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SIGMATEK ST 151 Manual

S-dias stepper motor output stage
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ST 151
S-DIAS Stepper Motor Output
Stage
Date of creation: 23.10.2017
Version date: 02.12.2019
Article number: 20-014-151-E

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Summary of Contents for SIGMATEK ST 151

  • Page 1 ST 151 S-DIAS Stepper Motor Output Stage Date of creation: 23.10.2017 Version date: 02.12.2019 Article number: 20-014-151-E...
  • Page 2 (print, photocopy, microfilm or in any other process) without the express permission. We reserve the right to make changes in the content without notice. The SIGMATEK GmbH & Co KG is not responsi- ble for technical or printing errors in the handbook and assumes no responsibility for damages that occur through...
  • Page 3 S-DIAS STEPPER MOTOR OUTPUT STAGE ST 151 S-DIAS Stepper Motor Output Stage ST 151 with 1 stepper motor output stage 50 V/5 A 1 brake chopper 1 incremental encoder input RS485/TTL switchable 2 enable inputs +24 V/3.2 mA/0.5 ms with STO function 2 latch/digital inputs+24 V/3.7 mA/10 µs...

  • Page 4: Table Of Contents

    ST 151 S-DIAS STEPPER MOTOR OUTPUT STAGE Contents Basic Safety Guidelines ............5 General Information on Safety ............ 5 Further Safety Guidelines ............6 General Requirements ..............7 Safety Conformity ..............11 Functional Safety Standards ............. 11 EU Conformity Declaration ............11 Safety-Relevant Parameters ............
  • Page 5 S-DIAS STEPPER MOTOR OUTPUT STAGE ST 151 Label Field ................... 22 Wiring ..................23 Wiring Example ................23 Note ....................24 Description of Functions ............25 Stepper Motor Output Stage Operating Modes ....... 25 7.1.1 Full Step Mode .................. 25 7.1.2...
  • Page 6 ST 151 S-DIAS STEPPER MOTOR OUTPUT STAGE Performance Level e, Category 2 or SIL 2 – Safety-SPS ..41 10 Mounting .................43 11 Disposal ..................44 Page 4 02.12.2019...

  • Page 7: Basic Safety Guidelines

    S-DIAS STEPPER MOTOR OUTPUT STAGE ST 151 Basic Safety Guidelines General Information on Safety If the safety guidelines are not followed, dangers to personnel can arise that could lead to serious injury or in worst cases, death. In less serious cases, systems and equipment can be damaged.

  • Page 8: Further Safety Guidelines

    ST 151 S-DIAS STEPPER MOTOR OUTPUT STAGE Further Safety Guidelines Warning, dangerous electrical voltage Avertissement d’une tension électrique dangereuse Hot surface warning Avertissement d’une surface chaude Danger for ESD-sensitive components Les signes de danger pour les composants sensibles aux décharges électrostatiques This symbol identifies important or additional infor- mation regarding the operation of the safety modules.

  • Page 9: General Requirements

    Before handling the product belonging to this documentation, ty Guidelines the operating instructions and safety guidelines must be read. SIGMATEK GmbH & Co KG accepts no liability for damages resulting from non-compliance with the safety guidelines or the relevant regulations.
  • Page 10 SIGMATEK GmbH & Co KG n'assume aucune responsabilité pour les dommages causés par le non-respect des consignes de sécurité ou du mode d’emploi respectif. La connaissance de consignes de sécurité et le contenu de cette documentation ainsi que le mode d’emploi du système de...
  • Page 11 S-DIAS STEPPER MOTOR OUTPUT STAGE ST 151 Designated Use The Safety modules are designed for use in safety-oriented applications and meet the required conditions for safety opera- tion in compliance with Performance level e (PL e), in accord- ance with EN ISO 13849-1/-2 and SIL3 or SIL CL 3 in accord- ance with EN 62061.
  • Page 12 ST 151 S-DIAS STEPPER MOTOR OUTPUT STAGE Operator Due Diligence The operator must ensure that • the Safety modules are to be used for their designated purpose only. • the Safety modules are to be operated in error-free, fully functional condition only.

  • Page 13: Safety Conformity

    • 2011/65/EU Restricted use of certain hazardous substances in electrical and electronic equipment (RoHS Guideline) The EU Conformity Declarations are provided on the SIGMATEK website. Using the search function with the keyword “EU Declaration of Conformity”. Safety-Relevant Parameters The application of the specified parameters requires a risk analysis of the final application.

  • Page 14: Technical Data

    ST 151 S-DIAS STEPPER MOTOR OUTPUT STAGE Technical Data Stepper Motor Output Specifications Number of phases Output voltage dependent on the supply (18-55 V) Current controller frequency maximum 32 kHz Output current maximum 5 A RMS Output current over the environ- maximum 5 A continuous current at 45 °C...

  • Page 15: Brake Chopper Specifications

    Regen braking must be dimensioned according to the application. For most applications, a 15 Ω/100 W resistor is sufficient. If multiple motor modules are driven with one intermediate circuit supply, it is possible to equip only one module with regen braking. The recommended regen resistor is available at SIGMATEK under the article number 20-014-061-Z1.

  • Page 16: Sto Enable Input Specifications

    ST 151 S-DIAS STEPPER MOTOR OUTPUT STAGE STO Enable Input Specifications Number Input voltage +24 V DC Input voltage range minimum +18 V maximum +30 V low: ≤ +5 V high: ≥ +15 V Signal level Switch hysteresis typically +11 V...

  • Page 17: Electrical Requirements

    S-DIAS STEPPER MOTOR OUTPUT STAGE ST 151 Electrical Requirements Motor supply +18-55 V DC, NEC Class 2 Current consumption of the maximum 6 A (load-dependent) motor supply Current consumption of the typically 45 mA maximum 50 mA +24 V supply on the S-DIAS bus (incl.
  • Page 18 ST 151 S-DIAS STEPPER MOTOR OUTPUT STAGE Stepper Motor Braking When applying the brake in a stepper motor, a generative process can occur where- by the kinetic energy of the motor is converted into electrical energy. The energy of the motor is thereby fed back into the supply of the stepper motor output stage; this then increases the supply voltage.

  • Page 19: Miscellaneous

    S-DIAS STEPPER MOTOR OUTPUT STAGE ST 151 Miscellaneous Article number 20-014-151 Hardware version Standard UL in preparation Approvals Environmental Conditions Storage temperature -20 ... +85 °C Environmental temperature 0 ... +55 °C Humidity 0-95 %, non-condensing Installation altitude above sea...

  • Page 20: Mechanical Dimensions

    ST 151 S-DIAS STEPPER MOTOR OUTPUT STAGE Mechanical Dimensions Page 18 02.12.2019...

  • Page 21: Connector Layout

    S-DIAS STEPPER MOTOR OUTPUT STAGE ST 151 Connector Layout The motor power connector X2, cannot be inserted or removed during operation! 02.12.2019 Page 19...

  • Page 22: Status Leds

    ST 151 S-DIAS STEPPER MOTOR OUTPUT STAGE Status LEDs Module Status green module active no supply available BLINKING (5 Hz) no communication User yellow can be set from the application (e.g. the module LED can be set to blinking through the visuali-...

  • Page 23: Applicable Connectors

    S-DIAS STEPPER MOTOR OUTPUT STAGE ST 151 Applicable Connectors Connectors: X1-X4: Connectors with spring terminals (included in delivery) The spring terminals are suited for the connection of ultrasonically compacted (ultrasonical- ly welded) wires. Connections: Stripping length/sleeve length: 10 mm Mating direction:...

  • Page 24: Label Field

    ST 151 S-DIAS STEPPER MOTOR OUTPUT STAGE Label Field Manufacturer Weidmüller Type MF 10/5 CABUR MC NE WS Article number Weidmüller 1854510000 Compatible printer Weidmüller Type Printjet Advanced 230V Article number Weidmüller 1324380000 Page 22 02.12.2019...

  • Page 25: Wiring

    S-DIAS STEPPER MOTOR OUTPUT STAGE ST 151 Wiring Wiring Example 02.12.2019 Page 23...

  • Page 26: Note

    ST 151 S-DIAS STEPPER MOTOR OUTPUT STAGE Note The following installation guidelines should be observed: • The DIN rail must have an adequate mass connection. • To wire the incremental encoder, a shielded cable is required. With an RS422 encoder, the use of shielded, twisted pair cables is recommended.

  • Page 27: Description Of Functions

    S-DIAS STEPPER MOTOR OUTPUT STAGE ST 151 Description of Functions Stepper Motor Output Stage Operating Modes 7.1.1 Full Step Mode In full step mode, Current is applied to the winding as shown below. The motor rotates in full steps only. This means that in one turn the rated number of steps is taken.

  • Page 28: Micro Step Mode

    Micro Step Mode In micro step mode, a nearly sine wave formed current is applied to the individual windings. With the ST 151, the resolution of the sine oscillation is 256 steps. 64 micro steps per full step are thereby produced.

  • Page 29: Stepper Motor Current Regulator

    S-DIAS STEPPER MOTOR OUTPUT STAGE ST 151 Stepper Motor Current Regulator The current regulation for the stepper motor is influenced by the current rise and/or fall time in the motor windings. These times are critically dependent on the supply voltage level, inductivity and the resistance of the motor windings.
  • Page 30 ST 151 S-DIAS STEPPER MOTOR OUTPUT STAGE The ST 151 has an adaptive fast decay current controller, by which the optimal decay mode is automatically used. Using the time required to reach the preset current value and the configured ChopperOnTimeMin (T...

  • Page 31: Incremental Encoder

    S-DIAS STEPPER MOTOR OUTPUT STAGE ST 151 Incremental Encoder Signal Process “Count UP” 7.3.1 Signal Process “Count DOWN” 7.3.2 Signal Process “Reference Pulse (Zero Position)” 7.3.3 02.12.2019 Page 29...

  • Page 32: Latch Function

    ST 151 S-DIAS STEPPER MOTOR OUTPUT STAGE 7.3.4 Latch Function This function is primarily used for the reference motion. The incremental encoder data and frequency counter values can be stored (latched) in a selected input at the time of an event. The event source (input) and event type (edge) can be set via latch registers.

  • Page 33: Additional Safety Information

    S-DIAS STEPPER MOTOR OUTPUT STAGE ST 151 Additional Safety Information The Safety function “STO” is an integrated component of the stepper motor output stage. It meets all necessary requirements for safe operation in SIL 3 according to EN 62061 and in compliance with PL e.
  • Page 34 ST 151 S-DIAS STEPPER MOTOR OUTPUT STAGE Non-designated use consists of • any changes made to the Safety modules or the use of damaged mod- ules • the use of the Safety modules inconsistent with the technical margins described in these operating instructions.

  • Page 35: Sto

    S-DIAS STEPPER MOTOR OUTPUT STAGE ST 151 The main power supply for the servo amplifier must be disconnected using the main switch for the following instances: • Cleaning, maintenance or repairs • Extended still-stand periods Failure to follow the above safety measures can lead to severe injuries.

  • Page 36: Function Test

    ST 151 S-DIAS STEPPER MOTOR OUTPUT STAGE Function Test The safety function test is required to ensure correct operation. The entire safety circuit must be tested for full functionality. Tests must be performed at the following times: • After installation •...

  • Page 37: Wiring Examples

    S-DIAS STEPPER MOTOR OUTPUT STAGE ST 151 Wiring Examples In the following sub chapters, wiring examples are provided. It must be ensured that all constructive measures etc. are complied with and applied in order to fulfill the requirements of the category used.
  • Page 38 ST 151 S-DIAS STEPPER MOTOR OUTPUT STAGE Page 36 02.12.2019...

  • Page 39: Performance Level E, Category 3 Or Sil 3 - Safety-Sps

    S-DIAS STEPPER MOTOR OUTPUT STAGE ST 151 Performance Level e, Category 3 or SIL 3 – Safety-SPS To meet the requirements of safety category 3, performance level "e" for EN ISO 13849-1 and SIL 3 according to EN 62061, an error-proof output of a safety PLC must be used. The reason of category 3 here, is that cross-circuit detection between the two lines is not possi- ble.
  • Page 40 ST 151 S-DIAS STEPPER MOTOR OUTPUT STAGE Page 38 02.12.2019...

  • Page 41: Performance Level E, Category 4 Or Sil 3 - Conventional

    S-DIAS STEPPER MOTOR OUTPUT STAGE ST 151 Performance Level e, Category 4 or SIL 3 – Conventional To meet the requirements of safety category 4, performance level "e" for EN ISO 13849-1 and SIL 3 according to EN 62061, the placement of the lines must comply with EN ISO 13849-2, table D.4 (separate placement, prohibiting of error via short circuits between...
  • Page 42 ST 151 S-DIAS STEPPER MOTOR OUTPUT STAGE Page 40 02.12.2019...

  • Page 43: Performance Level E, Category 2 Or Sil 2 – Safety-Sps

    S-DIAS STEPPER MOTOR OUTPUT STAGE ST 151 Performance Level e, Category 2 or SIL 2 – Safety-SPS This involves 1-channel wiring, whereby the Enable inputs are tested separately. Here, no cross-circuit detection is possible. 02.12.2019 Page 41...
  • Page 44 ST 151 S-DIAS STEPPER MOTOR OUTPUT STAGE Page 42 02.12.2019...

  • Page 45: Mounting

    S-DIAS STEPPER MOTOR OUTPUT STAGE ST 151 10 Mounting The S-DIAS modules are designed for installation into the control cabinet. To mount the modules a DIN-rail is required. The DIN rail must establish a conductive connection with the back wall of the control cabinet. The individual S-DIAS modules are mounted on the DIN rail as a block and secured with latches.

  • Page 46: Disposal

    ST 151 S-DIAS STEPPER MOTOR OUTPUT STAGE Recommended minimum distances of the S-DIAS modules to the surrounding components or control cabinet wall: a, b, c … distances in mm (inches) 11 Disposal For the disposal of the product, the respective guidelines, possibly country-specific, must be observed and followed.
  • Page 47 S-DIAS STEPPER MOTOR OUTPUT STAGE ST 151 Documentation Changes Change date Affected page(s) Chapter Note 05.02.2018 6.2 Stepper Motor Expansion and Edit Current Regulator 18.06.2018 1.6 Electrical Re- Notes updated quirements 02.04.2019 4.3 Safety-Relevant Correction of the safety-relevant parameters Parameters 3.8 Environmental...
  • Page 48 ST 151 S-DIAS STEPPER MOTOR OUTPUT STAGE Page 46 02.12.2019...

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