SIGMATEK ST 151 Instruction Manual
  1. Manuals
  2. Brands
  3. SIGMATEK Manuals
  4. Control Unit
  5. ST 151
  6. Instruction manual

SIGMATEK ST 151 Instruction Manual

S-dias stepper motor output stage
Hide thumbs Also See for ST 151:
Table of Contents

Advertisement

Quick Links

Download this manual
ST 151
S-DIAS Stepper Motor Output
Stage
Instruction Manual
Date of creation: 23.10.2017
Version date: 05.12.2023
Article number: 20-014-151-E

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the ST 151 and is the answer not in the manual?

Questions and answers

Subscribe to Our Youtube Channel

Related Manuals for SIGMATEK ST 151

Summary of Contents for SIGMATEK ST 151

  • Page 1 ST 151 S-DIAS Stepper Motor Output Stage Instruction Manual Date of creation: 23.10.2017 Version date: 05.12.2023 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 responsible for technical or printing errors in the handbook and assumes no responsibility for damages that occur through use...
  • Page 3 With both enable inputs, the safety function STO is implemented. The 2 latch/digital inputs are provided for the reference motion and monitoring the end posi- tions. ST 151-X: main board and S-DIAS connectors coated in Purocoat (Certonal) 05.12.2023 Page 1...

  • Page 4: Table Of Contents

    ST 151 S-DIAS STEPPER MOTOR OUTPUT STAGE Contents Introduction ................6 Target Group/Purpose of this Operating Manual ...... 6 Important Reference Documentation ......... 6 Contents of Delivery ..............6 Basic Safety Guidelines ............7 Symbols Used ................7 Disclaimer ..................9 General Safety Directives ............
  • Page 5 S-DIAS STEPPER MOTOR OUTPUT STAGE ST 151 Brake Chopper Specifications ........... 18 Incremental Encoder Input Specifications ....... 19 STO Enable Input Specifications ..........20 Latch/Digital Input Specifications ..........20 Electrical Requirements ............. 21 Miscellaneous ................23 Environmental Conditions ............23 Mechanical Dimensions ............
  • Page 6 ST 151 S-DIAS STEPPER MOTOR OUTPUT STAGE Signal Process “Count UP” ..............35 9.3.1 Signal Process “Count DOWN” ............35 9.3.2 Signal Process “Reference Pulse (Zero Position)” ......35 9.3.3 9.3.4 Latch Function ................... 36 10 Additional Safety Information ..........37 10.1...
  • Page 7 S-DIAS STEPPER MOTOR OUTPUT STAGE ST 151 16 Disposal ................. 53 17 Hardware Class ST151 ............54 17.1 General ..................57 17.2 Incremental Encoder ..............58 17.3 Digital Inputs 1 and 2 ..............59 17.4 Stepper Motor ................60 17.5 Asynchronous Values ..............

  • Page 8: Introduction

    Please see our website for our hotline number and business hours. Important Reference Documentation • Safety System Handbook This and additional documents can be downloaded from our website or obtained through support. Contents of Delivery 1x ST 151 Page 6 05.12.2023...

  • Page 9: Basic Safety Guidelines

    S-DIAS STEPPER MOTOR OUTPUT STAGE ST 151 Basic Safety Guidelines Symbols Used The following symbols are used in the operator documentation for warning and danger mes- sages, as well as informational notes: DANGER Danger indicates that death or serious injury will occur, if the specified measures are not taken.
  • Page 10 ST 151 S-DIAS STEPPER MOTOR OUTPUT STAGE DANGER • Electrical voltage • Tension électrique CAUTION Danger for ESD-sensitive components. Les signes de danger pour les composants sensibles aux décharges électrostatiques. INFORMATION Information  Provides important information on the product, handling or rel- evant sections of the documentation, which require attention.

  • Page 11: Disclaimer

    It does not guarantee properties under the warranty. Please thoroughly read the corresponding documents and this operat- ing manual before handling a product. SIGMATEK GmbH & Co KG is not liable for damages caused through, non-compliance with these instructions or applicable regulations.

  • Page 12: General Safety Directives

    ST 151 S-DIAS STEPPER MOTOR OUTPUT STAGE General Safety Directives The Safety Directives in the other sections of this operating manual must be observed. These instructions are visually emphasized by symbols. INFORMATION According to EU Directives, the operating manual is a component of a product.
  • Page 13 S-DIAS STEPPER MOTOR OUTPUT STAGE ST 151 CAUTION Handle the device with care and do not drop or let fall. Prevent foreign bodies and fluids from entering the device. The device must not be opened! Manipulez l’appareil avec précaution et ne le laissez pas tomber.

  • Page 14: Designated Use

    The Safety functions implemented in the product are designed for use with safety applications in a SIGMATEK control and meet the required conditions for safe operation according to SIL 3, HFT 1 n compliance with EN 62061 and according to PL e, Kat. 4 in compliance with EN ISO 13849-1.

  • Page 15: Software/Training

    S-DIAS STEPPER MOTOR OUTPUT STAGE ST 151 Une installation CEM correcte est également incluse dans l’utilisation prévue. Non-designated use consists of: • any changes made to the module or the use of damaged mod- ules. • use of the module inconsistent with the technical margins de- scribed in this operating manual or the specifications defined in the technical data.

  • Page 16: Standards And Directives

    ST 151 S-DIAS STEPPER MOTOR OUTPUT STAGE Standards and Directives Residual Risks CAUTION The following residual risks for the product must be included in the sys- tem integrator's risk assessment: • Release of non-environmentally safe substances, emissions and unusual temperatures •...

  • Page 17: Functional Safety Standards

    EN ISO 13849-2 - Safety of machinery — Safety-related parts of control systems — Part 2: Validation 3.3.2 EU Conformity Declaration EU Declaration of Conformity The product ST 151 conforms to the following European directives: • 2006/42/EG Machine Directive • 2014/30/EU Electromagnetic Compatibility (EMC Directive) •...

  • Page 18: Type Plate

    ST 151 S-DIAS STEPPER MOTOR OUTPUT STAGE Type Plate HW: Hardware version SW: Software version Page 16 05.12.2023...

  • Page 19: Technical Data

    S-DIAS STEPPER MOTOR OUTPUT STAGE ST 151 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 20: 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 21: Incremental Encoder Input Specifications

    S-DIAS STEPPER MOTOR OUTPUT STAGE ST 151 Incremental Encoder Input Specifications Number Input signals Incremental encoder signals RS422 (A, /A, B, /B, R, /R) RS422 signal (150  termination, integrated in module) Incremental encoder signal TTL (A, B, R) TTL level (1200  Pull-Up, integrated in module)

  • Page 22: 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 23: Electrical Requirements

    S-DIAS STEPPER MOTOR OUTPUT STAGE ST 151 Electrical Requirements Motor supply +18-55 V DC Current consumption of the motor maximum 6 A (load-dependent) supply Current consumption of the typically 80 mA maximum 120 mA +24 V supply on the S-DIAS bus (incl.
  • Page 24 ST 151 S-DIAS STEPPER MOTOR OUTPUT STAGE If this S-DIAS module is connected to an S-DIAS supply module with several S-DIAS modules, the total current of the modules used must be determined and checked. The total current of the +24 V supply cannot exceed 1.6 A! The total current of the +5 V supply cannot exceed 1.6 A!

  • Page 25: Miscellaneous

    S-DIAS STEPPER MOTOR OUTPUT STAGE ST 151 Miscellaneous Article number 20-014-151 20-014-151-X (Printed circuit board with protective lacquer) Standard designed according to UL Approvals Mission time 20 years Environmental Conditions Storage temperature -20 ... +85 °C Environmental temperature 0 ... +55 °C...

  • Page 26: Mechanical Dimensions

    ST 151 S-DIAS STEPPER MOTOR OUTPUT STAGE Mechanical Dimensions Page 24 05.12.2023...

  • Page 27: Connector Layout

    S-DIAS STEPPER MOTOR OUTPUT STAGE ST 151 Connector Layout INFORMATION The motor power connector X2, cannot be inserted or removed during operation! 05.12.2023 Page 25...

  • Page 28: 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 visu-...

  • Page 29: 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 (ultrasonically welded) wires. Connections: Stripping length/sleeve length: 10 mm Mating direction:...

  • Page 30: 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 28 05.12.2023...

  • Page 31: Wiring

    S-DIAS STEPPER MOTOR OUTPUT STAGE ST 151 Wiring Wiring Example 05.12.2023 Page 29...

  • Page 32: 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 33: Description Of Functions

    S-DIAS STEPPER MOTOR OUTPUT STAGE ST 151 Description of Functions Stepper Motor Output Stage Operating Modes 9.1.1 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 34: 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 35: 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, in- ductivity and the resistance of the motor windings.
  • Page 36 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 con- figured ChopperOnTimeMin (T...

  • Page 37: Incremental Encoder

    S-DIAS STEPPER MOTOR OUTPUT STAGE ST 151 Incremental Encoder Signal Process “Count UP” 9.3.1 Signal Process “Count DOWN” 9.3.2 Signal Process “Reference Pulse (Zero Position)” 9.3.3 05.12.2023 Page 35...

  • Page 38: Latch Function

    ST 151 S-DIAS STEPPER MOTOR OUTPUT STAGE 9.3.4 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 39: Additional Safety Information

    S-DIAS STEPPER MOTOR OUTPUT STAGE ST 151 10 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 40 ST 151 S-DIAS STEPPER MOTOR OUTPUT STAGE • the use of the Safety modules inconsistent with the technical data described in these operating instructions (see the "Tech- nical data" sections of the respective production). L'utilisation abusive comprend entre autres: •...

  • Page 41: Sto

    S-DIAS STEPPER MOTOR OUTPUT STAGE ST 151 10.1 STO The stepper motor output stage supports the safety functions STO (Safe Torque Off), and meets the requirements for Category 4 Performance Level "e" according to EN ISO 13849-1 and SIL3 according to EN 62061.

  • Page 42: Function Test

    ST 151 S-DIAS STEPPER MOTOR OUTPUT STAGE 10.3 Function Test INFORMATION The safety function test is required to ensure correct operation. The en- tire safety circuit must be tested for full functionality. Tests must be performed at the following times: •...

  • Page 43: Wiring Examples

    S-DIAS STEPPER MOTOR OUTPUT STAGE ST 151 11 Wiring Examples In the following sub chapters, wiring examples are provided. It must be ensured that all con- structive measures etc. are complied with and applied in order to fulfill the requirements of the category used.
  • Page 44 ST 151 S-DIAS STEPPER MOTOR OUTPUT STAGE Page 42 05.12.2023...

  • Page 45: Performance Level E, Category 3 Or Sil 3 - Safety-Sps

    S-DIAS STEPPER MOTOR OUTPUT STAGE ST 151 11.2 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 possible.
  • Page 46 ST 151 S-DIAS STEPPER MOTOR OUTPUT STAGE Page 44 05.12.2023...

  • Page 47: Performance Level E, Category 4 Or Sil 3 - Conventional

    S-DIAS STEPPER MOTOR OUTPUT STAGE ST 151 11.3 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 wires) as...
  • Page 48 ST 151 S-DIAS STEPPER MOTOR OUTPUT STAGE Page 46 05.12.2023...

  • Page 49: Performance Level E, Category 2 Or Sil 2 - Safety-Sps

    S-DIAS STEPPER MOTOR OUTPUT STAGE ST 151 11.4 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. 05.12.2023 Page 47...
  • Page 50 ST 151 S-DIAS STEPPER MOTOR OUTPUT STAGE Page 48 05.12.2023...

  • Page 51: Assembly/Installation

    S-DIAS STEPPER MOTOR OUTPUT STAGE ST 151 12 Assembly/Installation 12.1 Check Contents of Delivery Ensure that the contents of the delivery are complete and intact. See chapter Contents of Delivery. INFORMATION On receipt and before initial use, check the device for damage. If the device is damaged, contact our customer service and do not install the device in your system.

  • Page 52: Mounting

    ST 151 S-DIAS STEPPER MOTOR OUTPUT STAGE 12.2 Mounting The S-DIAS modules are designed for installation into the control cabinet. To mount the mod- ules a DIN-rail is required. The DIN rail must establish a conductive connection with the back wall of the control cabinet.
  • Page 53 S-DIAS STEPPER MOTOR OUTPUT STAGE ST 151 Recommended minimum distances of the S-DIAS modules to the surrounding components or control cabinet wall: a, b, c … distances in mm (inches) 05.12.2023 Page 51...

  • Page 54: Transport/Storage

    ST 151 S-DIAS STEPPER MOTOR OUTPUT STAGE 13 Transport/Storage INFORMATION This device contains sensitive electronics. During transport and stor- age, high mechanical stress must therefore be avoided. For storage and transport, the same values for humidity and vibration as for operation must be maintained! Temperature and humidity fluctuations may occur during transport.

  • Page 55: Maintenance

    S-DIAS STEPPER MOTOR OUTPUT STAGE ST 151 15 Maintenance INFORMATION During maintenance as well as servicing, observe the safety instruc- tions from chapter Basic Safety Directives. 15.1 Service This product was constructed for low-maintenance operation. 15.2 Repair INFORMATION In the event of a defect/repair, send the device with a detailed error de- scription to the address listed at the beginning of this document.

  • Page 56: Hardware Class St151

    Hardware class ST151 for the S-DIAS ST151 module This hardware class is used to control the hardware module ST 151 with 1 x stepper driver, 1 x brake chopper and 1 x incremental encoder (RS422/TTL). More information on the hard- ware can be found in the module documentation.
  • Page 57 S-DIAS STEPPER MOTOR OUTPUT STAGE ST 151 05.12.2023 Page 55...
  • Page 58 ST 151 S-DIAS STEPPER MOTOR OUTPUT STAGE Page 56 05.12.2023...

  • Page 59: General

    S-DIAS STEPPER MOTOR OUTPUT STAGE ST 151 17.1 General ClassState State This server shows the actual status of the hardware class. Device ID State The device ID of the hardware module is shown in this server. FPGA version State FPGA version of the module in 16#XY (e.g. 16#10 = version 1.0).

  • Page 60: Incremental Encoder

    ST 151 S-DIAS STEPPER MOTOR OUTPUT STAGE 17.2 Incremental Encoder Encoder Posi- Input Position of the incremental encoder (32-bit signed up/down counter). tion The status is queried over read(). Z Puls Input Reference position of the encoder. actual position does not match the reference position actual position matches the reference position The status is queried over read().

  • Page 61: Digital Inputs 1 And 2

    S-DIAS STEPPER MOTOR OUTPUT STAGE ST 151 A/B Count Property Setting of the counter mode of the incremental encoder. If the 1-fold evalua- Mode tion has been selected. A pulses and B direction true A/B (Default) as initialization value 17.3 Digital Inputs 1 and 2...

  • Page 62: Stepper Motor

    ST 151 S-DIAS STEPPER MOTOR OUTPUT STAGE 17.4 Stepper Motor Enable Output Is used to switch on the motor. motor switched off motor switched on The server value can be changed over the write() method. If the motor is switched off (Server “Enable” to 0), the set speed (Server “Set- FreqOut”) is reset to 0.
  • Page 63 S-DIAS STEPPER MOTOR OUTPUT STAGE ST 151 Error Info State Indicates that an error was detected in the hardware. The errors from bit 17 on are updated depending on the setting of "Refresh Values". Bit 1 reserved Bit 2 Fault (Bridge not OK)
  • Page 64 ST 151 S-DIAS STEPPER MOTOR OUTPUT STAGE HW Rampdown Output Defines the step size in (Hz * 64 micro steps) of the frequency reduction, when Delta Fre- the safety input is activated. quency When changing the value, it is transmitted to the module asynchronously.
  • Page 65 S-DIAS STEPPER MOTOR OUTPUT STAGE ST 151 Load Threshold Property Sets the threshold for the load of the regenerative resistor in [%] above which Resistor the regenerative resistor is switched off. When reaching this threshold, the H bridge and the regenerative resistor are switched off.

  • Page 66: Asynchronous Values

    ST 151 S-DIAS STEPPER MOTOR OUTPUT STAGE 17.5 Asynchronous Values Refresh Values Output Defines whether the values should be read asynchronously. values are not updated values are updated cyclically in the asynchronous task (every 200 ms) values are updated once in the asynchronous task...

  • Page 67: Communication Interfaces

    S-DIAS STEPPER MOTOR OUTPUT STAGE ST 151 State Shows whether the supply voltage for the encoder is OK. Depending on the refresh values settings, the value is updated in the asyn- Voltage OK En- chronous task. If the values has not been read yet, -2 147 483 632 is shown.

  • Page 68: Global Methods

    ST 151 S-DIAS STEPPER MOTOR OUTPUT STAGE 17.6 Global Methods 17.6.1 StartMeasure This function is used to measure the H bridge voltage. The measured values are 2-byte values in 62.5 µs steps. 512 values are recorded, requiring a minimum buffer size of 1024. Only each x-value can be recorded via the Prescaler.

  • Page 69: Getmeasurestate

    S-DIAS STEPPER MOTOR OUTPUT STAGE ST 151 17.6.2 GetMeasureState Function returns the status of a running measurement. Return parameters Type Description dRetCode DINT measurement not yet ready measurement finished no measurement started 17.7 Internal Properties 17.7.1 Visual Object View The frequency limits and the necessary steps can be changed via the VOV (Visual Object View).

  • Page 70: Default Mode

    ST 151 S-DIAS STEPPER MOTOR OUTPUT STAGE 17.7.2 Default Mode The frequency limits for the increasing frequencies can be changed via the sliders or directly via the input window. The frequency limit of half to full step can now be entered directly. The lower frequency limits are calculated automatically based on the setting of "Stepping Hyste-...

  • Page 71: Advanced Mode

    S-DIAS STEPPER MOTOR OUTPUT STAGE ST 151 17.7.3 Advanced Mode The frequency limits for the increasing frequencies can be changed via the sliders or directly via the input window. The frequency limit of half to full step can now be entered directly. In Advanced Mode, the frequency limits for falling frequencies can also be set as desired.

  • Page 72: Adaptive Micro Stepping

    ST 151 S-DIAS STEPPER MOTOR OUTPUT STAGE 17.7.4 Adaptive Micro Stepping In order to use Adaptive Micro Stepping, the frequency limits must be set overlapping in "Ad- vanced Mode". In addition, a target frequency must be specified via the "Target Frequency Out"...
  • Page 73 S-DIAS STEPPER MOTOR OUTPUT STAGE ST 151 Example 2: Target frequency is 22000 1/64 Hz In this example, only the micro steps 4, 16 and 64 are activated. The other steps are deac- tivated and thus skipped. 05.12.2023 Page 71...
  • Page 74 ST 151 S-DIAS STEPPER MOTOR OUTPUT STAGE Example 3: Incorrect setting of limits In this example, the limits are configured to create gaps. As soon as the output frequency enters these gaps, it is automatically switched to full step because no step range has been defined.

  • Page 75: Accepting Initial Values

    S-DIAS STEPPER MOTOR OUTPUT STAGE ST 151 17.7.5 Accepting Initial Values To accept the set values as initial values, e.g. right-click on the object and select "As Init- value". If the "Decrease Limits" or "Increase Limits" are to be used as initial values, this must be done in the complex network.

  • Page 76: Current Increase

    ST 151 S-DIAS STEPPER MOTOR OUTPUT STAGE 17.7.7 Current Increase With "Current Increase" (current * Ö2) the reduced torque in half step mode is compensated only for an activated phase. In half step mode, up to 95% of the full step torque can thereby be reached.

  • Page 77: Stall Current Reduction

    S-DIAS STEPPER MOTOR OUTPUT STAGE ST 151 17.7.8 Stall Current Reduction With this setting the stall current is limited. Here, by what % of the maximum current should be reduced can be set. The value should be entered in 0.1% increments...
  • Page 78 ST 151 S-DIAS STEPPER MOTOR OUTPUT STAGE Documentation Changes Change date Affected Chapter Note page(s) 05.02.2018 6.2 Stepper Motor Current Expansion and Edit Regulator 18.06.2018 1.6 Electrical Requirements Notes updated 02.04.2019 4.3 Safety-Relevant Parame- Correction of the safety-relevant parameters ters 3.8 Environmental Conditions...

This manual is also suitable for:

20-014-151

Table of Contents