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Stober SI6A061 Multi-Axis Drive System Manuals
Manuals and User Guides for Stober SI6A061 Multi-Axis Drive System. We have
2
Stober SI6A061 Multi-Axis Drive System manuals available for free PDF download: Manual
Stober SI6A061 Manual (264 pages)
Multi-axis drive system
Brand:
Stober
| Category:
DC Drives
| Size: 11 MB
Table of Contents
Multi-Axis Drive System with Si6 and Ps6 Manual
2
Table of Contents
2
1 Foreword
9
2 User Information
10
Storage and Transfer
10
Described Product Type
10
Timeliness
10
Original Language
10
Limitation of Liability
10
Formatting Conventions
11
Use of Symbols
11
Markup of Text Elements
12
Conventions for Cables
13
Symbols, Marks and Test Symbols
13
Trademarks
14
3 General Safety Instructions
15
Directives and Standards
15
Qualified Personnel
15
Intended Use
15
Transport and Storage
16
Operational Environment and Operation
16
Working on the Machine
17
Tab. 1 Maximum Symmetrical Nominal Short-Circuit Current of the Supply Module
17
Disposal
18
Firefighting
18
4 UL-Compliant Use
19
5 System Configuration
22
Fig. 1 System Overview for the Multi-Axis Drive System with SI6 and PS6
22
Hardware Components
23
Supply Module
23
Fig. 2 PS6A24 Nameplate
23
Tab. 2 Meaning of the Specifications on the PS6 Nameplate
24
Tab. 3 Example Code for the PS6 Type Designation
25
Tab. 4 Meaning of the PS6 Example Code
25
Tab. 5 Available PS6 Types and Sizes
25
Drive Controller
27
Fig. 3 SI6A061 Nameplate
27
Fig. 4 Sticker with MV and Serial Number
28
Tab. 6 Meaning of the Specifications on the SI6 Nameplate
28
Tab. 7 Meaning of the Specifications on the Sticker
28
Tab. 8 Example Code for the SI6 Type Designation
29
Tab. 9 Meaning of the SI6 Example Code
29
Tab. 10 Available SI6 Types and Sizes
29
DC Link Connection
31
Controller
32
Operating Motors, Encoders and Brakes
33
Accessories
34
Software Components
37
Project Configuration and Parameterization
37
Applications
37
6 Technical Data
38
General Technical Data
38
Tab. 11 Device Features
38
Tab. 12 Transport and Storage Conditions
38
Tab. 13 Operating Conditions
38
Tab. 14 Discharge Times of the DC Link Circuit
38
Supply Module
39
Electrical Data
39
Tab. 15 Control Unit Electrical Data
39
Tab. 16: PS6 Electrical Data, Size 2
40
Tab. 17: PS6 Electrical Data, Size 3
40
Tab. 18 Electrical Data for Parallel Connection: Example Combinations
40
Tab. 20 Electrical Data
40
Tab. 19 Brake Chopper Electrical Data
41
Dimensions
42
Weight
42
Fig. 5 PS6 Dimensional Drawing
42
Tab. 21 PS6 Dimensions [MM]
42
Tab. 22 PS6 Weight [G]
42
Drive Controllers
43
Electrical Data
43
Tab. 23 Control Unit Electrical Data
43
Tab. 24 SI6 Electrical Data, Size 0
43
Tab. 25 SI6 Electrical Data, Size 0, at 4 Khz Clock Frequency
43
Tab. 26 SI6 Electrical Data, Size 0, at 8 Khz Clock Frequency
43
Tab. 27 SI6 Electrical Data, Size 1
44
Tab. 28 SI6 Electrical Data, Size 1, at 4 Khz Clock Frequency
44
Tab. 29 SI6 Electrical Data, Size 1, at 8 Khz Clock Frequency
44
Tab. 30 SI6 Electrical Data, Size 2
45
Tab. 31 SI6 Electrical Data, Size 2, at 4 Khz Clock Frequency
45
Tab. 32 SI6 Electrical Data, Size 2, at 8 Khz Clock Frequency
45
Tab. 33 SI6 Electrical Data, Size 3
46
Tab. 34 SI6 Electrical Data, Size 3, at 4 Khz Clock Frequency
46
Tab. 35 SI6 Electrical Data, Size 3, at 8 Khz Clock Frequency
46
Tab. 36 X101 Electrical Data
47
Tab. 37 X103 Electrical Data
47
Fig. 6 Asymmetric Load on Double-Axis Controllers
48
Tab. 38 Power Loss Data in Accordance with en 50598 for One Axis of a SI6 Drive Controller
49
Derating
51
Tab. 39 Absolute Losses in the Accessories
51
Tab. 40 Nominal Output Current I2N,PU Dependent on the Clock Frequency
51
Dimensions
53
Fig. 7 SI6 Dimensional Drawing
53
Tab. 41 SI6 Dimensions [MM]
53
Weight
54
DC Link Connection
54
General Technical Data
54
Tab. 42 SI6 Weight [G]
54
Tab. 43 Device Features
54
Tab. 44 Transport and Storage Conditions
54
Tab. 45 Operating Conditions
54
DL6B Assignment - SI6 and PS6
55
Dimensions
55
Fig. 8 DL6B Dimensional Drawing
55
Tab. 46 DL6B Assignment for SI6 and PS6
55
Weight
56
Tab. 47 DL6B Dimensions [MM]
56
Tab. 48 DL6B Weight [G]
56
Safety Technology
57
Tab. 49 X12 Electrical Data for SR6 Option
57
Operating Motors
58
Tab. 50 Motor Types and Control Modes
58
Evaluable Encoders
59
Overview
59
Signal Transmission
59
Tab. 51 Overview of Encoder Connection
59
Tab. 52 Endat 2.1 Digital Specification
60
Tab. 53 Endat 2.2 Digital Specification
60
Tab. 54 SSI Specification
61
Tab. 55 Specification for TTL Differential Incremental Signals
61
Tab. 56 Specification for Resolver Signals
62
Tab. 57 Specification for HIPERFACE DSL
62
Tab. 58 Encoder Models with Unsuitable Supply Voltage Range
62
X101 for Encoders
63
X103 for Encoders
63
Tab. 59 Specification for Single-Ended HTL Incremental Signals and Single-Ended HTL Pulse Train Signals
63
Tab. 60 Specification for Single-Ended HTL Incremental Signals and Single-Ended HTL Pulse Train Signals
63
Controllable Brakes
64
Tab. 61 Electrical Data of the Brake Output
64
Braking Resistor
65
Braking Resistor Assignment - PS6
65
KWADQU Flat Resistor
65
Tab. 62 Braking Resistor Assignment to PS6 Supply Module
65
Tab. 63 KWADQU 420×91 Specification
65
Fig. 9 KWADQU 420×91 Dimensional Drawing
66
Tab. 64 KWADQU 420×91 Dimensions [MM]
66
FZZMQU Tubular Fixed Resistor
67
Tab. 65 Specification for FZZMQU 400×65
67
Tab. 66 FZMU Conductor Cross-Section, FZZM(Q)U 400×65
67
Fig. 10 FZZMQU 400×65 Dimensional Drawing
68
Tab. 67 FZZMQU 400×65 Dimensions [MM]
68
FGFKQU Steel-Grid Fixed Resistor
69
Tab. 68 Specification for FGFKQU 31005
69
Tab. 69 FGFK(Q)U Conductor Cross-Section
69
Fig. 11 FGFKQU 31005 Dimensional Drawing
70
Tab. 70 FGFKQU 31005 Dimensions [MM]
70
Choke
71
TEP Output Choke
71
Tab. 71 Specification for TEP
71
Fig. 12 Derating the Nominal Current Depending on the Clock Frequency
72
Fig. 13 Derating the Nominal Current Depending on the Clock Frequency
72
Fig. 14 Derating the Nominal Current Depending on the Clock Frequency
73
Fig. 15 Derating the Nominal Current Based on Surrounding Temperature
73
Fig. 16 Derating the Nominal Current Depending on Installation Elevation
74
Fig. 17 Derating the Voltage Depending on Installation Elevation
74
Fig. 18 TEP Dimensional Drawing
75
Tab. 72 TEP Dimensions and Weight
75
7 Project Configuration
76
Supply Module
76
Information on Design and Operation
76
Parallel Connection of Supply Modules
77
Tab. 73 Electrical Data for Parallel Connection: Example Combinations
77
DC Link Connection
78
Information on Design and Operation
78
Mixed Operation
79
Fig. 19 Grounding Concept in Mixed Operation with Powered PS6 Supply Module
79
Example Design for UL-Compliant Operation
80
Tab. 74 Maximum Charging Capacity of the PS6 Supply Module
80
Tab. 75 Self-Capacitance of the SI6 Drive Controllers Connected to the PS6 Supply Module
80
Maximum Operation on PS6A24
81
Tab. 76 Maximum Operation on One PS6A24 Supply Module with DL6B20 Rear Section Module
81
Maximum Operation on PS6A34
82
Tab. 77 Maximum Operation on One PS6A34 Supply Module with DL6B21 Rear Section Module
82
Sample Calculation
83
Order Overview of the Hardware Components
83
Tab. 78 Overview of Hardware Components with ID no
83
8 Storage
85
Supply Module
85
Drive Controller
85
Annual Reforming
86
Fig. 20 Annual Reforming
86
Reforming before Commissioning
87
Fig. 21 Reforming before Commissioning
87
Fig. 22 Voltage Levels Dependent on Storage Time
88
9 Installation
89
Safety Instructions for Installation
89
Basic Assembly Instructions
89
Drive Controllers and Supply Modules
89
Fig. 23 Fields for Equipment Identification on the Front of the Device
89
Choke
90
Braking Resistor
90
Minimum Clearances
92
Fig. 24 Minimum Clearances
92
Tab. 79 Minimum Clearances [MM]
92
Drilling Diagrams and Dimensions
93
Multi-Axis Drive System
93
Fig. 25 Drilling Diagram for Multi-Axis Drive System
93
Tab. 80 Drilling Dimensions for the Multi-Axis Drive System [MM]
93
Length of Copper Rails
94
Fig. 26 Determination of the Correct Length of the Copper Rails
94
Installing the DC Link Connection
95
Order Overview of the Components for the DC Link Connection
95
Tab. 81 Overview of Hardware Components Necessary for the DC Link Connection with ID no
95
Installing Drive Controllers and Supply Modules
99
10 Connection
102
Safety Instructions for Connection
102
Line Routing
103
Protective Measures
103
Power Grid Supply
103
CE-Compliant Line Fuse
104
Tab. 82 PS6 Protective Devices
104
UL-Compliant Line Fuse
105
Grid Connection
105
Residual Current Protective Device
105
Tab. 83 UL-Compliant Line Fuse
105
CE-Compliant Housing Grounding
107
Fig. 27 Connection of the Grounding Conductor
107
Tab. 84 Minimum Cross-Section of the Grounding Conductor
107
UL-Compliant Housing Grounding
108
Fig. 28 Connection of the Grounding Conductor
108
EMC Recommendations
109
Supply Module
110
Overview
110
Fig. 29 Connection Overview Using the Example of the PS6A34
110
X10: 400 V Supply
111
Tab. 85 X10 Connection Description - Size 2
111
Tab. 86 X10 Connection Description - Size 3
111
X11: 24 V Supply
112
Tab. 87 Control Unit Electrical Data
112
Tab. 88 X11 Connection Description
112
X21: Braking Resistor
113
X22: DC Link Connection
113
Tab. 90 X21 Connection Description
113
Tab. 91 X22 Connection Description, Size 2
113
Tab. 92 X22 Connection Description, Size 3
113
X23: Temperature Monitoring of Braking Resistor
114
X100: Status Output
114
Tab. 93 X23 Connection Description
114
Tab. 94 X100 Connection Description
114
Connecting the Supply Module
115
Drive Controller
116
Overview
116
Fig. 30 Connection Overview Using the Example of the SI6A162
116
X2A: Brake a
117
Tab. 96 X2A Connection Description, Brake A, Sizes 0 to 2 (Single-Axis Controllers)
117
Tab. 97 X2A Connection Description, Brake A, Sizes 2 (Double-Axis Controllers) and 3
117
Tab. 98 Maximum Cable Length of the Power Cable [M]
117
X2A: Motor Temperature Sensor a
118
Tab. 99 X2A Connection Description, Motor Temperature Sensor A, Sizes 0 to 2 (Single- Axis Controller)
118
Tab. 100 X2A Connection Description, Motor Temperature Sensor A, Sizes 2 (Double-Axis Controller) and 3
118
X2B: Brake B
119
X2B: Motor Temperature Sensor B
119
X4A: Encoder a
119
Tab. 101 Maximum Cable Length of the Power Cable [M]
119
Tab. 102 X4A Connection Description for Endat 2.2 Digital Encoders and SSI Encoders
120
Tab. 103 X4A Connection Description for Differential TTL and Differential HTL (HTL over HT6 Adapter) Incremental Encoders
121
Tab. 104 X4A Connection Description for Resolvers
122
Tab. 105 X4A Connection Description for HIPERFACE DSL Encoders
122
Tab. 106 Cable Length [M]
123
Tab. 107 Encoder Models with Unsuitable Input Voltage Range
123
Tab. 108 Connection Description of AP6A00 for Resolver (9-Pin to 15-Pin)
123
X4B: Encoder B
124
X9: Ethernet Service Interface
124
Tab. 109 X9 Connection Description
124
Tab. 110 Cable Length [M]
124
X11: 24 V Supply
125
Tab. 112 Control Unit Electrical Data
125
Tab. 113 X11 Connection Description
125
Tab. 114 Cable Length [M]
125
X12: Safety Technology (SR6 Option)
126
Tab. 115 X12 Connection Description
126
Tab. 116 Cable Length [M]
126
X20A: Motor a
127
Tab. 117 X20A Connection Description, Size 0
127
Tab. 118 X20A Connection Description, Sizes 1 and 2 (Single-Axis Controllers)
127
Tab. 119 X20A Connection Description, Sizes 2 (Double-Axis Controllers) and 3
127
X20B: Motor B
128
X22: DC Link Connection
128
Tab. 120 Maximum Cable Length of the Power Cable [M]
128
Tab. 121 X22 Connection Description, Size 0
128
Tab. 122 X22 Connection Description, Sizes 1 and 2 (Single-Axis Controllers)
129
Tab. 123 X22 Connection Description, Sizes 2 (Double-Axis Controllers) and 3
129
10.5.14 X101: Be1 - Be4
130
Tab. 124 X101 Connection Description for Binary Signals
130
Tab. 125 X101 Connection Description for Single-Ended HTL Incremental Signals, Axis a
130
Tab. 126 X101 Connection Description for Single-Ended HTL Pulse/Direction Signals, Axis a
130
10.5.15 X103: Be6 - Be9
131
Tab. 89 Cable Length [M]
131
Tab. 111 Cable Requirements
131
Tab. 127 Cable Length [M]
131
Tab. 128 X103 Connection Description for Binary Signals
131
Tab. 129 X103 Connection Description for Single-Ended HTL Incremental Signals, Axis B
131
Tab. 95 Cable Length [M]
132
Tab. 130 X103 Connection Description for Single-Ended HTL Pulse/Direction Signals, Axis B
132
Tab. 131 Cable Length [M]
132
10.5.16 X200, X201: Ethercat
133
Tab. 132 X200 and X201 Connection Description
133
10.5.17 X200, X201: Profinet
134
Tab. 133 X200 and X201 Connection Description
134
10.5.18 X300: Brake 24 V Supply
135
X700: SD Slot
136
10.5.20 Connecting a Drive Controller
137
Output Choke
138
Connection Description
138
Fig. 31 TEP Output Choke Connection Example
139
Fig. 32 Shielded Connection of the Power Cable (Graphics: Icotek Gmbh)
139
Cables
140
Power Cables
141
Encoder Cables
145
One Cable Solution
155
11 Commissioning
159
Initiating the Project
159
Projecting the Drive Controller and Axis
159
Configuring the Safety Module
161
Creating Other Modules and Drive Controllers
161
Specifying a Module
161
Specifying the Project
162
Mechanical Drive Model
162
Parameterizing the STOBER Motor
162
Parameterizing the Axis Model
163
Testing the Project Configuration
165
12 Communication
167
System Requirements
167
Personal Firewall
167
Protocols and Ports for Communication Using Routers
168
Direct Connection
168
Fieldbus
168
13 Diagnostics
169
Supply Module
169
Drive Controller
172
Fieldbus State
173
Fsoe State
175
Drive Controller State
176
Service Network Connection
178
Fieldbus Network Connection
179
Events
181
Overview
181
Event 31: Short/Ground
183
Event 32: Short/Ground Internal
183
Event 33: Overcurrent
184
Event 34: Hardware Fault
185
Event 35: Watchdog
185
Event 36: High Voltage
186
Event 37: Motor Encoder
186
Event 38: Temperature Drive Controller Sensor
189
13.3.10 Event 39: Overtemperature Drive Controller I2T
190
13.3.11 Event 40: Invalid Data
191
13.3.12 Event 41: Temp.motortmp
192
Event 44: External Fault 1
193
13.3.14 Event 45: Overtemp.motor I2T
194
13.3.15 Event 46: Low Voltage
195
13.3.16 Event 47: Torque Limit
196
13.3.17 Event 50: Safety Module
197
13.3.18 Event 51: Virtual Master Limit Switch
198
13.3.19 Event 52: Communication
199
13.3.20 Event 53: Limit Switch
200
13.3.21 Event 54: Following Error
201
13.3.22 Event 56: Overspeed
202
13.3.23 Event 57: Runtime Usage
203
13.3.24 Event 59: Overtemperature Drive Controller I2T
204
Event 60: Application Event 0 - Event 67: Application Event 7
205
Event 68: External Fault 2
206
13.3.27 Event 69: Motor Connection
207
13.3.28 Event 70: Parameter Consistency
208
13.3.29 Event 71: Firmware
209
13.3.30 Event 72: Brake Test Timeout
210
13.3.31 Event 76: Position Encoder
211
13.3.32 Event 77: Master Encoder
214
13.3.33 Event 78: Position Limit Cyclic
217
13.3.34 Event 79: Motor / Position Monitor
218
13.3.35 Event 80: Illegal Action
219
13.3.36 Event 81: Motor Allocation
219
13.3.37 Event 85: Excessive Jump in Reference Value
220
13.3.38 Event 86: Unknown Data Record Leanmotor
221
13.3.39 Event 87: Reference Lostreference Loss
222
13.3.40 Event 88: Control Panel
223
13.3.41 Event 89: Maximum Current Lm
224
14 Replacement
225
Safety Instructions for Device Replacement
225
Replacing the Drive Controller
226
Exchanging the Supply Module
227
Replacing or Updating the Firmware
228
Changing the Fieldbus
228
15 Service
229
STOBER Electronics Service
229
Reverse Documentation
229
Creating Reverse Documentation in a New Project
229
Loading Reverse Documentation in an Existing Project
230
16 Appendix
231
Terminal Specifications
231
Overview
231
Fmc 1,5 -St-3,5
232
Bcf 3,81 180 Sn
233
Bfl 5.08Hc 180 Sn
233
Bldf 5.08 180 Sn
234
Gfkc 2,5 -St-7,62
235
Ispc 5 -Stgcl-7,62
236
Spc 5 -St-7,62
236
Spc 16 -St-10,16
237
16.1.13 Buz 10.16It 180 Mf
238
Wiring Examples
239
Operation with 1 Supply Module
239
Parallel Connection
240
UL-Compliant Connection of the Supply Module
241
Device Addressing
242
Drivecontrolsuite
243
System Requirements
243
Installation Types
243
Installing Software
244
Updates
244
Detailed Information
245
Symbols in Formulas
246
Abbreviations
248
17 Contact
249
Consultation, Service and Address
249
Close to Customers Around the World
250
Glossary
251
List of Figures
254
List of Tables
256
Advertisement
Stober SI6A061 Manual (138 pages)
Multi-axis drive system with SI6 and PS6
Brand:
Stober
| Category:
Industrial Electrical
| Size: 8 MB
Table of Contents
Multi-Axis Drive System with Si6 and Ps6 Manual
2
Table of Contents
2
1 Foreword
6
2 User Information
7
Storage and Transfer
7
Described Product Type
7
Original Language
7
Limitation of Liability
7
Conventions of Representation
8
Use of Symbols
8
Text Display
9
Symbols and Test Symbols
9
Trademarks
10
3 General Safety Instructions
11
Directives and Standards
11
Qualified Personnel
11
Intended Use
11
Transport and Storage
12
Operational Environment and Operation
12
Working on the Machine
12
Disposal
13
4 System Configuration
14
Fig. 1 System Overview for the Multi-Axis Drive System with SI6 and PS6
14
Hardware Components
15
Supply Module
15
Fig. 2 Nameplate PS6A24
15
Tab. 1 Meaning of the Specifications on the PS6 Nameplate
16
Tab. 2 Example Code for the PS6 Type Designation
16
Tab. 3 Meaning of the PS6 Example Code
16
Fig. 3: PS6 in Sizes 2 and 3
17
Tab. 4 Available PS6 Types and Sizes
17
Drive Controller
18
Fig. 4 Nameplate SI6A061Z
18
Tab. 5 Meaning of the Specifications on the SI6 Nameplate
19
Tab. 6 Example Code for the SI6 Type Designation
19
Tab. 7 Meaning of the SI6 Example Code
19
Fig. 5: SI6 in Sizes 0, 1 and 2
20
Tab. 8 Available SI6 Types and Sizes
20
DC Link Connection
21
Controller
22
Operating Motors, Encoders and Brakes
23
Software Components
23
Project Configuration and Parameterization
23
Applications
23
Safety Technology
24
Communication
25
5 Technical Data
26
Common Technical Data
26
Tab. 9 Device Features
26
Tab. 10 Transport and Storage Conditions
26
Tab. 11 Operating Conditions
26
Tab. 12 Discharge Times of the DC Link Circuit
26
Supply Module
27
Tab. 13 Electrical Data of the Control Board
27
Tab. 14 Electrical Data: PS6A24
27
Tab. 67 Electrical Data
27
Tab. 15 Electrical Data: PS6A34
28
Tab. 16 Electrical Data in Parallel Operation: Example Combinations
28
Tab. 17 Electrical Data of the Brake Chopper
28
Fig. 6 Dimension Drawing PS6
29
Tab. 18 Dimensions PS6 [MM]
29
Tab. 19 Weight PS6
29
Dimensions
29
Electrical Data
30
Tab. 20 Electrical Data of the Control Board
30
Tab. 21 Electrical Data: Si6A0Xx
30
Tab. 22 Electrical Data Si6A0Xx for 4 Khz Clock Frequency
30
Tab. 23 Electrical Data Si6A0Xx for 8 Khz Clock Frequency
30
Drive Controller
30
Tab. 24 Electrical Data: Si6A1Xx
31
Tab. 25 Electrical Data Si6A1Xx for 4 Khz Clock Frequency
31
Tab. 26 Electrical Data Si6A1Xx for 8 Khz Clock Frequency
31
Tab. 27 Electrical Data: Si6A2Xx
32
Tab. 28 Electrical Data Si6A2Xx for 4 Khz Clock Frequency
32
Tab. 29 Electrical Data Si6A2Xx for 8 Khz Clock Frequency
32
Tab. 30 Power Loss Data According to en 50598 for an Axis of a SI6 Drive Controller
33
Derating
35
Tab. 31 Nominal Output Current I2N,PU Depending on the Clock Frequency
35
Fig. 7 Dimension Drawing SI6
37
Tab. 32 Dimensions SI6 [MM]
37
Weight
38
DC Link Connection
38
Electrical Data
38
Tab. 33 Weight SI6
38
Tab. 34 Assignment DL6B for SI6 and PS6
38
Tab. 35 Electrical Data Drive Controller
38
Tab. 36 Electrical Data Supply Module
39
Dimensions
40
Fig. 8 Dimension Drawing DL6B
40
Tab. 37 Dimensions DL6B [MM]
40
Weight
41
Tab. 38 Weight DL6B
41
Operating Motors
42
Tab. 39 Motor Types and Control Modes
42
Braking Resistor
43
Flat Resistor KWADQU 420X91
43
Tab. 40 Specification KWADQU 420X91
43
Tab. 41 Dimensions KWADQU 420X91 [MM]
43
Fig. 9 Dimension Drawing KWADQU 420X91
44
Tubular Fixed Resistor FZZMQU 400X65
45
Tab. 42 Specification FZZMQU 400X65
45
Tab. 43 Dimensions FZZMQU 400X65 [MM]
45
Fig. 10 Dimension Drawing FZZMQU 400X65
46
Tab. 44 Specification FGFKQU 31005
46
Steel-Grid Fixed Resistor FGFKQU 31005
47
Tab. 45 Dimensions FGFKQU 31005 [MM]
47
Fig. 11 Dimension Drawing FGFKQU 31005
48
Output Choke
49
Output Choke TEP
49
Tab. 46 Specification TEP
50
Fig. 12 Derating TEP3720-0ES41
51
Fig. 13 Derating TEP3820-0CS41
51
Fig. 14 Derating TEP4020-0RS41
52
Fig. 15 Dimension Drawing TEP
53
Tab. 47 Dimensions and Weight TEP
53
6 Bearing
54
Supply Module
54
Drive Controller
54
Yearly Forming
55
Fig. 16 Yearly Forming
55
Forming before Commissioning
56
Fig. 17 Forming before Commissioning
56
Fig. 18 Voltage Levels Dependent on Storage Time
57
7 Installation
58
Safety Instructions for Installation
58
Basic Assembly Instructions
58
Minimum Clearances
59
Tab. 48 Minimum Clearances for the Multi-Axis Drive System [MM]
59
Drilling Diagram and Dimensions
60
Tab. 49 Drilling Dimensions for the Multi-Axis Drive System [MM]
60
Length of Copper Rails
61
Fig. 19 Determination of the Correct Length of the Copper Rails
61
Install DC Link Connection
62
Install Drive Controllers and Supply Modules
63
8 Connection
64
Safety Instructions for Connection
64
Protective Measures
65
Mains Supply
65
Line Fuse
65
Tab. 50 Maximally Symmetrical Nominal Short Circuit Current of the Supply Module
65
Residual Current Protection Device
66
Tab. 51 PS6 Protective Devices
66
Housing Grounding
67
Fig. 20 Connection of the Protective Ground
67
EMC Recommendations
68
Tab. 52 Minimum Cross-Section of the Protective Ground
68
Supply Module
69
Overview of Terminals
69
Fig. 21 Terminal Overview Using the Example of the PS6A34
69
X10: Supply 230 V/ 400 V
70
Tab. 53 Input Voltage of the PS6 Power Unit
70
Tab. 54: Terminal Description X10 - Size 2
70
Tab. 55: Terminal Description X10 - Size 3
70
Tab. 56 Maximum Conductor Cross-Section [MM²]
70
X11: Supply 24 V
71
Tab. 57 Electrical Data Control Board
71
Tab. 58 Terminal Description X11
71
Tab. 59 Maximum Conductor Cross-Section [MM²]
71
X21: Braking Resistor
72
X22: DC Link Connection
72
Tab. 60 Terminal Description X21
72
Tab. 61 Maximum Conductor Cross-Section [MM²]
72
Tab. 62 Terminal Description X22 - Size 2
72
X23: Temperature Monitoring of Braking Resistor
73
Tab. 63 Terminal Description X22 - Size 3
73
Tab. 64 Maximum Conductor Cross-Section [MM²]
73
Tab. 65 Terminal Description X23
73
Tab. 66 Maximum Conductor Cross-Section [MM²]
73
X100: Status Output
74
Tab. 68 Terminal Description X100
74
Tab. 69 Maximum Conductor Cross-Section [MM²]
74
Connect Supply Module
75
Connect Supply Modules in Parallel
76
Fig. 22 Principle Circuit Diagram with Supply Modules Connected in Parallel
77
Drive Controller
78
Overview of Terminals
78
Fig. 23 Terminal Overview Using the Example of the SI6A162
78
X2A: Motor Holding Brake a
79
X2A: Motor Temperature Sensor a
80
X2B: Motor Holding Brake B
80
X2B: Motor Temperature Sensor B
80
X4A: Encoder a
81
X4B: Encoder B
86
X9: Ethernet Service Interface
87
X11: Supply 24 V
88
X12: Safety Technology
89
X20A: Motor a
90
X20B: Motor B
91
X22: DC Link Connection
91
Fig. 24 Shielded Connection of the Power Cable (Graphics: Icotek Gmbh)
91
X101: Be1 - 4
93
X103: Be6 - 9
94
Tab. 105 Terminal Description X103
94
Tab. 106 Maximum Conductor Cross-Section [MM²]
94
Tab. 107 Cable Requirements
94
X200, X201: Ethercat
95
Tab. 108 Terminal Description X200 and X201
95
Tab. 109 Cable Specification
95
X300: Supply 24 V Brake
96
X700: SD Slot
96
Tab. 110 Electrical Data of the Control Board Brake Control
96
Tab. 111 Terminal Description X300
96
Tab. 112 Maximum Conductor Cross-Section [MM²]
96
Connect Drive Controller
97
Cable
98
Power Cable
99
Tab. 113 Power Cable Pin Assignment Con.15
99
Tab. 114: Dimensions Con. 15
99
Tab. 115 Power Cable Pin Assignment Con.23
100
Tab. 116 Dimensions Con. 23
100
Tab. 117 Power Cable Pin Assignment Con.40, Con.58
100
Tab. 118 Dimensions Con.40
100
Tab. 119 Cable Color - Key
100
Encoder Cable
102
Tab. 120 Encoder Cable Pin Assignment Con.15
103
Tab. 121 Dimensions Con. 15
103
Tab. 122 Encoder Cable Pin Assignment Con.17
104
Tab. 123 Dimensions - Connector Size Con.17
104
Tab. 124 Encoder Cable Pin Assignment Con.23
105
Tab. 125 Dimensions Con. 23
105
Tab. 126 Cable Color - Key
105
Tab. 127 Encoder Cable Pin Assignment Con.15
106
Tab. 128 Dimensions Con. 15
107
Tab. 129 Encoder Cable Pin Assignment Con.17
107
Tab. 130 Dimensions - Connector Size Con.17
107
Tab. 131 Encoder Cable Pin Assignment Con.23
108
Tab. 132 Dimensions Con. 23
108
Tab. 133 Cable Color - Key
108
9 Commissioning
109
Apply Project
109
Project Drive Controller and Axis
109
Create Other Modules and Drive Controllers
111
Specify Module
111
Specify Project
111
Map Mechanical Drive Model
112
Parameterize STOBER Standard Motor
112
Parameterize Axis Model
112
Test Project Configuration and Basic Functions
114
Test Project Configuration
114
Test Basic Functions
116
10 Diagnostics
117
Supply Module
117
Fig. 25 Diagnostic Leds on the Front of the PS6 Device
117
Tab. 134 Meaning of the 3 Leds (RUN, ERROR and WARNING) on the Front of the PS6 Device
118
Drive Controller
120
Fig. 26 Positioning of the Diagnostic Leds on the Front and Top of the SI6 Device
120
Fieldbus Device State
121
Fig. 27 Leds for the Fieldbus Device State on the Top of the SI6 Device
121
Tab. 135 Meaning of the Red LED (ERROR Indicator According to ETG.1300)
121
Tab. 136 Meaning of the Green LED (RUN Indicator According to ETG.1300)
121
Fsoe State
122
Fig. 28 Fsoe LED on the Front of the SI6 Device
122
Tab. 137 Meaning of the Green LED (Fsoe Status According to IEC61784-3-12_2012)
122
State of the Drive Controller
123
Fig. 29 Leds for the State of the Drive Controller on the Top of the SI6 Device
123
Tab. 138 Meaning of the Green LED (RUN)
123
Tab. 139 Meaning of the Red Leds (ERROR)
123
Network Connection Service
125
Fig. 30 Leds for the State of the Service Network Connection on the Top of the SI6 Device
125
Network Connection Fieldbus
126
Fig. 31 Leds for the State of the Network Connection on the Top of the SI6 Device
126
11 Annex
127
Extensive Documentation
127
Formula Symbol
128
Abbreviations
129
Glossary
130
List of Figures
132
List of Tables
133
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