 9.8 Input and output signals ....... 9.8.1 Binary inputs ........196 9.8.2 Binary outputs .

  • Page 157: Drive Controller

    The quick stop function is being performed. • A torque is assigned. 9.2.1 STOBER device state machine The illustration below shows which changes of state are possible. The STOBER device state machine recognizes the following states: Fault reaction active Störungsreaktion aktiv Designation Behavior Not ready to •...
  • Page 158 Self test completed without errors AND initialization complete Switch on disable > ready to switch on (Release inactive 9.2.3.1 STOBER device state machine OR Autostart active 9.2.4 Auto-start) AND DC link charged AND safety technology deactivated AND one axis active...
  • Page 159 Drive controller Manual SD6 Change of state Conditions Operation enabled > ready to switch on Enable inactive AND quick stop with enable off inactive Operation enabled > switch on disable Safety technology active Switched on > switch on disable DC link not charged...

  • Page 160: Function

    X1.Enable is inactive ("Low");  evaluation by a control unit. X1.Enable must always be active. • STOBER device state machine: switch on inhibit reason version 1 A34 auto-start is inactive and X1.Enable is The cause of the "switch on disable" state. Each bit codes a cause.

  • Page 161: Controlword And Statusword

    Drive controller Manual SD6 9.2.1.1 Controlword and Statusword Description Comment Network/DC link • There is no/not sufficient network voltage A180 device control byte version 0 • A38 DC power-input is not active. Control byte. Axis • No axis is active or •...

  • Page 162: Function

    Drive controller Manual SD6 Description Comment Information This parameter determines the response of the drive controller axis disable Deactivate all axes (no during remote maintenance. It could be accidentally overwritten motor switched on) if A65 and changed by a remote maintenance process, resulting in is set to parameter.

  • Page 163: Function

    Drive controller Manual SD6 Description Comment E201 status word 2 version 0 Status word with additional signals. Description Comment operational state Corresponds to E79[0] operational state Corresponds to E79[1] Axis in E84 is active operational state Corresponds to E79[2] Local mode is active...

  • Page 164: Device State Machine According To Cia 402

    Drive controller Manual SD6 9.2.2 Device state machine according to CiA 402 The illustration below shows the device states and possible changes in state in accordance with CiA 402. ID 442426.04 WE KEEP THINGS MOVING...
  • Page 165 Drive controller Manual SD6 The table below shows the conditions for changes in the state machine. Change of state Conditions Device start-up > self test Control board power supply turned on. Self test > switch on disable Self test completed without errors AND initialization complete.
  • Page 166 Drive controller Manual SD6 Change of state Conditions Operation enabled > switch on disable Enable inactive OR command Disable voltage OR safety technology active Switched on > switch on disable Enable inactive OR DC link not charged OR command Quick stop...

  • Page 167: Function

    Drive controller Manual SD6 The device state machine must receive specific commands for changes of Manufacturer-specific Designation according to CiA 402 state. The commands are given as a bit combination in the control word in designation accordance with CiA402 (parameter A515 Control word). The table below...

  • Page 168: Function

    X1.Enable is inactive ("Low");  switch on inhibit reason version 1 X1.Enable must always be active. • STOBER device state machine: The cause of the "switch on disable" state. Each bit codes a cause. A34 auto-start is inactive and X1.Enable is Description Comment active.

  • Page 169: Controlword And Statusword

    Drive controller Manual SD6 9.2.2.1 Controlword and Statusword Description Comment Motion bus The IGB motion bus is projected, but: A515 control word version 1 • A124 IGB exception state is not activated or Control word. • A155 IGB-state is not equal to 3 or •...

  • Page 170: Function

    Drive controller Manual SD6 Description Comment Description Comment Manufacturer specific Brake control Operation enabled 1 = Release override Fault with internal brake Voltage enabled control if F06 is set to Quick stop 1 = No quick stop active internal and F92 is set to Switch on disabled parameter.

  • Page 171: Enable

    Device state machine according to CiA 402 Note the differences in the signal paths for the different device state machines. Device 9.2.3.1 STOBER device state machine X1.4 controller, quick stop In the device state machine according to CiA 402, the signal on terminal X1.4 is relevant for the enable.
  • Page 172 Drive controller Manual SD6 Description Comment A180 device control byte version 0 axis disable Deactivate all axes (no Control byte. motor switched on) if A65 is set to parameter. Description Comment Observation via A305. additional enable Works in addition to...

  • Page 173: Auto-Start

    Information If DriveControlSuite sets up a connection to the drive controller, this Auto-start can only be used with STOBER device state machine (see section parameter is always read if Write parameters was specified as the 9.2.1 STOBER device state machine).

  • Page 174: Quick Stop

    Various signals are available to trigger a quick stop. Note the differences The Quick stop end is activated between the STOBER device state machine (for signal path see section 9.2.5.1) and the device state machine according to CiA 402 (for signal path see •...

  • Page 175: Stober Device State Machine

    Drive controller Manual SD6 9.2.5.1 STOBER device state machine 9.2.5.3 Parameters enable quick-stop version 0 0:Low Response of the motor when enable is turned off. 1:High 2:Parameter E19.1 /quick stop source version 0 3:BE1 Setting of the source for the quick stop signal. The signal triggers a drive quick 4:BE1-inverted E19.2...

  • Page 176: Acknowledgement

    Press the ESC key on the operator panel State of device controller. • With a STOBER device state machine only: Switch enable off, on and off The state machine of the device controller enables the drive function and again power stage or disables them.

  • Page 177: Operational State

    Drive controller Manual SD6 9.2.7 Operational state user statusword version 0 operational state version 0 The user status word allows the user to define his own status word. You can adjust the sources for each bit in A66. Auxiliary values for displaying the ready for operation message.

  • Page 178: Axes As Parameter Sets

    Drive controller Manual SD6 9.3.2 Selecting axes 9.3.1 Axes as parameter sets If you would like to use multiple axes as parameter sets, follow these steps: Information Switching axes is only possible under the following conditions: Setting up axes as parameter sets - Enable is switched off.

  • Page 179: Parameters

    Drive controller Manual SD6 9.3.3 Parameters A303 axis selector 0 version 0 axis-selector version 0 Display of current value of the AxSel0 signal (axis select0) on the interface to the device controller (configuration, module 100107). Display of the selected axis.

  • Page 180: Function

    Drive controller Manual SD6 Description Comment active axis version 0 Handshake bit Bit 7 in E200 is copied Display of the current axis. from bit 7 in A180 with each cycle of the device controller E200 device status byte version 0 If bit 7 in A180 is toggled Status byte.

  • Page 181: Local Mode

    Drive controller Manual SD6 Please note: If at least one of the keys is active while local mode is Local mode enabled and you simultaneously press one of the keys, the movement In local mode you can move the drive with setup functions on or in an will be interrupted.
  • Page 182 Drive controller Manual SD6 When you press the key, the drive moves in positive direction for distance I14 tip step. If you press the key, the drive moves in the opposite, negative direction for the same distance. Note that during a tip step movement, the distance to be traversed to the current reference position is calculated: •...

  • Page 183: Function

    Drive controller Manual SD6 key hand function version 0 tip acceleration version 0 Activation or deactivation of the MANUAL key function on the operator panel. Acceleration in Jogging mode. I13 is limited in the Controller Based Mode application by A604 and A605.

  • Page 184: Energy Management

    Drive controller Manual SD6 Energy management In control mode B20 = 64: SSM - vector control affects A36 the field weakening mode. A limit value is derived from A36 . DC link voltages above this limit value 9.5.1 Power input are not taken into consideration in field weakening mode to prevent oscillations in the motor current.

  • Page 185: 46:Low Voltage

    Drive controller Manual SD6 9.5.1.2 46:Low voltage Triggering Level Response Counter A problem with the mains voltage or DC link Parametrizable Parameterized fault response in A29: voltage was detected. level in U00: • A29 = 0:inactive • Inactive The power board is switched off and the drive •...

  • Page 186: Display

    Drive controller Manual SD6 9.5.1.3 Display Vi-max-memorized value version 0 Parameter E03 indicates the voltage applied in the DC link. The DC link voltage is continuously monitored. The largest value measured is Parameter E18 indicates whether the charge relay is closed. When the power saved here in non-volatile memory.
  • Page 187 Drive controller Manual SD6 brake resistor R version 0 Resistance value of the braking resistor that is used. brake resistor P version 0 Output of the braking resistor that is used. Information If A22 = 0, the brake chopper is deactivated.

  • Page 188: Energetic Utilization

    Drive controller Manual SD6 9.5.3 Energetic utilization 9.5.3.1 39:TempDev i2t Triggering Level Response Counter The i2t model for the drive controller is exceeding Parameterized Parameterized fault response in A29: the maximum allowable thermal utilization. level in U02: • A29 = 0:inactive From firmware V 6.0-G: A27...

  • Page 189: 42:Tempbrakeres

    Drive controller Manual SD6 9.5.3.2 42:TempBrakeRes Triggering Level Response Counter The i t model for the braking resistor exceeds Fault Parameterized fault response in A29: 100% load. • A29 = 0:inactive The power board is switched off and the drive becomes torque-free/force-free.

  • Page 190: 45:Otempmot. I2T

    Drive controller Manual SD6 9.5.3.3 45:oTempMot. i2t Triggering Level Response Counter The i t model for the motor reaches 100 % load. Parameterized Parameterized fault response in A29: level in U10: • A29 = 0:inactive • Inactive The power board is switched off and the drive •...

  • Page 191: 59:Tempdev. I2T

    Drive controller Manual SD6 9.5.3.4 59:TempDev. i2t Triggering Level Response Counter The i t model calculated for the drive controller Fault Parameterized fault response in A29: exceeds 105% of thermal load. • A29 = 0:inactive The power board is switched off and the drive becomes torque-free/force-free.

  • Page 192: Parameters

    Drive controller Manual SD6 9.5.3.5 Parameters i2t-drive controller version 0 switching frequency version 2 Level of the thermal model (i t model). Fault "39:Temp.Dev i2t" is triggered at 105 % of full utilization. When 100 % of the limit is reached the drive controller...

  • Page 193: Thermal

    Drive controller Manual SD6 9.5.4 Thermal can be found in section 16.27 57:Runtime usage. In this case set A150 to a higher value. The following display parameter provides you with further information: The current utilization of the drive controller can be found in parameter E191 runtime usage.

  • Page 194: Function

    Drive controller Manual SD6 Information about the detected drive controller: The type of the option that is expected for operating the drive controller is • Element 0: Type corresponds to the nameplate entered by the configuration wizard. If the configuration is transferred to •...

  • Page 195: Function

    Drive controller Manual SD6 The type of the option that is expected for operating the drive controller is Entered by the configuration wizard. If the configuration is transferred to entered by the configuration wizard. If the configuration is transferred to...

  • Page 196: Input And Output Signals

    Drive controller Manual SD6 Input and output signals Output Source interface parameter 9.8.1 Binary inputs Relay 1 X1 (basic device) The section below explains with the quick stop as an example how to link X101 (with XI6 only) binary input signals with the application:...
  • Page 197 Drive controller Manual SD6 BA1-source version 0 BA5-source version 0 The value of the parameterized coordinate is generated on binary output 1 The value of the parameterized coordinate is generated on binary output 5 (X101.8). (X103.3). Information Note that if encoder simulation is being used via the binary outputs,...

  • Page 198: Analog Inputs

    Drive controller Manual SD6 9.8.3 Analog inputs E110 version 0 9.8.3.1 Values of the analog input. • Element 0: Terminal value of the analog input before filtering. AE1 ref low pass filter version 0 • Element 1: Filtered value of the analog input before calibration.

  • Page 199: Ae2

    Drive controller Manual SD6 9.8.3.2 F125 Analog input 2 maximum % value version 0 AE2 ref low pass filter version 0 Maximum percentage value of the calibrated analog input. Tau for reference value smoothing for analog input 2. E111 version 0 Values of the analog input.

  • Page 200: Ae3

    Drive controller Manual SD6 9.8.3.3 F135 Analog input 3 maximum % value version 0 AE3 ref low pass filter version 0 Maximum percentage value of the calibrated analog input. Tau for reference value smoothing for analog input 3. E112 version 0 Values of the analog input.

  • Page 201: Analog Outputs

    Drive controller Manual SD6 9.8.4 Analog outputs 9.8.4.1 Analog output AA1 E13[2] E13[1] F47 AA1- E13[0] AA1.relative AA1.scaled value upper limit AA1.terminal value Low pass \abs\ Read value amount of coordinate Limit F40 analog output 1 source F43 AA1- F45 AA1-...
  • Page 202 Drive controller Manual SD6 analog output1 absolute version 0 E13[0] analog output 1 terminal value version 0 Activation of formation of value for analog output 1. Terminal value of analog output 1 on X100.6 - X100.8. analog output 1 offset...

  • Page 203: Aa2

    Drive controller Manual SD6 9.8.4.2 Analog output AA2 E14[2] E14[1] F57 AA2- E14[0] AA2.relative AA2.scaled value upper limit AA2.terminal value Low pass \abs\ Read value amount of coordinate Limit F50 analog output 2 source F53 AA2- F55 AA2- F56 AA2-...
  • Page 204 Drive controller Manual SD6 analog output2 absolute version 0 E14[0] analog output 2 terminal value version 0 Formation of value for analog output 2. Terminal value of analog output 2 on X100.7 - X100.8. analog output 2 offset version 0...

  • Page 205: Position Simulation

    Drive controller Manual SD6 9.8.5 Position simulation encoder simulation raw value version 0 Shows the display generated by the encoder simulation. It is derived from the selected source position (with the parameterized transmission ratio H85 and 0:inactive following) and the offset from H81.

  • Page 206: Display

    Drive controller Manual SD6 Saving data with protection against power simulation factor denominator version 0 failure The numerator H85 is divided by the denominator H87. This makes it possible If you have transferred data from DriveControlSuite to the drive controller or to calculate mathematically exact gear ratios as fractions (gear drives, toothed changed the parameter settings, the data in the drive controller must be saved.
  • Page 207 Drive controller Manual SD6 A green LED flashes quickly on the operator panel, indicating that an action is being performed. The A00[1] element shows the progress of the action in the parameter menu and in the parameter lists. You can read the following results in the A00[2] element:...

  • Page 208: Motor

    Motor Manual SD6 Motor Overview of sections 10.1 Introduction .........

  • Page 209: Motor

    Motor Manual SD6 10.1 Introduction This section describes the settings you make for the motor, motor holding brake, motor temperature sensor and encoder. 10.2 Motor settings 10.2.1 Control modes You can operate the following motors together with the specified control modes on the SD5 drive controller:...

  • Page 210: Commissioning

    Motor Manual SD6 Note that the settings described here are adequate for initial commissioning V/f-characteristic version 0 and for operation with most drives. If you would like to optimize your drive, find a description in section 15 Optimize. Switching between linear and quadratic characteristic curve.

  • Page 211: Parameterizing Motor Data

    If you are using a synchronous servo motor with EnDat encoder that has standard motor. been configured for operation on a STOBER drive controller, you can 2. Click on the Projecting button in the bottom part of the window activate the electronic rating plate. In this case the drive controller will read ...

  • Page 212: Activating An Electronic Rating Plate

    If the motor is configured plate and it is not a STOBER motor, you must enter the motor data in the appropriately when it is ordered, the motor data including data for any holding parameters (for example motors from other manufacturers and special brake will be saved in this memory.
  • Page 213 Information nominal motor current version 0 STOBER motors are set to B05 = 0 in the factory and tested. Nominal current in A, as per rating plate. Normally no change to parameter B05 is required. For STOBER motors with absolute value encoder, the commutation offset is...

  • Page 214: Synchronous Linear Motor

    0 Maximum permitted motor current. (Internally) calculated torque generating reference current. For synchronous servo motors of STOBER, the maximum permitted current Equivalent to the rated current for asynchronous motors and the standstill before the motor is demagnetized. current for synchronous servo motors.
  • Page 215 0 Information Use of a sensor for commutation. STOBER motors are set to B05 = 0 in the factory and tested. 0: inactive The Wake&Shake method for determining Normally no change to parameter B05 is required. For STOBER commutation is used for relative scales.
  • Page 216 I-max version 0 Maximum permitted motor current. pole distance version 0 For synchronous servo motors of STOBER, the maximum permitted current before the motor is demagnetized. Distance from the magnets of a synchronous linear motor (SLM). v-max motor version 0...

  • Page 217: Asynchronous Motor

    Motor Manual SD6 commutation version 0 PDO- Scaling PKW1 PROFIBUS/ SDO CANopen/ capable PROFINET EtherCAT Status of commutation of the synchronous linear motor. Factor NKS PNU Subindex Index Subindex 0: commutation unknown Commutation could not be determined based 28ABhex 0000hex 28ABhex 0000hex on an absolute position or a Hall sensor.
  • Page 218 (B14 V-nominal). The voltage and frequency can be increased linearly beyond the nominal point. The upper voltage limit is the supply voltage that is applied. STOBER system nominal motor power version 0 motors up to size 112 offer the option of star/delta operation.

  • Page 219: Commissioning

    Motor Manual SD6 cos(phi) version 0 E07 n-post-ramp cos φ as per rating plate. E91 n-motor E15 n-motor-encoder B48 too small) E91 n-motor E15 n-motor-encoder B47 too large) observer feedback version 0 Feedback from the observer of the asynchronous machine. Affects the accuracy of the speed approximation of the control mode 3:ASM - Sensorless vector control.
  • Page 220 In these cases the value can be Nominal motor output autotuned with action B41 autotuning. However, this adjustment Up to 0.55 kW -43262 31291 should not be performed until you have consulted with STOBER. < 2.2 kW -767,2 2202,1 < 4 kW -46,356...
  • Page 221 In these cases the value can be current for synchronous servo motors. autotuned with action B41 autotuning. However, this adjustment should not be performed until you have consulted with STOBER. motor inertia version 0 Moment of inertia J for synchronous servo motors and asynchronous motors or mass of the slide for linear motors.

  • Page 222: Actions

    Motor Manual SD6 10.2.3 Actions 10.2.3.2 B40 Phase test The following actions provide support for you in making motor settings: WARNING! • B40 phase test Personal injury and material damage • B41 autotuning The motor shaft turns during this action.

  • Page 223: Function

    Motor Manual SD6 3: illegal The action is not supported by the control WARNING! mode selected in B20. Personal injury and material damage due to falling loads. 4: axis load The axis was not stopped immediately after Starting the action will cause the motor brake to be vented. Since the motor is enable was activated.

  • Page 224: B41 Autotuning

    Motor Manual SD6 10.2.3.3 B41 Autotuning Information To start the action, change from Low level to High level of the WARNING! enable. If there is a brake present it will be released automatically. Personal injury and material damage After the end of the action the enable must be aborted.

  • Page 225: B45 Action Autotune Slvc

    Motor Manual SD6 10.2.3.4 B45 action autotune SLVC B45[0] autotune SLVC-HP start version 0 WARNING! To start action B45 autotune SLVC, set B45[0] = 1:active. Risk of injury due to high speeds! The action determines the following parameters for control mode 3:ASM - Sensorless vector control: The action accelerates the motor up to twice its nominal speed.
  • Page 226 Motor Manual SD6 B45[2] autotune SLVC-HP result version 1 After action B45 autotune SLVC is complete, the result can be queried here. When the action is complete you can read the new parameter values in B46 ... B48. 0: error free...

  • Page 227: Motor Temperature Sensor Settings

    Motor Manual SD6 10.3 Motor temperature sensor settings actual torque/force filtered version 0 Display of the current motor torque as a %. The reference value for Information consideration on the load side is C09, for consideration on the motor side B18.
  • Page 228 Motor Manual SD6 motor util version 0 version 0 Shows the current utilization of the motor as a %. The reference quantity is the Magnetizing current in amps. nominal power loss of the motor. It is derived from copper losses and speed- dependent losses from magnetic reversal and friction.

  • Page 229: Holding Brake

    Holding brake Manual SD6 Holding brake 11.9.2 Single-axis operation ....... 245 11.9.3 Multi-axis operation ..
  • Page 230 F06 with internal brake The monitoring (see F93) of the brake control (CiA 402 F92=0) are deactivated. available for the SD6 is not evaluated. • From firmware V 6.0-F: The torque/force feed forward F102 is used for brake release.
  • Page 231 =F04 + 1.2*F94. BrakeExtenderModule BX6, a contactor, a solenoid valve, a power box, For STOBER motors the time should be selected so it is greater than t in the etc. STOBER catalog by a factor of 1.3.
  • Page 232 Holding brake Manual SD6 11.3 Internal and external brake control brake connection version 0 In the CiA 402 Controller Based Mode (CBM) application, you have the option Connection type of the brake. to switch from an internal (automatic) to an external (controller) brake 0: direct The brake is connected directly X5.

  • Page 233: Function

    Holding brake Manual SD6 1: external (plc) The drive controller assumes the following F92[0] brake control brake control source version 1 function: Brake controlled internally (Automatic) by the drive controller or externally by a • The brake status signals F08 and F09 are control unit.

  • Page 234: Function

    Holding brake Manual SD6 11.4 B20 = 64:SSM and 70:LSM - vector control F09 brake is open F08 brake is closed F04 t-brake release F05 t-brake set Delay due to not reaching the minimum release-release time 1 sec CAUTION! Unexpected machine response! During external control the brake does not automatically engage after enable is turned off and when faults occur.
  • Page 235 Holding brake Manual SD6 brake is closed version 0 F09[0] brake is open all utilized brakes version 0 Display of the Brakes are set state. The parameter shows whether both brakes are released (after brake release The state is calculated from the brake set time F05 and the activation of the time and if applicable feedback through the brake module).

  • Page 236: Function

    Holding brake Manual SD6 11.5 B20 = 2:ASM - vector control halt flux version 0 B25 determines whether the motor will continue to be powered with the brake set for stop and quick stop. This is especially useful for positioning. After a stop the motor remains fully powered for time B27.

  • Page 237: Function

    Holding brake Manual SD6 F08[0] brake is closed all utilized brakes version 0 wait time brake set version 0 F08[0] shows whether both brakes are set (after brake engaging time and if The wait time, if any, which will delay setting the brake (J27, I410) after applicable feedback through the brake module).

  • Page 238: Contact

    Holding brake Manual SD6 halt flux version 0 brake set speed version 0 B25 determines whether the motor will continue to be powered with the brake In control modes ASM - V/f control, ASM - slip compensated and ASM - set for stop and quick stop.

  • Page 239: Function

    Holding brake Manual SD6 11.7 B20 = V/f control mode (0 or 1) brake is open version 0 Display of the Brakes are released state. The state is calculated from the brake release time F04 and the activation of the brake.

  • Page 240: Contact

    Holding brake Manual SD6 If the holding brake is indirectly connected via a contactor (F93), the total brake is open version 0 release time t =F04 + 1.2*F94. Display of the Brakes are released state. The state is calculated from the brake release time F04 and the activation of...

  • Page 241: Commissioning

    You have now activated and parameterized the brake control unit. thereby controlling the functional capability of the brake. The SD6 provides the following options for axis management: • Single axis operation: An axis projected in DriveControlSuite is used for the Activating brake management connected motor.

  • Page 242: Function

    Holding brake Manual SD6 Initially the status is displayed in parameter E29 Warning: perform brake test (1:brake test required). To avoid interrupting a production process, the fault is only generated if there is no enable. The fault can be acknowledged to be able brake test to perform the brake test and the brake grinding function.

  • Page 243: Function

    Manual SD6 11.9 Brake test Information Note that the brake test is defined for a STOBER drive (geared The brake test checks whether the brake can still apply the required holding motor with brake). Always make certain the technical requirements torque.

  • Page 244: Projecting

    Holding brake Manual SD6 In the first step calculate the ratio of torques V as a percentage: 11.9.1.2 Asynchronous motor Calculate the torques that must be entered in B304[0] and B305[0] for the Bstat  ---------------- - 100 brake test according to the following instructions: The following values will be required: •...
  • Page 245 Holding brake Manual SD6 :  ≤ 1.8 * I 1. If I 11.9.1.3 Gravity-loaded axes B304[0] = V , B305[0] = -V Note that for gravity loaded axes, the torque to be applied by the motor for the : ...

  • Page 246: Function

    Holding brake Manual SD6 permitted in B306, the movement in the positive direction is performed first. B300[2] brake test result version 1 Note that this calculation is only valid if the brake is intact. If the tested brake does not apply the required holding torque, the distance traversed cannot be After the brake test action is complete, the result can be queried here.

  • Page 247: Function

    13.6 Limit torque, force. Information Proceed as follows: Note that the brake grinding function is defined for a STOBER drive (geared motor with brake). For example, it is not permitted to use Run the brake grinding function the brake grinding function for brakes that are attached to the output 1.
  • Page 248 Holding brake Manual SD6 If you have not reached the result yet, check B301[2]: B301[2] brake grind result version 1 After the brk 1 grind action is complete, the result can be queried here. The drive controller keeps an internal memory with the operating times of the last 40 grinding processes that were successfully completed.

  • Page 249: Encoder

    Encoder Manual SD6 Encoder Overview of sections 12.1 Types ..........

  • Page 250: Function

    Encoder Manual SD6 This section describes the settings required for evaluating an encoder on the G104 drive controller. 0:inactive Note that the settings for simulating encoder signals (position simulation) are 1:BE-encoder described in section 9.8.5 Position simulation. 2:X4-encoder 12.1 Types...
  • Page 251 Encoder Manual SD6 12.3 Selecting an interface The table below gives you a summary of which encoder signals can be evaluated on which interface. The header that belongs to the interface contains the setting of B26 motor encoder and I02 position encoder. The cells indicate the setting with which you will parameterize encoder signals that will be evaluated on the interface.
  • Page 252 Encoder Manual SD6 12.4 Connection X4 X4-function version 0 You can simulate or evaluate the following encoders on X4: Function of encoder interface X4 (motor encoder). • EnDat encoder • Incremental encoder (HTL and TTL) BE-encoder version 0 • SSI encoder Function of encoder evaluation on BE3 (X101.13), BE4 (X101.14) and BE5...
  • Page 253 Encoder Manual SD6 Element 2 encoder type version 1 Element 2 is the output current measured on X4. Indicates whether the encoder connected to X4 is a rotational or translational measuring system. This affects the unit of measure of H01 and determines...

  • Page 254: Function

    Encoder Manual SD6 12.5 Connection X120 H121 X120 numerator version 0 Encoder connection X120 is an integral part of terminal modules XI6 and RI6.  H121 and H122 together indicate a fraction that is used to convert the raw You can simulate or evaluate the following encoders on X120: values of the encoder connected to X120 into mechanical quantities.

  • Page 255: Function

    Encoder Manual SD6 H126 X120-SSI-data bits version 0 H129 X120-Info version 0 Adjusts the number of data bits that will be transferred via SSI. The parameter shows a description of the functionality found on X120. In an SSI evaluation the value of the bits is adjusted by H121 and H122.

  • Page 256: Function

    Encoder Manual SD6 12.6 Connection X101 (binary input encoder) encoder type version 0 Encoder connection X101 is an integral part of terminal module XI6.  The parameter indicates whether the encoder connected to X101 is a rotational You can simulate or evaluate the following encoders on X101: or translational measuring system.

  • Page 257: Function

    Encoder Manual SD6 H141 X140 numerator version 1 H149 X140-Info version 1 H141 and H142 together indicate a fraction that is used to convert the raw The parameter shows a description of the functionality found on X140. values of the encoder connected to X140 into mechanical quantities.
  • Page 258 Encoder Manual SD6 The following display parameter provides you with further information: H902 EnDat information version 0 H900 EnDat information version 0 H900, H901 and H902 show internally supplied information about an EnDat® H900, H901 and H902 show internally supplied information about an EnDat®...

  • Page 259: Mechanical Drive Model

    Mechanical drive model Manual SD6 Mechanical drive model Overview of sections 13.1 Introduction .........

  • Page 260: Setup

    Manual SD6 13.1 Introduction To be able to put your real drive train in combination with one or more SD6 drive controllers, you must map your complete mechanical environment in the DriveControlSuite commissioning software, i.e. record as part of a project. First you configure your motor settings, activate and parameterize your brake controller and define the encoder that you use.
  • Page 261 Mechanical drive model Manual SD6 13.1.2 Translational drives If you work with translational drives, the following described versions are available. Information Note that configurations without motor encoders can only be used for asynchronous motors. For limited translational drives with encoders, the following constellations can...
  • Page 262 Mechanical drive model Manual SD6 13.2 Define axis model STOBER Drive Based • C15, C16 Define your axis by • C18, C17 • configuring the range of motion (endless or limited), • I08, I07 • defining the axis type (rotational or translational) and specifying •...
  • Page 263 Mechanical drive model Manual SD6 CiA 402 Controller Based Mode • • A604, A605 • • A578 STOBER Drive Based • • • • 13.6 Limit torque, force If necessary limit the maximum permitted torque/force. The following parameters are – depending on the application that the software is based on –...

  • Page 264: Communication

    ........STOBER generation of drive controllers ....290 14.3.1 Prerequisites .

  • Page 265: Function

    IGB-Motionbus 14.4. • Remote maintenance The IGB can only be set up with drive controllers of the SD6 device family. Information Note that IGB motion bus functionality is in preparation. Information Remember that an IGB network can never be accessed by remote maintenance and direct connection (PC) at the same time.
  • Page 266 Communication Manual SD6 14.2.1 Basics of IGB communication Information Remember that an IGB network can never be accessed by remote maintenance and direct connection (PC) at the same time. The following requirements apply • Communication with remote maintenance and without a proxy server uses the HTTP protocol via port 80 and TCP/IP port 37915.
  • Page 267 The X3 A interfaces may only be connected with X3 B interfaces of other drive controllers and vice versa. • Suitable cables must be used. STOBER provides ready-made cables for the layout of the Integrated Bus. These cables must be used to ensure proper functionality. Also note section 4.9 Communication modules.
  • Page 268 A155 IGB-state version 0 Information IGB status of the drive controller. MAC address range of the STOBER hardware:00:11:39:00:00:00 - 0: IGB booting The IGB boots up. 00:11:39:FF:FF:FF The connected drive controllers declare themselves in the IGB network and are Information synchronized.

  • Page 269: Function

    Communication Manual SD6 14.2.2.2 Drive controller 2: IGB running Several drive controllers have set up an IGB network. A152 IGB position version 0 The IGB motion bus is not used or cannot be Current position of the drive controller in the IGB network.

  • Page 270: Setup

    1: co connection The socket is not connected with the other devices. DriveControlSuite to an SD6 or an IGB network in the same subnet for the purpose of commissioning, diagnostics or maintenance. 2: 10 MBit/s There is a connection to a subscriber at a...
  • Page 271 Communication Manual SD6 Information Setting up a direct connection automatically A change to the parameter will not take effect until 1. In your project in DriveControlSuite, select the module with which you - the value is saved with action A00[0] and the drive controller is would like to set up a direct connection.
  • Page 272 Communication Manual SD6 If you would like to repeat the data exchange from steps 4 to 6, mark the 4. Click the OK button. module in the project window and press the Assignment button near the  The Assignment dialog appears: bottom.

  • Page 273: Function

    Communication Manual SD6 The following example illustrates how to calculate the IP address. 4. Check whether either 0:manual or 1:standard is entered in A166[x]. Note The IP address 128.206.17.177 with subnet mask 255.240.0.0 is entered for in this case as well that A166[0] applies to X3A, while A166[1] applies to the network interface of the computer: X3B.
  • Page 274 Communication Manual SD6 Information Setting up a direct connection manually A change to the parameter will not take effect until 1. In your project in DriveControlSuite, select the module with which you - the value is saved with action A00[0] and the drive controller is would like to set up a direct connection.
  • Page 275 Communication Manual SD6 If you would like to repeat the data exchange from steps 4 to 7, mark the 4. Enter the IP address of the gateway device. module in the project window and press the Assignment button near the 5.

  • Page 276: Function

    At least two people are always involved in remote maintenance: • The service employee who performs the remote maintenance. For example, this can be a service employee of STOBER or the machine Information manufacturer. On the usage of remote maintenance it is imperative you observe •...
  • Page 277 The teleserver is operated for the internet coordinate. Element 0 applies to X3A (for example A166.0), while connection by STOBER. Care is taken to ensure that the teleserver always element 1 applies to X3B (for example A166.1). Make the settings operates at the latest state of the art in terms of internet security.
  • Page 278 Communication Manual SD6 14.4.2 Settings for a LAN connection The FQDN (Fully Qualified Domain Name) is the complete name of a computer. Note that you must specify the FQDN of the computer on which the To be able to establish a connection via the local network, the LAN Teleserver LAN teleserver is operating in the drive controller (see Fig.
  • Page 279 Communication Manual SD6 14.4.3 Settings for an internet connection Note also the following information for the internet connection: • If possible, bypass the proxy server. This will increase the performance of A176 = 0:Internet remote maintenance. To do this, contact your responsible network administrator.
  • Page 280 An outgoing connection on the machine is always created by the local request. That request always connects with the teleserver. No other connection is possible. It is also not possible to set up an internet connection to the SD6 if the connection was not requested on the SD6.
  • Page 281 Communication Manual SD6 Proceed as follows: 14.4.6 Establishment of a connection Activate remote maintenance Setting up a connection 1. The person responsible for the machine turns on the signal parameterized 1. The service technician starts DriveControlSuite. in A167 for the drive controllers that will participate in remote 2.
  • Page 282 Communication Manual SD6 Note the following points when remote maintenance is active: 14.4.7 Deactivation of remote maintenance • At least one drive controller must be shared for remote maintenance in the NOTICE IGB network to be able to maintain the internet connection properly. You...
  • Page 283 Communication Manual SD6 14.4.8 Monitoring remote maintenance You can also obtain the Netviewer subscriber program at no cost from the homepage www.stoeber.de. The service technician has the consultant The person responsible for the machine has the option of monitoring remote program that is used to start a session.

  • Page 284: Function

    Communication Manual SD6 14.4.9 Diagnosis A178 error remote service version 0 A169 remote service advance version 0 The parameter indicates the state of remote maintenance with a hexadecimal numeric value (length: 32 bits). Each of the four bytes encodes a diagnostic value.
  • Page 285 Communication Manual SD6 The status value indicates the status of remote maintenance: Exit Code Description A remote maintenance request was not detected in the IGB Status Description network for any drive controller. Remote maintenance was value therefore terminated. No remote maintenance is started. This is the initial value after A remote maintenance request was not detected in the IGB the drive controller is turned on.
  • Page 286 Communication Manual SD6 The following errors can occur in error category 01 Status Description value Error Description A timeout occurred while setting up the HTTP connection. value The connection to the teleserver was terminated properly by Reserved DriveControlSuite. A TCP/IP error occurred while sending or receiving.
  • Page 287 The teleserver will is declining the connection. and check the network settings of the drive controller and company network. If you are unable to rectify the error in this way, please contact STOBER. The drive controller is unable to reach the IP The following errors can occur in error category 03 address of the teleserver.
  • Page 288 Communication Manual SD6 Error Description Cause no. Error Description Cause no. value value An error occurred in the flow control between Reserved – the teleserver and drive controller. An error occurred in the flow control between An error occurred in the flow control between the teleserver and drive controller.
  • Page 289 It may be necessary to share the name server for Please contact STOBER. requests from the SD6 first. An error was detected in the flow control between the The following errors can occur in error category 07 teleserver and drive controller.

  • Page 290: And Maintenance

    1.2. These General Terms and Conditions cover the maintenance at the time of setting the deadline or grace period. The above services for the SD6 drive controller offered by the supplier, such as declarations shall require the written form for their validity.
  • Page 291 The Customer shall only be entitled to use the medium, the source code and the installation on the Customer's premises software for its own purposes in conjunction with the SD6 drive are not owed. The updates can contain additional functions, whereby the controller.
  • Page 292 Internet connection set up by the Customer in allow access to the danger zone of the machine again. accordance with the SD6 manual of the remote access server. For this the Customer must inform the supplier of the serial number of the ID 442426.04...

  • Page 293: Function

    Communication Manual SD6 8.6. The remote maintenance by remote access is linked to IT security 9.5. The whole cooperation of the Customer shall be at no expense to measures, such as the session ID method, the use of which is STÖBER ANTRIEBSTECHNIK.
  • Page 294 Communication Manual SD6 for all disputes arising out of and/or in conjunction with this Contract shall the registered offices of the supplier. In the event of legal disputes, the supplier can also opt to take action at the Customer's general venue.

  • Page 295: Optimize

    Optimize Manual SD6 Optimize 15.1.3.2 Speed controller ......327 15.1.3.3 Control mode ......331 Overview of sections 15.1.3.4 Current controller .
  • Page 296 Optimize Manual SD6 15.1 Control cascade The control cascade generates the appropriate control of the motor for a required movement. The structure of the control cascade depends on the control mode set in B20. You can find this structure in the sections that follow.
  • Page 297 Optimize Manual SD6 15.1.1 B20 = 64:SSM and 70:LSM - vector control 15.1.1.1 Position controller Not for motion commands without position control (MOVE_SPEED and MOVE_TORQUE) Deadband P controller Limit Low pass x-ref from profile generator -I10 E161 v-ref from profile generator ID 442426.04...
  • Page 298 Optimize Manual SD6 lowpass reference speed version 0 Kv-factor (proportional gain position control) version 0 Reference value smoothing. C33 should be increased in response to reference Position controller gain (P-response only). The Kv factor is also referred to as value noise, vibrating mechanics or large extraneous weights.
  • Page 299 Optimize Manual SD6 current position version 0 Display of the actual position (without backlash compensation). following error version 0 Display of the current position deviation. If the following distance I84 is above the permitted maximum I21 or A546 in the case of CiA, the drive triggers fault 54 following Error if the corresponding level is set in U22.
  • Page 300 Optimize Manual SD6 15.1.1.2 Speed controller PI controller Limit Low pass M/F-ref for control mode Low pass 100 % - C37 ID 442426.04 WE KEEP THINGS MOVING...
  • Page 301 (4096 incr. / revolution) The following table contains an approximate value for C34 for all STOBER standard motors. This value may have to be adjusted down in some circumstances depending on how smoothly the motor needs to run.
  • Page 302 Optimize Manual SD6 reference torque/force low pass version 0 actual positive T-max version 0 Smoothing time constant in ms for the torque/force value on the output of the Currently active positive torque/force limit. The reference value for speed controller. Used to suppress vibrations and resonances. The effect of consideration on the load side is C09, for consideration on the motor side B18.
  • Page 303 Optimize Manual SD6 15.1.1.3 Control mode f1-Motor version 0 15.1.1.3.1 Operation without field weakening Frequency of the voltage applied to the motor. E170 M/F-ref for E166 speed controller v-motor-encoder version 0 E172 The speed determined from the motor encoder specified in B26. If the control mode in B20 does not require an encoder and none is parameterized in B26, the speed from the motor model will be displayed.
  • Page 304 Optimize Manual SD6 E166 Iq-ref version 0 Reference value for the torque generating current as a A. E170 T-reference version 0 For control modes with torque specification only. Reference torque or reference force currently required by the speed controller. The reference value for consideration on the load side is C09, for consideration on the motor side B18.
  • Page 305 Optimize Manual SD6 15.1.1.3.2 Operation with field weakening Limit E170 M/F-ref for E166 speed controller E172 Limit Field weakening E165 control Maximum Current limit permitted torque Maximum permitted current E172 ID 442426.04 WE KEEP THINGS MOVING...
  • Page 306 Optimize Manual SD6 motor-poles version 0 v-motor-encoder version 0 Number of poles of a synchronous servo motor or asynchronous motor. The speed determined from the motor encoder specified in B26. If the control If the number of pole pairs is specified for third-party motors, the value must be mode in B20 does not require an encoder and none is parameterized in B26, multiplied by 2 before it is entered.
  • Page 307 Optimize Manual SD6 version 0 Torque generating current in amps. E165 Id-ref version 0 Reference value of the magnetization current. E166 Iq-ref version 0 Reference value for the torque generating current as a A. E170 T-reference version 0 For control modes with torque specification only. Reference torque or reference force currently required by the speed controller.
  • Page 308 Optimize Manual SD6 15.1.1.4 Current controller Information 15.1.1.4.1 B59 = 0: Inactive The factory setting of this parameter depends on B20. When PID controller 64:SSM - vector control is selected, a value of 8:8kHz is entered in B24. If an asynchronous machine is used (ASM - V/f-control,...
  • Page 309 Optimize Manual SD6 kd-iq version 0 D-part of the torque controller. version 0 Magnetizing current in amps. version 0 Torque generating current in amps. version 1 Voltage in d direction in V (linked peak voltage). version 1 Voltage in q direction in V (linked peak voltage).
  • Page 310 Optimize Manual SD6 15.1.1.4.2 B59 = 1: active Information PID controller The factory setting of this parameter depends on B20. When 64:SSM - vector control is selected, a value of 8:8kHz is entered in B24. If an asynchronous machine is used (ASM - V/f-control,...
  • Page 311 Optimize Manual SD6 integral time Id version 0 version 1 Action time of the current controller for the flow generating part in ms. A setting Voltage in q direction in V (linked peak voltage). below 0.3 ms will result in an integral gain of 0 (equivalent to an infinite action time).
  • Page 312 Optimize Manual SD6 15.1.2 B20 = 2:ASM - vector control 15.1.2.1 Position controller Not for motion commands without position control (MOVE_SPEED and MOVE_TORQUE) P controller Low pass Deadband Limit x-ref from profile generator -I10 E161 v-ref from profile generator ID 442426.04...
  • Page 313 Optimize Manual SD6 Information lowpass reference speed version 0 I10 multiplied by 1.111 is equivalent to the triggering limit for event Reference value smoothing. C33 should be increased in response to reference 56:Overspeed. value noise, vibrating mechanics or large extraneous weights.
  • Page 314 Optimize Manual SD6 In addition to reducing I25, overshooting in the target position can also alleviated by increasing C32 (time constant I-part). current position version 0 Display of the actual position (without backlash compensation). following error version 0 Display of the current position deviation. ...
  • Page 315 Optimize Manual SD6 15.1.2.2 Speed controller PI controller Limit Low pass M/F-ref for control mode Low pass 100 % - C37 Proportional gain of the speed controller. proportional gain v-control version 0 ID 442426.04 WE KEEP THINGS MOVING...
  • Page 316 Optimize Manual SD6 With C31 = 100% and a speed deviation of 32 rpm for asynchronous motors Encoder designation Encoder evaluation Approximate value and synchronous servo motors, the P part of the speed controller returns the of C34 [ms] stall torque M as a reference value to the current or torque controller.
  • Page 317 Optimize Manual SD6 reference torque filter version 0 actual positive T-max version 0 The torque/force value is formed at the output of the speed controller from two Currently active positive torque/force limit. The reference value for components. The ratio of these components can be adjusted with C37: consideration on the load side is C09, for consideration on the motor side B18.
  • Page 318 Optimize Manual SD6 15.1.2.3 Control mode E170 M/F-ref for E166 speed controller E172 Slip calculation B13 B15 B63 Slip frequency characteristic Efficiency Reference flux controller Magnetization E165 control B15 B55 Field control Characteristic flux curve Actual flux Maximum permitted torque...
  • Page 319 0 The upper voltage limit is the supply voltage that is applied. STOBER system Control modes B20 = 2:ASM - vector control and 3:ASM - sensorless vector motors up to size 112 offer the option of star/delta operation. Delta operation at control have an efficiency controller.
  • Page 320 Optimize Manual SD6 With small values for B69 it may be necessary to adjust C31 proportional gain v-motor-encoder version 1 n-control as the motor otherwise tends to vibrate. Current motor encoder speed. The speed determined from the motor encoder specified in B26 and filtered...
  • Page 321 Optimize Manual SD6 E165 Id-ref version 0 Reference value of the magnetization current. E166 Iq-ref version 0 Reference value for the torque generating current as a A. E170 T-reference version 0 For control modes with torque specification only. Reference torque or reference force currently required by the speed controller.
  • Page 322 Optimize Manual SD6 15.1.2.4 Current controller Information PID controller The factory setting of this parameter depends on B20. If a synchronous servo motor or synchronous linear motor is used, the value 8:8kHz is entered in B24. If an asynchronous machine is E165 used, B24 has a value of 4:4kHz.
  • Page 323 Optimize Manual SD6 proportional gain flux version 0 Proportional gain of the flow controller. kd-iq version 0 D-part of the torque controller. version 0 Magnetizing current in amps. version 0 Torque generating current in amps. version 1 Voltage in d direction in V (linked peak voltage).
  • Page 324 Optimize Manual SD6 15.1.3 B20 = 3:ASM - sensorless vector control 15.1.3.1 Position controller Not for motion commands without position control (MOVE_SPEED and MOVE_TORQUE) P controller Low pass Deadband Limit x-ref from profile generator -I10 E161 v-ref from profile generator ID 442426.04...
  • Page 325 Optimize Manual SD6 lowpass reference speed version 0 Kv-factor (proportional gain position control) version 0 Reference value smoothing. C33 should be increased in response to reference Position controller gain (P-response only). The Kv factor is also referred to as value noise, vibrating mechanics or large extraneous weights.
  • Page 326 Optimize Manual SD6 current position version 0 Display of the actual position (without backlash compensation). following error version 0 Display of the current position deviation.  If the following distance I84 is above the permitted maximum I21, the drive triggers fault 54 following Error if the corresponding level is set in U22.
  • Page 327 Optimize Manual SD6 15.1.3.2 Speed controller >= controller Limit Low pass TRUE M/F-ref for Derating control mode FALSE speed controller Controlled 100 % - C37 torque assignment C21 C30 ID 442426.04 WE KEEP THINGS MOVING...
  • Page 328 The voltage and frequency can be increased linearly beyond the nominal point. the load torque, the motor cannot accelerate. The upper voltage limit is the supply voltage that is applied. STOBER system motors up to size 112 offer the option of star/delta operation. Delta operation at 400 V makes it possible to increase output by a factor of 1.73 with an extended...
  • Page 329 Optimize Manual SD6 proportional gain v-control version 0 reference torque filter version 0 Proportional gain of the speed controller. The torque/force value is formed at the output of the speed controller from two With C31 = 100% and a speed deviation of 32 rpm for asynchronous motors components.
  • Page 330 Optimize Manual SD6 actual positive T-max version 0 Currently active positive torque/force limit. The reference value for consideration on the load side is C09, for consideration on the motor side B18. actual negative T-max version 0 Currently active negative torque/force limit in reference to B18. The reference value for consideration on the load side is C09, for consideration on the motor side B18.
  • Page 331 Optimize Manual SD6 15.1.3.3 Control mode E170 M/F-ref for E166 speed controller Slip E172 calculation B13 B15 B63 Slip frequency characteristic Efficiency Reference flux controller Magnetization E165 control B15 B55 Field control Characteristic flux curve Actual flux Maximum permitted torque...

  • Page 332: Commissioning

    Optimize Manual SD6 Activate the encoderless SVLC-HP control mode for AC motors with B20 = 3:SLVC-HP. E07 n-post-ramp E91 n-motor E15 n-motor-encoder B48 too small) Areas of application for the SLVC-HP are drives with E91 n-motor E15 n-motor-encoder B48 too large) •...
  • Page 333 The voltage and frequency can be increased linearly beyond the nominal point. The upper voltage limit is the supply voltage that is applied. STOBER system motors up to size 112 offer the option of star/delta operation. Delta operation at 400 V makes it possible to increase output by a factor of 1.73 with an extended...
  • Page 334 B41 autotuning. However, this adjustment • The smaller the value the better the dynamic properties. should not be performed until you have consulted with STOBER. • The larger the value the lower the power consumption at a given working point.
  • Page 335 Optimize Manual SD6 If the control mode in B20 does not require an encoder and no encoder is E166 Iq-ref version 0 parameterized in B26, the speed calculated from the motor model will be displayed. Reference value for the torque generating current as a A.
  • Page 336 Optimize Manual SD6 15.1.3.4 Current controller Information PID controller The factory setting of this parameter depends on B20. If a synchronous servo motor or synchronous linear motor is used, the value 8:8kHz is entered in B24. If an asynchronous machine is E165 used, B24 has a value of 4:4kHz.
  • Page 337 Optimize Manual SD6 proportional gain flux version 0 Proportional gain of the flow controller. kd-iq version 0 D-part of the torque controller. version 0 Magnetizing current in amps. version 0 Torque generating current in amps. version 1 Voltage in d direction in V (linked peak voltage).
  • Page 338 Optimize Manual SD6 15.1.4 B20 = 1:ASM - U/f-slip compensated 15.1.4.1 Position controller Not for motion commands without position control (MOVE_SPEED and MOVE_TORQUE) P controller Low pass Deadband Limit x-ref from profile generator -I10 E161 v-ref from profile generator ID 442426.04...
  • Page 339 Optimize Manual SD6 Information lowpass reference speed version 0 I10 multiplied by 1.111 is equivalent to the triggering limit for event Reference value smoothing. C33 should be increased in response to reference 56:Overspeed. value noise, vibrating mechanics or large extraneous weights.
  • Page 340 Optimize Manual SD6 In addition to reducing I25, overshooting in the target position can also alleviated by increasing C32 (time constant I-part). current position version 0 Display of the actual position (without backlash compensation). following error version 0 Display of the current position deviation. ...
  • Page 341 Optimize Manual SD6 15.1.4.2 Control mode 15.1.4.2.1 B21 = 0: linear V/f- Limit characteristic Maximum Maximum permitted current permitted torque B14 B15 B22 -A36 Characteristic flux curve Actual flux Integrator E165 Speed reduction from torque limiting Slip frequency Torque Torque...
  • Page 342 The voltage and frequency can be increased linearly beyond the nominal point. are not taken into consideration in field weakening mode to prevent oscillations The upper voltage limit is the supply voltage that is applied. STOBER system in the motor current.
  • Page 343 Optimize Manual SD6 switching frequency version 2 SLVC-dynamics version 0 Clock frequency of the drive controller power board. The reaction rate of the control mode 1:ASM - V/f slip compensated to changes Increasing the clock frequency improves the control dynamics and reduces the in load can be adjusted with B32.
  • Page 344 Optimize Manual SD6 motor position version 0 v-motor version 1 Position of the motor or motor encoder. Current motor speed. With absolute value encoders, the encoder position is continuously read and Corresponds to the current motor encoder speed E15 when a B26 motor entered in this parameter.
  • Page 345 Optimize Manual SD6 E170 T-reference version 0 For control modes with torque specification only. Reference torque or reference force currently required by the speed controller. The reference value for consideration on the load side is C09, for consideration on the motor side B18.
  • Page 346 Optimize Manual SD6 15.1.4.2.2 B21 = 1: square V/f- Limit characteristic Maximum Maximum permitted current permitted torque B14 B15 B22 -A36 Characteristic flux curve Actual flux Integrator E165 Speed reduction from torque limiting Slip frequency Torque Torque calculation limit E166...
  • Page 347 The voltage and frequency can be increased linearly beyond the nominal point. are not taken into consideration in field weakening mode to prevent oscillations The upper voltage limit is the supply voltage that is applied. STOBER system in the motor current.
  • Page 348 Optimize Manual SD6 switching frequency version 2 SLVC-dynamics version 0 Clock frequency of the drive controller power board. The reaction rate of the control mode 1:ASM - V/f slip compensated to changes Increasing the clock frequency improves the control dynamics and reduces the in load can be adjusted with B32.
  • Page 349 Optimize Manual SD6 motor position version 0 v-motor version 1 Position of the motor or motor encoder. Current motor speed. With absolute value encoders, the encoder position is continuously read and Corresponds to the current motor encoder speed E15 when a B26 motor entered in this parameter.
  • Page 350 Optimize Manual SD6 E170 T-reference version 0 For control modes with torque specification only. Reference torque or reference force currently required by the speed controller. The reference value for consideration on the load side is C09, for consideration on the motor side B18.
  • Page 351 Optimize Manual SD6 15.1.5 B20 = 0:ASM - V/f-control 15.1.5.1 Position controller Not for motion commands without position control (MOVE_SPEED and MOVE_TORQUE) P controller Low pass Deadband Limit x-ref from profile generator -I10 E161 v-ref from profile generator ID 442426.04...
  • Page 352 Optimize Manual SD6 Information lowpass reference speed version 0 I10 multiplied by 1.111 is equivalent to the triggering limit for event Reference value smoothing. C33 should be increased in response to reference 56:Overspeed. value noise, vibrating mechanics or large extraneous weights.
  • Page 353 Optimize Manual SD6 In addition to reducing I25, overshooting in the target position can also alleviated by increasing C32 (time constant I-part). current position version 0 Display of the actual position (without backlash compensation). following error version 0 Display of the current position deviation. ...
  • Page 354 The voltage and frequency can be increased linearly beyond the nominal point. The charge relay is controlled to ensure low wear depending on the current DC The upper voltage limit is the supply voltage that is applied. STOBER system link voltage and A36.
  • Page 355 Processing with this electronic rating plate. parameter is only possible for third-party motors. The value can be autotuned For STOBER standard motors, the stator resistance of the motor is defined with action B41 autotuning. when the motor is selected.
  • Page 356 Optimize Manual SD6 motor position version 0 Position of the motor or motor encoder. With absolute value encoders, the encoder position is continuously read and entered in this parameter. This position is available in all operating modes. E09 is simulated (not precisely) for control modes without motor encoder.
  • Page 357 The voltage and frequency can be increased linearly beyond the nominal point. link voltage and A36. The upper voltage limit is the supply voltage that is applied. STOBER system In control mode B20 = 64: SSM - vector control affects A36 the field weakening motors up to size 112 offer the option of star/delta operation.
  • Page 358 0 For STOBER standard motors, the stator resistance of the motor is defined Display of the current speed reference value (RV) in user units based on the when the motor is selected.
  • Page 359 Optimize Manual SD6 This position is available in all operating modes. E09 is simulated (not precisely) for control modes without motor encoder. This parameter is reinitialized each time after the axis starts up again, i.e. the position is not retained.
  • Page 360 Optimize Manual SD6 15.1.6 Actions with enable 15.1.6.2 B42 Optimize current controller The following actions provide support for you in making motor settings: WARNING! • B40 phase test Personal injury and material damage! • B41 autotuning The motor is turning at about 2000 rpm during this action. Coupling elements •...
  • Page 361 Optimize Manual SD6 Then you can read the measured values in B64 to B68. B49[2] optimize current controller (standstill) result version 1 If a quick stop request occurs during the action, the drive is stopped immediately. After action B49 optimize current controller (standstill) is complete, the result The cycle time is set to 32 ms internally for the duration of the action.
  • Page 362 Optimize Manual SD6 I160 < 1: These setting are not recommended, but can be used with restrictions. If the encoder resolution is less than 1 per position step, there may be position control problems due to quantization, since not every position that can be displayed can be approached.

  • Page 363: Diagnosis

    Diagnosis Manual SD6 Diagnosis Overview of sections 16.1 31:Short/ground ........

  • Page 364: Function

    Diagnosis Manual SD6 16.16 46:Low voltage ........
  • Page 365 Diagnosis Manual SD6 16.33 70:Param.consist ........16.34 71:Firmware .
  • Page 366 Diagnosis Manual SD6 16.50 *ParaModul ERROR:update firmware! ....16.51 *ParaModul ERROR: file not found ....

  • Page 367: Function

    Diagnosis Manual SD6 16.1 31:Short/ground Triggering Level Response Counter The hardware short-circuit switch-off is active. The Fault The power board is switched off and the drive becomes output current is too high. If there is no supply torque-free/force-free. If the air override is inactive, a voltage when starting the device, the cause may possibly existing brake will be controlled to close.
  • Page 368 Diagnosis Manual SD6 16.3 33:Overcurrent Triggering Level Response Counter The total motor current exceeds the permitted Fault The power board is switched off and the drive becomes maximum value. torque-free/force-free unless emergency braking U30 (A29) is parameterized (from firmware V 6.0-F). If the air override is inactive, a possibly existing brake will be controlled to close.

  • Page 369: Contact

    Diagnosis Manual SD6 16.4 34:Hardw.fault Triggering Level Response Counter There is a hardware fault. Fault The power board is switched off and the drive becomes torque-free/force-free. If the air override is inactive, a possibly existing brake will be controlled to close.

  • Page 370: Function

    Diagnosis Manual SD6 Cause Description Measure Confirmable 17: opt1 databus The test of the databus for option 1 returned • Uninstall and reinstall the option. errors. • Replace the option. 18:Opt2 Adr/Databus The test of the address/databus for option 2 •...
  • Page 371 Diagnosis Manual SD6 16.6 36:High voltage Triggering Level Response Counter The voltage in the intermediate circuit exceeds the Fault The power board is switched off and the drive becomes permitted maximum (DC link voltage display in torque-free/force-free. If the air override is inactive, a E03).
  • Page 372 Diagnosis Manual SD6 16.7 37:Encoder Triggering Level Response Counter Error due to encoder Fault The power board is switched off and the drive becomes torque-free/force-free unless emergency braking U30 (A29) is parameterized. If the air override is inactive, a possibly existing brake will be controlled to close.
  • Page 373 Diagnosis Manual SD6 Cause Description Measure Confirmable 8:X4-noEnc.found No encoder was found at X4 or a wire break • Correct the connection of the encoder. was detected at the EnDat/SSI encoder. • Check the encoder cable. • Correct the power supply of the encoder.
  • Page 374 Diagnosis Manual SD6 Cause Description Measure Confirmable 18:Battery empty (EBI) The AES accessory battery is empty. • Replace the battery. Follow the instructions in the AES operating manual. 20:resol.carrier The resolver could not be calibrated or • Check the encoder cable.
  • Page 375 Diagnosis Manual SD6 Cause Description Measure Confirmable 40:X140-wire break A wire break from one or more tracks was • Check the encoder cable. detected. • Please contact our Service department. 43:X140EnDatAlar The EnDat encoder at X140 reports an • Switch the drive controller off and back alarm.

  • Page 376: Contact

    Diagnosis Manual SD6 16.8 38:TempDev.sens Triggering Level Response Counter The temperature measured by the device sensor Fault Parameterized fault response in A29: exceeds the permitted maximum value R05 or has • A29 = 0:inactive fallen below the permitted minimum value R25.
  • Page 377 Diagnosis Manual SD6 16.9 39:TempDev i2t Triggering Level Response Counter The i2t model for the drive controller is exceeding Parameterized Parameterized fault response in A29: the maximum allowable thermal utilization. level in U02: • A29 = 0:inactive From firmware V 6.0-G: A27 •...

  • Page 378: Contact

    Block not found 8:Serial number Serial number is incorrect/invalid. 32:el. nameplate No nameplate data available • For STOBER standard motor: Please contact our Service department. • For motor from other manufacturers: Set B06 to 1:arbitrary setting and manually enter the motor data.
  • Page 379 Diagnosis Manual SD6 16.11 41:Temp.MotorTMS Triggering Level Response Counter Motor temperature sensor reports Parameterized Parameterized fault response in A29: overtemperature (connection clamp X2). level in U15: • A29 = 0:inactive • Warning The power board is switched off and the drive •...
  • Page 380 Diagnosis Manual SD6 16.12 42:TempBrakeRes Triggering Level Response Counter The i t model for the braking resistor exceeds Fault Parameterized fault response in A29: 100% load. • A29 = 0:inactive The power board is switched off and the drive becomes torque-free/force-free. If the air override is inactive, a possibly existing brake will be controlled to close.
  • Page 381 Diagnosis Manual SD6 16.13 43: AE1 wire break Triggering Level Response Counter Wire break monitoring of analog input 1 in Fault Parameterized fault response in A29: operation mode F116 = 2: 4 to 20mA is reporting a • A29 = 0:inactive broken wire.
  • Page 382 Diagnosis Manual SD6 16.14 44:External fault Triggering Level Response Counter Application-specific or by free programming option Fault Parameterized fault response in A29: • A29 = 0:inactive The power board is switched off and the drive becomes torque-free/force-free. If the air override is inactive, a possibly existing brake will be controlled to close.
  • Page 383 Diagnosis Manual SD6 16.15 45:oTempMot. i2t Triggering Level Response Counter The i t model for the motor reaches 100 % load. Parameterized Parameterized fault response in A29: level in U10: • A29 = 0:inactive • Inactive The power board is switched off and the drive •...
  • Page 384 Diagnosis Manual SD6 16.16 46:Low voltage Triggering Level Response Counter A problem with the mains voltage or DC link Parametrizable Parameterized fault response in A29: voltage was detected. level in U00: • A29 = 0:inactive • Inactive The power board is switched off and the drive •...
  • Page 385 Diagnosis Manual SD6 16.17 47:TorqueLimit Triggering Level Response Counter The maximum torque permitted for static operation Parameterized Parameterized fault response in A29: is exceeded in the control types of servo control, level in U20: • A29 = 0:inactive vector control or sensorless vector control.
  • Page 386 Diagnosis Manual SD6 16.18 48:Brake release monitoring Triggering Level Response Counter If release fan monitoring is parameterized, the Parameterized Parameterized fault response in A29: control state of the brake and the status of the level in U26: • A29 = 0:inactive parameterized binary input will not match.
  • Page 387 Diagnosis Manual SD6 16.19 49:brake Triggering Level Response Counter The event is triggered by monitoring mechanisms Fault Parameterized fault response in A29: of the brake output. • A29 = 0:inactive The power board is switched off and the drive becomes torque-free/force-free. If the air override is inactive, a possibly existing brake will be controlled to close.

  • Page 388: Function

    Diagnosis Manual SD6 16.20 50:Safety function Triggering Level Response Counter The drive controller has determined Fault The power board is switched off and the drive becomes inconsistencies when monitoring the safety torque-free/force-free. If the air override is inactive, a module. Note that the test is set up functionally and possibly existing brake will be controlled to close.
  • Page 389 Diagnosis Manual SD6 16.21 51:Virtual master limit switch Triggering Level Response Counter The position of the virtual master is outside of the Parameterized Parameterized fault response in A29: parameterized limits. level in U24: • A29 = 0:inactive • Inactive The power board is switched off and the drive •...

  • Page 390: Function

    Diagnosis Manual SD6 16.22 52:Communication Triggering Level Response Counter Communication malfunction Fault Parameterized fault response in A29: • A29 = 0:inactive The power board is switched off and the drive becomes torque-free/force-free. If the air override is inactive, a possibly existing brake will be controlled to close.
  • Page 391 Diagnosis Manual SD6 Cause Description Measure Confirmable 4:PZD-Timeout Failure of the cyclic database connection • Check the PLC (RUN switch, set cycle (PROFIBUS master or PROFINET IO time). Controller no longer sending or problem • Check the wiring. with the electrical connection).

  • Page 392: Commissioning

    Diagnosis Manual SD6 Cause Description Measure Confirmable 8:IGB µC failure The microcontroller for the IGB • Check the wiring for EM-compliant communication has failed. design. • The drive controller must be sent in for repair. Please contact our Service department.

  • Page 393: Function

    Diagnosis Manual SD6 Cause Description Measure Confirmable 13:IGBPartnerSyn There is a synchronization malfunction for Check the drive controller that displays another subscriber in the IGB network (see event 52 with cause 11. cause 11). This subscriber reported its fault via A163. As a result, this drive controller is also faulty with cause 13.
  • Page 394 Diagnosis Manual SD6 Cause Description Measure Confirmable 1:HW limit switch positive The drive has reached the positive • Move back in the opposite direction from hardware limit switch. the limit switch into the travel range. • Check the connection of the hardware...
  • Page 395 Diagnosis Manual SD6 16.24 54:following Error Triggering Level Response Counter The difference between the actual and target Parameterized Parameterized fault response in A29: position exceeds the parameterized maximum level in U22: • A29 = 0:inactive allowable following error. • Inactive The power board is switched off and the drive •...
  • Page 396 Diagnosis Manual SD6 16.25 55:Option module Triggering Level Response Counter Error when operating with option module. Fault Parameterized fault response in A29: • A29 = 0:inactive The power board is switched off and the drive becomes torque-free/force-free. If the air override is inactive, a possibly existing brake will be controlled to close.

  • Page 397: Contact

    Diagnosis Manual SD6 16.26 56:Overspeed Triggering Level Response Counter The measured velocity I88 is greater than I10 x Fault The power board is switched off and the drive becomes 1.111. torque-free/force-free unless emergency braking U30 From firmware 6.0-B: If the motor and position (A29) is parameterized.

  • Page 398: Contact

    Diagnosis Manual SD6 16.27 57:Runtime usage Triggering Level Response Counter The cycle time of a real-time task was exceeded. Fault Parameterized fault response in A29: • A29 = 0:inactive The power board is switched off and the drive becomes torque-free/force-free. If the air override is inactive, a possibly existing brake will be controlled to close.
  • Page 399 Diagnosis Manual SD6 16.28 58:Encoder simulation Triggering Level Response Counter An error was discovered in encoder simulation. Fault Parameterized fault response in A29: • A29 = 0:inactive The power board is switched off and the drive becomes torque-free/force-free. If the air override is inactive, a possibly existing brake will be controlled to close.
  • Page 400 Diagnosis Manual SD6 16.29 59:TempDev. i2t Triggering Level Response Counter The i t model calculated for the drive controller Fault Parameterized fault response in A29: exceeds 105% of thermal load. • A29 = 0:inactive The power board is switched off and the drive becomes torque-free/force-free.
  • Page 401 Diagnosis Manual SD6 16.30 60-67:Application events 0-7 Triggering Level Response Counter Application-specific or based on free programming Parameterized Parameterized fault response in A29: Z60 to Z67 option; can be separately programmed for each level in U100, • A29 = 0:inactive...
  • Page 402 Diagnosis Manual SD6 16.31 68: External fault Triggering Level Response Counter Application-specific or by free programming Fault Parameterized fault response in A29: option; should be used for application events that • A29 = 0:inactive may only be parameterized on the fault level.
  • Page 403 Diagnosis Manual SD6 16.32 69:Motor connect. Triggering Level Response Counter Motor connection error Parameterized Parameterized fault response in A29: level in U12: • A29 = 0:inactive • Inactive The power board is switched off and the drive • Fault becomes torque-free/force-free. If the air override is inactive, a possibly existing brake will be controlled to close.
  • Page 404 Diagnosis Manual SD6 16.33 70:Param.consist Triggering Level Response Counter There is inconsistent parameterization when Fault The power board remains switched off and the drive is enable is activated. torque-free/force-free. If the air override is inactive, a possibly existing brake will be controlled to close.
  • Page 405 Diagnosis Manual SD6 Cause Description Measure Confirmable 7:B26:SSI-Slave SSI slave must not be used as a motor Correct the parameterization. encoder (synchronization problems). 8:I10>B83 I10 must not be greater than B83. Correct the parameterization. ID 442426.04 WE KEEP THINGS MOVING...

  • Page 406: Commissioning

    Diagnosis Manual SD6 16.34 71:Firmware Triggering Level Response Counter A firmware error was detected. Fault Causes 1 and 2: The power board remains switched off and the drive is torque-free/force-free. If a brake is fitted it is activated to engage if air override is inactive.

  • Page 407: Function

    Diagnosis Manual SD6 16.35 72:Brake test Triggering Level Response Counter The time set in B311 timeout for brake test B300 Causes 1 and 2: The power board remains switched off and the drive is has elapsed while brake management is active Fault torque-free/force-free.

  • Page 408: Function

    Diagnosis Manual SD6 16.36 73:Ax2braketest Triggering Level Response Counter The time set in B311 timeout for brake test B300 Causes 1 and 2: The power board remains switched off and the drive is has elapsed while brake management is active Fault torque-free/force-free.

  • Page 409: Function

    Diagnosis Manual SD6 16.37 74:Ax3braketest Triggering Level Response Counter The time set in B311 timeout for brake test B300 Causes 1 and 2: The power board remains switched off and the drive is has elapsed while brake management is active Fault torque-free/force-free.

  • Page 410: Function

    Diagnosis Manual SD6 16.38 75:Ax4braketest Triggering Level Response Counter The time set in B311 timeout for brake test B300 Causes 1 and 2: The power board remains switched off and the drive is has elapsed while brake management is active Fault torque-free/force-free.
  • Page 411 Diagnosis Manual SD6 16.39 76:position encoder Triggering Level Response Counter Error by position encoder Fault The power board is switched off and the drive becomes torque-free/force-free. If the air override is inactive, a possibly existing brake will be controlled to close.
  • Page 412 Diagnosis Manual SD6 Cause Description Measure Confirmable 8:X4-noEnc.found No encoder was found at X4 or a wire break • Correct the connection of the encoder. was detected at the EnDat/SSI encoder. • Check the encoder cable. • Correct the power supply of the encoder.
  • Page 413 Diagnosis Manual SD6 Cause Description Measure Confirmable 18:Battery empty (EBI) The AES accessory battery is empty. • Replace the battery. Follow the instructions in the AES operating manual. 20:resol.carrier The resolver could not be calibrated or • Check the encoder cable.
  • Page 414 Diagnosis Manual SD6 Cause Description Measure Confirmable 43:X140EnDatAlar The EnDat encoder at X140 reports an • Switch the drive controller off and back alarm. on again. • The encoder is faulty. Please contact our service department. 44:X140EnDatCRC Errors accumulate during data transfer. The •...
  • Page 415 Diagnosis Manual SD6 16.40 77:Master encoder Triggering Level Response Counter Error by master encoder Fault Parameterized fault response in A29: • A29 = 0:inactive The power board is switched off and the drive becomes torque-free/force-free. If the air override is inactive, a possibly existing brake will be controlled to close.
  • Page 416 Diagnosis Manual SD6 Cause Description Measure Confirmable 6:X4-EnDatfound An EnDat encoder was detected at X4 Check the setting of the H00 parameter. although a different encoder was parameterized. 7:AX5000/IncEnc A wire break in the A-channel was discover Check the encoder cable of the incremental on X4 with an incremental encoder.
  • Page 417 Diagnosis Manual SD6 Cause Description Measure Confirmable 20:resol.carrier The resolver could not be calibrated or • Check the encoder cable. optimized. • Check whether the specification of the resolver matches the specifications of 21:X140-undervolt. Incorrect transfer factor STOBER. 22:X140-Overvltg •...
  • Page 418 Diagnosis Manual SD6 Cause Description Measure Confirmable 43:X140EnDatAlar The EnDat encoder at X140 reports an • Switch the drive controller off and back alarm. on again. • The encoder is faulty. Please contact our service department. 44:X140EnDatCRC Errors accumulate during data transfer. The •...
  • Page 419 Diagnosis Manual SD6 16.41 78:position limit cyclic Triggering Level Response Counter Error by cyclic position assignment Fault Parameterized fault response in A29: • A29 = 0:inactive The power board is switched off and the drive becomes torque-free/force-free. If the air override is inactive, a possibly existing brake will be controlled to close.
  • Page 420 Diagnosis Manual SD6 16.42 79:Motor/position monitor Triggering Level Response Counter The plausibility check between the values of the Parameterized Parameterized fault response in A29: motor encoder and position encoder has returned level in U28: • A29 = 0:inactive errors. •...
  • Page 421 Diagnosis Manual SD6 16.43 80:illegal action Triggering Level Response Counter The event is triggered if an action that is started is Fault The power board is switched off and the drive becomes not permitted. torque-free/force-free. If the air override is inactive, a possibly existing brake will be controlled to close.
  • Page 422 Diagnosis Manual SD6 16.44 81:motor allocation Triggering Level Response Counter The event is triggered if any motor other than the Fault The power board remains switched off and the drive is projected one is detected when the electronic torque-free/force-free. IIf the air override is inactive, a nameplate is mapped.
  • Page 423 Diagnosis Manual SD6 Cause Description Measure Confirmable 66:Modified commutation and The commutation of the connected motor Perform A00 save values. temperature sensor and the temperature sensor do not match the saved commutation and the saved temperature sensor. 67:Modified commutation and brake The commutation of the connected motor, Perform A00 save values.
  • Page 424 Diagnosis Manual SD6 16.45 82:Hall sensor Triggering Level Response Counter Error by Hall sensor. Fault The power board is switched off and the drive becomes torque-free/force-free unless emergency braking U30 (A29) is parameterized. If the air override is inactive, a possibly existing brake will be controlled to close.
  • Page 425 Diagnosis Manual SD6 16.46 83:Failure of one/all mains phases Triggering Level Response Counter A problem was discovered with the supply voltage. Warning with 10 s Parameterized fault response in A29: warning time • A29 = 0:inactive The power board is switched off and the drive becomes torque-free/force-free.
  • Page 426 Diagnosis Manual SD6 16.47 84:Drop in network with power stage active Triggering Level Response Counter A problem was discovered with the supply voltage. Fault The power board is switched off and the drive becomes torque-free/force-free unless emergency braking U30 (A29) is parameterized. If the air override is inactive, a possibly existing brake will be controlled to close.
  • Page 427 Diagnosis Manual SD6 16.48 85:Excessive jump in reference value Triggering Level Response Counter If reference value monitoring C100 is active, the Fault Parameterized fault response in A29: assigned reference values require an acceleration • A29 = 0:inactive that the motor is unable to maintain while keeping...

  • Page 428: Function

    Diagnosis Manual SD6 16.49 #<Placeholder> Resolution Level Response A program run error was found in the Fault The power stage is switched off, the drive is free of torque/force. A microprocessor. possibly existing brake will be controlled to close. The brake chopper is turned off.
  • Page 429 Diagnosis Manual SD6 16.51 *ParaModul ERROR: file not found Triggering Level Response The Paramodule file can not be read. — The configuration does not start. The power stage remains switched off, the drive is free of torque/force. A possibly existing brake will be controlled to close. The brake chopper is turned off.
  • Page 430 Diagnosis Manual SD6 16.53 *ParaModul ERROR: ksb write error Triggering Level Response An error was detected when writing the — The configuration does not start. configuration in the configuration memory. The power stage remains switched off, the drive is free of torque/force. If there is a brake present it will be released automatically.
  • Page 431 Diagnosis Manual SD6 16.55 *ConfigStartERROR remanents lost Triggering Level Response No flag values are saved. — The configuration does not start. The power stage remains switched off, the drive is free of torque/force. A possibly existing brake will be controlled to close. The brake chopper is turned off.

  • Page 432: Function

    Diagnosis Manual SD6 16.57 *ConfigStartERROR unknown string Triggering Level Response The versions of configuration and firmware do not — The configuration does not start. match. The power stage remains switched off, the drive is free of torque/force. A possibly existing brake will be controlled to close. The brake chopper is turned off.

  • Page 433: Function

    Diagnosis Manual SD6 16.59 *ConfigStartERROR unknown limit Triggering Level Response The versions of configuration and firmware do not — The configuration does not start. match. The power stage remains switched off, the drive is free of torque/force. A possibly existing brake will be controlled to close. The brake chopper is turned off.

  • Page 434: Function

    Diagnosis Manual SD6 16.61 *ConfigStartERROR unknown pre-rd Triggering Level Response The versions of configuration and firmware do not — The configuration does not start. match. The power stage remains switched off, the drive is free of torque/force. A possibly existing brake will be controlled to close. The brake chopper is turned off.
  • Page 435 Diagnosis Manual SD6 16.63 no configuration paramodul error Triggering Level Response An error is found by the Paramodule during start- — The configuration does not start. Alternating to the event display, STOBER. The power stage remains switched off, the drive is free of torque/force. A possibly existing brake will be controlled to close.

  • Page 436: Contact

    Diagnosis Manual SD6 16.65 configuration stopped Triggering Level Response The current configuration was stopped. — The configuration does not start. Alternating to the event display, STOBER. The power stage remains switched off, the drive is free of torque/force. A possibly existing brake will be controlled to close. The brake chopper is turned off.

  • Page 437: Id 442426.04 We Keep Things Moving

    Notes ID 442426.04 WE KEEP THINGS MOVING...
  • Page 438 25 Fon +65 65112912 Fon +43 7613 7600-0 countries Fax +33 4 78985901 Fax +65 65112969 Fax +43 7613 7600-2525 E-Mail: info@stober.sg  E-Mail: mail@stober.fr E-Mail: office@stoeber.at Service network  www.stober.fr www.stober.sg www.stoeber.at Germany...
  • Page 439 STÖBER ANTRIEBSTECHNIK GmbH & Co. KG Technische Änderungen vorbehalten Kieselbronner Str. 12 Errors and changes excepted 75177 PFORZHEIM ID 442426.04 GERMANY Tel. +49 7231 582-0 442426.04 Fax +49 7231 582-1000 E-Mail: mail@stoeber.de www.stober.com 24h Service Hotline +49 180 5 786 323...

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