Stober SD6 Series Commissioning Instructions
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Stober SD6 Series Commissioning Instructions

Stober SD6 Series Commissioning Instructions

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SD6
Commissioning Instructions
en
01/2015
442537.01

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  • Page 1 Commissioning Instructions 01/2015 442537.01...

  • Page 2: Table Of Contents

    Table of contents Commissioning Instructions SD6 Table of contents Electrical Data ........11 3.5.1 Control board .
  • Page 3 Table of contents Commissioning Instructions SD6 5.4.1 Line fuse ........27 5.6.6 X103C .

  • Page 4: General Information

    General Information To ensure proper functionality, we recommend using cables from STOBER (see SD6 manual). In case of use of unsuitable connection The new SD6 drive controller offers maximum precision and productivity cables, we reserve the right to reject claims under the warranty.

  • Page 5: Further Support

    General Information Commissioning Instructions SD6 Further support Formula symbol Speed If you have technical questions that are not answered by this document, Number of pole pairs please contact: (Effective) power • Phone: +49 7231 582-3060 Resistance • E-mail: applications@stoeber.de Temperature Abbreviations, symbols, indexes τ...

  • Page 6: Symbols, Identifiers, Marks

    General Information Commissioning Instructions SD6 Symbols, identifiers, marks The following names that are used in conjunction with the device, its optional equipment and its accessories are trademarks or registered trademarks of other companies: Symbols EN 61558-2-20 Trademarks Choke without overload protection. CANopen,...

  • Page 7: Notes On Safety

    On no account can sufficient insight into the Machine Directive be given STOBER shall assume no liability for damage resulting from failure to as part of this documentation. For this reason, seek detailed information comply with the instruction manual or relevant regulations. We reserve about the norms and legal position.

  • Page 8: Working On The Machine

    Notes on safety Commissioning Instructions SD6 Working on the machine Presentation of notes on safety Apply the 5 safety rules in the order stated before performing any work NOTICE on the machine: Notice 1. Disconnect. Also ensure that the auxiliary circuits are disconnected. means that property damage may occur 2.

  • Page 9: Technical Data

    Use in environments with harmful substances as specified by EN 60721, for example oils, acids, gases, vapors, dust and radiation Implementation of the following applications is only permitted after approval is obtained from STOBER: • Use in non-stationary applications ID 442537.01...

  • Page 10: Type Designation

    Technical data Commissioning Instructions SD6 Type designation Designation Value in the example Meaning Sample code Type SD6A06TEX Drive controller type according to the type designation Date 1318 Production week in format Explanation YYWW, in the example shown here year 2013, week Code Designation Design...

  • Page 11: Sizes

    Technical data Commissioning Instructions SD6 Sizes Electrical Data The drive controller SD6 includes the following types and sizes: 3.5.1 Control board Type Size Control board SD6A02 20.4 – 28.8 V SD6A04 1.5 A 1max SD6A06 a) Depending on the accessories used. SD6A14 SD6A16 SD6A24...

  • Page 12: Power Board

    Technical data Commissioning Instructions SD6 3.5.2 Power board 3.5.2.2 Size 1: SD6A1x 3.5.2.1 Size 0: SD6A0x Type SD6A14 SD6A16 (L1 – L3) 3  400 V, +32 % / -50 %, 50/60 Hz; Type SD6A02 SD6A04 SD6A06 (L1 – L3) 3  480 V, 50/60 Hz (L1 –...
  • Page 13 Technical data Commissioning Instructions SD6 3.5.2.3 Size 2: SD6A2x 3.5.2.4 Size 3: SD6A3x Type SD6A24 SD6A26 Type SD6A34 SD6A36 SD6A38 (L1 – L3) 3  400 V, +32 % / -50 %, 50/60 Hz; (L1 – L3) 3 x 400 V, +32 % / -50 %, 50/60 Hz; (L1 –...
  • Page 14 Technical data Commissioning Instructions SD6 3.5.2.5 Derating 3.5.2.5.2 Effect of surrounding temperature When dimensioning the drive controller, observe the derating of the Derating depending on the ambient temperature is determined as output current depending on the clock frequency, surrounding follows: temperature, and installation altitude.

  • Page 15: Mechanical Data

    Technical data Commissioning Instructions SD6 Mechanical Data Example A drive controller of type SD6A06 will be operated at a clock frequency 3.6.1 Device features of 8 kHz at an altitude of 1500 m above sea level and an surrounding temperature of 50° C. The nominal current of the SD6A06 at 8 kHz is 3.4 A (see 3.5.2.5.1).

  • Page 16: Dimensions

    Technical data Commissioning Instructions SD6 3.6.2 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 17 Technical data Commissioning Instructions SD6 Dimensions [mm] Size 3 Drive controller Height 382.5 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 fastening holes of the drive 150+0.2/-0.2 controller Horizontal distance from the side...

  • Page 18: Installation

    Installation Commissioning Instructions SD6 Installation • Attach the devices vertically. • Avoid installation above or in the immediate vicinity of heat- generating devices  Notes on safety such as output deraters or braking resistors. Installation work is only admissible when no voltage is present. Observe •...

  • Page 19: Terminal Modules

    Installation Commissioning Instructions SD6 Terminal modules Analog and binary signals can only be connected via one of terminal modules XI6, RI6 or IO6. Installation is identical for all terminal modules. You need: WARNING! • A Torx screwdriver TX10. Danger of personal injury and material damage due to electric •...

  • Page 20: Communication Modules

    Installation Commissioning Instructions SD6 Communication modules You need: • A Torx screwdriver TX10. • The cover and screw included with the communication module. WARNING! Danger of personal injury and material damage due to electric shock! Installation of the communication module Always switch off all power supply voltage before working on the ...

  • Page 21: Quick Dc-Link

    Installation Commissioning Instructions SD6 Quick DC-Link • A PH2 Phillips screwdriver. • An 8 mm hexagonal socket wrench. WARNING! Danger of personal injury and material damage due to electric Installation of DL6 modules shock! 1. Fasten the DL6 modules onto the mounting plate with the threaded Always switch off all power supply voltage before working on the ...

  • Page 22: Bottom Brake Resistor

    Installation Commissioning Instructions SD6 Bottom brake resistor Installation of the submounting brake resistor WARNING! 1. Attach the bottom brake resistor to the mounting plate with the studs: Danger of personal injury and material damage due to electric shock! Always switch off all power supply voltage before working on the ...
  • Page 23 Installation Commissioning Instructions SD6 3. Press the device down on the guides: 5. Connect the braking resistor. Refer to the terminal description for X30 (R+ and R-) for proper connection of the cable, see section 5.5.11 6. Parameterize the braking resistor in the drive controller. 4.

  • Page 24: Emc Shroud

    Installation Commissioning Instructions 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. Danger of personal injury and material damage due to electric 2.

  • Page 25: Connecting

    Connecting Commissioning Instructions SD6 Connecting The protection class is protective grounding. Because of this, operation is only admissible if the protective ground wire is connected according to requirements. Notes on safety The essential protective ground connections are identified by "PE" or Connection work is only admissible when no voltage is present.

  • Page 26: General Information

    Connecting Commissioning Instructions SD6 General information 5.2.2 Selecting the cables Note that the motor, cables and drive controller each have electrical 5.2.1 EMC connection properties which influence one another. Unfavorable combinations could possibly result in impermissible voltage peaks on the motor and Information drive controller and therefore to increased wear.

  • Page 27: Wiring

    Connecting Commissioning Instructions SD6 Wiring Type Input current Input current Recommended (8 kHz) (4 kHz) max. mains fuse Observe the regulations applicable for your machine or system when installing the electrical equipment, e.g. DIN IEC 60364 or SD6A02 5.9 A 8.3 A 10 A DIN EN 50110.

  • Page 28: Residual Current Safety Device

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

  • Page 29: Housing Ground

    Connecting Commissioning Instructions SD6 5.4.3 Housing ground False triggering – causes Depending on stray capacitances and asymmetries, stray currents up to Note the following information on the connection of the protective earth 40 mA may occur during operation. Undesirable false triggering occurs to ground the housing correctly: •...

  • Page 30: Drive Controller

    Connecting Commissioning Instructions SD6 Drive controller 5.5.1 Overview of terminals The terminal overview described in this section show the SD6 drive controller with the following equipment in the pictures: • Safety technology ST6 • Terminal module XI6 • Communication module EC6 (EtherCAT) ...
  • Page 31 Connecting Commissioning Instructions SD6 5.5.1.1 Size 0 Housing grounding X4: Encoder X10: 230 V/400 V power supply X1: Enable and relay 1 X11: 24-V power supply 10 X2: Motor temperature sensor X12: Safety technology (ST6) 11 X6: Motor holding brake (feedback and supply) X3A and X3B: PC, IGB 12 X5: Motor holding brake (control) X200 and X201: Optional communication module EtherCAT (EC6)...
  • Page 32 Connecting Commissioning Instructions SD6 5.5.1.2 Size 1 Housing grounding X4: Encoder X10: 400 V power supply X1: Enable and relay 1 X11: 24-V power supply 10 X2: Motor temperature sensor X12: Safety technology (ST6) 11 X6: Motor holding brake (feedback and supply) X3A and X3B: PC, IGB 12 X5: Motor holding brake (control) X200 and X201: Optional communication module EtherCAT (EC6)...
  • Page 33 Connecting Commissioning Instructions SD6 5.5.1.3 Size 2 Housing grounding X4: Encoder X10: 400 V power supply X1: Enable and relay 1 X11: 24 V power supply 10 X6: Motor holding brake (feedback and supply) X12: Safety technology (ST6) 11 X2: Motor temperature sensor X3A and X3B: PC, IGB 12 X5: Motor holding brake (control) X200 and X201: Optional communication module EtherCAT (EC6)...
  • Page 34 Connecting Commissioning Instructions SD6 5.5.1.4 Size 3 X10: 400 V power supply X4: Encoder X11: 24 V power supply X1: Enable and relay 1 X12: Safety technology (ST6) X2: Motor temperature sensor X3A and X3B: PC, IGB 10 X6: Motor holding brake (feedback and supply) X200 and X201: Optional communication module EtherCAT (EC6)...

  • Page 35: X1: Enable And Relay 1

    Connecting Commissioning Instructions SD6 5.5.2 X1: Enable and relay 1 Maximum conductor cross-section Use the enable signal to enable the power pack of the drive controller. Connection type Maximum conductor cross-section [mm The function of relay 1 can be adjusted in parameter F75. Rigid Flexible General specification...

  • Page 36: X2: Motor Temperature Sensor

    Connecting Commissioning Instructions SD6 5.5.3 X2: Motor temperature sensor Maximum conductor cross-section Terminal X2 is provided for connecting motor temperature sensors. This Connection type Maximum conductor cross-section [mm means you can connect either one KTY 84 in one winding, one PTC per Rigid winding or up to two PTC drillings for operation with multiple motors.

  • Page 37: X3A, X3B: Pc, Igb

    RecvData- Ethernet communication — Not used — Cable specification STOBER provides ready-made cables for • direct connection of PC drive controllers and • to set up the integrated bus. These cables must be used to ensure proper functionality. On this aspect, pay attention to the section on Accessories.

  • Page 38: X4: Encoder

    Connecting Commissioning Instructions SD6 5.5.5 X4: Encoder SSI specification Clock frequency 250 kHz NOTICE Sampling rate 250 µs Danger of encoder destruction! Code Binary or Gray X4 may not be connected or disconnected when the device is on!  Encoder type and Multiturn: 24 or 25 bits Single-turn: 13 bits short or 13 bits tree ...
  • Page 39 Encoder supply Terminal description X4 – EnDat and SSI encoders Through Designation Function 5 V  Encoder sense line STOBER synchronous — — (controlled at the connected to pin 12 (sense) servo motors Socket Reference for encoder power on pin 4 encoder) Standard: EnDat 2.1/2.2...
  • Page 40 Connecting Commissioning Instructions SD6 Terminal description X4 for HTL encoder Terminal description X4 for TTL encoder Designation Function, data Designation Function, data Differential input for B-track — — Socket Socket Reference for encoder power on pin 4 Reference for encoder supply to pin 4 Differential input for N-track —...

  • Page 41: 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 –...

  • Page 42: X10: 230 V/400 V Power

    Connecting Commissioning Instructions SD6 5.5.7 X10: 230 V/400 V power Maximum conductor cross-section of power supply connection terminals Terminal description – single-phase power connection size 0 Size Size 0 Size 1 Size 2 Size 3 Designation Function Max. cross-section for —...

  • Page 43: X11: 24 V Power

    Connecting Commissioning Instructions SD6 5.5.8 X11: 24 V power Information The drive controller must not be connected to a DC mains power Connection of 24 V to X11 is required for powering the control part. supply. Supply the drive controller instead with a local 24 V DC power supply.

  • Page 44: X12: Safety Technology

    Connecting Commissioning Instructions SD6 5.5.9 X12: Safety technology Terminal description X12 Information Designation/function Please note: (bridged internally) If you will be using the safety function, make certain to read the ST6 manual (see section 1.2 Other manuals). If you do not want to use the safety function, connect 24 V to (bridged internally) X12.STO and X12 STO...

  • Page 45: X20: Motor

    Connecting Commissioning Instructions SD6 5.5.10 X20: Motor Maximum conductor cross-section of power supply connection terminals Terminal description X20 – size 0, size 1, size 2 Size Size 0 Size 1 Size 2 Size 3 Designation Function Max. cross-section for Size 0 Size 1 Size 2 Motor connection phase U...
  • Page 46 Connecting Commissioning Instructions SD6 Connection with output choke Observe the following points when connecting the motor to the output choke: • Ground the shield of the motor cable with large area contacts in the immediate vicinity of the output choke, for example with electrically conductive metal cable terminals on a grounded connection rail.

  • Page 47: X30: Quick Dc-Link, Braking Resistor

    Connecting Commissioning Instructions SD6 5.5.11 X30: Quick DC-Link, braking resistor Principal circuit diagram Terminal X30 is available for connecting a braking resistor and – in the case of a Quick DC-Link – for connecting a drive controller with module DL6. Regarding the structure of Quick DC-Link, please refer to the SD6 manual (see section 1.2 Other manuals).

  • Page 48: Terminal Modules

    Connecting Commissioning Instructions SD6 Terminal modules Electrical data Analog inputs  Level ±10 V WARNING! AE1 and AE2 Resolution 16 bits Danger of faulty machine behavior due to EMC faults! Internal resistance > 40 kΩ Use exclusively cables up to 30 m in length for analog and binary ...

  • Page 49: X101

    Connecting Commissioning Instructions SD6 5.6.2 X101 Maximum conductor cross-section X101 specification Connection type Maximum conductor cross-section [mm General specification Rigid Maximum cable length 30 m, shielded Flexible Flexible with cable end, without plastic sleeve Electrical data Flexible with cable end, with Binary inputs ...
  • Page 50 Connecting Commissioning Instructions SD6 Terminal description X101 for binary signals BE encoder and BA encoder simulation To be able to simulate or evaluate encoders on binary interfaces, you Designation Function must place one of the terminal modules XI6, RI6 or IO6 in operation. DGND Reference ground To evaluate single-ended incremental encoder or stepper motor signals,...
  • Page 51 Connecting Commissioning Instructions SD6 Terminal description X101 incremental encoders and stepper Simulation – incremental and stepper motor signals motor signals XI6: 50 mA, RI6 and IO6: 100 mA 2max Designation Function Eff. update rate 4 kHz DGND Limit frequency 250 kHz Reference ground, bridged internally DGND Extrapolation...

  • Page 52: X102

    Connecting Commissioning Instructions SD6 Terminal description X101 for Hall sensor signals Electrical data Designation Function Analog input AE3 Level ±10 V DGND Resolution 16 bits Reference ground DGND Internal resistance > 40 kΩ HALL A Refresh rate Cycle time of the application (at least 1 HALL B HALL C...

  • Page 53: X103A

    Connecting Commissioning Instructions SD6 5.6.4 X103A Maximum conductor cross-section X103A specification Connection type Maximum conductor cross-section [mm General specification Rigid Maximum cable 30 m, shielded Flexible length Flexible with cable end, without plastic sleeve Flexible with cable end, with 0.75 Electrical data plastic sleeve Binary outputs ...

  • Page 54: X103B

    Connecting Commissioning Instructions SD6 5.6.5 X103B 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 X103B specification BA10 Binary input General specification Maximum cable 30 m, shielded...

  • Page 55: X103C

    Connecting Commissioning Instructions SD6 5.6.6 X103C Maximum conductor cross-section Information Connection type Maximum conductor cross-section [mm When the 24 V power fails, binary inputs BE6 to BE13 have signal Rigid status 0 (regardless of the physical signal state). Flexible Flexible with cable end, X103C specification without plastic sleeve General specification...
  • Page 56 Connecting Commissioning Instructions SD6 Terminal description X120 for SSI encoder Specification SSI (evaluation and simulation) Designation Function Cycle frequency (SSI 592 kHz (motor encoder) or 250 kHz (position master) encoder) GND-ENC Reference potential for pin 4 to pin 7 Connector Code Binary or Gray —...
  • Page 57 Connecting Commissioning Instructions SD6 Terminal description of X120 for incremental signals Terminal description of X120 for stepper motor signals Designation Function Designation Function GND-ENC Reference potential for pin 2 to pin 7 GND-ENC Reference potential for pin 2 to pin 7 Connector Differential input/output for the ...

  • Page 58: X140

    Encoder supply Maximum cable 100 m Through length 5 V  Encoder sense line connected to pin STOBER servo motors  (controlled at 12 (sense) cable end) EnDat 2.1/2.2 EnDat 2.1 specification with and without sin-cos channels (evaluation) TTL ...
  • Page 59 Connecting Commissioning Instructions SD6 Terminal description X140 resolver Terminal description X140 EnDat sin/cos Designation Function Designation Function Sin+ Sin input Sin+ Sin input Socket Socket R1 Ref- Resolver excitation signal Reference for encoder supply to pin 4 Cos+ Cos input Cos+ Cos input —...

  • Page 60: Communication Modules

    – about 60 nF/km) for CANopen communication (in Cable specification accordance with ISO 11898). STOBER provides ready-made cables for the EtherCAT connection. These cables must be used to ensure proper functionality. It is also possible to use cables with the following specification:...

  • Page 61: Drive Controller Wiring

    Connecting Commissioning Instructions SD6 Drive controller wiring 7. Connect the power supply voltage for the holding brake to terminal X6 and attach it. WARNING! 8. Attach terminals X2 and X5. Danger of personal injury and material damage due to electric 9.

  • Page 62: Examples Of Connections

    Connecting Commissioning Instructions SD6 5.8.1 Examples of connections The graphic below shows wiring connection examples with indirect brake control. The graphic below shows wiring connection examples with direct brake control. Legend Legend Drive controller Reference ground Drive controller Motor Control system Motor Control system Speed...

  • Page 63: Commissioning

    Commissioning Commissioning Instructions SD6 Commissioning • Enable drive in local mode if parameterized. Drive controller – control unit • To save data with protection against power failure: Press the key and hold it for 3 seconds. The control unit consists of a graphical display (LCD) and sensor keys. •...

  • Page 64: Menu Structure And Navigation

    Commissioning Commissioning Instructions SD6 6.1.1 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 01000011 0000000000000000 [0] SD6A06...

  • Page 65: Wiring And Function Test

    Status display 1 provides information about the causes of a possible You can perform an initial function test with STOBER standard switch on disable; status display 2 provides information about the parameterization if you are operating the drive controller together with a analog and binary inputs and outputs;...

  • Page 66: Practical Test Sequence

    Commissioning Commissioning Instructions SD6 6.2.2 Practical test sequence Beginning of test WARNING! Danger due to moving parts! Turn on 24 vdc brake power suppy The motor shaft is turning in the wiring and function test described below! Clear the danger zone before the test. ...

  • Page 67: Additional Parameter Information

    Commissioning Commissioning Instructions SD6 Additional parameter information Performing the test You can use to parameters to 5. The drive controller is ready to switch on • adjust the functionality of the drive controller to your application, 5.1 Activate local mode with the manual button. •...
  • Page 68 Commissioning Commissioning Instructions SD6 E 49 – "Switch on disable" state I10 – Maximum velocity This parameter contains the causes for the "Switch on disable" state in Maximum velocity as a limit for coded format (each bit encodes one cause). •...
  • Page 69 25 Fon +33 4 78989180  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 70 STÖBER ANTRIEBSTECHNIK GmbH & Co. KG Technische Änderungen vorbehalten Kieselbronner Str. 12 Errors and changes excepted 75177 PFORZHEIM ID 442537.01 GERMANY 01/2015 Tel. +49 7231 582-0 Fax +49 7231 582-1000 442537.01 E-Mail: mail@stoeber.de www.stober.com 24h Service Hotline +49 180 5 786 323...

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