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5 | Technical data

STOBER

05/2019 | ID 442790.01

Technical data

Technical data for the drive controllers and accessories can be found in the following chapters.

5.1

Drive controllers

The following chapters contain specifications for the electrical data, dimensions and weight of the drive controller.

5.1.1

General technical data

The following specifications apply to all drive controller types.

Device features

Protection class of the device

IP20

Protection class of the installation space

At least IP54

Radio interference suppression

Integrated line filter in accordance with EN 61800-3:2012, interference
emission class C3

Overvoltage category

III in accordance with EN 61800-5-1:2008

Test symbols

Tab. 7: Device features

Transport and storage conditions

Storage/
transport temperature

−20 °C to +70 °C
Maximum change: 20 K/h

Relative humidity

Maximum relative humidity 85%, non-condensing

Vibration (transport) in accordance with
DIN EN 60068-2-6

5 Hz ≤ f ≤ 9 Hz: 3.5 mm
9 Hz ≤ f ≤ 200 Hz: 10 m/s²
200 Hz ≤ f ≤ 500 Hz: 15 m/s²

Fall height for freefall

Weight < 100 kg
in accordance with DIN EN 61800-2
(or DIN EN 60721-3-2:1997, class 2M1)

0.25 m

Tab. 8: Transport and storage conditions

Operating conditions

Surrounding temperature during
operation

0 °C to 45 °C with nominal data
45 °C to 55 °C with derating −2.5% / K

Relative humidity

Maximum relative humidity 85%, non-condensing

Installation altitude

0 m to 1000 m above sea level without restrictions
1000 m to 2000 m above sea level with −1.5%/100 m derating

Pollution degree

Pollution degree 2 in accordance with EN 50178

Ventilation

Installed fan

Vibration (operation) in accordance with
DIN EN 60068-2-6

5 Hz ≤ f ≤ 9 Hz: 0.35 mm
9 Hz ≤ f ≤ 200 Hz: 1 m/s²

Tab. 9: Operating conditions

Only valid for components in original packaging

Summary of Contents for 56690

Page 1: ...SC6 drive controller Manual en US 05 2019 ID 442790 01 ...

Page 2: ...tructions 14 3 1 Directives and standards 14 3 2 Qualified personnel 14 3 3 Intended use 15 3 4 Transport and storage 15 3 5 Operational environment and operation 16 3 6 Working on the machine 17 3 7 Decommissioning 17 3 8 Disposal 17 3 9 Firefighting 17 4 System configuration 18 4 1 Hardware components 19 4 1 1 Drive controllers 19 4 1 2 Controller 22 4 1 3 Operating motors encoders and brakes 22...

Page 3: ...6 Controllable brakes 47 5 7 Evaluable motor temperature sensors 47 5 8 Braking resistor 48 5 8 1 Tubular fixed resistor FZMU FZZMU 48 5 8 2 Flat resistor GVADU GBADU 50 6 Project configuration 52 6 1 Drive controllers 52 6 2 DC link connection 52 6 2 1 Information on design and operation 53 6 2 2 Design 54 6 3 Motors 56 6 4 Mixed operation 57 7 Storage 59 7 1 Drive controller 59 7 1 1 Annual refo...

Page 4: ...Housing grounding 77 9 3 6 EMC recommendations 78 9 4 Drive controller 79 9 4 1 Overview 79 9 4 2 X2A Brake A 80 9 4 3 X2A Motor temperature sensor A 81 9 4 4 X2B Brake B 81 9 4 5 X2B Motor temperature sensor B 81 9 4 6 X4A Encoder A 82 9 4 7 X4B Encoder B 85 9 4 8 X9 Ethernet service interface 85 9 4 9 X10 400 V supply 86 9 4 10 X11 24 V supply 87 9 4 11 X12 Safety technology option SR6 88 9 4 12...

Page 5: ...Diagnostics 126 12 1 Drive controller 126 12 1 1 Fieldbus state 127 12 1 2 FSoE state 129 12 1 3 Drive controller state 130 12 1 4 Service network connection 132 12 1 5 Fieldbus network connection 133 12 2 Events 135 12 2 1 Overview 135 12 2 2 Event 31 Short ground 137 12 2 3 Event 32 Short ground internal 137 12 2 4 Event 33 Overcurrent 138 12 2 5 Event 34 Hardware fault 139 12 2 6 Event 35 Watch...

Page 6: ...or position monitor 172 12 2 36 Event 80 Illegal action 173 12 2 37 Event 81 Motor allocation 173 12 2 38 Event 83 Failure of one all phases mains 174 12 2 39 Event 84 Drop in network voltage when power section active 175 12 2 40 Event 85 Excessive jump in reference value 176 12 2 41 Event 86 Unknown LeanMotor record 177 12 2 42 Event 87 Reference lostReference loss 178 12 2 43 Event 88 Control pa...

Page 7: ...ion with direct brake control 193 15 2 2 Parallel connection 194 15 3 Device addressing 195 15 4 DriveControlSuite 196 15 4 1 System requirements 196 15 4 2 Installation types 196 15 4 3 Installing software 197 15 4 4 Structure of the program interface 198 15 4 5 Updates 199 15 4 6 Communication requirements 200 15 4 7 Configuring virtual machines 201 15 5 Detailed information 202 15 6 Symbols in ...

Page 8: ...EZ series The SC6 is available in three sizes with a nominal output current of up to 19 A sizes 0 and 1 as a double axis controller size 2 as a single axis controller Features Sensorless position control by STOBER Lean motors Control of rotary synchronous servo motors asynchronous motors and torque motors HIPERFACE DSL One Cable Solution Electronic motor nameplate via HIPERFACE DSL or EnDat 2 2 di...

Page 9: ...hird party 2 2 Described product type This documentation is binding for SC6 drive controller in conjunction with the DriveControlSuite software in V 6 4 B or higher and associated firmware in V 6 4 B or higher Information At the time this documentation was created the SC6 drive controllers were being prepared for UL certification 2 3 Timeliness Check whether this document is the most up to date ve...

Page 10: ...ially highlighted ATTENTION Notice This indicates that damage to property may occur if the stated precautionary measures are not taken CAUTION Caution This word with a warning triangle indicates that minor personal injury may occur if the stated precautionary measures are not taken WARNING Warning This word with a warning triangle means there may be a considerable risk of fatal injury if the state...

Page 11: ...ies Main menu Settings Window names dialog box names page names or buttons combined proper nouns functions referenced by the interface Select Referencing method A Predefined entry Save your own IP address User defined entry EVENT 52 COMMUNICATION Display indicators status messages warnings faults for status information referenced by the interface Keyboard shortcuts and command sequences or paths a...

Page 12: ...ed core BK BN BLACK BROWN black or brown 2 7 Symbols marks and test symbols The following symbols marks and test symbols are used in this document 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 UL recognized...

Page 13: ...in the United States and or other countries PLCopen PLCopen is a registered trademark of the PLCopen Organisation Gorinchem Netherlands PROFIBUS PROFINET The PROFIBUS and the PROFINET logo are registered trademarks of PROFIBUS Nutzerorganisation e V Karlsruhe Germany speedtec springtec speedtec and springtec are registered trademarks of TE Connectivity Industrial GmbH Niederwinkling Germany Virtua...

Page 14: ...ces to the standards do not specify the respective year in order to improve readability 3 2 Qualified personnel In order to be able to perform the tasks described in this documentation the persons instructed to perform them must have the appropriate professional qualification and be able to assess the risks and residual hazards when handling the products For this reason all work on the products as...

Page 15: ...C Modification As the user you may not make any physical technical or electrical modifications to the SC6 drive controller and the accessories Maintenance The SC6 drive controller and accessories are maintenance free For the safety module take appropriate measures to detect or prevent possible errors in the connection wiring Product life span A drive controller with integrated safety module must b...

Page 16: ...ications are prohibited Use in potentially explosive atmospheres Use in environments with harmful substances as specified by EN 60721 such as oils acids gases vapors dust and radiation Implementation of the following applications is permitted only after approval from STOBER Use in non stationary applications The use of active components drive controllers supply modules energy recovery units or dis...

Page 17: ...controller You can find the discharge time in the general technical data of the drive controller 3 7 Decommissioning In safety oriented applications note the length of use TM 20 years in the safety relevant key performance indicators Detailed information about using the safety technology can be found in the corresponding manual see the chapter Detailed information 202 3 8 Disposal Observe the curr...

Page 18: ...roller using the DriveControlSuite software The drive controllers offer the STO safety function in accordance with EN 61800 5 2 as an option For connection to a higher level safety circuit different interfaces are available The following graphic explains the principle system configuration Fieldbus SC6 Drive Controller Controller LM synchronous motors synchronous servo motors or asynchronous motors...

Page 19: ... the available hardware components 4 1 1 Drive controllers The SC6 drive controller is available in three sizes Various safety options are also available The type specifications used in this documentation refer to the nameplate located on the side of the drive controller 4 1 1 1 Nameplate Fig 2 SC6A062 nameplate ...

Page 20: ...tion class Tab 2 Meaning of the specifications on the SC6 nameplate Information UL and cUL certified devices with corresponding test symbols meet the requirements of the standards UL 61800 5 1 and CSA C22 2 No 274 4 1 1 2 Material variant On the side of the drive controller next to the nameplate there is another sticker with the MV and serial number Fig 3 Sticker with MV and serial number Designat...

Page 21: ...size 2 1 Axis controller Double axis controller Single axis controller Z R Y Safety technology SZ6 Without safety technology SR6 STO using terminals SY6 STO and SS1 using FSoE Tab 5 Meaning of the example code 4 1 1 4 Sizes Type ID No Size SC6A062 56690 Size 0 SC6A162 56691 Size 1 SC6A261 56692 Size 2 Tab 6 Available SC6 types and sizes SC6 in sizes 0 to 2 Note that the basic device is delivered w...

Page 22: ... corresponding manual see the chapter Detailed information 202 4 1 3 Operating motors encoders and brakes You can use the SC6 drive controller to operate STOBER Lean motors of the LM series synchronous servo motors such as those of the STOBER EZ series asynchronous motors or torque motors Evaluation options for feedback are available on the X4 connection for the following encoders EnDat 2 2 digita...

Page 23: ...integrated safety technology you must order it together with the drive controller The safety modules are an integrated part of the drive controllers and must not be modified SZ6 option Without safety technology ID No 56660 Standard version SR6 safety module STO using terminals ID No 56661 Optional accessory for the use of the Safe Torque Off safety function STO in safety relevant applications PL e...

Page 24: ...ired fieldbus system when placing your purchase order for the base device EtherCAT cables Ethernet patch cable CAT5e yellow The following designs are available ID No 49313 Length approx 0 2 m ID No 49314 Length approx 0 35 m PC connecting cables ID No 49857 Cable for connecting the X9 service interface to the PC CAT5e blue 5 m USB 2 0 Ethernet adapter ID No 49940 Adapter for connecting Ethernet to...

Page 25: ... an insulation connection piece are contained in the scope of delivery The copper rails are not included in the scope of delivery These must have a cross section of 5 x 12 mm Insulation end sections are available separately Quick DC Link DL6B for drive controller The following designs are available DL6B10 ID No 56655 Rear section module for size 0 drive controller SC6A062 DL6B11 ID No 56656 Rear s...

Page 26: ...S may be necessary for the connection to the drive controller due to limited space a A commercially available shielded extension cable with a 15 pin D sub connector and a length of 1 m can be used between the socket and the AES AES replacement battery ID No 55453 Replacement battery for AES battery module 4 1 4 6 HTL to TTL adapter HT6 HTL to TTL adapter ID No 56665 Adapters for SC6 and SI6 series...

Page 27: ...h the PLCopen Motion Control command set These standard commands have been combined into operating modes for different applications and supplemented with additional functions such as motion block linking cams and much more For the command operating mode all properties of the movements are specified directly by the controller The properties of the movements in the drive are predefined in the motion...

Page 28: ...port temperature 20 C to 70 C Maximum change 20 K h Relative humidity Maximum relative humidity 85 non condensing Vibration transport in accordance with DIN EN 60068 2 6 5 Hz f 9 Hz 3 5 mm 9 Hz f 200 Hz 10 m s 200 Hz f 500 Hz 15 m s Fall height for freefall1 Weight 100 kg in accordance with DIN EN 61800 2 or DIN EN 60721 3 2 1997 class 2M1 0 25 m Tab 8 Transport and storage conditions Operating co...

Page 29: ...t activation of the supply voltage is possible for power on power off operation b A time span of 15 must be observed between two energizing processes during continuous cyclical power on power off operation with increased charging capacity Information The STO safety function is available for safe shutdown as an alternative to continuous cyclical power on power off operation An explanation of the sy...

Page 30: ... between energizing two devices the maximum charging capacity CmaxPU increases to 1880 μF Nominal currents up to 45 C in the control cabinet Electrical data SC6A062 fPWM PU 4 kHz I1N PU 10 A I2N PU 2 4 5 A I2maxPU 210 for 2 s Tab 13 SC6 electrical data size 0 for 4 kHz clock frequency Electrical data SC6A062 fPWM PU 8 kHz I1N PU 8 9 A I2N PU 2 4 A I2maxPU 250 for 2 s Tab 14 SC6 electrical data siz...

Page 31: ...m charging capacity CmaxPU increases to 1880 μF Nominal currents up to 45 C in the control cabinet Electrical data SC6A162 fPWM PU 4 kHz I1N PU 23 2 A I2N PU 2 10 A I2maxPU 210 for 2 s Tab 17 SC6 electrical data size 1 for 4 kHz clock frequency Electrical data SC6A162 fPWM PU 8 kHz I1N PU 20 9 A I2N PU 2 9 A I2maxPU 250 for 2 s Tab 18 SC6 electrical data size 1 for 8 kHz clock frequency Electrical...

Page 32: ...mum charging capacity CmaxPU increases to 1880 μF Nominal currents up to 45 C in the control cabinet Electrical data SC6A261 fPWM PU 4 kHz I1N PU 22 6 A I2N PU 19 A I2maxPU 210 for 2 s Tab 21 SC6 electrical data size 2 for 4 kHz clock frequency Electrical data SC6A261 fPWM PU 8 kHz I1N PU 17 9 A I2N PU 15 A I2maxPU 250 for 2 s Tab 22 SC6 electrical data size 2 for 8 kHz clock frequency Electrical ...

Page 33: ...x BE1 BE2 10 kHz BE3 BE4 250 kHz Internal device update rate BE1 BE4 Cycle time for the application parameterized in A150 tmin 1 ms Also applicable for binary inputs BE3 and BE4 with timestamp correction in an accuracy range of 1 µs Max cable length 30 m Tab 24 X101 electrical data X103 specification for binary signals Electrical data Binary input Value Low level BE6 BE9 0 8 VDC High level 12 30 V...

Page 34: ... economical combinations of double axis controllers and motors The nominal output current for axis B can be determined using the following formula if the output current for axis A is known Example 1 2PU B 2N PU 2PU A 2N PU 3 I I I I 5 where 2PU A 2N PU 0 I I Example 2 2PU B 2N PU 2PU A 2N PU 5 I I I I 3 where 2N PU 2PU A 2N PU I I 1 6 I 160 I2PU B I2PU A I2N PU I2N PU 160 1 2 Fig 4 Asymmetric load...

Page 35: ...2 41 0 Tab 26 Power loss data of the SC6 drive controller in accordance with EN 61800 9 2 General conditions The specified losses apply to a drive controller They apply to both axes together in the case of double axis controllers The loss data applies to drive controllers without any accessories The power loss calculation is based on a three phase supply voltage with 400 VAC 50 Hz The calculated d...

Page 36: ...l output current as a function of the clock frequency surrounding temperature and installation altitude There is no restriction for a surrounding temperature from 0 C to 45 C and an installation altitude of 0 m to 1000 m The details given below apply to values outside these ranges 5 1 3 1 Effect of the clock frequency Changing the clock frequency fPWM affects the amount of noise produced by the dr...

Page 37: ...determined as follows 0 m to 1000 m No restriction DIA 100 1000 m to 2000 m Derating 1 5 100 m Example The drive controller needs to be installed at an altitude of 1500 m above sea level The derating factor DIA is calculated as follows DIA 100 5 1 5 92 5 5 1 3 4 Calculating the derating Follow these steps for the calculation 1 Determine the highest clock frequency fPWM that will be used during ope...

Page 38: ... 265 286 Body height h1 343 Fastening clip height h2 15 Height incl fastening clips h3 373 Total height incl shield connection h4 423 Fastening holes M5 Vertical distance a 360 2 Vertical distance to the upper edge b 5 Tab 28 SC6 dimensions mm 5 1 5 Weight Type Weight without packaging g Weight with packaging g SC6A062 3600 5200 SC6A162 5300 6700 SC6A261 5200 6400 Tab 29 SC6 weight g ...

Page 39: ...f 500 Hz 15 m s Fall height for freefall6 Weight 100 kg in accordance with DIN EN 61800 2 or DIN EN 60721 3 2 1997 class 2M1 0 25 m Tab 31 Transport and storage conditions Operating conditions Surrounding temperature during operation 0 C to 45 C with nominal data 45 C to 55 C with derating 2 5 K Relative humidity Maximum relative humidity 85 non condensing Installation altitude 0 m to 1000 m above...

Page 40: ...k DC Link Width w 45 65 Depth d1 35 Depth incl attachment bolts d2 49 Height h1 375 Fastening clip height h2 15 Height incl fastening clips h3 405 Fastening holes Vertical distance wall mounting a1 393 2 Vertical distance module mounting a2 360 Vertical distance to the upper edge b1 4 5 Vertical distance to the upper edge b2 22 Tab 34 DL6B dimensions mm ...

Page 41: ... controllers the STO safety function has a two channel structure that acts upon both axes Information If you would like to use the STO safety function via terminals be sure to read the SR6 manual see the chapter Detailed information 202 Specification Electrical data STOa U1max 30 VDC PELV high level 15 30 VDC low level 0 8 VDC I1max 100 mA typically 30 mA for 24 VDC Imax 4 A C1max 10 nF STOb STOst...

Page 42: ...igh speed accuracy very constant speed high overcurrent protection greater speed range but also higher current requirement Asynchronous motor 2 ASM vector control Encoder required High dynamics high speed accuracy very constant speed high overcurrent protection 3 ASM sensorless vector control No encoder required Dynamics speed accuracy constant speed overcurrent protection 1 ASM V f slip compensat...

Page 43: ...lse and direction X101 HTL signals single ended X103 HTL signals differential Resolver X4 Adjustable number of resolver poles Tab 38 Overview of encoder connection 5 5 2 Signal transmission You can find the signal levels valid for the signal transmission in the following chapters 5 5 2 1 Encoder inputs The following signal levels apply to the encoder inputs for single ended signal transmission Sig...

Page 44: ...ditions are adhered to and STOBER has been consulted in advance EnDat 2 2 digital encoders Specification EnDat 2 2 digital U2 12 VDC unregulated I2max 250 mA Encoder design Single turn and multi turn Clock frequency 4 MHz Max cable length 100 m shielded Tab 40 EnDat 2 2 digital specification SSI encoders Specification SSI signals U2 12 VDC unregulated I2max 250 mA Encoder design Single turn and mu...

Page 45: ... Using an HT6 adapter for level conversion from HTL signals to TTL signals it is also possible to connect a differential HTL incremental encoder to terminal X4 Note that with an external power supply the maximum level of 20 VDC for the HTL signals may not be exceeded Resolver Specification Resolver signals Measuring range 5 VDC Resolution 12 bits U2 10 VDC to 10 VDC I2max 80 mA f2 7 9 kHz Pmax 0 8...

Page 46: ...ignals Information Calculation example Maximum frequency fmax for an encoder with 2 048 pulses per revolution 3 000 revolutions per minute equivalent to 50 revolutions per second 2 048 pulses per revolution 102 400 pulses per second 102 4 kHz 250 kHz 5 5 5 X103 for encoders Electrical data Binary input Incremental signals pulse train signals Low level BE6 BE9 0 8 VDC High level 15 30 VDC U1max 30 ...

Page 47: ...max 1 Hz at IN 2 1 A 0 25 Hz at IN 2 1 A E2max 1 83 J Tab 48 Electrical data of the brake output Information In the case of a nominal brake current 2 1 A the system controller must ensure compliance with the maximum switching frequency of 0 25 Hz 5 7 Evaluable motor temperature sensors You can connect a maximum of 2 PTC triplets in series to the SC6 drive controller Information Note that temperatu...

Page 48: ...lar fixed resistor FZMU FZZMU Type FZMU 400 65 FZZMU 400 65 ID No 49010 53895 SC6A062 X SC6A162 X X SC6A261 X X Tab 49 Assignment of FZMU FZZMU braking resistor SC6 drive controller X Recommended X Possible Not possible Properties Specification FZMU 400 65 FZZMU 400 65 ID No 49010 53895 Type Tubular fixed resistor Tubular fixed resistor Resistance Ω 100 47 Power W 600 1200 Therm time const τth s 4...

Page 49: ...U 400 65 FZZMU 400 65 ID No 49010 53895 L x D 400 65 400 65 H 120 120 K 6 5 12 6 5 12 M 430 426 O 485 450 R 92 185 U 64 150 X 10 10 Tab 51 FZMU FZZMU dimensions mm R L 1 2 U K O M X øD H R K U Fig 7 FZMU 1 FZZMU 2 dimensional drawing U M K Fig 8 FZMU FZZMU drilling diagram ...

Page 50: ...sible Properties Specification GVADU 210 20 GBADU 265 30 GBADU 335 30 ID No 55441 55442 55443 Type Flat resistor Flat resistor Flat resistor Resistance Ω 100 100 47 Power W 150 300 400 Therm time const τth s 60 60 60 Pulse power for 1 s kW 3 3 6 6 8 8 Umax V 848 848 848 Cable design Radox FEP FEP Cable length mm 500 500 500 Conductor cross section AWG 18 19 0 82 mm 14 19 1 9 mm 14 19 1 9 mm Weight...

Page 51: ...GBADU 335 30 ID No 55441 55442 55443 A 210 265 335 H 192 246 316 C 20 30 30 D 40 60 60 E 18 2 28 8 28 8 F 6 2 10 8 10 8 G 2 3 3 K 2 5 4 4 J 4 3 5 3 5 3 β 65 73 73 Tab 54 GVADU GBADU dimensions mm A D F E G C J K H b Fig 9 GVADU GBADU dimensional drawing H K J K Fig 10 GVADU GBADU drilling diagram ...

Page 52: ...tdown as an alternative to continuous cyclical power on power off operation 6 2 DC link connection Braked motors work like generators Operating with an active drive controller they convert kinetic energy from movement into electrical energy This electrical energy is stored in the DC link capacitors of the drive controller It can be supplied to powered motors with connected DC circuits and be used ...

Page 53: ...em parts safely within a prescribed time Electrical data of the drive controllers The electrical data of the individual drive controller types must be observed in the design and operation of Quick DC Link including the following in particular Self capacitance CPU Charging capacity CmaxPU Nominal input current I1N PU Derating of the nominal input current You can find the values in the technical dat...

Page 54: ...um of the self capacitance values of all drive controllers in the group 2 940 μF 1880 μF The maximum charging capacity of the drive controller connected to the grid is 1400 μF Information If a time span of 15 min is maintained between energizing two devices the maximum charging capacity CmaxPU increases to 1880 μF In this case Quick DC Link is permitted only if the minimum time of 15 min between e...

Page 55: ...s are possible in the permitted range The following is true for the sum of the input currents of the connected drive controllers If the respective power of all drive controllers connected to the grid is identical the sum of the maximum input currents in the network is calculated using the formula maxLINE fed 1N PU I 0 8 n I If the respective power of all drive controllers connected to the grid dif...

Page 56: ...n only be reached if the calculated rotating magnetic field frequency is less than f2PU The specified torque speed curve or the nominal points can only be reached in vector control if field weakening operation is not in effect Theoretical field weakening operation begins when a voltage is required for the speed speed KE constant that is greater than the available DC link voltage In practice howeve...

Page 57: ...e associated Quick DC Link rear section module type DL6B or DL6A is made using the metallic connection of the housings The protective connection between the rear section modules of the DL6B type is made using a copper rail You can find the requirements for the connection of a 2nd grounding conductor for the drive controllers in the chapter Housing grounding 77 DC DC PE SI6 DL6B SC6 DL6B SD6 DL6A 1...

Page 58: ...ion lines have to be implemented as twisted pairs At line lengths of 30 cm or more the lines also have to be implemented with shielding and the shield must be applied over a wide area in immediate proximity to the drive controller The requirements of the drive controller with the smaller size apply to the maximum conductor cross section Observe the terminal specifications for terminal X22 see the ...

Page 59: ...uced electrical strength Reduced electrical strength can cause considerable material damage when switching on the drive controller Reform drive controllers in storage annually or before commissioning 7 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 ...

Page 60: ...0 L1 L2 T2 PE L3 T1 L1 L3 Lines 1 to 3 N Neutral conductor PE Grounding conductor F1 Fuse T1 Variable transformer T2 Drive controller 0 25 50 75 100 t h U 1 2 3 1 0 5 0 2 4 6 8 Fig 13 Voltage levels dependent on storage time 1 Storage time of 1 2 years Apply voltage for 1 hour before switching on 2 Storage time of 2 3 years Implement reforming according to the graph before switching on 3 Storage t...

Page 61: ...ce failure as a result 8 2 Basic assembly instructions Note the points described below for installation 8 2 1 Drive controllers Note the following points for installation Prevent condensation e g with anti condensation heating elements For reasons related to EMC use installation plates with a conductive surface unpainted etc Avoid installation above or in the immediate vicinity of heat generating ...

Page 62: ... On horizontal surfaces In control cabinets Impermissible installation On vertical surfaces with terminals upwards left or right Outside of control cabinets GVADU GBADU flat resistor Permitted installation On vertical surfaces with cables downwards On horizontal surfaces Installation outside of the control cabinet possible for mechanical protection of the conductors Impermissible installation On v...

Page 63: ...C on the side D in front All sizes 100 200 5 507 Tab 55 Minimum clearances mm Braking resistors Avoid installation below drive controllers or supply modules In order for heated air to flow out unimpeded a minimum clearance of approximately 200 mm must be maintained in relation to neighboring components or walls and approximately 300 mm must be maintained to components above or ceilings 7 Minimum c...

Page 64: ...B A 2 A 2 Fig 16 SC6 and DL6B drilling diagram The bore dimensions depend on the selected design The following specifications apply to installation without a rear section module SC6 dimension Size 0 Size 1 size 2 Horizontal fastening holes 4 2 M5 A 45 65 B Size 0 46 1 56 1 B Size 1 size 2 56 1 66 1 Vertical fastening holes 4 2 M5 C 360 2 360 2 Tab 56 Drilling dimensions for SC6 drive controller mm...

Page 65: ...of copper rails For the installation of the Quick DC Link modules you require three prepared copper rails with a cross section of 5 12 mm The length of the copper rails is 5 mm shorter than the total width of the group i e the total width of all DL6B Quick DC Link modules present in the group B A 5 mm Note that the correct length of the copper rails can be determined only after installation of all...

Page 66: ...ontrollers in storage require reforming each year or before commissioning at the latest Tools and material You will need Fastening screws Tool for tightening the fastening screws Requirements and installation Perform the following steps for each drive controller within the group and in the specified order ü In accordance with the drilling diagram taking into consideration the various device dimens...

Page 67: ...s the quick fastening clamps included with the DL6B Quick DC Link modules The insulation end sections for the left and right termination of the group that are available separately Fastening screws and tool for tightening the fastening screws Requirements and installation Perform the following steps in the specified order ü You have tapped holes for fastening screws on the mounting plate at the ins...

Page 68: ...e of the first module and at the right edge of the last module Ensure correct alignment of the end section using the marking on the outside and the insertion aids for the copper rails on the inside 3 Shorten the copper rails to the correct length 4 Clean the copper rails especially at the contact points 5 Insert the three copper rails one after the other ...

Page 69: ... controller on the rear section module DANGER Electrical voltage Risk of fatal injury due to electric shock Always switch off all power supply voltage before working on the devices Note the discharge time of the DC link capacitors in the general technical data You can only determine the absence of voltage after this time period Information Note that drive controllers in storage require reforming e...

Page 70: ...the DC link connection have already been installed in the installation position 1 Remove terminal X22 from the appropriate terminal set Connect the brown cable D on the bottom of the Quick DC Link module to D of terminal X22 and the black cable D of the Quick DC Link module to D of terminal X22 Ensure that the connection lines of the Quick DC Link module are twisted pairs D D 2 Place the drive con...

Page 71: ...her assemblies M5 The nut and washer assemblies are included with the Quick DC Link module 4 Connect the grounding conductor to the ground bolt Note the instructions and requirements in the chapter Housing grounding 77 5 Attach the X22 terminal of the Quick DC Link module ð The installation is completed In the next step connect the drive controller ...

Page 72: ...g in or unplugging connection terminals connecting or removing connecting wiring and installing or removing accessories are prohibited while the voltage supply is switched on Protect the devices against falling parts bits or strands of wire pieces of metal etc during installation or other work in the control cabinet Parts with conductive properties may result in a short circuit inside the devices ...

Page 73: ... immediate area can be interrupted or damaged Take suitable measures to comply with the electromagnetic compatibility Always route the shortest possible connections for DC links If they are longer than 30 cm they must be shielded ATTENTION Damage to device in case of drive controller failure The failure of a drive controller in the DC link can result in damage to additional drive controllers A fai...

Page 74: ...ller Full range safety fuses for cable and line protection with operating class gG in accordance with IEC 60269 2 1 or time delay triggering characteristics in accordance with DIN VDE 0636 Miniature circuit breakers with triggering characteristic C in accordance with EN 60898 Circuit breakers Information Note that the charge current after switching on the power supply is less than the nominal inpu...

Page 75: ...use elements Information Note that the charge current after switching on the power supply is less than the nominal input current of the power unit I1N PU Size Type I1N PU 4 kHz A I1maxPU 4 kHz A Fuse selection Miniature circuit breakers Safety fuse 0 SC6A062 10 21 A EATON Type FAZ Z10 3 Item No 278926 Triggering characteristics Z 10 A SIBA Type URZ Item No 50 140 06 25 Triggering characteristics g...

Page 76: ...by their triggering limit and suitability for detecting different types of residual currents Depending on the function leakage currents may occur when operating drive controllers Leakage currents are interpreted as residual currents by residual current protective devices and may therefore lead to false triggering Depending on the relevant power supply connections residual currents may occur with o...

Page 77: ... X10 Additional requirements for protective equipotential bonding apply in the event of ground leakage currents 10 mA At least one of the following conditions must be fulfilled The grounding conductor must have a minimum cross section of 10 mm Cu over its overall length If the grounding conductor has a cross section of less than 10 mm a 2nd grounding conductor must be provided with a cross section...

Page 78: ...parate conduits Only use shielded low capacitance cables as motor cables If the brake line is carried in the motor cable it must be shielded separately Also close the brake lines on the drive controller if you are using a motor without a brake Connect the shield of the motor cable over large contact areas and in the immediate vicinity of the drive controller To do this use the shield clamp and shi...

Page 79: ...he device Front of the device 1 Ground bolt 9 X4B Encoder B only for double axis controllers 18 3 diagnostic LEDs for communication and safety technology 2 X10 400 VAC supply 10 X4A Encoder A 19 3 diagnostic LEDs for drive controller 3 X11 24 VDC supply 11 X20B Motor B only for double axis controllers 20 X700 SD slot 4 X103 BE6 BE9 12 X2B Brake B pin 5 6 and temperature sensor B pin 7 8 only for d...

Page 80: ...lable at X2A see the chapter Controllable brakes 47 Term Pin Designation Function 5 6 5 1BD1 Brake actuation 6 1BD2 Reference potential Tab 61 X2A connection description brake A For connecting wiring observe the terminal specifications in the chapter BCF 3 81 180 SN 189 Cable requirements Motor type Connection Size 0 to 2 Synchronous servo motor asynchronous motor Without output choke 50 m shielde...

Page 81: ...4 Term Pin Designation Function 7 8 7 1TP1 PTC connection 8 1TP2 Tab 63 X2A connection description motor temperature sensor A For connecting wiring observe the terminal specifications in the chapter BCF 3 81 180 SN 189 Cable requirements Motor type Connection Size 0 to 2 Synchronous servo motor asynchronous motor Without output choke 50 m shielded Synchronous servo motor asynchronous motor With ou...

Page 82: ...le encoders Note the technical data of the evaluable encoders at X4 see the chapter Evaluable encoders 43 EnDat 2 2 digital encoders and SSI encoders Socket Pin Designation Function 8 7 6 5 4 3 2 1 15 14 13 12 11 10 9 1 2 GND Reference potential for encoder supply to pin 4 3 4 U2 Encoder supply 5 Data Differential input for DATA 6 7 8 Clock Differential input for CLOCK 9 10 11 12 13 Data Inverse d...

Page 83: ...nection description for differential TTL and differential HTL incremental encoders HTL via HT6 adapter Information Using an HT6 adapter for level conversion from HTL signals to TTL signals it is also possible to connect a differential HTL incremental encoder to terminal X4 Note that with an external power supply the maximum level of 20 VDC for the HTL signals may not be exceeded Resolver Socket Pi...

Page 84: ...r HIPERFACE DSL encoders Cable requirements Feature All sizes Max cable length 100 m shielded Tab 69 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 Unsuitable encoder models The following STOBER encoder models may...

Page 85: ... X4B for double axis controllers Only X4A is available for single axis controllers The connection description of X4B matches the X4A description Information Note that a master encoder must be connected to axis A during synchronous operation 9 4 8 X9 Ethernet service interface X9 is used to connect the drive controller to a PC with DriveControlSuite commissioning software installed Socket Pin Desig...

Page 86: ... Terminal X10 serves to connect the drive controller to the supply grid Conductor cross sections for the power connection When selecting the conductor cross section note the line fuse the maximum permitted conductor cross section of terminal X10 the routing method and the surrounding temperature Size 0 Terminal Pin Designation Function 1 2 3 4 1 L1 Power supply 2 L2 3 L3 4 PE Grounding conductor T...

Page 87: ...Function 1 3 2 4 1 24 VDC supply for the control unit bridged in the terminal design in accordance with EN 60204 PELV secondary grounded recommended fuse protection max 15 AT10 2 3 Reference potential for 24 VDC bridged in the terminal 4 Tab 78 X11 connection description Information The device may not be connected to a DC supply grid Instead supply it over a local 24 VDC power supply For connectin...

Page 88: ...ction 1 2 3 4 5 6 7 8 1 STOa Input of safety channel 1 2 3 STOb Input of safety channel 2 4 5 GND Reference potential for STOa and STOb internally bridged with terminal 7 6 STOstatus Acknowledgment signal of safety channels 1 and 2 for diagnostic purposes 7 GND Reference potential for STOa and STOb internally bridged with terminal 5 8 U1status STO supply status recommended fuse protection max 3 15...

Page 89: ... chapter SPC 5 ST 7 62 191 Cable requirements Motor type Connection Size 0 to 2 Synchronous servo motor asynchronous motor Without output choke 50 m shielded Synchronous servo motor asynchronous motor With output choke 100 m shielded Lean motor Standard 50 m shielded Tab 84 Maximum cable length of the power cable m Information To ensure proper functionality we recommend using cables from STOBER th...

Page 90: ...lable for the connection of a braking resistor Size 0 Terminal Pin Designation Function 1 2 1 RB Braking resistor connection 2 RB Tab 85 X21 connection description size 0 For connecting wiring observe the terminal specifications in the chapter GFKIC 2 5 ST 7 62 191 Sizes 1 and 2 Terminal Pin Designation Function 1 2 1 RB Braking resistor connection 2 RB Tab 86 X21 connection description sizes 1 an...

Page 91: ...ink connection 2 D Tab 87 X22 connection description size 0 For connecting wiring observe the terminal specifications in the chapter ISPC 5 STGCL 7 62 192 Sizes 1 and 2 Terminal Pin Designation Function 1 2 1 D DC link connection 2 D Tab 88 X22 connection description sizes 1 and 2 For connecting wiring observe the terminal specifications in the chapter ISPC 16 ST 10 16 192 Wiring example The examp...

Page 92: ...a of the evaluable encoders at X101 see the chapter X101 for encoders 46 Single ended HTL incremental encoders Terminal Pin Designation Function 5 4 3 2 1 1 BE1 2 BE2 N channel 3 BE3 A channel 4 BE4 B channel 5 DGND Reference ground not bridged with X103 pin 5 Tab 90 X101 connection description for single ended HTL incremental signals axis A Single ended HTL pulse train Terminal Pin Designation Fu...

Page 93: ...ders at X103 see the chapter X103 for encoders 46 Information Note that a master encoder must be connected to X101 during synchronous operation Single ended HTL incremental encoders Terminal Pin Designation Function 5 4 3 2 1 1 BE6 2 BE7 N channel 3 BE8 A channel 4 BE9 B channel 5 DGND Reference ground not bridged with X101 pin 5 Tab 94 X103 connection description for single ended HTL incremental ...

Page 94: ...n 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 q...

Page 95: ...e 100BASE TX method i e with a transfer rate of 100 Mbps at a frequency of 125 MHz A maximum of 1440 bytes can be transferred per frame The maximum cable length is 100 m PROFINET cables exist in different versions that are tailored to different application scenarios and ambient conditions We recommend using the cables specified in the PROFINET installation guidelines They are adjusted for use in a...

Page 96: ...t The SD slot is used for data backup in the case of service SD and SDHC cards with storage capacity from 128 MB to 32 GB are supported SDHC cards with a storage capacity of 64 GB can be used only if they have been first reformatted to max 32 GB Since higher capacities increase the controller starting time STOBER recommends the use of cards with a storage capacity from 2 to 4 GB Information The dr...

Page 97: ...iagram describing the connection of the drive controller 1 Optional Connect the braking resistor to terminal X21 and attach the terminal Ensure that the connection lines are twisted pairs 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 X2A and X20A 3 Attach the power cable wit...

Page 98: ... If you use the STO safety function connect it as follows 3 1 SR6 option Connect terminal X12 according to your safety configuration 3 2 SY6 option In order to be able to identify the safety module in the FSoE network you must transfer its unique address in the FSoE network to the drive controller using the DIP switches 4 Optional Connect the binary inputs to terminals X101 and X103 and attach the...

Page 99: ...with heat resistant silicone insulated strands of wire Also ensure a heat resistant and sufficiently surge proof design for the connection 1 3 2 Fig 20 FZMU connection overview 3 2 1 Fig 21 FZZMU connection overview No Function 1 Grounding conductor connection 2 RB braking resistor drive controller connection X21 pin 1 3 RB braking resistor drive controller connection X21 pin 2 Tab 102 FZMU FZZMU ...

Page 100: ...tion the following instructions when selecting suitable cables Cable cross sections for connection to the motor Note the permitted continuous stall current I0 for the motor when making your selection Conductor cross sections for the power connection Note the line fuse the maximum permitted conductor cross section for terminal X10 the routing method and the surrounding temperature when making your ...

Page 101: ...ns springtec quick lock for con 15 speedtec quick lock for con 23 and con 40 1 2 3 4 5 2 x PE y 1 3 U V W 6 5 6 5 8 7 8 7 1BD2 1BD1 1TP2 1TP1 1 2 3 4 1 Plug connector 2 STOBER power cable cable shield 3 Connection to terminal X20 motor 4 Connection of terminal X300 brake 5 Connection to terminal X2 temperature sensor Motor type Connection Size 0 to 2 Synchronous servo motor asynchronous motor With...

Page 102: ...ontact Tab 106 con 15 power cable pin assignment a PTC Length x mm Diameter y mm 42 18 7 Tab 107 con 15 connector dimensions Power cables con 23 plug connectors Motor 1 Cable 2 Drive controller 3 5 Motor connection diagram Pin Designation Int motor Core color Core No Core color Pin X20 Pin X300 Pin X2 1 1U1 BK 1 1 3 1V1 BU 2 2 4 1W1 RD 3 3 A 1BD1 RD 5 5 B 1BD2 BK 6 6 C 1TP1 a BK 7 7 D 1TP2 a WH 8 ...

Page 103: ...gram Pin Designation Int motor Core color Core No Core color Pin X20 Pin X300 Pin X2 U 1U1 BK 1 1 V 1V1 BU 2 2 W 1W1 RD 3 3 1BD1 RD 5 5 1BD2 BK 6 6 1 1TP1 a BK 7 7 2 1TP2 a WH 8 8 PE GNYE GNYE 4 Housing Shield Shield contact Tab 110 con 40 power cable pin assignment a PTC Length x mm Diameter y mm 99 46 Tab 111 con 40 connector dimensions ...

Page 104: ...tal encoders Suitable encoder cables are described below 9 6 2 1 1 Connection description Depending on the size of the motor plug connector encoder cables are available in the following designs springtec quick lock for con 15 speedtec quick lock for con 17 and con 23 con 23 1 2 3 A con 17 con 15 open x y AES 1 6 8 10 4 7 9 11 E 5 2 3 12 A 5 4 2 3 E B C 1 3 E 9 2 4 5 8 7 6 10 11 12 1 3 1 P 9 2 4 5 ...

Page 105: ...ace of the drive controller but rather to the AES battery module for these encoders Motor 1 Cable 2 Drive controller 3 Connection diagram Pin Designation Core color Core color Pin X4 1 Clock VT YE 8 2 Sense U2 BU PK 12 U2BAT 13 3 WH GY 3 U2BAT 14 4 5 Data PK BN 13 6 Data GY WH 5 7 8 Clock YE GN 15 9 10 GND WHGN BU 2 11 12 U2 BNGN RD 4 Housing Shield Tab 112 con 15 encoder cable pin assignment EnDa...

Page 106: ...face of the drive controller but rather to the AES battery module for these encoders Motor 1 Cable 2 Drive controller 3 Connection diagram Pin Designation Core color Core color Pin X4 1 Clock VT YE 8 2 Sense U2 BU PK 12 U2BAT 15 3 WH GY 3 U2BAT 16 4 5 Data PK BN 13 6 Data GY WH 5 7 8 Clock YE GN 15 9 10 GND WHGN BU 2 11 12 U2 BNGN RD 4 Housing Shield Tab 114 con 17 encoder cable pin assignment EnD...

Page 107: ...tion diagram Pin Designation Core color Core color Pin X4 1 Clock VT YE 8 2 Sense U2 BU PK 12 3 4 5 Data PK BN 13 6 Data GY WH 5 7 8 Clock YE GN 15 9 10 GND WHGN BU 2 11 12 U2 BNGN RD 4 Housing Shield Tab 116 con 23 encoder cable pin assignment EnDat 2 1 2 2 digital Length x mm Diameter y mm 58 26 Tab 117 con 23 dimensions ...

Page 108: ...9 2 4 5 8 7 6 10 11 12 1 Plug connectors 2 STOBER encoder cable 3 D sub X4 Encoder cables con 23 plug connector Motor 1 Cable 2 Drive controller 3 Connection diagram Pin Designation Core color Core color Pin X4 1 Clock VT YE 8 2 Sense U2 BNGN PK 12 3 4 5 Data PK BN 13 6 Data GY WH 5 7 8 Clock YE GN 15 9 10 GND WHGN BU 2 11 12 U2 BNGN RD 4 Housing Shield Tab 118 con 23 encoder cable pin assignment ...

Page 109: ...r you need the HT6 adapter ID No 56665 HT6 takes over level conversion from HTL signals to TTL signals Encoder cables con 23 plug connector Motor 1 Cable 2 Drive controller 3 Connection diagram Pin Designation Core color up to size 80 Core color size 90 or larger Core color Pin X4 1 B PK BK YE 9 2 YE 3 N BU PK PK 3 4 N RD WH GY 10 5 A GN GN BN 6 6 A YE BN WH 11 7 8 B GY GY GN 1 9 10 GND WH BU BU 2...

Page 110: ...size of the motor plug connector encoder cables are available in the following designs springtec quick lock for con 15 speedtec quick lock for con 17 and con 23 con 23 1 2 con 17 con 15 3 1 15 1 6 8 10 4 7 9 11 E 5 2 3 12 A 5 4 2 3 E B C 1 3 E 9 2 4 5 8 7 6 10 11 12 1 open x y 3 1 P 9 2 4 5 8 7 6 10 11 12 1 Plug connector 2 STOBER encoder cable 3 D sub X4 ...

Page 111: ... Pin Designation Core color Core color Pin X4 1 S3 Cos BK YE 3 2 S1 Cos RD GN 11 3 S4 Sin BU WH 1 4 S2 Sin YE BN 9 5 1TP1 BK RD 7 6 1TP2 WH BU 14 7 R2 Ref YEWH BKWH GY 6 8 R1 Ref RDWH PK 2 9 10 11 12 Housing Shield Tab 122 con 15 encoder cable pin assignment resolver Length x mm Diameter y mm 42 18 7 Tab 123 con 15 connector dimensions ...

Page 112: ...m Pin Designation Core color Core color Pin X4 1 S3 Cos BK YE 3 2 S1 Cos RD GN 11 3 S4 Sin BU WH 1 4 S2 Sin YE BN 9 5 1TP1 BK RD 7 6 1TP2 WH BU 14 7 R2 Ref YEWH BKWH GY 6 8 R1 Ref RDWH PK 2 9 10 11 12 Housing Shield Tab 124 con 17 encoder cable pin assignment resolver Length x mm Diameter y mm 56 22 Tab 125 con 17 connector dimensions ...

Page 113: ... 56498 9 pin to 15 pin D sub available separately Motor 1 Cable 2 Drive controller 3 Connection diagram Pin Designation Core color Core color Pin X4 1 S3 Cos BK YE 3 2 S1 Cos RD GN 11 3 S4 Sin BU WH 1 4 S2 Sin YE BN 9 5 1TP1 BK RD 6 1TP2 WH BU 7 R2 Ref YEWH BKWH GY 6 8 R1 Ref RDWH PK 2 9 10 11 12 Housing Shield Tab 126 con 23 encoder cable pin assignment Length x mm Diameter y mm 58 26 Tab 127 con...

Page 114: ...cable Information For connecting as a One Cable Solution use exclusively hybrid cables from STOBER The use of unsuitable cables or poorly made connections can cause subsequent damage For this reason we reserve the right to reject claims under the warranty in this case 9 6 3 1 Connection description The hybrid cables are available in plug connector sizes con 23 and con 40 with a speedtec quick lock...

Page 115: ...128 con 23 hybrid cable pin assignment Length x mm Diameter y mm 78 26 Tab 129 con 23 connector dimensions Hybrid cables con 40 plug connectors Motor 1 Cable 2 Drive controller 3 5 Connection diagram Pin Designation Core color Core No core color Pin X20 Pin X2 Pin X4 U 1U1 BK L1 1 V 1V1 BU L2 2 W 1W1 RD L3 3 N 1BD1 RD 5 5 1BD2 BK 6 6 F G H DSL GY WH 4 L DSL GN BU 2 PE GNYE GNYE 4 Housing Shield Sh...

Page 116: ...e all data is transferred to the corresponding parameters There is no need for complex parameterization of the motor encoder and brake STOBER LM Lean motor without encoder with optional brake These motors are stored in the motor database of the DriveControlSuite along with all the data relevant for project configuration Furthermore the motor data and the purging and engaging times of the brake are...

Page 117: ...e Version Version your project configuration Description If necessary specify supporting additional information such as the change history of the project configuration 2 Drive controller tab Select the SC6 series and the device type of the drive controller 3 Option modules tab Safety module If the drive controller is part of a safety circuit select the SR6 or SY6 safety module 4 Device controller ...

Page 118: ... 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 202 10 1 3 Creating other modules and drive controllers We recommend sorting all drive controllers of your project in DriveControlSuite either functionally by groups and combining a group under a module or organizing several...

Page 119: ...oject tree 2 Change to the project menu and click Project configuration ð The Project window opens 3 Establish the relationship between your circuit diagram and the newly created project in DriveControlSuite Equipment Specify the equipment code of the project Designation Give the project a unique name Version Version the project Version description If necessary specify supporting additional inform...

Page 120: ...e purging and engaging times are already stored You just have to activate the brake 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 Motor wizard 3 B101Cable length Select the cable length of the power cable in use 4 Repeat the steps for the 2nd axis only for double axis controllers Then activate the br...

Page 121: ...el range 10 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 3 Scale the axis by configuring the overall gear ratio between the motor and output To simplify this scaling for you you are provided with the scaling calculator Conversion of position veloci...

Page 122: ...mit Position 3 If necessary limit the position of your axis using a software or hardware limit switch to secure the travel range Limiting velocity acceleration jerk optional The specified default values are designed for slow velocities without gear units For this reason adapt the saved values Note that the velocity of the motor is parameterized in units other than that of the axis model Verify the...

Page 123: ...itable compared with the results of the scaling calculator always replace them with values that are more suitable for test operation Transferring the test configuration ü You have verified the plausibility of the predefined test movement variables To be able to transfer a test configuration to a drive controller you must connect your PC and the drive controller to the network ü The relevant drive ...

Page 124: ...ü The STO safety function must not be activated 1 Select Jog control panel 2 Click Control panel on and then Enable ð The drive is controlled using the activated control panel 3 Move the axis step by step and test the direction of motion velocity distances etc using the Jog Jog JogStep and JogStep buttons 4 Optimize your project configuration based on your test results as necessary 5 To deactivate...

Page 125: ...installed and the network interface of the drive controller Switches or routers can also be used in place of a simple network cable The IP address required for direct connection is either assigned automatically by DriveControlSuite or using DHCP or it is specified manually Requirements for a direct connection The socket of the gateway device and the network connection of the PC must have IP addres...

Page 126: ... detailed information through the DriveControlSuite commissioning software 12 1 Drive controller STOBER drive controllers have diagnostic LEDs that visually indicate the state of the drive controller as well as the states of the physical connection and communication 3 2 1 5 4 Err Run FSoE Fig 22 Positions of the diagnostic LEDs on the front and top of the drive controller 1 Fieldbus state 2 FSoE s...

Page 127: ...rror 2 Green Run Red LED Behavior Error Description Off No Error No error Flashing Invalid Configuration Invalid configuration 1x flash Unsolicited State Change The EtherCAT slave changed operating states by itself 2x flash Application Watchdog Timeout The EtherCAT slave did not receive new PDO data during the configured watchdog timeout Tab 132 Meaning of the red LED error Green LED Behavior Oper...

Page 128: ...Run Fig 24 LEDs for the PROFINET state 1 Red Bus error 2 Green Run Red LED Behavior Description Off No error Rapid flashing Data exchange with IO controller not active On No network connection Tab 134 Meaning of the red LED BF Green LED Behavior Description Off No connection Flash Connection is set up to IO controller Flash inverse IO controller activates DHCP signal service Flashing Existing conn...

Page 129: ...tion Flashing Reset session connection parameters Ready for parameterization On Process data Normal operation Single blink Failsafe data Failsafe command from FSoE master received Rapid blinking All Undefined connection error Rapid blinking with 1x flash Parameters Error in the safety related communication settings Rapid blinking with 2x flash Parameters Error in the safety related application set...

Page 130: ...faulty Single blink STO active Flashing At least 1 axis controller ready to switch on no axis controller faulty On At least 1 axis controller enabled no axis controller faulty Rapid flashing Data is written to internal memory and the SD card Tab 137 Meaning of the green LED run Red LED Behavior Description Off No error Flashing Warning On Fault Rapid flashing No configuration active Tab 138 Meanin...

Page 131: ...troller Rapid flashing Rapid flashing Single blink Copying process completed successfully drive controller has to be restarted Off Off Off Error during copying process remove card and restart drive controller Single blink Off Tab 140 States of the LEDs when using an SD card to transfer a firmware file Pattern after transferring a firmware file and restarting the drive controller After restarting t...

Page 132: ...27 LEDs for the state of the service network connection 1 Green Link 2 Yellow Activity Green LED Behavior Description Off No network connection On Network connection present Tab 142 Meaning of the green LED link Yellow LED Behavior Description Off No network connection Flashing Individual data packets are sent or received On Active data exchange Tab 143 Meaning of the yellow LED act ...

Page 133: ... X200 and X201 on the top of the device indicate the state of the EtherCAT network connection LA LA IN EC X200 OUT EC X201 2 4 3 1 Fig 28 LEDs for the state of the EtherCAT network connection 1 Green LA ECOUT at X201 2 Yellow No function 3 Green LA ECIN at X200 4 Yellow No function Green LED Behavior Description Off No network connection Flashing Active data exchange with other EtherCAT nodes On N...

Page 134: ...1 Act Act Fig 29 LEDs for the state of the PROFINET network connection 1 Green Link at X201 2 Yellow Activity at X201 3 Green Link at X200 4 Yellow Activity at X200 Green LED Behavior Description Off No network connection On Network connection exists Tab 145 Meaning of the green LEDs Link Yellow LED Behavior Description Off No data exchange Flashing Active data exchange with IO controller Tab 146 ...

Page 135: ...s and suitable measures are listed below If the cause of the error is corrected you can usually acknowledge the error immediately If the drive controller has to be restarted instead a corresponding note can be found in the measures 12 2 1 Overview The following table shows the possible events at a glance Event Event 31 Short ground 137 Event 32 Short ground internal 137 Event 33 Overcurrent 138 Ev...

Page 136: ...on encoder 166 Event 77 Master encoder 169 Event 78 Position limit cyclic 171 Event 79 Motor position monitor 172 Event 80 Illegal action 173 Event 81 Motor allocation 173 Event 83 Failure of one all phases mains 174 Event 84 Drop in network voltage when power section active 175 Event 85 Excessive jump in reference value 176 Event 86 Unknown LeanMotor record 177 Event 87 Reference lostReference lo...

Page 137: ...raking resistor if necessary Short circuit in the motor winding Check the motor and replace it if necessary Short circuit in the braking resistor Check the braking resistor and replace it if necessary Short circuit ground fault inside the device Check whether the fault occurs when switching on the power unit and replace the drive controller if necessary Tab 148 Event 31 Causes and actions 12 2 3 E...

Page 138: ...CiA 402 device controller Response The axis is stopped by emergency braking the brakes are no longer controlled by the drive controller and engage in the event of an inactive release override F06 At the end of emergency braking the power unit is disabled and axis movement is no longer controlled by the drive controller Cause Check and action Short acceleration times Check the actual current using ...

Page 139: ...knowledged Tab 151 Event 34 Causes and actions 12 2 6 Event 35 Watchdog The drive controller is interrupted The power unit is disabled and axis movement is no longer controlled by the drive controller The brakes are no longer controlled by the drive controller and engage in the event of an inactive release override F06 The brake chopper and brake release override are non functional while the runti...

Page 140: ...voltage during the braking operation using the scope image E03 brake chopper is defective if the DC link voltage exceeds the on limit of the brake chopper R31 without the DC link voltage dropping replace the drive controller if necessary Supply voltage exceeded Check the supply voltage for an overrun of the permitted input voltage and adjust it if necessary Tab 153 Event 36 Causes and actions 12 2...

Page 141: ...he parameterized encoder and correct it if necessary H00 7 X4 channel A incremental Connection error Check the connection and correct it if necessary 8 X4 no encoder found Connection error Check the connection and correct it if necessary restart the drive controller to switch the encoder supply back on Defective encoder cable Check the cable and replace it if necessary restart the drive controller...

Page 142: ...ecessary Incompatible encoder Compare the specification of the encoder with the corresponding specifications from STOBER and replace the encoder or motor if necessary fault cannot be acknowledged 24 Resolver failure Defective encoder cable Check the cable and replace it if necessary 48 X4 zero pulse missing Defective encoder cable Check the cable and replace it if necessary Connection error Check ...

Page 143: ...6 Cause Check and action Surrounding temperatures too high or too low Check the surrounding temperature of the drive controller and adjust it to the operating conditions of the drive controller if necessary Too little air circulation in the control cabinet Check minimum clearance and adjust it if necessary Defective or blocked fan Switch on control unit supply check that the fan starts and replace...

Page 144: ...oller Response The axis is stopped by a quick stop meanwhile the brakes are controlled by the drive controller and remain released At the end of the quick stop the power unit is disabled and axis movement is no longer controlled by the drive controller the brakes are no longer controlled by the drive controller and engage in the event of an inactive release override F06 Cause Check and action Wron...

Page 145: ... controller or option module Replace the drive controller or option module fault cannot be acknowledged 32 Electronic nameplate No data available in the electronic nameplate Deactivate the evaluation of the nameplate or replace the motor B04 fault cannot be acknowledged 33 Electronic motor type limit Invalid data in the electronic nameplate Deactivate the evaluation of the nameplate or replace the...

Page 146: ...anwhile the brakes are controlled by the drive controller and remain released At the end of the quick stop the power unit is disabled and axis movement is no longer controlled by the drive controller the brakes are no longer controlled by the drive controller and engage in the event of an inactive release override F06 Cause Check and action Motor sensor connection error Check the connection and co...

Page 147: ...troller and remain released At the end of the quick stop the power unit is disabled and axis movement is no longer controlled by the drive controller the brakes are no longer controlled by the drive controller and engage in the event of an inactive release override F06 Cause Check and action Short deceleration acceleration times Check the DC link voltage during the braking process using the scope ...

Page 148: ...e override F06 The drive controller is interrupted with a quick stop if A29 1 Active for STOBER device controller or A540 2 slow down on quick stop ramp for CiA device controller Response The axis is stopped by a quick stop meanwhile the brakes are controlled by the drive controller and remain released At the end of the quick stop the power unit is disabled and axis movement is no longer controlle...

Page 149: ...p if A29 1 Active for STOBER device controller or A540 2 slow down on quick stop ramp for CiA device controller Response The axis is stopped by a quick stop meanwhile the brakes are controlled by the drive controller and remain released At the end of the quick stop the power unit is disabled and axis movement is no longer controlled by the drive controller the brakes are no longer controlled by th...

Page 150: ...9 1 Active for STOBER device controller or A540 2 slow down on quick stop ramp for CiA device controller Response The axis is stopped by a quick stop meanwhile the brakes are controlled by the drive controller and remain released At the end of the quick stop the power unit is disabled and axis movement is no longer controlled by the drive controller the brakes are no longer controlled by the drive...

Page 151: ...led and axis movement is no longer controlled by the drive controller the brakes are no longer controlled by the drive controller and engage in the event of an inactive release override F06 Cause Check and action Incorrectly selected torque force limits Check the general machine limit and adjust it if necessary C03 C05 check the application limits and the parameters dependent on the operating mode...

Page 152: ...nt request single channel Connection error Check the connection and correct if necessary error can be confirmed only if STO was previously requested for at least 100 ms across two channels 2 Wrong safety module The projected safety module E53 does not match the E54 0 detected on the system side Check the projecting and drive controller and correct the projecting or exchange the drive controller if...

Page 153: ... is stopped by a quick stop meanwhile the brakes are controlled by the drive controller and remain released At the end of the quick stop the power unit is disabled and axis movement is no longer controlled by the drive controller the brakes are no longer controlled by the drive controller and engage in the event of an inactive release override F06 Number Cause Check and action 1 SW limit switch po...

Page 154: ... the quick stop the power unit is disabled and axis movement is no longer controlled by the drive controller the brakes are no longer controlled by the drive controller and engage in the event of an inactive release override F06 Number Cause Check and action 4 PZD Timeout Missing process data Check the IO cycle time in the PROFINET IO controller and the timeout time in the drive controller and cor...

Page 155: ... override F06 Number Cause Check and action 1 Hardware Limit Switch positive 2 Hardware Limit Switch negative End of the travel range reached Move in the travel range in the direction opposite the limit switch Connection error Check the connection and source parameters and correct them if necessary I101 I102 Defective connection cable Check the cable and replace it if necessary 3 SW limit switch p...

Page 156: ...quick stop meanwhile the brakes are controlled by the drive controller and remain released At the end of the quick stop the power unit is disabled and axis movement is no longer controlled by the drive controller the brakes are no longer controlled by the drive controller and engage in the event of an inactive release override F06 Cause Check and action Incorrectly selected torque force limits Che...

Page 157: ...ntrolled by the drive controller and engage in the event of an inactive release override F06 At the end of emergency braking the power unit is disabled and axis movement is no longer controlled by the drive controller Cause Check and action Maximum permitted velocity too small Check the maximum permitted velocity and increase it if necessary I10 Overshooting control system Check the actual velocit...

Page 158: ...interrupted with a quick stop if A29 1 Active for STOBER device controller or A540 2 slow down on quick stop ramp for CiA device controller Response The axis is stopped by a quick stop meanwhile the brakes are controlled by the drive controller and remain released At the end of the quick stop the power unit is disabled and axis movement is no longer controlled by the drive controller the brakes ar...

Page 159: ...controller and remain released At the end of the quick stop the power unit is disabled and axis movement is no longer controlled by the drive controller the brakes are no longer controlled by the drive controller and engage in the event of an inactive release override F06 Cause Check and action Wrong drive controller design Check the design and change the drive controller type if necessary Increas...

Page 160: ...controlled by the drive controller and engage in the event of an inactive release override F06 The drive controller is interrupted with a quick stop if A29 1 Active for STOBER device controller or A540 2 slow down on quick stop ramp for CiA device controller Response The axis is stopped by a quick stop meanwhile the brakes are controlled by the drive controller and remain released At the end of th...

Page 161: ...e override F06 The drive controller is interrupted with a quick stop if A29 1 Active for STOBER device controller or A540 2 slow down on quick stop ramp for CiA device controller Response The axis is stopped by a quick stop meanwhile the brakes are controlled by the drive controller and remain released At the end of the quick stop the power unit is disabled and axis movement is no longer controlle...

Page 162: ...slow down on quick stop ramp for CiA device controller Response The axis is stopped by a quick stop meanwhile the brakes are controlled by the drive controller and remain released At the end of the quick stop the power unit is disabled and axis movement is no longer controlled by the drive controller the brakes are no longer controlled by the drive controller and engage in the event of an inactive...

Page 163: ...8 B10 5 Negative slip frequency Negative slip Check the nominal motor velocity nominal motor frequency and number of poles of the motor and correct them if necessary B13 B15 B10 8 v max I10 exeeds maximum B83 Maximum permitted velocity exceeds the maximum motor velocity Check the maximum permitted velocity and the maximum motor velocity and correct them if necessary I10 B83 11 Reference retaining ...

Page 164: ...drive controller and engage in the event of an inactive release override F06 The drive controller is interrupted with a quick stop if A29 1 Active for STOBER device controller or A540 2 slow down on quick stop ramp for CiA device controller Response The axis is stopped by a quick stop meanwhile the brakes are controlled by the drive controller and remain released At the end of the quick stop the p...

Page 165: ...cknowledged for a period of 5 min in order to be able to carry out the test brake action 2 Brake defective B300 mandatory Test holding torque not met during the test brake action Bed in the brake B301 B302 and repeat the brake test B300 S18 can be acknowledged for a period of 5 min in order to be able to carry out the brake test Faulty encoder test run during test brake action Replace the encoder ...

Page 166: ...axis is stopped by a quick stop meanwhile the brakes are controlled by the drive controller and remain released At the end of the quick stop the power unit is disabled and axis movement is no longer controlled by the drive controller the brakes are no longer controlled by the drive controller and engage in the event of an inactive release override F06 The drive controller is interrupted with emerg...

Page 167: ... and correct it if necessary restart the drive controller to switch the encoder supply back on Defective encoder cable Check the cable and replace it if necessary restart the drive controller to switch the encoder supply back on Defective power supply Check the encoder power supply and correct it if necessary restart the drive controller to switch the encoder supply back on Inconsistent parameteri...

Page 168: ...fault cannot be acknowledged 24 Resolver failure Defective encoder cable Check the cable and replace it if necessary 48 X4 zero pulse missing Defective encoder cable Check the cable and replace it if necessary Connection error Check the connection and correct it if necessary Late zero toe Check number of encoder increments per rotation and correct it if necessary H02 49 X4 zero pulse distance too ...

Page 169: ...istent parameterization Compare the specification of the connected encoder to the corresponding values of the H parameters and correct them if necessary 2 X4 speed Exceeded encoder maximum velocity Check the actual velocity during a movement using the scope image E15 and adjust the permitted encoder maximum velocity if necessary B297 Connection error Check the connection and shielding and correct ...

Page 170: ...heck the cable and replace it if necessary Faulty battery module Check the battery module and replace it if necessary 20 Resolver carrier 22 Resolver overvoltage Defective encoder cable Check the cable and replace it if necessary Incompatible encoder Compare the specification of the encoder with the corresponding specifications from STOBER and replace the encoder or motor if necessary fault cannot...

Page 171: ...quick stop the power unit is disabled and axis movement is no longer controlled by the drive controller the brakes are no longer controlled by the drive controller and engage in the event of an inactive release override F06 Number Cause Check and action 1 Illegal direction Set position outside of the software limit switch Check the set position in the controller and software limit switch in the dr...

Page 172: ...device controller or A540 2 slow down on quick stop ramp for CiA device controller Response The axis is stopped by a quick stop meanwhile the brakes are controlled by the drive controller and remain released At the end of the quick stop the power unit is disabled and axis movement is no longer controlled by the drive controller the brakes are no longer controlled by the drive controller and engage...

Page 173: ...e the current controller in the case of a change to the motor type the holding brake in the case of a change to the holding brake or motor type the temperature sensor in the case of a change to the temperature sensor or motor type or motor adapter gear unit and geared motor in the case of a change to the geared motor are read out of the electronic nameplate and entered in the respective parameters...

Page 174: ...n the event of an inactive release override F06 The drive controller is interrupted with a quick stop if A29 1 Active for STOBER device controller or A540 2 slow down on quick stop ramp for CiA device controller Response The axis is stopped by a quick stop meanwhile the brakes are controlled by the drive controller and remain released At the end of the quick stop the power unit is disabled and axi...

Page 175: ...p the power unit is disabled and axis movement is no longer controlled by the drive controller the brakes are no longer controlled by the drive controller and engage in the event of an inactive release override F06 The drive controller is interrupted with emergency braking if U30 1 Active and A29 1 Active for STOBER device controller or U30 1 Active and A540 2 slow down on quick stop ramp for CiA ...

Page 176: ...rolled by the drive controller and remain released At the end of the quick stop the power unit is disabled and axis movement is no longer controlled by the drive controller the brakes are no longer controlled by the drive controller and engage in the event of an inactive release override F06 Number Cause Check and action 1 Item Fast set position change leads to acceleration that cannot be performe...

Page 177: ...29 1 Active for STOBER device controller or A540 2 slow down on quick stop ramp for CiA device controller Response The axis is stopped by a quick stop meanwhile the brakes are controlled by the drive controller and remain released At the end of the quick stop the power unit is disabled and axis movement is no longer controlled by the drive controller the brakes are no longer controlled by the driv...

Page 178: ...on quick stop ramp for CiA device controller Response The axis is stopped by a quick stop meanwhile the brakes are controlled by the drive controller and remain released At the end of the quick stop the power unit is disabled and axis movement is no longer controlled by the drive controller the brakes are no longer controlled by the drive controller and engage in the event of an inactive release o...

Page 179: ...p meanwhile the brakes are controlled by the drive controller and remain released At the end of the quick stop the power unit is disabled and axis movement is no longer controlled by the drive controller the brakes are no longer controlled by the drive controller and engage in the event of an inactive release override F06 Cause Check and action Commissioning and parameterization computer heavily l...

Page 180: ... quick stop if A29 1 Active for STOBER device controller or A540 2 slow down on quick stop ramp for CiA device controller Response The axis is stopped by a quick stop meanwhile the brakes are controlled by the drive controller and remain released At the end of the quick stop the power unit is disabled and axis movement is no longer controlled by the drive controller the brakes are no longer contro...

Page 181: ...allation or other work in the control cabinet Parts with conductive properties may result in a short circuit inside the devices and device failure as a result Opening the housing plugging in or unplugging connection terminals connecting or removing connecting wiring and installing or removing accessories are prohibited while the voltage supply is switched on If you couple the drive controller in t...

Page 182: ...nal The SD card is present in the drive controller being replaced the original project is stored on the SD card Or The control unit of the drive controller being replaced still works copy the original project to the SD card before removing the drive controller 1 Optional If an AES battery module is present disconnect the AES from the drive controller 2 Remove all terminals from the drive controlle...

Page 183: ...indow opens 3 Direct connection tab IP address column Activate the IP address in question or activate all listed using the context menu Confirm your selection with OK ð The Assignment and live firmware update window opens All drive controllers connected through the selected IP addresses are displayed 4 Live firmware update tab By default the newest firmware version suitable for the DriveControlSui...

Page 184: ... flash in various combinations and frequencies Information about this can be found in the chapter Drive controller state 130 1 Insert the prepared SD card into the drive controller to be updated 2 Start the drive controller ð The transfer of the firmware file begins 3 Remove the SD card when the transfer is complete ð The copying process is successfully completed as soon as the green LED of the dr...

Page 185: ...rst level support requires the following information MV and serial number of the drive controller being replaced see the chapter Material variant 20 Information on subsequent changes e g change in option modules application or firmware The MV number indicates the ordered and delivered material variant i e the device specific combination of all hardware and software components The serial number is ...

Page 186: ...e controllers to the PC ð The drive controllers are created in the project tree and are active 5 Then in the Assignment and live firmware update window Online tab click on Set all drive controllers to offline with reverse documentation 6 Confirm the Reverse documentation dialog box with OK ð The connection is disconnected ð The drive controllers are write protected lock status with red R 7 Save th...

Page 187: ...ablished and the project configuration data is transmitted from the drive controllers to the PC ð The drive controllers are created in the project tree and are active 9 Then in the Assignment and live firmware update window Online tab click on Set all drive controllers to offline with reverse documentation 10 Confirm the Reverse documentation dialog box with OK ð The connection is disconnected ð T...

Page 188: ...tric shock and thermal overload Prepare the conductor ends according to the terminal specifications In the case of pre made cables and conductors check the conductor ends and adjust them if necessary 15 1 1 Overview The following tables clarify which specifications must be observed for which connections depending on the type of drive controller and accessory Drive controllers Type X2A X2B X10 X11 ...

Page 189: ...WG according to UL CSA 24 Insulation stripping length 10 mm Tightening torque Tab 193 FMC 1 5 ST 3 5 specification 15 1 3 BCF 3 81 180 SN Feature Line type Value Contact spacing 3 81 mm Nominal current at ϑamb 40 C CE UL CSA 16 A 10 A 11 A Max conductor cross section Flexible without end sleeve 1 5 mm Flexible with end sleeve without plastic collar 1 0 mm Flexible with end sleeve with plastic coll...

Page 190: ...according to UL CSA 26 Insulation stripping length 10 mm Tightening torque Tab 195 BLDF 5 08 180 SN specification 15 1 5 GFKC 2 5 ST 7 62 Feature Line type Value Contact spacing 7 62 mm Nominal current at ϑamb 40 C CE UL CSA 12 A 10 A 10 A Max conductor cross section Flexible without end sleeve 2 5 mm Flexible with end sleeve without plastic collar 2 5 mm Flexible with end sleeve with plastic coll...

Page 191: ...5 mm AWG according to UL CSA 26 Insulation stripping length 10 mm Tightening torque Tab 197 Specification for GFKIC 2 5 ST 7 62 15 1 7 SPC 5 ST 7 62 Feature Line type Value Contact spacing 7 62 mm Nominal current at ϑamb 40 C CE UL CSA 32 A 35 A 35 A Max conductor cross section Flexible without end sleeve 6 0 mm Flexible with end sleeve without plastic collar 6 0 mm Flexible with end sleeve with p...

Page 192: ...mm AWG according to UL CSA 24 Insulation stripping length 15 mm Tightening torque Tab 199 ISPC 5 STGCL 7 62 specification 15 1 9 ISPC 16 ST 10 16 Feature Line type Value Contact spacing 10 16 mm Nominal current at ϑamb 40 C CE UL CSA 55 A 66 A 66 A Max conductor cross section Flexible without end sleeve 16 0 mm Flexible with end sleeve without plastic collar 16 0 mm Flexible with end sleeve with p...

Page 193: ...GND STO_a STO_b GND Vc L1 L2 L3 PE 1 2 3 4 1 2 3 4 5 6 7 8 X11 1 2 F3 K1 M 24 VDC X300 1 2 T1 F2 F1 F4 1 X20A X4A X2A 1TP1 1TP2 U V W PE 7 8 1 2 3 4 n X2A 1BD1 1BD2 5 6 R1 1 2 RB RB 2 3 4 M M1 X21 1 PE L1 L2 L3 24 V DC M STO status X12 ST6 option Direct brake control D sub 15p Fig 30 Wiring example with direct brake control F1 F4 Fuse K1 Safety relay L1 L3 Three phase power supply M Reference grou...

Page 194: ...L6B SC6 SC6 X10 L1 L2 L3 PE X10 X10 SC6 SC6 SC6 L3 PE L1 L2 L3 PE L1 L2 L3 PE L1 L2 1 3 4 5 2 X22 RB RB D D DL6B DL6B DL6B DL6B RB RB D D RB RB D D X21 X22 X21 6 DL6B RB RB D D RB RB D D PE D D 7 X22 X21 X22 X21 X22 X21 Fig 31 Wiring example with Quick DC Link 1 Group 1 2 Group 2 3 Contactor 4 Overload protection 5 Short circuit protection 6 Braking resistor 7 Spring loaded contact between DL6B an...

Page 195: ...et mask Value range Subnets are created in order to provide standalone networks with their own address range Each IP address is divided into a network and host address The subnet mask determines where this division takes place Like the IP address the subnet mask consists of four decimal numbers each in a range from 0 to 255 separated by periods Assignment for direct connection In the default facto...

Page 196: ... of two installation types for the installation Standard installation Select this installation type if you want to install the latest version of DriveControlSuite DriveControlSuite is installed in the version independent Programme STOBER DriveControlSuite directory During the installation process you do not need to specify any additional installation instructions Provided that you are connected to...

Page 197: ...not need it Installing DriveControlSuite ü You must have administrator rights to perform the installation 1 Save the setup file in any directory on your PC 2 Exit all versions of DriveControlSuite if they have already been started 3 Run the setup file and follow the installation instructions 4 Optional If you use the expanded safety function via the SE6 safety module click Next and follow the inst...

Page 198: ...Project tree 2 Project menu 3 Workspace 4 Parameter description 5 Parameter check 6 Messages 15 4 4 1 Individualized workspace The project tree 1 and project menu 2 are connected and like the parameter check and messages 5 6 can also be docked at the left right or bottom edge of the screen This program window can also be displayed or hidden using the View menu The workspace 3 and parameter descrip...

Page 199: ... wizard pages of the workspace in the form of circuit diagrams Blue text links or clickable icons indicate links within the program These refer to the corresponding wizard pages and as a result allow you to reach additional helpful detail pages with just a click 15 4 5 Updates In the Help menu of the DriveControlSuite commissioning software you can search for a newer version and if available downl...

Page 200: ...of different versions version 6 X X C Program Files x86 STOBER DriveControlSuite V 6 X X bin SATMICLSVC exe SATMICL service 32 bit Windows 7 or 32 bit Windows 10 C Windows System32 64 bit Windows 7 or 64 bit Windows 10 C Windows SysWOW64 Tab 201 Programs and services 15 4 6 2 Protocols and ports for communication using routers For communication using routers the protocols and ports used by DriveCo...

Page 201: ... PC software and in the Virtual Server In both components the name of the virtual network card has to match the physical network card For Virtual PC network connections Microsoft distinguishes between the Public and Private types For the direct connection the virtual network card is operated on the Virtual Server with the Public connection type Microsoft Hyper V If you use the Hyper V software fro...

Page 202: ... STOBER DB application Manual Project planning configuration parameterization function test detailed information 442706 SR6 safety technology STO via terminals Manual Technical data installation commissioning diagnostics 442741 SY6 safety technology STO and SS1 via FSoE Manual Technical data installation commissioning diagnostics 442744 EtherCAT communication SC6 SI6 Manual Installation electrical...

Page 203: ...Nominal input current of the power unit I2max A Maximum output current I2maxPU A Maximum output current of the power unit I2PU A A Output current of the power unit for axis A I2PU B A Output current of the power unit for axis B I2N PU A Nominal output current of the power unit ILINE A Supply current ImaxLINE A Maximum supply current IminLINE A Required supply current IN A Nominal current IN MF A N...

Page 204: ... τth C Thermal time constant U1 V Input voltage U1CU V Input voltage of the control unit U1max V Maximum input voltage U1PU V Input voltage of the power unit U2 V Output voltage U2PU V Output voltage of the power unit Umax V Maximum voltage UmaxMOT V Maximum motor voltage UMOT V Motor voltage UoffCH V Switch off threshold of the brake chopper UonCH V On limit of the brake chopper ...

Page 205: ...et for Control Automation Technology FSoE Fail Safe over EtherCAT HTL High Threshold Logic ip Interpolated position mode IP International Protection IP Internet Protocol NAT Nominal response temperature PE Protective Earth i e grounding conductor PELV Protective Extra Low Voltage PL Performance Level pp Profile position mode pt Profile torque mode PTC Positive Temperature Coefficient pv Profile ve...

Page 206: ...pendix STOBER 206 05 2019 ID 442790 01 Abbreviation Meaning SSI Serial Synchronous Interface STO Safe Torque Off TCP Transmission Control Protocol TTL Transistor Transistor Logic UL Underwriters Laboratories ...

Page 207: ... hour service hotline Phone 49 7231 582 3000 Our address STÖBER ANTRIEBSTECHNIK GmbH Co KG Kieselbronner Strasse 12 75177 Pforzheim Germany 16 2 Your opinion is important to us We created this documentation to the best of our knowledge with the goal of helping you build and expand your expertise productively and efficiently with our products Your suggestions opinions wishes and constructive critic...

Page 208: ...BER SWITZERLAND www stoeber ch Phone 41 56 496 96 50 sales stoeber ch STOBER FRANCE www stober fr Phone 33 4 78 98 91 80 sales stober fr STOBER TAIWAN www stober tw Phone 886 4 2358 6089 sales stober tw STOBER ITALY www stober it Phone 39 02 93909570 sales stober it STOBER TURKEY www stober com Phone 90 212 338 8014 sales turkey stober com STOBER JAPAN www stober co jp Phone 81 3 5395 678 8 sales ...

Page 209: ... the DC link capacitors are discharged enough that the device can be worked on safely Differential HTL TTL In the context of signal transmission a process for being able to transmit signals with the highest possible fault tolerance even with longer transmission paths In this approach transmission takes place using a pair of signal conductors instead of just one signal conductor The actual signal i...

Page 210: ...er and more reliable the function in question is The PL can be assigned to a specific SIL A reversed inference from a SIL to a PL is not possible PTC thermistor Thermistor whose resistance significantly changes with the temperature When a PTC reaches its defined nominal response temperature the resistance increases dramatically by two or more times the original resistance to several kOhms Since PT...

Page 211: ... level SIL precisely assesses systems or subsystems based on the reliability of their safety functions The higher the SIL the safer and more reliable the function in question is Self discharge Passive running process that causes the capacitors to discharge even when no electrical load is connected Serial number Consecutive number stored for a product in STOBER s enterprise resource planning system...

Page 212: ...m clearances 63 Fig 16 SC6 and DL6B drilling diagram 64 Fig 17 Determination of the correct length of the copper rails 65 Fig 18 Connection of the grounding conductor 77 Fig 19 Connection overview using the example of the SC6A162 79 Fig 20 FZMU connection overview 99 Fig 21 FZZMU connection overview 99 Fig 22 Positions of the diagnostic LEDs on the front and top of the drive controller 126 Fig 23 ...

Page 213: ... frequency 30 Tab 15 Brake chopper electrical data size 0 30 Tab 16 SC6 electrical data size 1 31 Tab 17 SC6 electrical data size 1 for 4 kHz clock frequency 31 Tab 18 SC6 electrical data size 1 for 8 kHz clock frequency 31 Tab 19 Brake chopper electrical data size 1 31 Tab 20 SC6 electrical data size 2 32 Tab 21 SC6 electrical data size 2 for 4 kHz clock frequency 32 Tab 22 SC6 electrical data si...

Page 214: ...b 52 Assignment of GVADU GBADU braking resistor SC6 drive controller 50 Tab 53 GVADU GBADU specification 50 Tab 54 GVADU GBADU dimensions mm 51 Tab 55 Minimum clearances mm 63 Tab 56 Drilling dimensions for SC6 drive controller mm 64 Tab 57 Drilling dimensions for Quick DC Link DL6B mm 65 Tab 58 Recommended maximum line fuse in stand alone operation 74 Tab 59 Recommended line fuse in parallel conn...

Page 215: ... 1 and 2 91 Tab 89 X101 connection description for binary signals 92 Tab 90 X101 connection description for single ended HTL incremental signals axis A 92 Tab 91 X101 connection description for single ended HTL pulse direction signals axis A 92 Tab 92 Cable length m 92 Tab 93 X103 connection description for binary signals 93 Tab 94 X103 connection description for single ended HTL incremental signa...

Page 216: ...Tab 123 con 15 connector dimensions 111 Tab 124 con 17 encoder cable pin assignment resolver 112 Tab 125 con 17 connector dimensions 112 Tab 126 con 23 encoder cable pin assignment 113 Tab 127 con 23 dimensions 113 Tab 128 con 23 hybrid cable pin assignment 115 Tab 129 con 23 connector dimensions 115 Tab 130 con 40 hybrid cable pin assignment 115 Tab 131 con 40 connector dimensions 115 Tab 132 Mea...

Page 217: ... 158 Event 41 Causes and actions 146 Tab 159 Event 42 Causes and actions 147 Tab 160 Event 44 Causes and actions 148 Tab 161 Event 45 Causes and actions 149 Tab 162 Event 46 Causes and actions 150 Tab 163 Event 47 Causes and actions 151 Tab 164 Event 50 Causes and actions 152 Tab 165 Event 51 Causes and actions 153 Tab 166 Event 52 Causes and actions 154 Tab 167 Event 53 Causes and actions 155 Tab...

Page 218: ...ons 178 Tab 189 Event 88 Causes and actions 179 Tab 190 Event 89 Causes and actions 180 Tab 191 Terminal specifications for the base device 188 Tab 192 Terminal specifications of the safety technology 188 Tab 193 FMC 1 5 ST 3 5 specification 189 Tab 194 BCF 3 81 180 SN BK specification 189 Tab 195 BLDF 5 08 180 SN specification 190 Tab 196 GFKC 2 5 ST 7 62 specification 190 Tab 197 Specification f...

Page 219: ...STÖBER Antriebstechnik GmbH Co KG Kieselbronner Str 12 75177 Pforzheim Germany Tel 49 7231 582 0 mail stoeber de www stober com 442790 01 05 2019 24 h Service Hotline 49 7231 582 3000 www stober com ...

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