Stober SD6 Commissioning Instructions
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Stober SD6 Commissioning Instructions

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SD6 drive controller
Commissioning instructions
en-US
04/2021
ID 442537.08

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Summary of Contents for Stober SD6

  • Page 1 SD6 drive controller Commissioning instructions en-US 04/2021 ID 442537.08...

  • Page 2: Table Of Contents

    Table of contents STOBER Table of contents Foreword ..................................  7 User information ...............................  8 Scope of documentation............................ 8 Storage and transfer .............................. 8 Described product.............................. 8 Timeliness ................................ 8 Original language .............................. 8 Limitation of liability .............................. 9 Formatting conventions............................ 9 2.7.1...
  • Page 3 Weight .............................. 30 5.1.9 Cycle times............................ 30 DC link connection .............................. 30 5.2.1 General technical data..........................  30 5.2.2 DL6A – SD6 assignment ........................ 31 5.2.3 Dimensions ............................ 32 5.2.4 Weight .............................. 33 Safety technology .............................. 33 5.3.1 ST6 ................................  33 5.3.2...
  • Page 4 Table of contents STOBER Drive controllers .............................. 68 8.4.1 Overview with ST6 safety module ...................... 68 8.4.2 Overview with SE6 safety module ...................... 73 8.4.3 X1: Enable and relay 1 ..........................  78 8.4.4 X2: Motor temperature sensor...................... 78 8.4.5 X3A, X3B: PC, IGB .......................... 79 8.4.6...
  • Page 5 Projecting the module ........................ 136 11.1.5 Projecting the project .........................  136 11.2 Mapping the mechanical axis model ........................ 137 11.2.1 Parameterizing the STOBER motor .....................  137 11.2.2 Parameterizing the axis model ...................... 137 11.3 Testing the configuration.............................  141 11.3.1 Test using DriveControlSuite ...................... 141 11.3.2...
  • Page 6 Table of contents STOBER 14 Contact..................................  164 14.1 Consultation, service and address ........................ 164 14.2 Your opinion is important to us ...........................  164 14.3 Close to customers around the world........................ 165...

  • Page 7: Foreword

    There is also an option of connecting the drive controllers in a DC link for multi-axis applications, which improves the energy footprint of the entire system. The SD6 drive controller is available in four sizes with a nominal output current of up to 85 A.

  • Page 8: User Information

    STOBER User information This documentation covers the SD6 drive controller. You will receive support for the assembly of the individual modules along with the associated components that you will need to operate the drive controllers in the control cabinet. You will also find information on wiring the modules correctly and checking their functionality in the group with an initial test.

  • Page 9: Limitation Of Liability

    STOBER 2 | User information Limitation of liability This documentation was created taking into account the applicable standards and regulations as well as the current state of technology. No warranty or liability claims for damage shall result from failure to comply with the documentation or from use that deviates from the intended use of the product.

  • Page 10: Markup Of Text Elements

    2 | User information STOBER 2.7.2 Markup of text elements Certain elements of the continuous text are distinguished as follows. Important information Words or expressions with a special meaning Interpolated position mode Optional: File or product name or other name...

  • Page 11: Symbols, Marks And Test Symbols

    STOBER 2 | User information Symbols, marks and test symbols Grounding symbol Grounding symbol in accordance with IEC 60417, symbol 5019. RoHS lead-free mark Marking in accordance with RoHS directive 2011-65-EU. CE mark Manufacturer's self declaration: The product meets the requirements of EU directives.

  • Page 12: Trademarks

    Products that are registered as trademarks are not specially indicated in this documentation. Existing property rights (patents, trademarks, protection of utility models) are to be observed. 2.10 Licenses Software from the following licensor is used in the SD6 drive controller: SEGGER Microcontroller GmbH & Co. KG In den Weiden 11 40721 Hilden...

  • Page 13: General Safety Instructions

    Intended use As defined by EN 50178, SD6 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 motors that meet the requirements of EN 60034-1: §...

  • Page 14: Transport And Storage

    EMC-compliant installation The SD6 drive controller and accessories must be installed and wired compliant for EMC Modification As the user, you may not make any physical, technical or electrical modifications to the SD6 drive controller and the accessories. Maintenance The SD6 drive controller and accessories are maintenance-free. However, take appropriate measures to detect or prevent possible errors in the connecting wiring.

  • Page 15: Working On The Machine

    STOBER 3 | General safety instructions The drive controller is designed exclusively for operation in TN networks or on wye sources. At a nominal voltage of 200 to 480 V , they are permitted to supply a maximum differential short-circuit current in accordance with the following table: Size Max.

  • Page 16: Disposal

    3 | General safety instructions STOBER Disposal Observe the current national and regional regulations when disposing of the packaging and product! Dispose of the packaging and individual product parts depending on their properties, e.g. as: § Cardboard § Electronic waste (circuit boards) §...

  • Page 17: Ul-Compliant Use

    (peak permitted rated surge voltage = 6 kV) Motor protection All models of the 6th STOBER drive controller generation feature a certified i²t model, a computational model for thermal monitoring of the motor. This fulfills the requirements for solid state motor overload protection in accordance with the amendment to UL 508C from May 2013.
  • Page 18 Only the risks of electric shock and the risk of fire have been examined during UL acceptance. Functional safety aspects have not been assessed during the UL approval process. These are assessed for STOBER by bodies such as the TÜV SÜD...

  • Page 19: Technical Data

    Technical data This chapter contains the technical data for the SD6 drive controller, the DC link connection, the safety technology and the brakes. Additional technical data on the drive controller and accessories can be found in the SD6 drive controller manual;...

  • Page 20: Nameplate

    5 | Technical data STOBER Discharge times Self-discharge of DC link 6 min Tab. 5: Discharge times of the DC link circuit 5.1.2 Nameplate The nameplate is placed on the side of the drive controller. Fig. 1: SD6A06TEX nameplate...

  • Page 21: Type Designation

    STOBER 5 | Technical data Designation Value in example Meaning Type SD6A06TEX Production information Date 2030 7002418 Input voltage 3 × 400 V Input voltage 50 Hz UL: 3 × 480 V 50–60 Hz Input current 4.0 A Input current Output data 0 to 460 V Output voltage 0 to 700 Hz...

  • Page 22: Material Variant

    Size 0 SD6A06 Size 0 SD6A14 Size 1 SD6A16 Size 1 SD6A24 Size 2 SD6A26 Size 2 SD6A34 Size 3 SD6A36 Size 3 SD6A38 Size 3 Tab. 10: Available SD6 types and sizes SD6 in sizes 0, 1, 2 and 3...

  • Page 23: Electrical Data

    5 | Technical data 5.1.6 Electrical data The electrical data of the available SD6 sizes as well as the properties of the brake chopper can be found in the following chapters. Information For the time span between energizing two devices, note that: ▪...
  • Page 24 2.2 A 4 A 1N,PU 3 A 1.7 A 3.4 A 2N,PU 250% for 2 s; 200% for 5 s 2maxPU Tab. 14: SD6 electrical data, size 0, for 8 kHz clock frequency Electrical data SD6A02 SD6A04 SD6A06 400 – 420 V 780 – 800 V onCH 360 – 380 V 740 –...
  • Page 25 SD6A26 4 kHz PWM,PU 26.4 A 38.4 A 1N,PU 22 A 32 A 2N,PU 180% for 5 s; 150% for 30 s 2maxPU Tab. 21: SD6 electrical data, size 2, for 4 kHz clock frequency Electrical data SD6A24 SD6A26 8 kHz PWM,PU 24.5 A 32.6 A 1N,PU 14 A 20 A 2N,PU 250% for 2 s;...
  • Page 26 PWM,PU 45.3 A 76 A 76 A 1N,PU 44 A 70 A 85 A 2N,PU 180% for 5 s; 150% for 30 s 2maxPU Tab. 25: SD6 electrical data, size 3, for 4 kHz clock frequency Electrical data SD6A34 SD6A36 SD6A38 8 kHz PWM,PU 37 A 62 A 76 A 1N,PU 30 A 50 A...
  • Page 27 STOBER 5 | Technical data 5.1.6.6 Enable and relay You enable the power unit of the drive controller using the enable signal. The function of relay 1 can be parameterized using parameter F75. Electrical data All types Internal device update rate Cycle time parameterized in A150 of the application: = 1 ms...

  • Page 28: Dimensions

    5 | Technical data STOBER 5.1.7 Dimensions The dimensions of the available SD6 sizes can be found in the following chapters. 5.1.7.1 Dimensions: sizes 0 to 2 Fig. 3: SD6 dimensional drawing, sizes 0 to 2 Dimension Size 0 Size 1...
  • Page 29 Fastening holes Vertical distance 365+2 Vertical distance to the upper edge 11.5 Horizontal distance between the 150+0.2/−0.2 fastening holes of the drive controller Horizontal distance to the side edge of the drive controller Tab. 30: SD6 dimensions, size 3 [mm]...

  • Page 30: Weight

    Size 2 5050 6490 Size 3 13300 14800 Tab. 31: SD6 weight [g] If you intend to order the drive controller with accessory parts, the weight increases as follows. Accessories Weight without packaging [g] Communication module Terminal module Safety module Tab.

  • Page 31: Dl6A - Sd6 Assignment

    — — SD6A16 — — — SD6A24 — — — SD6A26 — — — SD6A34 — — — SD6A36 — — — SD6A38 — — — Tab. 37: Assignment of DL6A to SD6 Only valid for components in original packaging...

  • Page 32: Dimensions

    5 | Technical data STOBER 5.2.3 Dimensions 0 – 2 Fig. 5: DL6A dimensional drawing Dimension DL6A0 DL6A2 DL6A3 DL6A1 Quick DC-Link Width Depth Height Fastening clip height Height incl. fastening clips Fastening holes Vertical distance 283+2 380+2 (wall mounting) Vertical distance to the upper...

  • Page 33: Weight

    = 100 mA 1max — Tab. 40: X12 electrical data 5.3.2 The SE6 safety module adds the expanded safety functions to the SD6 drive controller using terminals X14 and X15. Electrical data Digital input Value Low level I0–I7 −3 – +5 V High level 15 –...

  • Page 34: Controllable Brakes

    5 | Technical data STOBER Controllable brakes You can control the following brakes: § 24 V brakes connected directly to X5 § Brakes connected indirectly over contactor to X5 Only in combination with SE6 safety module: § 24 V brakes connected directly to X8 §...

  • Page 35: Storage

    Reform drive controllers in storage annually or before commissioning. 6.1.1 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 1-phase and 3-phase devices.

  • Page 36: Reforming Before Commissioning

    6 | Storage STOBER 6.1.2 Reforming before commissioning If annual reforming is not possible, implement 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...

  • Page 37: Installation

    STOBER 7 | Installation Installation The following chapters describe the installation of a drive controller and the available accessories. Information on the replacement of a drive controller can be taken from the chapter Replacement [} 147]. Safety instructions for installation Installation work is permitted only when no voltage is present. Observe the 5 safety rules; see the chapter...

  • Page 38: Minimum Clearances

    7 | Installation STOBER Minimum clearances Note the minimum clearances for installation below. 0 – 2 Fig. 7: Minimum clearances The specified dimensions relate to the outer edges of the drive controller. Minimum clearance A (above) B (below) C (one the side) Size 0 –...

  • Page 39: Drilling Diagrams And Bore Dimensions

    200 mm must be maintained in relation to neighboring components or walls and approximately 300 mm must be maintained to components above or ceilings. Drilling diagrams and bore dimensions Drilling diagrams and dimensions can be found in the following chapters. 7.4.1 Drive controllers 0 – 1 Fig. 8: SD6 and DL6A drilling diagram...
  • Page 40 ∅ 4.2 (M5) — — 365+2 Tab. 46: Drilling dimensions for SD6 drive controller [mm] The following specifications apply to installation with a DL6A Quick DC-Link or rear section braking resistor: Dimension of DL6A / rear section braking resistor Size 0, size 1 Size 2...

  • Page 41: Length Of Copper Rails

    7 | Installation Length of copper rails If you would like to connect SD6 drive controllers in the DC link group using a DL6A Quick DC-Link, you need two copper rails with a cross-section of 5 × 12 mm in the correct length.

  • Page 42: Installing The Communication Module

    7 | Installation STOBER Installing the communication module In order to connect EtherCAT, CANopen or PROFINET, you need an EC6, CA6 or PN6 communication module. The communication module is installed in the upper slot. Installation is identical for all communication modules.
  • Page 43 STOBER 7 | Installation 2. Slide the communication module on the guide rails into the drive controller. 3. Press on the module in order to push the pin contacts into the box header. 4. Set the tabs of the cover included with the communication module in front into the notch at an angle.

  • Page 44: Installing The Terminal Module

    7 | Installation STOBER 6. Attach the cover using both screws. Installing the terminal module Analog and digital signals can be connected only by means of XI6, RI6 or IO6 terminal modules. Installation is identical for all terminal modules. WARNING! Electrical voltage! Risk of fatal injury due to electric shock! ▪...
  • Page 45 STOBER 7 | Installation 2. Push the front cover down as far as it will go. 3. Pull the cover forwards to remove it. 4. Insert the terminal module so that the notches of the module as well as the hold-down devices on the drive controller...
  • Page 46 7 | Installation STOBER 5. Push the terminal module upwards so that the pin contacts are pushed into the box header. 6. Fasten the terminal module to the drive controller using the fastening screw.

  • Page 47: Installing The Drive Controller Without A Rear Section Module

    This chapter describes the installation of the SD6 drive controller without a rear section module. If you would like to connect SD6 drive controllers in the DC link or insert rear section braking resistors, you must mount the required rear section modules and then build the appropriate drive controllers over them.

  • Page 48: Installing The Dc Link Connection

    Installing the DC link connection If you would like to connect the SD6 drive controllers in the DC link group, you must first mount the Quick DC-Link modules of type DL6A and then build the appropriate drive controllers over them.
  • Page 49 STOBER 7 | Installation 1. Fasten the Quick DC-Link modules to the mounting plate using the threaded bolts. 2. Insert the insulation connection pieces between the modules and insulation end section each at the left edge of the first module and at the right edge of the last module.
  • Page 50 7 | Installation STOBER 4. Insert both copper rails one after the other. 5. Fasten each of the copper rails with two quick fastening clamps per rail and Quick DC-Link module. Make certain the contact points of the copper rails do not become contaminated.

  • Page 51: Installing A Rear Section Braking Resistor

    STOBER 7 | Installation 7.10 Installing a rear section braking resistor If you employ the RB 5000 rear section braking resistor provided for drive controllers of sizes 0 to 2, you must mount it first and then build over with the appropriate drive controller.

  • Page 52: Mounting The Drive Controller On The Rear Section Module

    7 | Installation STOBER 7.11 Mounting the drive controller on the rear section module WARNING! 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 in the general technical data. You can only determine the absence of voltage after this time period.
  • Page 53 STOBER 7 | Installation Mounting on a Quick DC-Link module 1. Sizes 0 to 2: Connect the brown cable to D+ of terminal X30 and the black cable to D− of terminal X30. Make sure that the conductors of the Quick DC-Link module are twisted pairs.
  • Page 54 7 | Installation STOBER 3. Press the drive controller downward onto the guides. 4. Sizes 0 to 2: Mount the EM6A0 EMC shroud; see the chapter Attaching the EMC shroud [} 57]. 5. Attach the drive controller to the threaded bolts using the screw and washer assemblies.
  • Page 55 STOBER 7 | Installation 7. Sizes 0 to 2: Attach terminal X30 on the underside of the drive controller. Size 3: Connect the brown cable to D+ of terminal X20 and the black cable to D− of terminal X20. Ensure that the connection lines of the Quick DC-Link module are twisted pairs.
  • Page 56 7 | Installation STOBER 2. Position the drive controller on the guides of the rear section module. 3. Press the drive controller downward onto the guides. 4. Sizes 0 to 2: Mount the EM6A0 EMC shroud; see the chapter Attaching the EMC shroud [} 57].

  • Page 57: Attaching The Emc Shroud

    STOBER 7 | Installation 7. Sizes 0 to 2: Attach terminal X30 on the underside of the drive controller. ð The installation is completed. In the next step, connect the drive controller. 7.12 Attaching the EMC shroud The EMC shroud is used to be able to apply the cable shield of the power cable. You need the EM6A0 shroud for drive controllers of sizes 0 to 2 and the EM6A3 shroud for size 3.
  • Page 58 7 | Installation STOBER 2. Insert the shroud at a slight angle into the openings on the underside of the drive controller. 3. Press the rear side of the shroud either onto the mounting plate directly or onto the threaded bolts of the rear section module.
  • Page 59 STOBER 7 | Installation Attaching the EM6A3 to a drive controller of size 3 1. Before installing the drive controller, fasten the shroud to the underside of the drive controller in the threaded holes provided for this purpose using the included screw and washer assemblies (max. tightening torque: 2.4 Nm).

  • Page 60: Connection

    8 | Connection STOBER Connection The following chapter describes the connection of the drive controller and the available accessories. Safety instructions for connection Connection work is permitted only when no voltage is present. Observe the 5 safety rules; see the chapter...

  • Page 61: Line Routing

    STOBER 8 | Connection Line routing Observe the valid provisions for your machine or system, e.g. IEC 60364 or EN 50110, during the installation of electrical equipment. Protective measures Take the following protective measures into account. 8.3.1 Line fuse The drive controller is designed exclusively for operation in TN networks or on wye sources. At a nominal voltage of 200 to 480 V...
  • Page 62 8 | Connection STOBER Information To ensure problem-free operation, always comply with the recommended trigger limits and trigger characteristics of the fuse elements. 8.3.1.2 Line fuse in parallel connection Every drive controller connected to the grid in the DC link group must be protected at the line input against overload and short circuit.
  • Page 63 STOBER 8 | Connection Information To ensure problem-free operation, always comply with the recommended trigger limits and trigger characteristics of the fuse elements. Maximum number of drive controllers Multiple drive controllers of the same rating can be connected via a common fuse combination. The fuses and the resulting maximum line input current correspond to that of a single drive controller.
  • Page 64 8 | Connection STOBER 8.3.1.3 UL-compliant line fuses For UL-compliance, use the following fuses for the powered drive controller: § Fuses of class RK1 (e.g. Bussmann KTS-R-xxA/600 V), CF, J, T or G § For drive controllers of sizes 0 and 1, you can alternatively use fuses of class CC §...

  • Page 65: Residual Current Protective Device

    8.3.2 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 66: Protective Grounding

    8 | Connection STOBER 8.3.3 Protective grounding In order to dimension the grounding, it must be ensured that the upstream fuse is triggered in the event of a short circuit. Observe the requirements described below for the correct connection of the protective grounding.

  • Page 67: Emc Recommendations

    STOBER 8 | Connection Observe the order for assembly: Fig. 9: Connection of the grounding conductor M6 ground bolt Contact disk Cable lug Washer The contact disk, washer and nut are supplied with the drive controller. 8.3.4 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.

  • Page 68: Drive Controllers

    For UL-compliant operation: The connections marked with PE are intended solely for the functional grounding. 8.4.1 Overview with ST6 safety module The images for the connection overviews described in this chapter show the SD6 drive controller in every size with the following equipment: §...
  • Page 69 STOBER 8 | Connection 8.4.1.1 Sizes 0 and 1 X120 X201 X200 Fig. 10: Connection overview of sizes 0 and 1 with ST6 safety module Ground bolt X120: Encoder connection on optional XI6 terminal module (alternatively X120 and X140: Encoder connections on RI6 terminal module or IO6 terminal module without encoder connection) X10: 230/400 V...
  • Page 70 8 | Connection STOBER 8.4.1.2 Size 2 X120 X200 X201 Fig. 11: Connection overview of size 2 with ST6 safety module Ground bolt X120: Encoder connection on optional XI6 terminal module (alternatively X120 and X140: Encoder connections on RI6 terminal module or IO6 terminal module without encoder connection) X10: 400 V...
  • Page 71 STOBER 8 | Connection 8.4.1.3 Size 3 X200 X201 Fig. 12: Connection overview of size 3 with ST6 safety module, top of device X10: 400 V supply X11: 24 V supply X12: ST6 safety technology X3A: PC, IGB X3B: PC, IGB X200: EtherCAT on the optional EC6 communication module...
  • Page 72 8 | Connection STOBER X120 Fig. 13: Connection overview of size 3 with ST6 safety module, bottom of device X120: Encoder connection on optional XI6 terminal module (alternatively X120 and X140: Encoder connections on RI6 terminal module or IO6 terminal module without encoder connection)

  • Page 73: Overview With Se6 Safety Module

    8 | Connection 8.4.2 Overview with SE6 safety module The images for the connection overviews described in this chapter show the SD6 drive controller in every size with the following equipment: § SE6 safety module (expanded safety functionality via terminals) §...
  • Page 74 8 | Connection STOBER 8.4.2.1 Sizes 0 and 1 X120 X200 X201 Fig. 14: Connection overview of sizes 0 and 1 with SE6 safety module Ground bolt X120: Encoder connection on optional XI6 terminal module (alternatively X120 and X140: Encoder connections on RI6 terminal module or IO6 terminal module without encoder connection) X10: 230/400 V...
  • Page 75 STOBER 8 | Connection 8.4.2.2 Size 2 X120 X200 X201 Fig. 15: Connection overview of size 2 with SE6 safety module Ground bolt X120: Encoder connection on optional XI6 terminal module (alternatively X120 and X140: Encoder connections on RI6 terminal module or IO6 terminal module without encoder connection) X10: 230/400 V...
  • Page 76 8 | Connection STOBER 8.4.2.3 Size 3 X200 X201 Fig. 16: Connection overview of size 3 with SE6 safety module, top of device X10: 400 V supply X11: 24 V supply X14: SE6 safety technology – Safe inputs X15: SE6 safety technology – Safe outputs and supply for X50 X50: SE6 safety technology –...
  • Page 77 STOBER 8 | Connection X120 Fig. 17: Connection overview of size 3 with SE6 safety module, bottom of device X120: Encoder connection on optional XI6 terminal module (alternatively X120 and X140: Encoder connections on RI6 terminal module or IO6 terminal module without encoder connection)

  • Page 78: X1: Enable And Relay 1

    Motor temperature sensor wires in the resolver or EnDat cable for SDS 4000 If you replace an SDS 4000 with an SD6, the wires of the motor temperature sensor are maintained in the previously used encoder cable. To be able to continue using the cable, you need the RI6 terminal module, to which you can connect the cable via an AP6 interface adapter.

  • Page 79: X3A, X3B: Pc, Igb

    Tab. 59: X3A and X3B connection description Cable requirements Information To ensure proper functionality, we recommend using cables from STOBER that are matched to the complete system. If unsuitable connection cables are used, we reserve the right to reject claims under the warranty.

  • Page 80: X4: Encoder

    X4 may not be plugged in or unplugged when the device is switched on! Evaluable encoders The technical data of the evaluable encoders at X4 can be found in the manual for the SD6 drive controller; see the chapter Detailed information [} 161].
  • Page 81 STOBER 8 | Connection Differential HTL incremental encoders Socket Designation Function 8|7|6|5|4|3|2|1 B + Differential input for B channel 0 V GND Reference potential for encoder supply to pin 4 N + Differential input for N channel Encoder supply 15|14|13|12|11|10|9 — — A + Differential input for A channel —...

  • Page 82: X5: Brake - Actuation

    Tab. 63: Cable length [m] Information To ensure proper functionality, we recommend using cables from STOBER that are matched to the complete system. If unsuitable connection cables are used, we reserve the right to reject claims under the warranty. 8.4.7 X5: Brake –...

  • Page 83: X6: Brake - Feedback And Supply (St6 Option)

    Function Feedback Feedback input of an optional switching amplifier for braking diagnostics; if the brake is connected to SD6 indirectly over a contactor and the switching amplifier is to be monitored, pins 1 and 2 must be connected 1 | 2 | 3 | 4 via an external N/O contact 0 V GND...

  • Page 84: X7: Brake 2 - Supply (Se6 Option)

    8 | Connection STOBER 8.4.9 X7: Brake 2 – Supply (SE6 option) X7 serves as the brake supply for brake 2. The X7 connection is part of the SE6 safety module. Electrical data All types 24 V , +20% 8 A, UL: 4 A 1max Tab.

  • Page 85: X8: Brake 2 - Safe Brake Control (Se6 Option)

    STOBER 8 | Connection 8.4.10 X8: Brake 2 – Safe brake control (SE6 option) X8 serves as the safe brake control for brake 2. The X8 connection is part of the SE6 safety module. Controllable brakes Note the technical data of the brakes controllable at X8; see the chapter X8 (option SE6) [} 34].
  • Page 86 8 | Connection STOBER Terminal Designation Function Power supply 1 | 2 | 3 | 4 Grounding conductor Tab. 75: X10 connection description – Size 0, 3-phase line connection For connecting wiring, observe the terminal specifications in the chapter GFKC 2,5 -ST-7,62 [} 155].

  • Page 87: X11: 24 V Supply

    STOBER 8 | Connection 8.4.12 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 88: X12: Safety Technology (Option St6)

    8.4.13 X12: Safety technology (option ST6) The ST6 safety module adds the STO safety function to the SD6 drive controller via terminal X12. Information If you would like to use STO safety function over terminals, be sure to read the ST6 manual; see the chapter...

  • Page 89: X14: Safety Technology - Safe Inputs (Se6 Option)

    8.4.14 X14: Safety technology – Safe inputs (SE6 option) The SE6 safety module adds the expanded safety functions to the SD6 drive controller using terminals X14 and X15. Information If you would like to use the expanded safety functionality over terminals, be sure to read the SE6 manual; see the chapter Detailed information [} 161].

  • Page 90: X15: Safety Technology - Safe Outputs, Supply For X50 (Se6 Option)

    X15: Safety technology – Safe outputs, supply for X50 (SE6 option) The SE6 safety module adds the expanded safety functions to the SD6 drive controller using terminals X14 and X15. Information If you would like to use the expanded safety functionality over terminals, be sure to read the SE6 manual; see the chapter Detailed information [} 161].

  • Page 91: X20: Motor

    STOBER 8 | Connection 8.4.16 X20: Motor The motor is connected to X20. For size 3 device types, there is also the connection for the DC link connection and for a braking resistor at terminal X20. Size 0 Terminal Designation...
  • Page 92 Tab. 92: 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. If unsuitable connection cables are used, we reserve the right to reject claims under the warranty.

  • Page 93: X30: Dc Link Connection, Braking Resistor

    Terminal X30 is available in sizes 0 to 2 for the DC link connection of the drive controller and for the connection of a braking resistor. For setting up the Quick DC-Link, note the information on project configuration in the manual for the SD6 drive controller; see the chapter Detailed information [} 161].

  • Page 94: X50: Plausibility Encoder (Se6 Option)

    SLP safety function. Evaluable encoders The technical data of the evaluable encoders at X50 can be found in the manual for the SD6 drive controller; see the chapter Detailed information [} 161].

  • Page 95: Connecting A Drive Controller (St6 Option)

    STOBER 8 | Connection 8.4.18.1 X50 adapter cable (SE6 option) The adapter cable with open cable ends for connection to X50 is used to connect the plausibility encoder. Differential TTL incremental encoders Connector Designation Color 2 | 4 | 6 | 8 0 V GND...
  • Page 96 8 | Connection STOBER 2. Sizes 0 to 2: In order to connect the motor temperature sensor, the control of the brake and the motor itself to the drive controller, wire the cores of the power cables with terminals X2, X5 and X20. Attach the power cable to the EMC shroud.

  • Page 97: Connecting A Drive Controller (Se6 Option)

    STOBER 8 | Connection Top of the device: ü There is a circuit diagram of the system that describes the connection of the drive controller 1. Connect the power supply to terminal X10. 2. Connect the 24 V power supply for the control electronics to terminal X11.
  • Page 98 8 | Connection STOBER 3. Size 3: Start by attaching the power cable to the EMC shroud. Then wire the cores of the power cable to terminals X2, X5, X8 and X20 in order to connect the motor temperature sensor, the brakes and the motor itself to the drive controller.

  • Page 99: Communication Module

    STOBER 8 | Connection Communication module The connection descriptions of the optional communication modules can be found in the following chapters. 8.5.1 EC6: EtherCAT For the EtherCAT connection, you need the optional EC6 accessory part. 8.5.1.1 Overview X200 X201 Fig. 18: Connection overview for EC6 communication module...
  • Page 100 Cable requirements Information To ensure proper functionality, we recommend using cables from STOBER that are matched to the complete system. If unsuitable connection cables are used, we reserve the right to reject claims under the warranty. STOBER provides ready-made cables for the EtherCAT connection. It is also possible to use cables with the following specification: Ethernet patch cables or crossover cables meeting the CAT 5e quality level are the ideal cables.

  • Page 101: Ca6: Canopen

    STOBER 8 | Connection 8.5.2 CA6: CANopen The optional CA6 accessory part is available for the CANopen connection. 8.5.2.1 Overview X200 Fig. 19: Connection overview for CA6 communication module Terminating resistor; must be activated at the last networked drive controller (slider to "ON") X200: CANopen 8.5.2.2...

  • Page 102: Pn6: Profinet

    8 | Connection STOBER 8.5.3 PN6: PROFINET For a PROFINET connection, you need the optional PN6 accessory part. 8.5.3.1 Overview X200 X201 Fig. 20: Connection overview for PN6 communication module X200: PROFINET X201: PROFINET 8.5.3.2 X200, X201: PROFINET In order to be able to connect the drive controllers to other PROFINET nodes, an integrated switch with both X200 and X201 RJ-45 sockets is provided.
  • Page 103 STOBER 8 | Connection Cable requirements A PROFINET network generally consists of symmetrical, shielded copper cables twisted in pairs (shielded twisted pair, CAT 5e quality level). Signals are transmitted according to the 100BASE TX method, i.e. with a transfer rate of 100 Mbps at a frequency of 125 MHz.

  • Page 104: Terminal Module

    Terminal module The connection descriptions of the optional terminal modules can be found in the following chapters. You can find the technical data for the terminal modules in the manual for the SD6 drive controller; see the chapter Detailed information [} 161].
  • Page 105 STOBER 8 | Connection Connecting wiring For connecting wiring, observe the terminal specifications in the chapter FK-MCP 1,5 -ST-3,5 [} 153]. Cable requirements Feature All sizes Max. cable length 30 m Tab. 103: Cable length [m] 8.6.1.3 X101: DI1 – DI5, DO1 – DO2...
  • Page 106 8 | Connection STOBER Single-ended HTL incremental encoders Terminal Designation Function 0 V DGND Reference potential, internally bridged — 9|10|11| ... |17|18|19 — Evaluation: N channel Evaluation: A channel Evaluation: B channel Simulation: A channel Simulation: B channel +24 V External 24 V supply;...
  • Page 107 STOBER 8 | Connection Single-ended HTL Hall sensor Terminal Designation Function 0 V DGND Reference potential, internally bridged HALL A 9|10|11| ... |17|18|19 HALL B HALL C Digital inputs Digital outputs +24 V External 24 V supply; recommended fuse protection: max. 1 AT Tab. 107: X101 connection description for single-ended HTL Hall sensor signals...
  • Page 108 8 | Connection STOBER 8.6.1.5 X103A: DO3 – DO6 Terminal Designation Function Digital outputs 1|2|3|4 Tab. 111: X103A connection description Connecting wiring For connecting wiring, observe the terminal specifications in the chapter FMC 1,5 -ST-3,5 [} 152]. Cable requirements Feature All sizes Max.
  • Page 109 STOBER 8 | Connection 8.6.1.7 X103C: DI7 – DI13 Information In the event of failure of the 24 V supply, the digital inputs DI7 to DI13 display the signal state 0, regardless of the physical signal state. Terminal Designation Function Digital inputs 10|11| ...
  • Page 110 8 | Connection STOBER Differential TTL incremental encoders Connector Designation Function 1 | 2 | 3 | 4 | 5 GND Enc Reference potential for pin 2 to pin 7 N + Differential input/output for N channel N − Inverse differential input/output for N channel A −...

  • Page 111: Ri6

    STOBER 8 | Connection Cable requirements Feature All sizes Max. cable length 50 m, shielded Tab. 121: Cable length [m] 8.6.2 8.6.2.1 Overview X100 X101 Fig. 22: Connection overview for the RI6 terminal module X100: AI1 – AI2, AO1 – AO2 X101: DI1 – DI5, DO1 – DO2...
  • Page 112 8 | Connection STOBER Connecting wiring For connecting wiring, observe the terminal specifications in the chapter FK-MCP 1,5 -ST-3,5 [} 153]. Cable requirements Feature All sizes Max. cable length 30 m Tab. 123: Cable length [m] 8.6.2.3 X101: DI1 – DI5, DO1 – DO2...
  • Page 113 STOBER 8 | Connection Single-ended HTL and single-ended TTL incremental encoders Terminal Designation Function 0 V DGND Reference potential, internally bridged — 9|10|11| ... |17|18|19 — Evaluation: N channel Evaluation: A channel Evaluation: B channel Simulation: A channel Simulation: B channel +24 V...
  • Page 114 8 | Connection STOBER Single-ended HTL Hall sensor Terminal Designation Function 0 V DGND Reference potential, internally bridged HALL A 9|10|11| ... |17|18|19 HALL B HALL C Digital inputs Digital outputs +24 V External 24 V supply; recommended fuse protection: max. 1 AT Tab. 127: X101 connection description for single-ended HTL Hall sensor signals...
  • Page 115 STOBER 8 | Connection 8.6.2.4 X120 SSI encoders Connector Designation Function 1 | 2 | 3 | 4 | 5 GND Enc Reference potential for pin 2 to pin 7 — — — — Clock − Inverse differential input/output for CLOCK 6 | 7 | 8 | 9 Clock +...
  • Page 116 8 | Connection STOBER Differential TTL pulse/direction interface Connector Designation Function 1 | 2 | 3 | 4 | 5 GND Enc Reference potential for pin 2 to pin 7 — — — — Pulse − Inverse differential input for pulses 6 | 7 | 8 | 9 Pulse +...
  • Page 117 STOBER 8 | Connection Resolver Socket Designation Function 8|7|6|5|4|3|2|1 S4 Sin + Sin input R1 Ref − Reference potential for pin 6 S3 Cos + Cos input — — 15|14|13|12|11|10|9 — — R2 Ref + Resolver excitation signal 1TP1 Reserve — — S2 Sin −...
  • Page 118 8 | Connection STOBER Sin/cos encoders Socket Designation Function 8|7|6|5|4|3|2|1 B − (Sin −) Reference potential for sin input 0 V GND Reference potential for encoder supply to pin 4 A − (Cos −) Reference potential for cos input Encoder supply 15|14|13|12|11|10|9 — — —...
  • Page 119 Tab. 140: AP6A01 connection description for the resolver and motor temperature sensor (9-pin to 15-pin) View of 9-pin D-sub for connecting the SDS 4000-compatible resolver cable View of 15-pin D-sub for connecting to SD6, terminal X140 (RI6) View of 9-pin D-sub for connecting the SDS 4000-compatible resolver cable...
  • Page 120 CLOCK Tab. 141: AP6A02 connection description for EnDat 2.1 sin/cos encoder and motor temperature sensor (15-pin to 15-pin) View of 15-pin D-sub for connecting the SDS 4000-compatible EnDat cable View of 15-pin D-sub for connecting to SD6, terminal X140 (RI6)

  • Page 121: Io6

    STOBER 8 | Connection 8.6.3 8.6.3.1 Overview X100 X101 Fig. 23: Connection overview for the IO6 terminal module X100: AI1 – AI2, AO1 – AO2 X101: DI1 – DI5, DO1 – DO2 8.6.3.2 X100: AI1 – AI2, AO1 – AO2 Terminal...
  • Page 122 8 | Connection STOBER 8.6.3.3 X101: DI1 – DI5, DO1 – DO2 Terminal Designation Function 0 V DGND Reference potential, internally bridged Digital inputs 9|10|11| ... |17|18|19 Digital outputs +24 V External 24 V supply; recommended fuse protection: max. 1 AT Tab. 144: X101 connection description for digital signals Use the digital inputs DI3 to DI5 to evaluate incremental or pulse/direction signals.
  • Page 123 STOBER 8 | Connection Single-ended HTL pulse/direction interface Terminal Designation Function 0 V DGND Reference potential, internally bridged — 9|10|11| ... |17|18|19 — — Evaluation: Pulse Evaluation: Direction Simulation: Pulse Simulation: Direction +24 V External 24 V supply; recommended fuse protection: max. 1 AT Tab.

  • Page 124: Operation

    Operation The operating unit of the drive controller consists of a graphic display (LCD) and buttons. Overview Fig. 24: Operating unit of the SD6 drive controller Select levels, parameter groups and parameters or apply modified parameter values Display parameters of the start display,...

  • Page 125: Menu Structure And Navigation

    A09 Restart A00 Save values A926 Limitation Fig. 25: Menu structure and navigation using the SD6 operating unit Parameters – Quick access Using quick access, you get direct access to the status of the most important (diagnostic) parameters. This level consists of...
  • Page 126 9 | Operation STOBER Parameters Within a parameter group, you can navigate using the up and down arrow buttons; you can select one of the possible parameters with [OK]. If you would like to change a parameter value, select the corresponding character position using the right and left arrow buttons and select the new value using the up and down arrow buttons.

  • Page 127: What You Should Know Before Commissioning

    STOBER 10 | What you should know before commissioning What you should know before commissioning The following chapters provide a quick introduction to the structure of the program interface and accompanying window designations as well as relevant information about parameters and generally saving your project configuration.

  • Page 128: Meaning Of Parameters

    10 | What you should know before commissioning STOBER Area Description Parameter check The parameter check points out irregularities and inconsistencies that were detected in the plausibility check of calculable parameters. Messages The entries in the messages log the connection and communication status of the drive controllers, incorrect inputs caught by the system, errors when opening a project or rule violations in the graphical programming.

  • Page 129: Parameter Groups

    STOBER 10 | What you should know before commissioning 10.2.1 Parameter groups Parameters are assigned to individual groups by topic. The 6th generation of STOBER drive controllers differentiates between the following parameter groups. Group Topic Drive controllers, communication, cycle times...

  • Page 130: Parameter Types And Data Types

    10 | What you should know before commissioning STOBER 10.2.2 Parameter types and data types In addition to topic-based sorting in individual groups, all parameters belong to a certain data type and parameter type. The data type of a parameter is displayed in the parameter list, properties table. The connections between parameter types, data types and their value range can be found in the following table.

  • Page 131: Parameter Types

    STOBER 10 | What you should know before commissioning 10.2.3 Parameter types The following types of parameters are differentiated. Parameter type Description Example Simple parameters Consist of one group and one line with a A21 Brake resistor R: Value = 100 ohms defined value.

  • Page 132: Parameter Visibility

    § Level 3 All parameters needed for commissioning and optimizing an application Parameter A10 Access level controls general access to parameters: § Over the SD6 drive controller display (A10[0]) § Over CANopen or EtherCAT (A10[2]) § Over PROFINET (A10[3]) Hiding functions Hiding functions are used to hide parameters with regard to their logical relationships to other option modules or parameters.

  • Page 133: Signal Transmission And Fieldbus Mapping

    § Saving the configuration using the operating unit: SD6 drive controller > Operating unit: Press the save button for 3 seconds Saving to all drive controllers within a project You have the following options for saving the configuration to multiple drive controllers in non-volatile memory: §...

  • Page 134: Commissioning

    The following chapters describe how to commission your drive system using the DriveControlSuite software. For the components of your axis model, we require a STOBER synchronous servo motor with EnDat 2.1/2.2 digital encoder and optional brake. These motors together with all relevant data for the project configuration are saved in the motor database of DriveControlSuite as well as in the electronic nameplate.
  • Page 135 STOBER 11 | Commissioning Projecting the drive controller Properties tab: Establish the relationship between your circuit diagram and the drive controller to be projected in DriveControlSuite. Reference: Specify the reference code (equipment code) of the drive controller. Designation: Give the drive controller a unique name.

  • Page 136: Configuring Safety Technology

    11 | Commissioning STOBER 11.1.2 Configuring safety technology In the next step, you have to configure the safety technology in accordance with the commissioning steps outlined in the corresponding manual; see the chapter Detailed information [} 161]. 11.1.3 Creating other modules and drive controllers...

  • Page 137: Mapping The Mechanical Axis Model

    Motor protection All models of the 6th STOBER drive controller generation feature a certified i²t model, a computational model for thermal monitoring of the motor. In order to activate it and start the protective function, set the parameters as follows (deviating from the default values): U10 = 2: Warning and U11 = 1.00 s.
  • Page 138 11 | Commissioning STOBER 11.2.2.1 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 area. 2. Select the Axis model wizard. 3. I05 Type of axis: Define whether the axis type is rotational or translational.
  • Page 139 STOBER 11 | Commissioning 11.2.2.2 Scale the axis 1. Highlight the relevant drive controller in the project tree and click on the first projected axis in the project menu > Wizard area. 2. Select the Axis model wizard > Axis: Scaling.
  • Page 140 11 | Commissioning STOBER 11.2.2.4 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 axis 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 141: Testing The Configuration

    STOBER 11 | Commissioning 11.3 Testing the configuration You can quickly and easily test the project configuration using the DriveControlSuite software or directly using the drive controller display. 11.3.1 Test using DriveControlSuite Before you continue parameterizing your application, we recommend testing your projected axis model using the jog control panel.
  • Page 142 11 | Commissioning STOBER Drive controller without SE6 option ü You have verified the plausibility of the predefined test motion variables. ü The drive controllers are switched on. 1. In the project tree, highlight the module under which you have recorded your drive controller and click...
  • Page 143 STOBER 11 | Commissioning 1. Confirm the dialog box with Yes. ð PASmotion opens. 2. In the PASmotion project administration, navigate to the safety module for the drive controller and double-click to open it. ð The dialog box for the password prompt opens.

  • Page 144: Test Using The Operating Unit Of The Drive Controller

    Test using the operating unit of the drive controller You have connected the SD6 drive controller along with its accessories as described and would like to test the components in the group for correct wiring and functionality. STOBER standard parameterization enables an initial function test if you are operating the drive controller together with a STOBER synchronous servo motor and an EnDat encoder.
  • Page 145 STOBER 11 | Commissioning 11.3.2.1 Schematic test sequence Schematic test sequence The following illustration shows the schematic sequence of the wiring and function test. Test start Switch on 24 V supply for brake Switch on 24 V supply for drive controller Switch on...
  • Page 146 11 | Commissioning STOBER 11.3.2.2 Practical test sequence DANGER! Danger to life from moving parts! Motor shaft rotates during the wiring and function test described below! ▪ Clear the danger area before the test. ▪ Do not connect any downstream mechanical parts to the motor or gear unit until the test has finished.

  • Page 147: Replacement

    STOBER 12 | Replacement Replacement The following chapters describe the replacement of a drive controller and the available accessories. 12.1 Safety instructions for device replacement Replacement work is permitted only when no voltage is present. Observe the 5 safety rules; see the chapter...

  • Page 148: Notes On Motor Replacement

    12.3 Notes on motor replacement When replacing a STOBER synchronous servo motor with EnDat encoder and electronic nameplate, the drive controller detects that a motor replacement has been performed upon switching on the drive controller (prerequisite: B04 = 64: Active).
  • Page 149 STOBER 12 | Replacement ü The Paramodul of the drive controller being replaced is present; the original project is stored on the Paramodul. 1. Optional: If an AES battery module is present, disconnect the AES from the drive controller. 2. Remove all terminals from the drive controller being uninstalled.

  • Page 150: Replacing Or Updating Firmware Using Ds6

    12 | Replacement STOBER 12.5 Replacing or updating firmware using DS6 If you need a different firmware version or a drive controller needs to be updated with an older firmware version, you can change the firmware using the DriveControlSuite commissioning software. You can prepare a live firmware update while the drive controller and machine are operating.

  • Page 151: Appendix

    STOBER 13 | Appendix Appendix 13.1 Terminal specifications Relevant information for project configuration of the connecting wiring can be taken from the following chapters. EN 60204-1 contains basic recommendations that should be taken into account when selecting conductors. The chapter "Conductors and cables"...

  • Page 152: Fmc 1,5 -St-3,5

    13 | Appendix STOBER Safety module Type X2, X5, X6 BFL 5.08HC 180 SN [} 154] BCF 3,81 180 SN [} 153] Tab. 153: Terminal specifications of the ST6 safety module Type X2, X5, X7, X8 X14, X15 BFL 5.08HC 180 SN [} 154] DFMC 1.5 -ST-3.5 [} 155]...

  • Page 153: Bcf 3,81 180 Sn

    STOBER 13 | Appendix 13.1.3 FK-MCP 1,5 -ST-3,5 Feature Line type Value Contact spacing — 3.5 mm Nominal current at ϑ = 40 °C — CE/UL/CSA: 8 A Max. conductor cross-section Flexible without end sleeve 1.5 mm² Flexible with end sleeve without plastic collar 1.5 mm²...

  • Page 154: Bldf 5.08 180 Sn

    13 | Appendix STOBER 13.1.5 BFL 5.08HC 180 SN Feature Line type Value Contact spacing — 5.08 mm Nominal current at ϑ = 40 °C — CE/UL/CSA: 16 A/10 A/10 A Max. conductor cross-section Flexible without end sleeve 2.5 mm² Flexible with end sleeve without plastic collar 2.5 mm²...
  • Page 155 STOBER 13 | Appendix 13.1.7 DFMC 1.5 -ST-3.5 Feature Line type Value Contact spacing — 3.5 mm Nominal current at ϑ = 40 °C — CE/UL/CSA: 8 A Max. conductor cross-section Flexible without end sleeve 1.5 mm² Flexible with end sleeve without plastic collar 1.5 mm²...
  • Page 156 13 | Appendix STOBER 13.1.9 GFKIC 2.5 -ST-7.62 Feature Line type Value Contact spacing — 7.62 mm Nominal current at ϑ = 40 °C — CE/UL/CSA: 12 A/10 A/10 A Max. conductor cross-section Flexible without end sleeve 2.5 mm² Flexible with end sleeve without plastic collar 2.5 mm²...

  • Page 157: Ispc 5 -Stgcl-7,62

    STOBER 13 | Appendix 13.1.11 ISPC 5 -STGCL-7,62 Feature Line type Value Contact spacing — 7.62 mm Nominal current at ϑ = 40 °C — CE/UL/CSA: 32 A/35 A/35 A Max. conductor cross-section Flexible without end sleeve 6.0 mm² Flexible with end sleeve without plastic collar 6.0 mm²...

  • Page 158: Mkdsp 25 -15,00

    13 | Appendix STOBER 13.1.13 ISPC 16 -ST-10,16 Feature Line type Value Contact spacing — 10.16 mm Nominal current at ϑ = 40 °C — CE/UL/CSA: 55 A/66 A/66 A Max. conductor cross-section Flexible without end sleeve 16.0 mm² Flexible with end sleeve without plastic collar 16.0 mm²...

  • Page 159: Wiring Examples

    For UL-compliant operation: The connections marked with PE are intended solely for the functional grounding. 13.2.1 Stand-alone operation with direct brake control The following graphic shows a wiring example for the stand-alone operation of SD6 with direct brake control. L1 L2 L3 24 V...

  • Page 160: Stand-Alone Operation With Indirect Brake Control

    13 | Appendix STOBER 13.2.2 Stand-alone operation with indirect brake control The following graphic shows a wiring example for the stand-alone operation of SD6 with indirect brake control. L1 L2 L3 24 V 1 2 3 4 1 2 3 4...

  • Page 161: Detailed Information

    Connection method Manual Selection of encoder, power and hybrid 443102 cables, accessories, technical data, connection CiA 402 application – SD6 Manual Project planning, configuration, 443077 parameterization, function test, detailed information Drive Based (DB) application Manual...

  • Page 162: Formula Symbols

    13 | Appendix STOBER 13.4 Formula symbols Symbol Unit Explanation Maximum charging capacity of the power unit maxPU Self-capacitance of the power unit Output frequency of the power unit Frequency of the pulse width modulation of the power unit PWM,PU...

  • Page 163: Abbreviations

    STOBER 13 | Appendix 13.5 Abbreviations Abbreviation Meaning Alternating Current Analog Input Analog Output Baugröße (en: size) Controller Area Network CAN in Automation Computerized Numerical Control Direct Current Digital Input Digital output Electromagnetic Compatibility EtherCAT Ethernet for Control Automation Technology...
  • Page 164 Your suggestions, opinions, wishes and constructive criticism help us to ensure and further develop the quality of our documentation. If you want to contact us for a specific reason, we would be happy to receive an e-mail from you at: documentation@stoeber.de Thank you for your interest. Your STOBER editorial team...
  • Page 165 STOBER 14 | Contact 14.3 Close to customers around the world We offer you committed, expert advise and support in over 40 countries worldwide: STOBER AUSTRIA STOBER SOUTH EAST ASIA www.stoeber.at www.stober.sg Phone +43 7613 7600-0 sales@stober.sg sales@stoeber.at STOBER CHINA STOBER SWITZERLAND www.stoeber.cn...
  • Page 166 442537.08 04/2021 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 www.stober.com...

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