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14 | Replacement

STOBER

226

02/2019 | ID 442728.05

14.2

Replacing the drive controller

DANGER!

Electrical voltage! Risk of fatal injury due to electric shock!

▪

Always switch off all power supply voltage before working on the devices!

▪

Note the discharge time of the DC link capacitors. You can only determine the absence of
voltage after this time period.

ATTENTION!

Loss of absolute position!

The absolute position in the encoder is lost if the encoder cable is disconnected from the AES
battery module.

▪

Do not disconnect the encoder cable from the AES during service work! Disconnect the
AES from the drive controller.

Information

Note that the SD card from the drive controller being replaced can be re-used only for drive
controllers of the same series.

Information

The safety module is a permanently integrated component in the drive controller where any
design, technical and electrical modifications are prohibited!
Any removal of the safety module from the drive controller as well as any attempt at repair or
replacement is prohibited. The drive controller and safety module do not require maintenance.

Tools and material

You will need:

§

Tool for loosening and tightening the fastening screws

Requirements and replacement

ü

Drive controllers of the same series and same power can be replaced interchangeably.

ü

The fieldbus variants of the firmware for the drive controller to be installed and to be
replaced match. Information on differing fieldbus variants can be found in the chapter

Changing the fieldbus [

ü

The hardware and firmware of the drive controller to be installed is of the same or a newer
version as that of the drive controller to be replaced. You can find information about
firmware updates in the chapter

Replacing or updating the firmware [

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Summary of Contents for PS6 Series

Page 1: ...Multi axis drive system with SI6 and PS6 Manual en US 02 2019 ID 442728 05 stober com ...

Page 2: ...emarks 14 3 General safety instructions 15 3 1 Directives and standards 15 3 2 Qualified personnel 15 3 3 Intended use 15 3 4 Transport and storage 16 3 5 Operational environment and operation 16 3 6 Working on the machine 17 3 7 Disposal 18 3 8 Firefighting 18 4 UL compliant use 19 5 System configuration 22 5 1 Hardware components 23 5 1 1 Supply module 23 5 1 2 Drive controller 27 5 1 3 DC link ...

Page 3: ...7 6 6 Operating motors 58 6 7 Evaluable encoders 59 6 7 1 Overview 59 6 7 2 Signal transmission 59 6 7 3 X4 60 6 7 4 X101 for encoders 63 6 7 5 X103 for encoders 63 6 8 Controllable brakes 64 6 9 Braking resistor 65 6 9 1 Braking resistor assignment PS6 65 6 9 2 KWADQU flat resistor 65 6 9 3 FZZMQU tubular fixed resistor 67 6 9 4 FGFKQU steel grid fixed resistor 69 6 10 Choke 71 6 10 1 TEP output ...

Page 4: ...g diagrams and dimensions 93 9 4 1 Multi axis drive system 93 9 5 Length of copper rails 94 9 6 Installing the DC link connection 95 9 6 1 Order overview of the components for the DC link connection 95 9 6 2 Installing the DC link connection 95 9 7 Installing drive controllers and supply modules 99 10 Connection 102 10 1 Safety instructions for connection 102 10 2 Line routing 103 10 3 Protective ...

Page 5: ...28 10 5 13 X22 DC link connection 128 10 5 14 X101 BE1 BE4 130 10 5 15 X103 BE6 BE9 131 10 5 16 X200 X201 EtherCAT 133 10 5 17 X200 X201 PROFINET 134 10 5 18 X300 Brake 24 V supply 135 10 5 19 X700 SD slot 136 10 5 20 Connecting a drive controller 137 10 6 Output choke 138 10 6 1 Connection description 138 10 7 Cables 140 10 7 1 Power cables 141 10 7 2 Encoder cables 145 10 7 3 One Cable Solution ...

Page 6: ...hdog 185 13 3 7 Event 36 High voltage 186 13 3 8 Event 37 Motor encoder 186 13 3 9 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 13 3 13 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 ...

Page 7: ... Replacement 225 14 1 Safety instructions for device replacement 225 14 2 Replacing the drive controller 226 14 3 Exchanging the supply module 227 14 4 Replacing or updating the firmware 228 14 5 Changing the fieldbus 228 15 Service 229 15 1 STOBER electronics service 229 15 2 Reverse documentation 229 15 2 1 Creating reverse documentation in a new project 229 15 2 2 Loading reverse documentation ...

Page 8: ...ssing 242 16 4 DriveControlSuite 243 16 4 1 System requirements 243 16 4 2 Installation types 243 16 4 3 Installing software 244 16 4 4 Updates 244 16 5 Detailed information 245 16 6 Symbols in formulas 246 16 7 Abbreviations 248 17 Contact 249 17 1 Consultation service and address 249 17 2 Your opinion is important to us 249 17 3 Close to customers around the world 250 Glossary 251 List of figure...

Page 9: ...stem with a minimized device width the SI6 opens a new dimension in multi axis applications 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 and EnDat 2 2 digital encoder interfaces Integrated EtherCAT or PROFINET communication STO...

Page 10: ... accessible to qualified personnel at all times Also pass on this documentation if the product is transferred or sold to a third party 2 2 Described product type This documentation is binding for SI6 drive controller and PS6 supply module in combination with DriveControlSuite software in V 6 3 E or later and associated firmware in V 6 3 E or later 2 3 Timeliness Check whether this document is the ...

Page 11: ...lly 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 stated ...

Page 12: ... Settings Window names dialog 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 are represented as...

Page 13: ...marks and test symbols are used in this document Grounding symbol Grounding symbol in accordance with IEC 60417 5019 DB 2002 10 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 test symbol This product is listed by UL for the United States and Canada Representative samples of this...

Page 14: ... by Beckhoff Automation GmbH Verl Germany HIPERFACE HIPERFACE and the HIPERFACE DSL logo are registered trademarks of SICK STEGMANN GmbH Donaueschingen Germany 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 springt...

Page 15: ...ble to assess the risks and residual hazards when handling the products For this reason all work on the products as well as their operation and disposal may be performed only by professionally qualified personnel Qualified personal are persons who have acquired authorization to perform these tasks either through training to become a specialist and or instruction by specialists Furthermore valid re...

Page 16: ...te The production date of the drive controller is found on the accompanying nameplate 3 4 Transport and storage Inspect the delivery for any transport damage immediately after you receive it Notify the transport company of any damage immediately Do not put a damaged product into operation To ensure the faultless and safe operation of the products they must be professionally configured installed op...

Page 17: ...ent in accordance with the following table between 200 and 480 VAC Size Max symm nominal short circuit current Size 2 and size 3 5000 A Tab 1 Maximum symmetrical nominal short circuit current of the supply module 3 6 Working on the machine Before all work on machines and systems apply the 5 safety rules in accordance with DIN VDE 0105 100 Operation of electrical installations Part 100 General requ...

Page 18: ...ndividual product parts depending on their properties e g as Electronic waste circuit boards Plastic Sheet metal Copper Aluminum Battery 3 8 Firefighting DANGER Electrical voltage Risk of fatal injury due to electric shock There is a risk of fatal injury due to electric shock when using conductive firefighting equipment Use ABC powder or carbon dioxide CO2 for firefighting ...

Page 19: ...e that the line fuses of the supply modules with power are UL compliant Branch circuit protection Integral solid state short circuit protection does not provide branch circuit protection line fuse upstream of the drive controller Branch circuit protection must be provided in accordance with the manufacturer instructions the National Electrical Code the Canadian Electrical Code part 1 and any addit...

Page 20: ...ection Use motor overload protection motor temperature protection The SI6 drive controller features connections for PTC thermistors NAT 145 C sensor voltage 3 3 V sensor current 0 6 A The devices are only intended to be used with motors which have integral thermal protection In accordance with UL certification operation without motor overload protection motor temperature protection in or on the mo...

Page 21: ... Observe the terminal description for X300 in the chapter X300 Brake 24 V supply 135 For the STO safety function via terminal X12 Use a 3 15 A fuse time delay to protect the supply voltage of the status signal Observe the terminal description for X12 in the chapter X12 Safety technology SR6 option 126 UL test Only the risks of electric shock and the risk of fire have been examined during UL accept...

Page 22: ...cation with a CiA 402 interface You can put the drive controllers into operation with 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 MC6 motion controller Field bus 1 x P...

Page 23: ...will find an overview of the available hardware components 5 1 1 Supply module The PS6 supply module is available in two sizes The type specifications used in this documentation refer to the nameplate that is placed on the side of the supply module 5 1 1 1 Nameplate Fig 2 PS6A24 nameplate ...

Page 24: ...otection class Tab 2 Meaning of the specifications on the PS6 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 5 1 1 2 Line fuse specifications in accordance with UL On the side of the supply module next to the nameplate there is another sticker with the following specifications for an UL com...

Page 25: ...eries PowerSupply 6 Generation Generation 6 A Version 2 3 Size 4 Power output stage Tab 4 Meaning of the PS6 example code 5 1 1 4 Sizes Type ID No Size PS6A24 56650 Size 2 PS6A34 56651 Size 3 Tab 5 Available PS6 types and sizes PS6 in sizes 2 and 3 Note that the basic device is delivered without terminals Suitable terminal sets are available separately for each size ...

Page 26: ...5 System configuration STOBER 26 02 2019 ID 442728 05 Terminal set for supply module The following designs are available ID No 138660 Terminal set for PS6A24 ID No 138661 Terminal set for PS6A34 ...

Page 27: ...ntroller is available in several sizes as a single or double axis controller In addition different safety options are available The type specifications used in this documentation refer to the nameplate that is placed on the side of the drive controller 5 1 2 1 Nameplate Fig 3 SI6A061 nameplate ...

Page 28: ...ncy Output current for 4 kHz clock frequency Number of phases Protection class IP20 Protection class Tab 6 Meaning of the specifications on the SI6 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 5 1 2 2 Material version On the side of the drive controller next to the nameplate there is anot...

Page 29: ...s controller Z R Y Safety technology SZ6 Without safety technology SR6 STO using terminals SY6 STO and SS1 using FSoE Tab 9 Meaning of the SI6 example code 5 1 2 4 Sizes Type ID No Size Axis controller SI6A061 56645 Size 0 Single axis controller SI6A062 56646 Size 0 Double axis controller SI6A161 56647 Size 1 Single axis controller SI6A162 56648 Size 1 Double axis controller SI6A261 56649 Size 2 S...

Page 30: ...ately for each size Terminal set for drive controller The following designs are available ID No 138655 Terminal set for SI6A061Z Y ID No 138656 Terminal set for SI6A062Z Y ID No 138657 Terminal set for SI6A161Z Y ID No 138658 Terminal set for SI6A162Z Y ID No 138659 Terminal set for SI6A261Z Y ID No 138662 Terminal set for SI6A262Z Y ID No 138663 Terminal set for SI6A361Z Y ...

Page 31: ... included in the scope of delivery These must have a cross section of 5 x 12 mm Insulation end sections are available separately DL6B Quick DC Link for drive controller The following designs are available DL6B10 ID No 56655 Rear section module for size 0 drive controllers SI6A061 and SI6A062 DL6B11 ID No 56656 Rear section module for drive controllers of size 1 or 2 single axis controller SI6A161 ...

Page 32: ...ment of the MC6 motion controller and its integration into the STOBER product portfolio opens up new solutions for drive technology especially for complex functions with demanding requirements for timing and precision The SI6 drive controller is connected to the MC6 using EtherCAT Detailed information about the MC6 motion controller can be found in the corresponding manual see the chapter Detailed...

Page 33: ...k are available on the X4 connection for the following encoders EnDat 2 2 digital encoders SSI encoders Differential TTL and differential HTL incremental encoders HTL over HT6 adapters Resolver HIPERFACE DSL encoders In addition evaluation options for the following encoders are available on the X101 and X103 connection Single ended HTL incremental encoders Single ended HTL pulse train All device t...

Page 34: ...gether with the drive controller The safety modules are an integrated part of the drive controllers and must not be modified Option SZ6 Without safety technology ID No 56660 Standard version SR6 safety module STO through terminals ID No 56661 Optional accessory for the use of the Safe Torque Off safety function STO in safety related applications PL e SIL 3 in accordance with DIN EN ISO 13849 1 and...

Page 35: ...le 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 adapters ID No 49940 Adapter for connecting Ethernet to a USB port Detailed information about the fieldbus connection can be found in the corresponding manual see chapter Detailed information 245 5 1 6 3 Braking...

Page 36: ...ercially 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 5 1 6 6 HTL to TTL adapter HT6 HTL to TTL adapter ID No 56665 Adapters for SC6 and SI6 series drive controllers for level conversion from HTL signals to TTL signals It is used to conne...

Page 37: ...central motion control of complex machines Using the controller based operating modes of the CiA 402 application you can implement applications with synchronized cyclic reference value specification csp csv cst ip by a motion controller such as the MC6 In addition the drive controllers can also independently handle motion tasks such as referencing and jogging during commissioning STOBER Drive Base...

Page 38: ...idity 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 Tab 12 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 Inst...

Page 39: ...a PS6 without braking resistor Direct repeat activation of the supply voltage possible b PS6 with braking resistor and an interval 30 s after power off Direct repeat activation of the supply voltage possible c PS6 with braking resistor and an interval 30 s after power off Reactivation of the supply voltage only possible 2 min after previous activation Information The STO safety function is availab...

Page 40: ...pply modules are connected in parallel Take into account that the total is derated by a factor of 0 8 in doing so The charging capacity of the supply modules can be increased by a parallel connection only if the power grid supply is connected to all supply modules simultaneously Increasing the charging capacity also requires derating the total by a factor of 0 8 The following table shows example c...

Page 41: ...ge the DC link is discharged via the brake chopper and the braking resistor Fast discharge does not take place for constant or increasing DC link voltage as this behavior indicates a second supply module in the DC link group If the temperature sensor of the braking resistor is active the fast discharge also remains off 6 2 1 7 Status output The relay status output of terminal X100 in conjunction w...

Page 42: ...ule Width w 45 65 Depth d 204 219 Body height h1 343 Fastening clip height h2 15 Height incl fastening clips h3 373 Fastening holes M5 Vertical distance a 360 2 Vertical distance to the upper edge b 5 Tab 21 PS6 dimensions mm 6 2 3 Weight Type Weight without packaging g Weight with packaging g PS6A24 2680 4180 PS6A34 3820 4920 Tab 22 PS6 weight g ...

Page 43: ...trol unit Electrical data All types U1CU 24 VDC 20 15 I1maxCU 0 5 A Tab 23 Control unit electrical data 6 3 1 2 Power unit Size 0 Electrical data SI6A061 SI6A062 U1PU 280 800 VDC f2PU 0 700 Hz U2PU 0 max 1PU U 2 CPU 180 µF 270 µF Tab 24 SI6 electrical data size 0 Nominal currents up to 45 C in the control cabinet Electrical data SI6A061 SI6A062 fPWM PU 4 kHz I2N PU 5 A 2 5 A I2maxPU 210 for 2 s Ta...

Page 44: ...F Tab 27 SI6 electrical data size 1 Nominal currents up to 45 C in the control cabinet Electrical data SI6A161 SI6A162 fPWM PU 4 kHz I2N PU 12 A 2 12 A I2maxPU 210 for 2 s Tab 28 SI6 electrical data size 1 at 4 kHz clock frequency Electrical data SI6A161 SI6A162 fPWM PU 8 kHz I2N PU 10 A 2 10 A I2maxPU 250 for 2 s Tab 29 SI6 electrical data size 1 at 8 kHz clock frequency ...

Page 45: ...F Tab 30 SI6 electrical data size 2 Nominal currents up to 45 C in the control cabinet Electrical data SI6A261 SI6A262 fPWM PU 4 kHz I2N PU 22 A 2 25 A I2maxPU 210 for 2 s Tab 31 SI6 electrical data size 2 at 4 kHz clock frequency Electrical data SI6A261 SI6A262 fPWM PU 8 kHz I2N PU 20 A 2 20 A I2maxPU 250 for 2 s Tab 32 SI6 electrical data size 2 at 8 kHz clock frequency ...

Page 46: ...U 2250 µF Tab 33 SI6 electrical data size 3 Nominal currents up to 45 C in the control cabinet Electrical data SI6A361 fPWM PU 4 kHz I2N PU 50 A I2maxPU 210 for 2 s Tab 34 SI6 electrical data size 3 at 4 kHz clock frequency Electrical data SI6A361 fPWM PU 8 kHz I2N PU 40 A I2maxPU 250 for 2 s Tab 35 SI6 electrical data size 3 at 8 kHz clock frequency ...

Page 47: ... for binary inputs BE3 and BE4 with timestamp correction in an accuracy range of 1 µs Max cable length 30 m Tab 36 X101 electrical data X103 specification for binary signals Electrical data Binary input Value Low level BE6 BE9 0 8 VDC High level 12 30 VDC U1max 30 VDC I1max 16 mA f1max BE6 BE7 10 kHz BE8 BE9 250 kHz Internal device update rate BE6 BE9 Cycle time for the application parameterized i...

Page 48: ...conomical 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 6 Asymmetric load o...

Page 49: ...0 95 2 12 IE2 Absolute losses PV A kVA W W SI6A06x 5 3 5 Max 10 25 30 2 46 5 26 5 33 8 56 5 39 5 74 4 IE2 24 9 SI6A16x 12 8 3 Max 10 45 7 58 7 98 7 49 1 66 3 119 6 78 1 155 4 IE2 26 7 SI6A261 22 16 6 Max 10 91 5 117 4 197 3 98 2 132 6 239 2 156 2 310 8 IE2 30 8 SI6A262 25 17 3 Max 10 77 9 106 5 193 0 87 1 127 9 254 3 163 8 367 6 IE2 36 4 SI6A361 50 34 6 Max 10 155 8 213 1 386 0 174 3 255 8 508 6 3...

Page 50: ...by the number of axis controllers x e g x 4 for 1 PS6 and 2 SI6A062 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 data includes a supplement of 10 in accordance with EN 50598 The power loss specifications refer to a clock frequency of 4 kHz The absolute losses for a power unit...

Page 51: ...or 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 6 3 2 1 Effect of the clock frequency Changing the clock frequency fPWM affects the amount of noise produced by the drive among other things However increasing the clock frequency results in increased losses During project configuration define the...

Page 52: ... as follows DIA 100 5 1 5 92 5 6 3 2 4 Calculating the derating Follow these steps for the calculation 1 Determine the highest clock frequency fPWM that will be used during operation and use it to determine the nominal current I2N PU 2 Determine the derating factors for installation altitude and surrounding temperature 3 Calculate the reduced nominal current I2N PU red in accordance with the follo...

Page 53: ...h w 45 65 105 Depth d 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 Horizontal spacing of the fastening holes c 45 Horizontal distance to the side edge g 30 Tab 41 SI6 dimensions mm 5 Single axis controller 6 Double axis control...

Page 54: ... At least IP54 Tab 43 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 s 200 Hz f 500 Hz 15 m s Tab 44 Transport and storage conditions Operating conditions Surrounding temperatur...

Page 55: ... drive controller types and supply module types Type DL6B10 DL6B11 DL6B12 DL6B20 DL6B21 ID No 56655 56656 56663 56657 56658 SI6A061 X SI6A062 X SI6A161 X SI6A162 X SI6A261 X SI6A262 X SI6A361 X PS6A24 X PS6A34 X Tab 46 DL6B assignment for SI6 and PS6 6 4 3 Dimensions g c g 0 2 3 w w d2 b2 b1 d1 h2 h1 h3 a1 a2 a1 a2 b2 b1 Fig 8 DL6B dimensional drawing ...

Page 56: ...ing 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 Horizontal spacing of the fastening holes c 45 Horizontal distance to the side edge g 30 Tab 47 DL6B dimensions mm 6 4 4 Weight Type Weight without packaging g Weight with packaging g DL6B10 420 460 DL6B11 560 600 DL6B12 92...

Page 57: ...ke to use STO safety function over terminals be sure to read the SR6 manual see the chapter Detailed information 245 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 STOstatus U2 U1 1 5 Ω I1 STOstatus supply U1 24 VDC 20 25 I1max 100 mA GND Tab 49 X12 electrical data for SR6 option ...

Page 58: ...h accuracy very constant speed high overcurrent protection Without field weakening B91 Field weakening 1 Active High dynamics high 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 accuracy very constant speed high overcurrent protection 3 ASM sensorless vector...

Page 59: ...2 digital X4 SSI X4 Incremental TTL X4 TTL signals differential Incremental HTL X4 With HT6 adapter for level conversion HTL signals differential X101 HTL signals single ended X103 HTL signals single ended HTL pulse and direction X101 HTL signals single ended X103 HTL signals differential Resolver X4 Adjustable number of resolver poles Tab 51 Overview of encoder connection 6 7 2 Signal transmissio...

Page 60: ...le turn and multi turn not suitable for linear encoders Clock frequency 2 MHz Max cable length 100 m shielded Tab 52 EnDat 2 1 digital specification 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 53 EnDat 2 2 digital specification ...

Page 61: ... fmax 1 MHz Signal level TTL differential Max cable length 100 m shielded Tab 55 Specification for TTL differential incremental signals Information Calculation example Limit frequency f max 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 1 MHz Information Using a HT6...

Page 62: ...n for resolver signals HIPERFACE DSL encoders Specification HIPERFACE DSL U2 12 VDC I2max 250 mA Encoder design Single turn and multi turn Max cable length 100 m shielded Tab 57 Specification for HIPERFACE DSL Unsuitable encoder models The following STOBER encoder models may not be connected Encoder model Code according to type designation ECI 1118 C0 EQI 1130 Q0 ECI 1319 CR EQI 1329 QP EQI 1331 Q...

Page 63: ...s per minute equivalent to 50 revolutions per second 2 048 pulses per revolution 102 400 pulses per second 102 4 kHz 250 kHz 6 7 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 VDC I1max 16 mA f1max BE6 BE7 10 kHz BE8 BE9 250 kHz Max cable length BE6 BE9 30 m Tab 60 Specification for single ended HTL i...

Page 64: ...tly connected 24 VDC brakes Indirectly connected brakes e g over coupling contactor The brake is supplied over X300 Electrical data Brake output U2 24 VDC 20 I2max 2 5 A f2max 1 Hz at IN 2 1 A 0 25 Hz at IN 2 1 A E2max 1 83 J Tab 61 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 fr...

Page 65: ... Braking resistor assignment PS6 Type KWADQU FZZMQU FGFKQU ID No 56634 56635 56636 PS6A24 X X PS6A34 X X Tab 62 Braking resistor assignment to PS6 supply module X Recommended X Possible Useful under certain conditions Not possible 6 9 2 KWADQU flat resistor Properties Specification KWADQU 420 91 ID No 56634 Type Flat resistor with temperature switch incl mounting bracket Resistance Ω 100 Power W 6...

Page 66: ...e separately e g using the PS6 supply module Observe the wiring example for the supply module in the chapter UL compliant connection of the supply module 241 to ensure UL compliant operation Signal contact Switching capacity of the signal contact 2 A 24 VDC Dimensions Dimension KWADQU 420 91 A 420 Tab 64 KWADQU 420 91 dimensions mm A 71 26 2 20 A 30 91 A 18 60 M4 TS Fig 9 KWADQU 420 91 dimensional...

Page 67: ...lated strands of wire Also ensure a heat resistant and stress resistant design for the connection Connection type Conductor cross section mm Rigid 0 5 4 0 Flexible with end sleeve 0 5 2 5 Tab 66 FZMU conductor cross section FZZM Q U 400 65 Information The temperature switch reports a resistor overload The evaluation in the form of a warning or line side shutdown of the power supply must take place...

Page 68: ...STOBER 68 02 2019 ID 442728 05 Dimensions Dimension FZZMQU 400 65 L D 400 65 H 120 K 6 5 12 M 426 O 475 R 185 U 150 Tab 67 FZZMQU 400 65 dimensions mm R H U K L 40 øD 10 O M U K Fig 10 FZZMQU 400 65 dimensional drawing ...

Page 69: ...Specification for FGFKQU 31005 Type Conductor cross section mm Ceramic flat terminal 2 5 10 Tab 69 FGFK Q U conductor cross section Information The temperature switch reports a resistor overload The evaluation in the form of a warning or line side shutdown of the power supply must take place separately e g using the PS6 supply module Observe the wiring example for the supply module in the chapter ...

Page 70: ...echnical data STOBER 70 02 2019 ID 442728 05 Dimensions Dimension FGFKQU 31005 A 270 B 295 C 355 Tab 70 FGFKQU 31005 dimensions mm C 490 260 380 ø10 5 B A A 380 10 5 Fig 11 FGFKQU 31005 dimensional drawing ...

Page 71: ...perties Specification TEP3720 0ES41 TEP3820 0CS41 TEP4020 0RS41 ID No 53188 53189 53190 Voltage range 3 0 to 480 VAC Frequency range 0 200 Hz Nominal current IN MF at 4 kHz 4 A 17 5 A 38 A Nominal current IN MF at 8 kHz 3 3 A 15 2 A 30 4 A Max permitted motor cable length with output choke 100 m Max surrounding temperature ϑamb max 40 C Protection class IP00 Winding losses 11 W 29 W 61 W Iron loss...

Page 72: ...1 2 I A N f Hz Fig 12 Derating the nominal current depending on the clock frequency TEP3720 0ES41 1 4 kHz clock frequency 2 8 kHz clock frequency 0 2 4 6 8 10 12 14 16 18 20 0 100 200 300 400 500 600 700 1 2 I A N f Hz Fig 13 Derating the nominal current depending on the clock frequency TEP3820 0CS41 1 4 kHz clock frequency 2 8 kHz clock frequency ...

Page 73: ...Hz Fig 14 Derating the nominal current depending on the clock frequency TEP4020 0RS41 1 4 kHz clock frequency 2 8 kHz clock frequency Derating Effect of surrounding temperature 72 20 30 40 50 60 70 20 0 40 100 60 80 72 I N Surrounding temperature C Fig 15 Derating the nominal current based on surrounding temperature ...

Page 74: ...00 20 0 40 100 60 80 0 1000 2000 3000 4000 87 I N Installation altitude m Fig 16 Derating the nominal current depending on installation elevation 5000 20 0 40 100 60 80 0 1000 2000 3000 4000 67 Installation altitude m Max perm voltage Fig 17 Derating the voltage depending on installation elevation ...

Page 75: ...astening holes a1 mm 166 166 201 Vertical distance Fastening holes a2 mm 113 113 136 Horizontal distance Fastening holes b1 mm 53 68 89 Horizontal distance Fastening holes b2 mm 49 64 76 Drill holes Depth e mm 5 8 5 8 7 Drill holes Width f mm 11 11 13 Screw connection M M5 M5 M6 Weight g 2900 5900 8800 Tab 72 TEP dimensions and weight e f h w a1 a2 d b1 b2 a1 b1 M A M1 2 A Drilling pattern Fig 18 ...

Page 76: ...when being connected to the grid after a fault such as a short circuited DC link incorrect wiring etc These resistors are heated when charging the DC link Information For cyclic power on power off operation the following is to be observed to prevent the charging capacities of the supply modules from being exceeded a PS6 without braking resistor Direct repeat activation of the supply voltage possib...

Page 77: ... be protected individually see the chapter CE compliant line fuse 104 All supply modules must be connected to the same three phase supply grid The grid must be switched on at all supply modules simultaneously see the chapter Grid connection 105 Each supply module also has to be grounded at the ground bolt of the Quick DC Link module if the cross section of the grounding conductor at X10 is less th...

Page 78: ...itors of the drive controllers involved are connected in parallel As a result the maximum acceptable amount of energy increases in the DC link 7 2 1 Information on design and operation In order to connect the capacitors of multiple drive controllers you need a separate DL6B type Quick DC Link module for each drive controller and every supply module in the group Information Note that Quick DC Link ...

Page 79: ...ation with a powered PS6 supply module The protective connection between the supply module or drive controller and the 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 gr...

Page 80: ...ning the maximum number of devices and the total load of the modular drive system The sum of all input currents of the drive controllers connected to the supply module must not exceed the maximum nominal output current of the supply module The sum of the self capacitance of the drive controllers connected to the supply module must not exceed the maximum charging capacity of the supply module The t...

Page 81: ...ices 32 devices 10 devices 20 devices SI6A062 0 27 8 4 45 DL6B10 18 devices 2 devices 32 devices 5 devices 10 devices SI6A161 0 47 10 4 65 DL6B11 10 devices 2 devices 22 devices 4 devices 8 devices SI6A162 0 94 20 7 65 DL6B11 5 devices 1 device 22 devices 2 devices 4 devices SI6A261 0 94 19 0 65 DL6B11 5 devices 1 device 22 devices 2 devices 4 devices SI6A262 2 25 41 2 105 DL6B12 2 devices 0 devic...

Page 82: ...evices 32 devices 20 devices 40 devices SI6A062 0 27 8 4 45 DL6B10 37 devices 5 devices 32 devices 10 devices 20 devices SI6A161 0 47 10 4 65 DL6B11 21 devices 4 devices 22 devices 8 devices 16 devices SI6A162 0 94 20 7 65 DL6B11 10 devices 2 devices 22 devices 4 devices 8 devices SI6A261 0 94 19 0 65 DL6B11 10 devices 2 devices 22 devices 4 devices 8 devices SI6A262 2 25 41 2 105 DL6B12 4 devices...

Page 83: ...s 8 4 A 5 A 2 A 3 36 A per drive controller As a result 10 drive controllers would need 33 6 A The nominal input current of a PS6A24 supply module is 21 A the nominal input current of a PS6A34 is 42 A The PS6A24 supply module is not sufficient in terms of the current requirements A PS6A34 supply module is needed 3 Checking the length of the copper rails The width of a SI6A062 drive controller is 4...

Page 84: ...ule You can find other available accessories in the chapter Accessories Copper rails Each device group requires 3 copper rails DC DC grounding The copper rails EATON CU12X5 034121 with a standard length of 1500 mm must be ordered from STOBER under the ID No 56676 The required length of the copper rails corresponds to the total length of the group minus 5 mm V Number of DL6B20 45 mm W Number of DL6...

Page 85: ...rage times 8 2 Drive controller The DC link capacitors can lose their electrical strength due to long storage times This property does not apply to size 3 DC link capacitors Therefore size 3 drive controllers do not require reforming even after prolonged storage periods ATTENTION Material damage due to reduced electrical strength Reduced electrical strength can cause considerable material damage w...

Page 86: ...ear for one hour The following graphic shows the predominant supply connection X10 L1 F1 PE L1 L2 T1 PE L3 L2 L3 X22 D D PS6 X22 D D SI6 T2 Fig 20 Annual reforming L1 L3 Lines 1 to 3 N Neutral conductor PE Protective ground F1 Fuse T1 Supply module T2 Drive controller Information For UL compliant operation The connections marked with PE are intended solely for the functional grounding ...

Page 87: ...torage time The following graphic shows the predominant supply connection X10 L1 F1 PE L1 L2 T2 T1 PE L3 L2 L3 X22 D D PS6 X22 D D SI6 T3 Fig 21 Reforming before commissioning L1 L3 Lines 1 to 3 N Neutral conductor PE Protective ground F1 Fuse T1 Variable transformer T2 Supply module T3 Drive controller Information For UL compliant operation The connections marked with PE are intended solely for t...

Page 88: ...ndent 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 time 3 years Implement reforming according to the graph before switching on Storage time 1 year No actions required ...

Page 89: ...circuit inside the devices and device failure as a result 9 2 Basic assembly instructions Note the points described below for installation 9 2 1 Drive controllers and supply modules 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 ...

Page 90: ...stallation 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 vertical surfaces with cables upwards FZZMQU tubular fixed resistor Permitted installation On vertical surfaces with terminals downwards On horizontal surfaces In control cabinets Impermissible in...

Page 91: ...istor Permitted installation On vertical surfaces with terminals downwards Top and bottom perforated sheets On horizontal surfaces Installation on next to or in the control cabinet possible Impermissible installation On vertical surfaces with terminals upwards left or right ...

Page 92: ...lters Avoid installation below drive controllers or supply modules For installation in a control cabinet a distance of approximately 100 mm to other neighboring components is recommended This distance ensures proper heat dissipation for chokes and filters Braking resistor Avoid installation below drive controllers or supply modules In order for heated air to flow out unimpeded a minimum clearance ...

Page 93: ...m F A 2 G C D E B B 1 2 3 0 A 2 Fig 25 Drilling diagram for multi axis drive system DL6B dimensions Size 0 Size 1 size 2 Size 3 Horizontal fastening holes 4 2 M5 A 45 65 B 30 E 45 0 2 0 2 C Size 0 46 1 56 1 C Size 1 size 2 56 1 66 1 D Size 0 53 5 1 D Size 1 size 2 63 5 1 D Size 3 61 1 Vertical fastening holes 4 2 M5 F 393 2 Vertical distance for drive controllers and supply modules G 360 Tab 80 Dr...

Page 94: ...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 modules A B Fig 26 Determination of the correct length of the copper rails A Total width of the group after installation B Length of the copper rail...

Page 95: ... the DC link connection with ID No 9 6 2 Installing the DC link connection DANGER Electrical voltage Risk of fatal injury due to electric shock Always switch off all power supply voltage before working on the devices Note the discharge time of the DC link capacitors You can only determine the absence of voltage after this time period Tools and material You will need 3 copper rails with sufficient ...

Page 96: ...he installation location in accordance with the drilling diagram and taking into consideration the different device dimensions ü The mounting plate has been cleaned free of oil grease and swarf ü The copper rails must be straight smooth free of burrs and cleaned free of oil and grease 1 Fasten the Quick DC Link modules onto the mounting plate with the fastening screws ...

Page 97: ...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 98: ...h two quick fastening clamps per rail and Quick DC Link module Make certain the contact points of the copper rails do not become contaminated ð You have installed the Quick DC Link In the next step build over the Quick DC Link modules with suitable drive controllers and supply modules ...

Page 99: ...ear or before commissioning at the latest Tools and material You will need A suitable terminal set for each drive controller and for each supply module A 8 mm hexagonal socket wrench to tighten the nuts Requirements and installation Perform the following steps for each drive controller and for each supply module within the group ü A circuit diagram of the system is available containing a descripti...

Page 100: ...DC Link module to D of terminal X22 and the black cable D of the Quick DC Link module to D of terminal X22 Note that the terminal is only connected at a later point in time D D 2 Place the drive controller or supply module on the bottom threaded bolt of the Quick DC Link module and properly align the device vertically with the bottom and top threaded bolt ...

Page 101: ... 442728 05 101 3 Fasten the drive controller or the supply module with the nut and washer assemblies M5 3 5 Nm to both threaded bolts of the Quick DC Link module The nut and washer assemblies are included with the Quick DC Link module ...

Page 102: ...nd if applicable the fast discharge You can find the discharge time in the general technical data Information You can check the output voltage at the marked measuring points at the front of the housing of the PS6 supply module that are used for the DC link connection of the drive controllers ATTENTION Material damage due to overload Insufficient electrical strength of the measuring device can caus...

Page 103: ...e the following protective measures into account 10 3 1 Power grid supply All supply modules must be connected to the same supply grid ATTENTION Damage to device due to the emission of electromagnetic interference If the EMC threshold limits are exceeded during the operation of a DC link connection devices in the immediate area can be interrupted or damaged Take suitable measures to comply with th...

Page 104: ...ly modules short circuit fuses can protect against damage to or failure of other devices within the DC link group Information To ensure problem free operation always comply with the recommended trigger limits and trigger characteristics of the fuse 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 Y...

Page 105: ...ontactor for each supply module is permitted ATTENTION Damage due to overload If the network does not connect to all modules simultaneously in a design with a contactor for each supply module their charging resistors can be damaged 10 3 5 Residual current protective device STOBER devices can be protected with a residual current protective device RCD to detect residual currents Residual current pro...

Page 106: ...CDs with increased trigger current e g 300 or 500 mA Due to higher frequency leakage currents for long motor cables under normal operating conditions This false triggering can be rectified for example using low capacitance cables or an output choke Due to imbalances in the supply grid This false triggering can be rectified e g using an isolating transformer Information Check whether the use of res...

Page 107: ...or For correct housing ground connect the 2nd grounding conductor to the grounding bolt of the DL6B Quick DC Link module of the supply module The housing grounding connections for the SI6 drive controllers in the group are connected to the grounding conductor circuit over the PE rail of the Quick DC Link modules Note the tightening torque of 4 0 Nm Observe the order for assembly 1 4 3 5 2 Fig 27 C...

Page 108: ...s on top of the DL6B unit s The specified tightening torque for these mounting screws on the DL6B units is 3 5 Nm 31 Lb inch Observe the order for assembly 1 4 3 5 2 Fig 28 Connection of the grounding conductor 1 M6 ground bolt 2 Contact disk 3 Cable lug 4 Washer 5 Nut The contact disk washer and nut are supplied with the drive controller In order to dimension the grounding it must be ensured that...

Page 109: ...e controller if you are using a motor with 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 shield contact at terminal X20 The connection lines for braking resistors and the connection lines for Quick DC Link modules have to be implemented as twisted pairs At line lengths of 30 cm or mor...

Page 110: ...nk max 1000 V DC High Voltage D D L2 L1 L3 PE X100 2 4 3 5 3 4 2 1 6 6 8 X21 X22 X23 RB RB 2 1 7 5 9 11 10 D D X10 1 1 X11 Fig 29 Connection overview using the example of the PS6A34 Top of the device Bottom of the device Front of the device 1 Ground bolt 5 Fan on off switch 9 3 diagnostic LEDs 2 X10 400 VAC supply 6 X23 Braking resistor temperature monitoring 10 D DC link potential measuring point...

Page 111: ...e chassis of the PS6A SI6A units is to be bonded through the M6 grounding studs on the PS6A units 4 0 Nm 35 Lb inch Size 2 Terminal Pin Designation Function 1 2 3 4 1 L1 Power supply 2 L2 3 L3 4 PE Grounding conductor Tab 85 X10 connection description Size 2 For connecting wiring observe the terminal specifications in the chapter SPC 16 ST 10 16 237 Size 3 Terminal Pin Designation Function 1 2 3 4...

Page 112: ... 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 88 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 connecti...

Page 113: ... is available for the DC link connection of the supply module For setting up the Quick DC Link note the information on project configuration in chapter DC link connection 78 Size 2 Terminal Pin Designation Function 1 2 1 D DC link connection 2 D Tab 91 X22 connection description size 2 For connecting wiring observe the terminal specifications in the chapter ISPC 16 ST 10 16 237 Size 3 Terminal Pin...

Page 114: ...the supply module Technical data Observe the technical data for X100 see the chapter Status output 41 Terminal Pin Designation Function 6 5 4 3 2 1 1 READY NO contact Operational status recommended fuse protection max 2 AT 2 3 WARNING1 NO contact Warning status 1 Overload recommended fuse protection max 2 AT 4 5 WARNING2 NO contact Warning status 2 grid phase failure recommended fuse protection ma...

Page 115: ...uit diagram describing the connection of the supply module 1 Connect the braking resistor to terminal X21 and attach the terminal Ensure that the connection lines are twisted pairs 2 Attach the X22 terminal of the Quick DC Link module Ensure that the connection lines are twisted pairs 3 Connect the temperature monitoring of the braking resistor to terminal X23 and attach the terminal Top of the de...

Page 116: ...n overview using the example of the SI6A162 Top of the device Bottom of the device Front of the device 1 X11 24 VDC supply 7 X4B Encoder B only for double axis controllers 15 3 diagnostic LEDs for communication and safety technology 2 X103 BE6 BE9 8 X4A Encoder A 16 3 diagnostic LEDs for drive controller 3 X12 STO via terminals only for SR6 option 9 X20B Motor B only for double axis controllers 17...

Page 117: ...ke actuation 6 1BD2 Reference potential Tab 96 X2A connection description brake A sizes 0 to 2 single axis controllers For connecting wiring observe the terminal specifications in the chapter BCF 3 81 180 SN 233 Sizes 2 double axis controllers and 3 Term Pin Designation Function 5 6 5 1BD1 Brake actuation 6 1BD2 Reference potential Tab 97 X2A connection description brake A sizes 2 double axis cont...

Page 118: ...oes not have to be connected to terminal X2 for a HIPERFACE DSL encoder In this case the temperature sensor signal is transferred together with the encoder signal over connector X4 Sizes 0 to 2 single axis controllers Term Pin Designation Function 7 8 7 1TP1 PTC connection 8 1TP2 Tab 99 X2A connection description motor temperature sensor A sizes 0 to 2 single axis controller For connecting wiring ...

Page 119: ...otor temperature sensor of axis B is connected to X2B for double axis controllers Only X2A is available for single axis controllers The connection description of X2B matches the X2A description 10 5 6 X4A Encoder A The encoder of axis A is connected to terminal X4A ATTENTION Risk of encoder destruction X4 may not be plugged in or unplugged when the device is switched on ATTENTION Risk of encoder d...

Page 120: ...2 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 differential input for DATA 14 15 Clock Inverse differential input for CLOCK Tab 102 X4A connection description for EnDat 2 2 digital encoders and SSI encoders ...

Page 121: ...nput for A channel 9 10 11 12 13 B Inverse differential input for B channel 14 N Inverse differential input for N channel 15 A Inverse differential input for A channel Tab 103 X4A connection description for differential TTL and differential HTL HTL over HT6 adapter incremental encoders Information Using a HT6 adapter for level conversion from HTL signals to TTL signals it is also possible to conne...

Page 122: ...r pin 1 10 11 S1 Cos Reference potential for pin 3 12 13 14 1TP2 Reserve 15 Tab 104 X4A connection description for resolvers HIPERFACE DSL encoders Socket Pin Designation Function 8 7 6 5 4 3 2 1 15 14 13 12 11 10 9 1 2 DSL Inverse HIPERFACE DSL signal motor temperature sensor evaluation over DSL communication 3 4 DSL HIPERFACE DSL signal motor temperature sensor evaluation over DSL communication ...

Page 123: ...30 Q0 ECI 1319 CR EQI 1329 QP EQI 1331 QR Tab 107 Encoder models with unsuitable input voltage range 10 5 6 1 AP6 interface adapter resolver AP6A00 Resolver 9 pin to 15 pin Socket11 Pin Designation Function Pin Connector12 1 2 3 4 5 6 7 8 9 1 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 2 1TP1 3 S2 Sin Sin input reference potential 9 4 S1 Cos Cos input reference potential 11 5 R1 Ref Resolver excitation si...

Page 124: ...ata 4 5 6 RecvData Ethernet communication 7 8 Tab 109 X9 connection description Cable requirements Feature All sizes Max cable length 100 m shielded Tab 110 Cable length m Information To ensure proper functionality we recommend using cables from STOBER that are matched to the complete system In case of use of unsuitable connection cables we reserve the right to reject claims under the warranty It ...

Page 125: ... 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 AT13 2 3 Reference potential for 24 VDC bridged in the terminal 4 Tab 113 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 connect...

Page 126: ... 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 AT14 Tab 115 X12 connection description Connecting ...

Page 127: ...0 For connecting wiring observe the terminal specifications in the chapter GFKC 2 5 ST 7 62 235 Sizes 1 and 2 single axis controllers Terminal Pin Designation Function 1 2 3 4 1 U Phase U motor connection 2 V Phase V motor connection 3 W Phase W motor connection 4 PE Grounding conductor Tab 118 X20A connection description sizes 1 and 2 single axis controllers For connecting wiring observe the term...

Page 128: ... on the drive controller intended for this Keep the exposed conductors as short as possible All devices and circuits that are sensitive to EMC must be kept at a distance of at least 0 3 m 10 5 12 X20B Motor B The motor of axis B is connected to X20B for double axis controllers Only X20A is available for single axis controllers The connection description of X20B matches the X20A description 10 5 13...

Page 129: ...ecifications in the chapter ISPC 16 ST 10 16 237 Sizes 2 double axis controllers and 3 Terminal Pin Designation Function D D 1 D DC link connection 2 D Tab 123 X22 connection description sizes 2 double axis controllers and 3 For connecting wiring observe the terminal specifications in the chapter BUZ 10 16IT 180 MF 238 Wiring example The examples in the chapter Wiring examples 239 illustrate the b...

Page 130: ...se X101 as an encoder connection note the technical data of the evaluable encoders at X101 see the chapter X101 for encoders 63 Information Note that a master encoder must be connected to axis A or terminal X101 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 ...

Page 131: ...ion Function 5 4 3 2 1 1 BE6 Binary inputs 2 BE7 3 BE8 4 BE9 5 DGND Reference ground not bridged with X101 pin 5 Tab 128 X103 connection description for binary signals X103 for encoders If you would like to use X103 as an encoder connection note the technical data of the evaluable encoders at X103 see the chapter X103 for encoders 63 Information Note that a master encoder must be connected to axis...

Page 132: ... 4 BE9 Direction 5 DGND Reference ground not bridged with X101 pin 5 Tab 130 X103 connection description for single ended HTL pulse direction signals axis B Connecting wiring For connecting wiring observe the terminal specifications in the chapter FMC 1 5 ST 3 5 232 Cable requirements Feature All sizes Max cable length 30 m Tab 131 Cable length m ...

Page 133: ...ommend using cables from STOBER that are matched to the complete system In case of use of unsuitable connection cables we reserve the right to reject claims under the warranty STOBER provides ready made cables for the EtherCAT connection It is also possible to use cables with the following specification Ethernet patch cables or crossover cables meeting the CAT 5e quality level are the ideal cables...

Page 134: ...o the 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 ...

Page 135: ...4 Electrical data of the control unit brake control Pin Designation Function 1 3 2 4 1 24 VDC supply for the brake bridged in the terminal design in accordance with EN 60204 PELV secondary grounded recommended fuse protection max 15 AT15 2 3 Reference potential for power supply voltage of the brake 4 Tab 135 X300 connection description For connecting wiring observe the terminal specifications in t...

Page 136: ...4 GB Information The drive controller has internal configuration memory and can therefore be operated without an inserted SD card In the DS6 commissioning software the action A00Save values always saves both to internal configuration memory as well as the inserted SD card Back up your configuration to a SD card after completing commissioning in order to allow transfer of the configuration to the r...

Page 137: ...iagram describing the connection of the drive controller 1 Attach the X22 terminal of the Quick DC Link module 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 with the shield clamp to the ...

Page 138: ...Output choke WARNING Risk of burns Fire hazard Material damage Chokes can heat up to over 100 C under permitted operating conditions Take protective measures against accidental and intentional contact with the choke Make sure that no flammable material is in the vicinity of the choke Do not install chokes under or near the drive controller WARNING Fire hazard due to overheating Using chokes outsid...

Page 139: ...e vicinity of the output choke for example with electrically conductive metal cable clips on a grounded connection rail Keep the exposed conductors as short as possible All devices and circuits that are sensitive to EMC must be kept at a distance of at least 0 3 m The following graphic shows an example of the shielded connection of the power cable Fig 32 Shielded connection of the power cable grap...

Page 140: ...g 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 selection Also pay attention to the trailing and torsional strength of the lines When using a motor brake pay attention to the voltage drop in the supply voltage on the line Informati...

Page 141: ...nnector power cables are available in the following designs springtec quick lock for con 15 speedtec quick lock for con 23 and con 40 1 2 3 4 5 1 2 3 U V W 5 6 1BD1 1BD2 7 8 1TP1 1TP2 x y PE 7 8 5 6 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 connection Size 0 to 2 Siz...

Page 142: ... Pin Designation Int motor Core color Core No Core color Pin X20 Pin X300 Pin X2 A 1U1 BK 1 1 B 1V1 BU 2 2 C 1W1 RD 3 3 1 1TP1 a BK 7 7 2 1TP2 a WH 8 8 3 1BD1 RD 5 5 4 1BD2 BK 6 6 5 PE GNYE GNYE 4 Housing Shield Shield contact Tab 139 con 15 power cable pin assignment a PTC Length x mm Diameter y mm 42 18 7 Tab 140 con 15 connector dimensions ...

Page 143: ...am 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 8 PE GNYE GNYE 4 Housing Shield Shield contact Tab 141 con 23 power cable pin assignment a PTC Length x mm Diameter y mm 78 26 Tab 142 con 23 connector dimensions ...

Page 144: ...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 143 con 40 power cable pin assignment a PTC Length x mm Diameter y mm 99 46 Tab 144 con 40 connector dimensions ...

Page 145: ...e respective motor types different encoder systems can be used 10 7 2 1 EnDat 2 1 2 2 digital encoders Suitable encoder cables are described below 10 7 2 1 1 Connection description con 17 1 6 8 10 4 7 9 11 E 5 2 3 12 A 5 4 2 3 E B C 1 con 15 3 E 9 2 4 5 8 7 6 10 11 12 1 AES 1 3 A open 2 1 15 x y 3 1 P 9 2 4 5 8 7 6 10 11 12 con 23 1 Plug connector 2 STOBER encoder cable A Only con 15 and con 17 Op...

Page 146: ...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 16 3 WH GY 3 U2BAT 17 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 145 con 15 encoder cable pin assignment EnD...

Page 147: ...rface 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 18 3 WH GY 3 U2BAT 19 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 147 con 17 encoder cable pin assignment En...

Page 148: ...ction 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 149 con 23 encoder cable pin assignment EnDat 2 1 2 2 digital Length x mm Diameter y mm 58 26 Tab 150 con 23 dimensions ...

Page 149: ...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 151 con 23 encoder cable pin assignment SSI Length x mm Diameter y mm 58 26 Tab 152...

Page 150: ... 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 220 11 VT 12 U2...

Page 151: ...nsions 10 7 2 4 Resolver Suitable encoder cables are described below 10 7 2 4 1 Connection description 3 1 P 9 2 4 5 8 7 6 10 11 12 con 23 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 con 17 1 3 2 open 1 15 x y con 15 1 Plug connector 2 STOBER encoder cable 3 D sub X4 ...

Page 152: ... 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 155 con 15 encoder cable pin assignment resolver Length x mm Diameter y mm 42 18 7 Tab 156 con 15 connector dimensions ...

Page 153: ...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 157 con 17 encoder cable pin assignment resolver Length x mm Diameter y mm 56 22 Tab 158 con 17 connector dimensions ...

Page 154: ... 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 159 con 23 encoder cable pin assignment Length x mm Diameter y mm 58 26 Tab 160 con...

Page 155: ...s which feature encoder communication and power transmission in a shared 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 10 7 3 1 Connection description Depending on the size of t...

Page 156: ...28 05 open con 15 con 23 1 2 con 40 3 1 15 4 5 1 2 5 6 1BD1 1BD2 1 2 3 x y PE 2 4 DSL DSL L1 L2 L3 BU WH 1U1 1V1 1W1 1 Plug connector 2 STOBER hybrid cable 3 Connection to terminal X20 motor 4 Connection to terminal X2 brake supply 5 D sub X4 ...

Page 157: ... PE GNYE GNYE 4 Housing Shield Shield contact Tab 161 con 15 hybrid cable pin assignment Length x mm Diameter y mm 42 18 7 Tab 162 con 15 connector dimensions Hybrid cable con 23 plug connector Motor 1 Cable 2 Drive controller 3 5 Connection diagram Pin Designa tion Core color Core No core color Pin X20 Pin X2 Pin X4 A 1U1 BK L1 1 B 1V1 BU L2 2 C 1W1 RD L3 3 E DSL GN BU 2 F DSL shield Connect or G...

Page 158: ...ction diagram Pin Designa tion 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 1 5 1BD2 BK 2 6 F G H DSL GY WH 4 L DSL GN BU 2 PE GNYE GNYE 4 Hous ing Shield Shield contact Tab 165 con 40 hybrid cable pin assignment a Coaxial shield to which the DSL shield is connected Length x mm Diameter y mm 99 46 Tab 166 con 40 connector dimensions ...

Page 159: ... DriveControlSuite along with all the data relevant for project configuration Furthermore the motor data and the purging and engaging times of the brake are part of the firmware By selecting the desired motor from the database all data is transmitted to the corresponding parameters The purging and engaging times of the brake are also stored If a brake is present you must only activate this manuall...

Page 160: ...c receive and send process data If you operate the drive controller in combination with the SY6 safety module select EtherCAT Rx and EtherCAT Tx for transmitting the EtherCAT process data If you operate the drive controller in combination with the SR6 safety module or without safety technology SZ6 the fieldbus connection is optional If you do not use a fieldbus project No transmission Projecting t...

Page 161: ...ontroller T2 drive controller 2 is created in the project tree 3 Highlight the drive controller T2 drive controller 2 in the project tree 4 Change to the project menu and click Projecting 5 Project the drive controller and specify the newly created module 6 Repeat the steps for all other drive controllers and modules of your project 11 1 4 Specifying a module After you have created and projected a...

Page 162: ...n encoders are generally optional whereas the use of a motor encoder depends on the control mode and motor type 11 2 1 Parameterizing the STOBER motor You have projected one of the following motors STOBER synchronous servo motor with EnDat 2 1 2 2 digital encoder or HIPERFACE DSL encoder with optional brake By projecting the corresponding motor limit values for currents and torques as well as asso...

Page 163: ...elevant drive controller in the project tree and click on the first projected axis in the project menu Wizard area 2 Select the Axis model wizard 3 I05 Type of axis In order to configure the units of measure and the number of decimal places individually for specifying and displaying position reference values velocities and accelerations select 0 User defined rotational or 1 User defined translatio...

Page 164: ...c values Ideally change I06 before parameterizing other axis specific values and then check them afterwards 11 2 2 3 Limiting the axis If necessary limit the movement variables for position velocity acceleration jerk as well as torque force according to the applicable conditions for your drive model Limiting the position optional 1 Highlight the relevant drive controller in the project tree and cl...

Page 165: ... plausibility by transferring your project configuration to one of your drive controllers for test purposes and controlling the drive using the jog control panel instead of using a controller 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 Jog control panel 3 The predefined test movement variables are stan...

Page 166: ...ration to in the project tree and click on the first projected axis in the project menu Wizard section 2 Select the Save values wizard Action management section and click on Save values 3 As the configuration is only effective after a restart of the drive controller select the Restart wizard Action management section and click on Restart Activating the control panel and testing the project configu...

Page 167: ... must be enabled in the PC s firewall Test communication is initiated during the installation of DriveControlSuite that opens a dialog for enabling communication in case of an activated firewall Note that operation in public networks must also be enabled for the communication using a mobile network adapter The required setup file can be found in the STOBER Download Center at http www stoeber de en...

Page 168: ...s for a direct connection 12 2 Direct connection A direct connection is a network connection in which all nodes are in the same network In its simplest form a direct connection is a point to point cable connection between the network interface of the PC where DriveControlSuite is installed and the network interface of the drive controller Switches or routers can also be used in place of a simple n...

Page 169: ...ly module 2 3 1 Fig 33 Diagnostic LEDs on the front of the PS6 device 1 Green RUN 2 Red ERROR 3 Yellow WARNING States of the supply module Warning 1 covers all warnings that are likely to result in a fault if the load remains constant The connected drives must be stopped at the next opportunity Causes Overload of the rectifier or increased temperature Overload of the braking resistor 1 line phase ...

Page 170: ...ority replaces the display of states with lower priority example warning 2 overwrites warning 1 States with a lower priority are only displayed after the higher prioritized state has been displayed for at least 4 s LEDs Green Red Yellow Behavior Description Relay X100 READY WARNING1 WARNING2 Flashing Initialization Open Closed Closed Off Off On Ready DC link is charged charging relay is closed Clo...

Page 171: ... Closed Closed 3x flash Off Off Fault Grid power Open Closed Closed 4x flash Off Off Fault Switch on in the short circuited DC link Open Closed Closed 5x flash Off Off Device is switched off Open Open Open Off Off Tab 169 Meaning of the 3 LEDs RUN ERROR and WARNING on the front of the PS6 device UL compliant operation For project configuration of warning 1 observe the notes on the braking resistor...

Page 172: ...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 34 Positions of the diagnostic LEDs on the front and top of the drive controller 1 Fieldbus state 2 FSoE state 3 Drive controller state 4 Service network connection 5 Fieldbus network connection ...

Page 173: ... 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 170 Meaning of the red LED error Green LED Behavior Operating state ...

Page 174: ...Run Fig 36 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 172 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 175: ...ation 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 se...

Page 176: ...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 175 Meaning of the green LED run Red LED Behavior Description Off No error Flashing Warning On Fault Rapid flashing No configuration active Tab 176 Meanin...

Page 177: ... the following exceptional cases the three LEDs flash in different combinations and frequencies LEDs Green Red Red Behavior Description Off Deleting the first firmware memory Rapid flashing Off Rapid flashing Copying the second firmware memory into the first Off Off Chaser light Error during firmware update service required Tab 178 States of the LEDs for firmware updates ...

Page 178: ...39 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 179 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 180 Meaning of the yellow LED act ...

Page 179: ... X200 and X201 on the top of the device indicate the state of the EtherCAT network connection LA LA 2 4 3 1 IN EC X200 OUT EC X201 Fig 40 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 180: ...1 Act Act Fig 41 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 182 Meaning of the green LEDs Link Yellow LED Behavior Description Off No data exchange Flashing Active data exchange with IO controller Tab 183 ...

Page 181: ...ergency braking Events their causes 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 13 3 1 Overview The following table shows the possible events at a glance Event Event 31 Short ground 183 Event 32 Short ground intern...

Page 182: ...ncy 208 Event 71 Firmware 209 Event 72 Brake test timeout 210 Event 76 Position encoder 211 Event 77 Master encoder 214 Event 78 Position limit cyclic 217 Event 79 Motor position monitor 218 Event 80 Illegal action 219 Event 81 Motor allocation 219 Event 85 Excessive jump in reference value 220 Event 86 Unknown data record LeanMotor 221 Event 87 Reference lostReference loss 222 Event 88 Control pa...

Page 183: ...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 185 Event 31 Causes and actions 13 3 3 E...

Page 184: ...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 185: ...knowledged Tab 188 Event 34 Causes and actions 13 3 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 186: ... application replace the braking resistor if necessary Supply voltage exceeded Check the supply voltage for an overrun of the permitted input voltage and adjust it if necessary Tab 190 Event 36 Causes and actions 13 3 8 Event 37 Motor encoder The drive controller is interrupted if U30 0 Inactive Response The power unit is disabled and axis movement is no longer controlled by the drive controller T...

Page 187: ... to the 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 contr...

Page 188: ...cessary 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 t...

Page 189: ...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 190: ...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 191: ... 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 192: ...ler 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 Motor ...

Page 193: ...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 194: ... 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 195: ...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 196: ...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 197: ...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 198: ... 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 199: ... 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 200: ... 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 201: ...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 202: ...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 203: ...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 204: ...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 205: ...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 206: ...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 207: ...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 208: ...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 209: ...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 210: ...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 Grind 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 o...

Page 211: ...is 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 402 device controller Response The ...

Page 212: ...ct 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 parameterization Com...

Page 213: ...ault 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 s...

Page 214: ... 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 reference is deleted G89 Number Cause Check and action 1 Parameter encoder Inconsistent parameterization Compare the specification of the connected encoder to the correspo...

Page 215: ...start the drive controller to switch encoder supply back on 10 X4 channel A Clk 11 X4 channel B Dat Defective encoder cable Check the cable and replace it if necessary 13 X4 EnDat alarm Defective EnDat encoder Replace the encoder fault cannot be acknowledged 14 X4 EnDat CRC 15 X4 double transmission Connection error Check the connection and correct it if necessary Electromagnetic interference Take...

Page 216: ...ault 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 s...

Page 217: ...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 Reference position outside of the software limit switch Check the reference position in the controller and software limit switch in the drive...

Page 218: ...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 219: ...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 220: ...e 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 reference position change leads to acceleration that cannot be performed Check the ...

Page 221: ...f 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 the d...

Page 222: ...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 223: ...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 224: ... 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 225: ...ion You can check the output voltage at the marked measuring points at the front of the housing of the PS6 supply module that are used for the DC link connection of the drive controllers ATTENTION Material damage due to overload Insufficient electrical strength of the measuring device can cause damage or failure of the measuring device Make sure that the measuring device has an electrical strength...

Page 226: ... a permanently integrated component in the drive controller where any design technical and electrical modifications are prohibited Any removal of the safety module from the drive controller as well as any attempt at repair or replacement is prohibited The drive controller and safety module do not require maintenance Tools and material You will need Tool for loosening and tightening the fastening s...

Page 227: ...r to be able to identify the SY6 safety module in the FSoE network you must transfer its unique address in the FSoE network from the replaced drive controller to the new drive controller DIP switches Further information can be found in the SY6 manual see the chapter Detailed information 245 14 3 Exchanging the supply module DANGER Electrical voltage Risk of fatal injury due to electric shock Alway...

Page 228: ... with OK ð The Live firmware update dialog box opens 6 Select the firmware version for the corresponding series from the Version list If you have saved the desired firmware version locally alternatively click Open file navigate to the directory and load the file 7 Position column Highlight the drive controller in question 8 Click Start live firmware update ð The firmware update is transferred 9 Be...

Page 229: ...ored in the STOBER enterprise resource planning system and make reordering a drive controller easier in case of service Fieldbus variant change If you change the fieldbus on a drive controller and would like to expand the warranty for it please have the following information available for our first level support MV and serial number of the drive controller Information on subsequent changes e g cha...

Page 230: ...our drive system already exists 1 Start DriveControlSuite 2 Click on Open project 3 Navigate to the directory and load the file 4 In the project menu click Connection and assignment ð The Setting up a connection window opens 5 Direct connection tab IP address column Mark the network interfaces in question and confirm your selection with OK ð The Assignment window opens All drive controllers that a...

Page 231: ...ermal 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 16 1 1 Overview The following tables clarify which specifications must be observed for which connections depending on the type of drive controller and accessory as well as the supply module Drive controller Type X2A X...

Page 232: ... UL CSA 8 A Max conductor cross section Flexible without end sleeve 1 5 mm Flexible with end sleeve without plastic collar 1 5 mm Flexible with end sleeve with plastic collar 0 75 mm 2 conductors flexible with double end sleeve with plastic collar AWG according to UL CSA 16 Min conductor cross section Flexible without end sleeve 0 2 mm Flexible with end sleeve without plastic collar 0 25 mm Flexib...

Page 233: ...lar AWG according to UL CSA 26 Insulation stripping length 10 mm Tightening torque Tab 229 BCF 3 81 180 SN BK specification 16 1 4 BFL 5 08HC 180 SN Feature Line type Value Contact spacing 5 08 mm Nominal current at ϑamb 40 C CE UL CSA 16 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 p...

Page 234: ... according to UL CSA 26 Insulation stripping length 10 mm Tightening torque Tab 231 BLDF 5 08 180 SN specification 16 1 6 FKC 2 5 ST 5 08 Feature Line type Value Contact spacing 5 08 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 235: ... AWG according to UL CSA 26 24 Insulation stripping length 10 mm Tightening torque Tab 233 GFKC 2 5 ST 7 62 specification 16 1 8 GFKIC 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 pla...

Page 236: ...m AWG according to UL CSA 24 Insulation stripping length 12 15 mm Tightening torque Tab 235 SPC 5 ST 7 62 specification 16 1 10 ISPC 5 STGCL 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 plas...

Page 237: ...75 mm AWG according to UL CSA 20 Insulation stripping length 18 mm Tightening torque Tab 237 SPC 16 ST 10 16 specification 16 1 12 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...

Page 238: ... end sleeve with plastic collar 10 0 mm 2 conductors flexible with double end sleeve with plastic collar AWG according to UL CSA 4 Min conductor cross section Flexible without end sleeve 0 5 mm Flexible with end sleeve without plastic collar 0 25 mm Flexible with end sleeve with plastic collar 0 25 mm 2 conductors flexible with double end sleeve with plastic collar AWG according to UL CSA 22 Insul...

Page 239: ... X201 X300 X20A X4A X2A X22 GND STO_a STO_b GND Vc RJ45 RJ45 L1 L2 L3 PE 1 2 3 4 1 2 1 2 3 4 5 6 7 8 1 2 1BD1 1BD2 1TP1 1TP2 1 2 1 2 1 2 RB RB 1TP1 1TP2 D D U V W PE D D 5 6 7 8 1 2 3 4 1 2 M n X11 1 2 F3 T2 R1 M1 X100 RDY WAR1 WAR2 1 2 3 4 5 6 1 2 3 A1 K1 M DC DC 24 V DC M F4 24 VDC 2 T1 PE L1 L2 L3 F2 F1 2 1 1 DL6B DL6B Digital input X12 optional SR6 STO status D sub 15p Fig 42 Wiring example wi...

Page 240: ...ased on the DC link connection with DL6B Quick DC Link PS6 SI6 X10 X100 1 2 L1 L2 L3 PE PS6 SI6 1 2 3 4 X100 1 2 X100 1 2 X10 X10 PS6 PS6 SI6 L3 PE L1 L2 L3 PE L1 L2 L3 PE L1 L2 DL6B DL6B DL6B 5 DL6B D D 6 D D RB RB D D RB RB D D RB RB X22 X21 X22 X21 X22 X21 D D X22 D D X22 DL6B Fig 43 Wiring example with supply modules connected in parallel 1 Contactor 2 Overload protection 3 Short circuit prote...

Page 241: ...2 3 A1 DI0 Q1 12 DI2 Q1 Q1 A1 Q1 12 A1 A2 11 12 Q1 Q1 Digital input A1 Controller F1 F3 Fuse L1 L3 Three phase power supply T1 Supply module R1 Braking resistor Q1 Circuit breakers 1 Spring loaded contact between DL6B and PS6 For UL compliant operation For project configuration of the braking resistor observe the notes in the chapter UL compliant use 19 The chassis of the PS6A SI6A units is to be ...

Page 242: ...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 243: ...ne 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 ...

Page 244: ...ns of DriveControlSuite if they have already been started 3 Execute 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 installation instructions after the PASmotion installation wizard has started 5 Confirm the communication test ð If a firewall is active you will receive a safety notice 6 I...

Page 245: ...n 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 installation data transfer commissioning detailed information 443025 PROFINET communication SC6 SI6 Manual Ins...

Page 246: ...input current of the power unit I1N PU A 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 IN A Nominal current IN MF A Nominal current of the choke or motor filter nN rpm ...

Page 247: ...1max V Maximum input voltage U1PU V Input voltage of the power unit U2 V Output voltage U2max V Maximum output voltage U2PU V Output voltage of the power unit Umax V Maximum voltage UoffCH V Switch off threshold of the brake chopper UonCH V On limit of the brake chopper ...

Page 248: ...logy Group EtherCAT Ethernet 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...

Page 249: ... hour service hotline Phone 49 7231 582 3000 Our address STÖBER ANTRIEBSTECHNIK GmbH Co KG Kieselbronner Strasse 12 75177 Pforzheim Germany 17 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 250: ...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 251: ...for the discharge process The power grid supply is disconnected and no energy flows back from the motor to the drive controller DC link discharge time Time until 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 wi...

Page 252: ...ty of drive systems They reduce current peaks caused by line capacitance at the power output of the drive controller They make long motor cables possible increase the motor service life and reduce harmonic currents Performance Level PL In accordance with DIN EN 13849 1 Measure for the reliability of a safety function or a component The Performance Level is measured on a scale of a e lowest highest...

Page 253: ...ld cause rotation or motion in a linear motor The PDS SR does not supply the motor with any energy that could generate torque or force in a linear motor STO is the most fundamental drive integrated safety function It corresponds to an uncontrolled stop in accordance with IEC 60204 1 stop category 0 Safety Integrity Level SIL In accordance with DIN EN 61800 5 2 Probability of a safety function fail...

Page 254: ...he 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 Fig 19 Grounding concept in mixed operation with powered PS6 supply module 79 Fig 20 Annual reforming 86 Fig 21 Reforming before commissioning 87 Fig 22 Voltage levels d...

Page 255: ...or the PROFINET state 174 Fig 37 LED for the FSoE state 175 Fig 38 LEDs for the state of the drive controller 176 Fig 39 LEDs for the state of the service network connection 178 Fig 40 LEDs for the state of the EtherCAT network connection 179 Fig 41 LEDs for the state of the PROFINET network connection 180 Fig 42 Wiring example with one supply module and one drive controller 239 Fig 43 Wiring exam...

Page 256: ... 38 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 19 Brake chopper electrical data 41 Tab 20 Electrical data 41 Tab 21 PS6 dimensions mm 42 Tab 22 PS6 weight g 42 Tab 23 Control unit electrical data 43 Tab 24 SI6 electrical data size 0 43 Tab 25 SI6 electric...

Page 257: ... modes 58 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 Tab 59 Specification fo...

Page 258: ...ystem mm 93 Tab 81 Overview of hardware components necessary for the DC link connection with ID No 95 Tab 82 PS6 protective devices 104 Tab 83 UL compliant line fuse 105 Tab 84 Minimum cross section of the grounding conductor 107 Tab 85 X10 connection description Size 2 111 Tab 86 X10 connection description Size 3 111 Tab 87 Control unit electrical data 112 Tab 88 X11 connection description 112 Ta...

Page 259: ...scription 126 Tab 116 Cable length m 126 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 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 ...

Page 260: ...con 17 connector dimensions 147 Tab 149 con 23 encoder cable pin assignment EnDat 2 1 2 2 digital 148 Tab 150 con 23 dimensions 148 Tab 151 con 23 encoder cable pin assignment SSI 149 Tab 152 con 23 dimensions 149 Tab 153 con 23 encoder cable pin assignment incremental HTL 150 Tab 154 con 23 dimensions 151 Tab 155 con 15 encoder cable pin assignment resolver 152 Tab 156 con 15 connector dimensions...

Page 261: ...b 181 Meaning of the green LEDs LA 179 Tab 182 Meaning of the green LEDs Link 180 Tab 183 Meaning of the yellow LEDs Act 180 Tab 184 Events 181 Tab 185 Event 31 Causes and actions 183 Tab 186 Event 32 Causes and actions 183 Tab 187 Event 33 Causes and actions 184 Tab 188 Event 34 Causes and actions 185 Tab 189 Event 35 Causes and actions 185 Tab 190 Event 36 Causes and actions 186 Tab 191 Event 37...

Page 262: ...uses and actions 219 Tab 219 Event 81 Causes and actions 219 Tab 220 Event 85 Causes and actions 220 Tab 221 Event 85 Causes and actions 221 Tab 222 Event 87 Causes and actions 222 Tab 223 Event 88 Causes and actions 223 Tab 224 Event 89 Causes and actions 224 Tab 225 Terminal specifications for the base device 231 Tab 226 Terminal specifications of the safety technology 231 Tab 227 Terminal speci...

Page 263: ...STOBER List of tables 02 2019 ID 442728 05 263 Tab 238 SPC 16 ST 10 16 specification 237 Tab 239 Specification for BUZ 10 16IT 180 MF 238 ...

Page 264: ...TÖBER Antriebstechnik GmbH Co KG Kieselbronner Str 12 75177 Pforzheim Germany Tel 49 7231 582 0 mail stoeber de www stober com Service Hotline 49 7231 582 3000 Technische Änderungen vorbehalten Errors and changes excepted ...

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