Stober SC6 Series Commissioning Instructions
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Stober SC6 Series Commissioning Instructions

Stober SC6 Series Commissioning Instructions

Drive controller
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SC6 drive controller
Commissioning instructions
stober.com
en-US
11/2017
ID 442793.00

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  • Page 1 SC6 drive controller Commissioning instructions stober.com en-US 11/2017 ID 442793.00...

  • Page 2: Table Of Contents

    Table of contents STÖBER Table of contents Foreword .......................... 5 User information........................ 6 Storage and transfer .....................  6 Described product type.................... 6 Timeliness........................ 6 Original language...................... 6 Limitation of liability.......................  6 Formatting conventions .................... 7 2.6.1 Use of symbols .................... 7 2.6.2 Markup of text elements .................
  • Page 3 STÖBER Table of contents Drilling diagram and dimensions.................  26 Length of copper rails .................... 27 Installing the drive controller without a rear section module ........ 28 Installing the DC link connection.................  29 Mounting the drive controller on the rear section module...........  30 Connection.........................
  • Page 4 Table of contents STÖBER Mapping the mechanical drive model .................  63 8.2.1 Parameterizing a STOBER motor .............. 64 8.2.2 Parameterizing the axis model .............. 64 Testing the project configuration.................  67 Appendix .......................... 69 Wiring examples ...................... 69 9.1.1 Stand-alone operation with direct brake control ...........  69 Detailed information....................

  • Page 5: Foreword

    STOBER EZ series, as well as with encoders. The SC6 drive controller is available in three sizes with a nominal output current of up to 19 A: sizes 0 and 1 as a double-axis controller, size 2 as a single-axis controller.

  • Page 6: User Information

    Detailed information [} 70]. Information To ensure proper functionality, we recommend using cables from STOBER that are matched to the complete system. In case of use of unsuitable connection cables, we reserve the right to reject claims under the warranty. Storage and transfer...

  • Page 7: Formatting Conventions

    STÖBER 2 | User information Formatting conventions Orientation guides in the form of signal words, symbols and special text markups are used to emphasize specific information so that you are able identify it in this documentation quickly. 2.6.1 Use of symbols Safety instructions are identified with the following symbols.

  • Page 8: Markup Of Text Elements

    2 | User information STÖBER 2.6.2 Markup of text elements Certain elements of the continuous text are distinguished as follows. Quick DC-Link module Words or expressions with a special meaning Detailed information Internal cross-reference http://www.stoeber.de External cross-reference Software and display indicators The following formatting is used to identify the various information content of elements referenced by the software interface or the drive controller display, as well as any user entries.

  • Page 9: Symbols, Markings And Test Marks

    STÖBER 2 | User information Symbols, markings and test marks The following symbols, markings and test marks are used in this document. Grounding symbol Grounding symbol in accordance with IEC 60417-5019 (DB:2002-10). RoHS lead-free marking Marking in accordance with RoHS directive 2011-65-EU. CE mark Manufacturer's self declaration: The product meets the requirements of EU directives.

  • Page 10: Trademarks

    2 | User information STÖBER Trademarks The following names used in connection with the device, its optional equipment and its accessories are trademarks or registered trademarks of other companies: ® ® ® EnDat EnDat and the EnDat logo are registered trademarks of Dr. Johannes Heidenhain GmbH, Traunreut, Germany.

  • Page 11: General Safety Instructions

    STÖBER 3 | General safety instructions General safety instructions There are risks associated with the product described in this documentation that can be prevented by complying with the described warning and safety instructions as well as the included technical rules and regulations. Directives and standards The following European directives and standards are relevant to the product specified in this documentation:...

  • Page 12: Intended Use

    As defined by DIN EN 50178, SC6 drive controllers are electrical devices operating as power electronics to control the flow of energy in high-voltage systems. They are intended solely for the operation of STOBER LM series Lean motors, synchronous servo motors (e.g. from the STOBER EZ series), asynchronous motors or torque motors.

  • Page 13: Working On The Machine

    STÖBER 3 | General safety instructions The drive controller is exclusively intended for operation in TN networks and only suitable for use in supply grids. At 480 V , the drive controllers are permitted to supply a maximum symmetrical nominal short-circuit current in accordance with the following table: Size Max.

  • Page 14: Drive Controller Technical Data

    4 | Drive controller technical data STÖBER Drive controller technical data This chapter contains the general technical data and the electrical data for the SC6 drive controller. Additional technical data on the drive controller and accessories can be found in the manual;...

  • Page 15: Electrical Data

    STÖBER 4 | Drive controller technical data Discharge times Self-discharge of DC 5 min intermediate circuit Tab. 5: Discharge times of the DC link circuit Electrical data The electrical data of the available SC6 sizes as well as the properties of the brake chopper can be found in the following sections.
  • Page 16 4 | Drive controller technical data STÖBER Nominal currents up to +45 °C (in the control cabinet) Electrical data SC6A062 4 kHz PWM,PU 10 A 1N,PU 2 × 4,5 A 2N,PU 210% for 2 s 2maxPU Tab. 8: SC6 electrical data, size 0, for 4 kHz clock frequency Electrical data SC6A062 8 kHz...

  • Page 17: Power Unit: Size 1

    STÖBER 4 | Drive controller technical data 4.2.3 Power unit: Size 1 Electrical data SC6A162 3 × 400 V , +32% / −50%, 50/60 Hz; 3 × 480 V , +10% / −58%, 50/60 Hz 0 – 700 Hz 0 – max. U 940 µF 1400 µF maxPU...

  • Page 18: Power Unit: Size 2

    4 | Drive controller technical data STÖBER Electrical data SC6A162 780 – 800 V onCH 740 – 760 V offCH 47 Ω 2minRB 13.6 kW maxRB 6.2 kW effRB Tab. 14: Brake chopper electrical data, size 1 4.2.4 Power unit: Size 2 Electrical data SC6A261 3 × 400 V , +32% / −50%, 50/60 Hz;...
  • Page 19 STÖBER 4 | Drive controller technical data Electrical data SC6A261 8 kHz PWM,PU 17,9 A 1N,PU 15 A 2N,PU 250% for 2 s 2maxPU Tab. 17: SC6 electrical data, size 2, for 8 kHz clock frequency Electrical data SC6A261 780 – 800 V onCH 740 – 760 V offCH 47 Ω...

  • Page 20: Storage

    ▪ Reform drive controllers in storage annually or before commissioning. 5.1.1 Annual reforming To prevent damage to stored drive controllers, STOBER recommends connecting stored devices to the supply voltage once per year for one hour. The following graphics show the basic line connection for 3-phase devices.

  • Page 21: Reforming Before Commissioning

    STÖBER 5 | Storage 5.1.2 Reforming before commissioning If reforming is not possible every year, institute reforming on stored devices before commissioning. Note that the voltage levels depend on the storage time. The following graphic shows the predominant supply connection. L1 L2 L1 – L3 Lines 1 to 3 Neutral conductor...
  • Page 22 5 | Storage STÖBER t [h] Fig. 1: Voltage levels dependent on storage time Storage time of 1 – 2 years: Apply voltage for 1 hour before switching on. Storage time of 2 – 3 years: Implement reforming according to the graph before switching on. Storage time ≥ 3 years: Implement reforming according to the graph before switching on.

  • Page 23: Installation

    STÖBER 6 | Installation Installation The following chapters describe the installation of a drive controller and the available accessories. Information on replace a SC6 drive controller can be taken from the manual; see the chapter Detailed information [} 70]. Safety instructions for installation Installation work is permitted only when no voltage is present.
  • Page 24 6 | Installation STÖBER FZMU, FZZMU tubular fixed resistor Permitted installation: § On vertical surfaces with terminals downwards § On horizontal surfaces § In control cabinets Impermissible installation: § On vertical surfaces with terminals upwards, left or right § Outside of control cabinets GVADU, GBADU flat resistor Permitted installation: §...

  • Page 25: Minimum Clearances

    STÖBER 6 | Installation Minimum clearances Note the minimum clearances for installation below. Drive controller Fig. 2: Minimum clearances The specified dimensions relate to the outer edges of the drive controller. Minimum A (above) B (below) C (on the side) D (in front) clearance All sizes Tab.

  • Page 26: Drilling Diagram And Dimensions

    6 | Installation STÖBER Drilling diagram and dimensions 1 – 2 Fig. 3: Bore dimensions for DL6B Quick DC-Link [mm] SC6 dimensions Size 0 Size 1, size 2 Horizontal SC6 fastening holes ∅ 4.2 (M5) Size 0 46±1 56±1 Size 1, size 2 56±1 66±1 Vertical SC6 fastening holes 360+2 360+2 ∅ 4.2 (M5)

  • Page 27: Length Of Copper Rails

    STÖBER 6 | Installation Length of copper rails For the installation of the Quick DC-Link modules, you require 3 prepared copper rails with a cross-section of 5 × 12 mm. The length of the copper rails is 5 mm shorter than the total width of the group, i.e. the total width of all DL6B Quick DC-Link modules present in the group: B = A −...

  • Page 28: Installing The Drive Controller Without A Rear Section Module

    6 | Installation STÖBER Installing the drive controller without a rear section module This chapter describes the installation of the SC6 drive controller without a rear section module. If you would like to connect SC6 drive controllers in the DC link, you must mount the required rear section modules and then build the appropriate drive controllers over them.

  • Page 29: Installing The Dc Link Connection

    STÖBER 6 | Installation Installing the DC link connection DANGER! Electrical voltage! Risk of fatal injury due to electric shock! ▪ Always switch off all power supply voltage before working on the devices! ▪ Note the discharge time of the DC link capacitors. You can only determine the absence of voltage after this time period.

  • Page 30: Mounting The Drive Controller On The Rear Section Module

    6 | Installation STÖBER Mounting the drive controller on the rear section module DANGER! Electrical voltage! Risk of fatal injury due to electric shock! ▪ Always switch off all power supply voltage before working on the devices! ▪ Note the discharge time of the DC link capacitors. You can only determine the absence of voltage after this time period.

  • Page 31: Connection

    STÖBER 7 | Connection Connection The following chapter describes the connection of the drive controller and the available accessories. The terminal specifications can be taken form the manual on the SC6 drive controller; see the chapter Detailed information [} 70]. Safety instructions for connection Connection work is permitted only when no voltage is present.

  • Page 32: Line Routing

    7 | Connection STÖBER Line routing Observe the valid provisions for your machine or system, e.g. DIN IEC 60364 or DIN EN 50110, during the installation of electrical equipment. Protective measures Take the following protective measures into account. 7.3.1 Line fuse The line fuse ensures the line and overload protection in the drive controller.
  • Page 33 STÖBER 7 | Connection 7.3.1.2 Line fuse in parallel operation Every drive controller connected to the grid in the DC circuit group must be protected at the line input against overload and short circuit. To do this, a fuse combination consisting of overload protection and solid state short circuit protection is connected in series.

  • Page 34: Residual Current Protective Device

    7.3.2 Residual current protective device STOBER devices can be protected with a residual current protective device (RCD) to detect residual currents. Residual current protective devices prevent electrical accidents, especially ground fault through the body. They are generally classified by their triggering limit and suitability for detecting different types of residual currents.
  • Page 35 STÖBER 7 | Connection False triggering – Causes Depending on stray capacitances and imbalances, leakage currents above 30 mA may occur during operation. Undesirable false triggering occurs under the following conditions: § When connecting installations to the supply voltage. This false triggering can be rectified by using short-time delayed (super-resistant), selective (delayed switch-off) RCDs or RCDs with increased trigger current (e.g.

  • Page 36: Housing Grounding

    7 | Connection STÖBER 7.3.3 Housing grounding Additional requirements for protective equipotential bonding apply in the event of ground leakage currents > 10 mA. At least one of the following conditions must be fulfilled: § The grounding conductor must have a minimum cross-section of 10 mm² Cu over its overall length §...

  • Page 37: Emc Recommendations

    STÖBER 7 | Connection 7.3.4 EMC recommendations Information This chapter provides general information on EMC-compliant installation. These are recommendations. Depending on the application, the ambient conditions as well as the legal requirements, measures beyond these recommendations may be required. Lay the power line, motor cable and signal lines separately from each other, e.g. in separate conduits.

  • Page 38: Drive Controller

    7 | Connection STÖBER Drive controller The following section contains detailed information about the terminals and the correct connection of the drive controller. 7.4.1 Overview X20B X700 X300 X20A X103 X101 X201 X200 Fig. 6: Connection overview using the example of the SC6A162 Top of the device Bottom of the device Front of the device...

  • Page 39: X2A: Motor Holding Brake A

    Information Note that motor holding brakes from other manufacturers may be connected only after consultation with STOBER. Controllable brakes The technical data of the controllable brakes at X2A can be found in the manual for the SC6 drive controller;...

  • Page 40: X2A: Motor Temperature Sensor A

    7 | Connection STÖBER 7.4.3 X2A: Motor temperature sensor A The motor temperature sensor of axis A is connected to terminal X2A. All device types of the SC6 drive controller have connections for thermistors. You can connect a maximum of two PTC triplets to X2A.

  • Page 41: X4A: Encoder A

    Risk of encoder destruction! Only encoders with a suitable input voltage range (minimum 12 V ) may be connected to X4. Unsuitable encoder types The following STOBER encoder types may be connected: Encoder type Code according to type designation ECI 1118...
  • Page 42 7 | Connection STÖBER EnDat 2.2 digital and SSI encoders Socket Designation Function 8|7|6|5|4|3|2|1 — — Reference for encoder supply to pin 4 15|14|13|12|11| — — 10|9 Encoder supply Data+ Differential input for DATA — — — — Clock+ Differential input for CLOCK —...
  • Page 43 STÖBER 7 | Connection Differential TTL and differential HTL incremental encoders (HTL over HT6 adapters) Socket Designation Function 8|7|6|5|4|3|2|1 — — Reference for encoder supply to pin 4 15|14|13|12|11| — — 10|9 Encoder supply Differential input for B channel — —...
  • Page 44 7 | Connection STÖBER Resolver Socket Designation Function 8|7|6|5|4|3|2|1 Sin+ Sin input R1 Ref− Resolver excitation signal 15|14|13|12|11| Cos+ Cos input 10|9 — — — — R2 Ref+ Resolver excitation signal — — — — Sin− Inverse sin input — —...
  • Page 45 Tab. 34: Cable length [m] Information To ensure proper functionality, we recommend using cables from STOBER that are matched to the complete system. In case of use of unsuitable connection cables, we reserve the right to reject claims under the warranty.

  • Page 46: X4B: Encoder B

    Tab. 36: Cable length [m] Information To ensure proper functionality, we recommend using cables from STOBER that are matched to the complete system. In case of use of unsuitable connection cables, we reserve the right to reject claims under the warranty.

  • Page 47: X10: 400 V Supply

    STÖBER 7 | Connection 7.4.9 X10: 400 V supply Terminal X10 serves to connect the drive controller to the supply grid. Line cross-section for the power connection When selecting your line fuse, note the maximum permitted conductor cross-section of terminal X10, the routing method and the surrounding temperature. Size 0 Terminal Designation...

  • Page 48: X11: 24 V Supply

    7 | Connection STÖBER 7.4.10 X11: 24 V supply The connection of 24 V to X11 is required for the power supply of the control unit. ATTENTION! Device damage due to overload! If the 24 V power supply is looped to multiple devices over the terminal, the terminal may be damaged by a current that is too high.

  • Page 49: X12: Safety Technology

    STÖBER 7 | Connection 7.4.11 X12: Safety technology The SR6 option adds the STO safety function to the SC6 drive controller through terminal X12. Information If you would like to use STO safety function over terminals, be sure to read the SR6 manual; see the chapter Detailed information [} 70].

  • Page 50: X20A: Motor A

    Tab. 47: Maximum cable length of the power cable [m] Information To ensure proper functionality, we recommend using cables from STOBER that are matched to the complete system. In case of use of unsuitable connection cables, we reserve the right to...

  • Page 51: X20B: Motor B

    STÖBER 7 | Connection 7.4.12.1 Connection without output choke Note the following points for the connection of the power cable for a motor without output choke: § Ground the shield of the power cable on the shield contact on the drive controller intended for this.

  • Page 52: X22: Dc Link Connection

    7 | Connection STÖBER 7.4.15 X22: DC link connection Terminal X22 is available for the DC link connection of the drive controller. Size 0 Terminal Designation Function D− DC link connection D− | D+ Tab. 50: X22 connection description – Size 0 Sizes 1 and 2 Terminal Designation...
  • Page 53 STÖBER 7 | Connection Single-ended HTL incremental encoders Terminal Designation Function — N channel 5|4|3|2|1 A channel B channel DGND Reference ground; not bridged with X103, pin 5 Tab. 53: X101 connection description for single-ended HTL incremental signals – Axis A Single-ended HTL pulse train Terminal Designation...

  • Page 54: X103: Be6 - Be9

    7 | Connection STÖBER 7.4.17 X103: BE6 – BE9 The binary inputs 6 to 9 are available on terminal X103. Terminal Designation Function Binary inputs 5|4|3|2|1 DGND Reference ground; not bridged with X101, pin 5 Tab. 56: X103 connection description for binary signals Information Note that a master encoder must be connected to axis A or terminal X101.

  • Page 55: X200, X201: Ethercat

    Tab. 59: Cable length [m] 7.4.18 X200, X201: EtherCAT Drive controllers from the SC6 series have the two RJ-45 sockets X200 and X201. The sockets are located on top of the device. The associate pin assignment and color coding correspond to the EIA/TIA-T568B standard.

  • Page 56: X200, X201: Profinet

    STÖBER 7.4.19 X200, X201: PROFINET Drive controllers from the SC6 series have the two RJ-45 sockets X200 and X201. The sockets are located on top of the device. The associate pin assignment and color coding correspond to the EIA/TIA-T568B standard.

  • Page 57: X300: Brake 24 V Supply

    STÖBER 7 | Connection 7.4.20 X300: Brake 24 V supply X300 is used to supply the brake. ATTENTION! Device damage due to overload! If the 24 V power supply is looped to multiple devices over the terminal, the terminal may be damaged by a current that is too high.

  • Page 58: X700: Sd Slot

    128 MB to 32 GB are supported. SDHC cards with a storage capacity of 64 GB can be used only if they have been first reformatted to max. 32 GB. Since higher capacities increase the controller starting time, STOBER recommends the use of cards with a storage capacity from 2 to 4 GB.
  • Page 59 STÖBER 7 | Connection 7. For double-axis controllers: Repeat steps 2 to 4 for the terminals X2B and X20B. 8. Optional: Connect an encoder to terminal X4A. 9. Optional for double-axis controllers: Connect an encoder to terminal X4B. Top of the device: ü...

  • Page 60: Commissioning

    With regard to the components of your drive model, we require one of the following two combinations: STOBER synchronous servo motor with EnDat 2.1/2.2 or HIPERFACE DSL encoders (and optionally integrated holding brake) These motors together with all relevant data for the project configuration are saved in the motor...
  • Page 61 Description: If necessary specify supporting additional information such as the change history of the project configuration. Drive controller tab: Select the SC6 series and the device type of the drive controller. Option modules tab:  Safety module: If the drive controller is part of a safety circuit, select the SR6 or SY6 safety module.

  • Page 62: Creating Other Modules And Drive Controllers

    8 | Commissioning STÖBER 8.1.2 Creating other modules and drive controllers We recommend sorting all drive controllers of your project in DriveControlSuite either functionally by groups and combining a group under a module, or organizing several drive controllers in corresponding modules based on their distribution to different control cabinets. 1.

  • Page 63: Specifying The Project

    STÖBER 8 | Commissioning 8.1.4 Specifying the project Finally, specify your project. 1. Highlight the project P1: Project1 in the project tree. 2. Change to the project menu and click Project configuration. ð The Project window opens. 3. Establish the relationship between your circuit diagram and the newly created project in DriveControlSuite.

  • Page 64: Parameterizing A Stober Motor

    Parameterizing a STOBER motor You have projected one of the following motors: STOBER synchronous servo motor with EnDat 2.1/2.2 or HIPERFACE DSL encoders (and optionally integrated holding brake) With the project configuration of the corresponding motor, limit values for currents and torques as well as associated temperature data are automatically transferred to the respective parameters of the individual wizards.
  • Page 65 STÖBER 8 | Commissioning 8.2.2.1 Define the axis model 1. Highlight the relevant drive controller in the project tree and click on the first projected axis in the project menu > Wizard section. 2. Select the Axis model wizard. 3. I05 Type of axis: In order to individually configure the units of measure and the number of decimal places for specifying and displaying position target values, velocity values and acceleration values, select...
  • Page 66 8 | Commissioning STÖBER 8.2.2.3 Limiting the axis If necessary, limit the movement variables for position, velocity, acceleration, jerk as well as torque/force according to the applicable conditions for your drive model. Limiting the position (optional) 1. Highlight the relevant drive controller in the project tree and click on the first projected axis in the project menu >...

  • Page 67: Testing The Project Configuration

    STÖBER 8 | Commissioning Testing the project configuration Before you continue parameterizing your application, we recommend testing your projected axis model using the jog control panel. Check your projected axis model as well as your configured electrical and mechanical data for plausibility by transferring your project configuration to one of your drive controllers for test purposes and controlling the drive using the jog control panel instead of using a controller.
  • Page 68 8 | Commissioning STÖBER Saving the test configuration 1. Highlight the drive controller you have transferred the test configuration to in the project tree and click on the first projected axis in the project menu > Wizard section. 2. Select the Save values wizard >...

  • Page 69: Appendix

    STÖBER 9 | Appendix Appendix Wiring examples The following chapters show the basic connection using examples. 9.1.1 Stand-alone operation with direct brake control The following graphic shows a wiring example for stand-alone operation with direct brake control. L1 L2 L3 24 V STO_a STO_b L1 L2 L3 PE...

  • Page 70: Detailed Information

    CiA 402 Drive Based (CiA DB) Manual Projecting, configuration, 442708 application parameterization, function test, more detailed information STOBER Drive Based Manual Projecting, configuration, 442706 (STOBER DB) application parameterization, function test, more detailed information SR6 safety technology – STO...

  • Page 71: Symbols In Formulas

    STÖBER 9 | Appendix Symbols in formulas Symbol Unit Explanation Charging capacity of the power unit maxPU Self-capacitance of the power unit Output frequency of the power unit Internal pulse clock frequency of the power unit PWM,PU Maximum input current of the control unit 1maxCU Maximum input current of the power unit 1maxPU...

  • Page 72: Abbreviations

    9 | Appendix STÖBER Abbreviations Abbreviation Meaning Alternating Current Binärer Eingang (en: binary input) Baugröße (en: size) CAN in Automation Computerized Numerical Control Direct Current Electromagnetic Compatibility EtherCAT Ethernet for Control Automation Technology FSoE Fail Safe over EtherCAT High Threshold Logic International Protection Internet Protocol Protective Earth (i.e.

  • Page 73: Glossary

    When you operate a drive controller with a STOBER synchronous servo motor and an absolute value encoder, the electronic nameplate is read and all motor data transferred if the drive controller is connected online.
  • Page 74 Technische Änderungen vorbehalten. Errors and changes excepted. ID 442793.00 11/2017 STÖBER ANTRIEBSTECHNIK GmbH + Co. KG Kieselbronner Str. 12 75177 Pforzheim Germany Tel. +49 7231 582-0 mail@stoeber.de www.stober.com 24 h Service Hotline +49 7231 582-3000...

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