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11 | Appendix

STOBER

94

05/2019 | ID 442793.01

11.3

Detailed information

The documentation listed in the following table offers additional relevant information. Current document versions can be
found at 

http://www.stoeber.de/en/download

.

Device/Software

Documentation

Contents

ID

SC6 drive controller

Manual

System setup, technical data,
project configuration, storage,
installation, connection,
commissioning, operation, service,
diagnostics

442790

MC6 motion controller

Manual

Technical data, installation,
commissioning, diagnostics

442461

CiA 402 application – SC6, SI6

Manual

Project planning, configuration,
parameterization, function test,
detailed information

443080

STOBER Drive Based (STOBER DB)
application

Manual

Project planning, configuration,
parameterization, function test,
detailed information

442706

SR6 safety technology – STO via
terminals

Manual

Technical data, installation,
commissioning, diagnostics

442741

SY6 safety technology – STO and
SS1 via FSoE

Manual

Technical data, installation,
commissioning, diagnostics

442744

EtherCAT communication – SC6,
SI6

Manual

Installation, electrical installation,
data transfer, commissioning,
detailed information

443025

PROFINET communication – SC6,
SI6

Manual

Installation, electrical installation,
data transfer, commissioning,
detailed information

443039

Additional information and sources that form the basis of this documentation or are referenced by the documentation:

EtherCAT Technology Group (ETG), 2012. 

ETG.1300 : EtherCAT Indicator and Labeling

. ETG.1300 S (R) V1.1.0. Specification.

2012-01-27.

Содержание SC6 Series

Страница 1: ...SC6 drive controller Commissioning instructions en US 05 2019 ID 442793 01 ...

Страница 2: ... 11 3 1 Directives and standards 11 3 2 Qualified personnel 11 3 3 Intended use 12 3 4 Transport and storage 12 3 5 Operational environment and operation 13 3 6 Working on the machine 13 3 7 Decommissioning 14 3 8 Disposal 14 3 9 Firefighting 14 4 Technical data 15 4 1 Drive controllers 15 4 1 1 General technical data 15 4 1 2 Nameplate 16 4 1 3 Material variant 17 4 1 4 Type designation 18 4 1 5 ...

Страница 3: ...connection 35 6 8 Mounting the drive controller on the rear section module 37 7 Connection 40 7 1 Safety instructions for connection 40 7 2 Line routing 40 7 3 Protective measures 41 7 3 1 Line fuse 41 7 3 2 Residual current protective device 43 7 3 3 Housing grounding 44 7 3 4 EMC recommendations 45 7 4 Drive controller 46 7 4 1 Overview 46 7 4 2 X2A Brake A 47 7 4 3 X2A Motor temperature sensor ...

Страница 4: ...ing the axis model 70 8 3 Testing the project configuration 73 9 Diagnostics 75 9 1 Drive controller 75 9 1 1 Fieldbus state 76 9 1 2 FSoE state 78 9 1 3 Drive controller state 79 9 1 4 Service network connection 81 9 1 5 Fieldbus network connection 82 10 Replacement 84 10 1 Safety instructions for device replacement 84 10 2 Replacing the drive controller 84 10 3 Updating firmware 86 10 3 1 Replac...

Страница 5: ...1 2 1 Stand alone operation with direct brake control 93 11 3 Detailed information 94 11 4 Symbols in formulas 95 11 5 Abbreviations 96 12 Contact 97 12 1 Consultation service and address 97 12 2 Your opinion is important to us 97 12 3 Close to customers around the world 98 ...

Страница 6: ...EZ series The SC6 is available in three sizes with a nominal output current of up to 19 A sizes 0 and 1 as a double axis controller size 2 as a single axis controller Features Sensorless position control by STOBER Lean motors Control of rotary synchronous servo motors asynchronous motors and torque motors HIPERFACE DSL One Cable Solution Electronic motor nameplate via HIPERFACE DSL or EnDat 2 2 di...

Страница 7: ... 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 SC6 drive controller in conjunction with the DriveControlSuite software in V 6 4 B or higher and associated firmware in V 6 4 B or higher Information At the time this documentation was created the SC6 drive controllers were being prepared for UL certi...

Страница 8: ...ially highlighted ATTENTION Notice This indicates that damage to property may occur if the stated precautionary measures are not taken CAUTION Caution This word with a warning triangle indicates that minor personal injury may occur if the stated precautionary measures are not taken WARNING Warning This word with a warning triangle means there may be a considerable risk of fatal injury if the state...

Страница 9: ...ies Main menu Settings Window names dialog box names page names or buttons combined proper nouns functions referenced by the interface Select Referencing method A Predefined entry Save your own IP address User defined entry EVENT 52 COMMUNICATION Display indicators status messages warnings faults for status information referenced by the interface Keyboard shortcuts and command sequences or paths a...

Страница 10: ...atented technologies licensed by Beckhoff Automation GmbH Verl Germany HIPERFACE HIPERFACE and the HIPERFACE DSL logo are registered trademarks of SICK STEGMANN GmbH Donaueschingen Germany Hyper V Hyper V is a registered trademark of the Microsoft Corporation in the United States and or other countries PLCopen PLCopen is a registered trademark of the PLCopen Organisation Gorinchem Netherlands PROF...

Страница 11: ...ces to the standards do not specify the respective year in order to improve readability 3 2 Qualified personnel In order to be able to perform the tasks described in this documentation the persons instructed to perform them must have the appropriate professional qualification and be able to assess the risks and residual hazards when handling the products For this reason all work on the products as...

Страница 12: ...C Modification As the user you may not make any physical technical or electrical modifications to the SC6 drive controller and the accessories Maintenance The SC6 drive controller and accessories are maintenance free For the safety module take appropriate measures to detect or prevent possible errors in the connection wiring Product life span A drive controller with integrated safety module must b...

Страница 13: ...ontrollers supply modules energy recovery units or discharge units from third party manufacturers The drive controller is exclusively intended for operation in TN networks and only suitable for use in supply grids At 480 VAC the drive controllers are permitted to supply a maximum symmetrical nominal short circuit current in accordance with the following table Size Max symm nominal short circuit cu...

Страница 14: ...Detailed information 94 3 8 Disposal Observe the current national and regional regulations when disposing of the product Dispose of the individual product parts depending on their properties e g as Electronic waste circuit boards Plastic Sheet metal Copper Aluminum Battery 3 9 Firefighting DANGER Electrical voltage Risk of fatal injury due to electric shock There is a risk of fatal injury due to e...

Страница 15: ...800 5 1 2008 Test symbols Tab 2 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 Fall height for freefall1 Weight 100 kg in accordance with DIN EN 61800 2...

Страница 16: ...4 Technical data STOBER 16 05 2019 ID 442793 01 Discharge times Self discharge of DC link 5 min Tab 5 Discharge times of the DC link circuit 4 1 2 Nameplate Fig 1 SC6A062 nameplate ...

Страница 17: ...on class Tab 6 Meaning of the specifications on the SC6 nameplate Information UL and cUL certified devices with corresponding test symbols meet the requirements of the standards UL 61800 5 1 and CSA C22 2 No 274 4 1 3 Material variant On the side of the drive controller next to the nameplate there is another sticker with the MV and serial number Fig 2 Sticker with MV and serial number Designation ...

Страница 18: ...e 2 1 Axis controller Double axis controller Single axis controller Z R Y Safety technology SZ6 Without safety technology SR6 STO using terminals SY6 STO and SS1 using FSoE Tab 9 Meaning of the example code 4 1 5 Sizes Type ID No Size SC6A062 56690 Size 0 SC6A162 56691 Size 1 SC6A261 56692 Size 2 Tab 10 Available SC6 types and sizes SC6 in sizes 0 to 2 Note that the basic device is delivered witho...

Страница 19: ... two energizing processes note that a Direct repeat activation of the supply voltage is possible for power on power off operation b A time span of 15 must be observed between two energizing processes during continuous cyclical power on power off operation with increased charging capacity Information The STO safety function is available for safe shutdown as an alternative to continuous cyclical pow...

Страница 20: ... between energizing two devices the maximum charging capacity CmaxPU increases to 1880 μF Nominal currents up to 45 C in the control cabinet Electrical data SC6A062 fPWM PU 4 kHz I1N PU 10 A I2N PU 2 4 5 A I2maxPU 210 for 2 s Tab 13 SC6 electrical data size 0 for 4 kHz clock frequency Electrical data SC6A062 fPWM PU 8 kHz I1N PU 8 9 A I2N PU 2 4 A I2maxPU 250 for 2 s Tab 14 SC6 electrical data siz...

Страница 21: ...m charging capacity CmaxPU increases to 1880 μF Nominal currents up to 45 C in the control cabinet Electrical data SC6A162 fPWM PU 4 kHz I1N PU 23 2 A I2N PU 2 10 A I2maxPU 210 for 2 s Tab 17 SC6 electrical data size 1 for 4 kHz clock frequency Electrical data SC6A162 fPWM PU 8 kHz I1N PU 20 9 A I2N PU 2 9 A I2maxPU 250 for 2 s Tab 18 SC6 electrical data size 1 for 8 kHz clock frequency Electrical...

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

Страница 23: ... for binary inputs BE3 and BE4 with timestamp correction in an accuracy range of 1 µs Max cable length 30 m Tab 24 X101 electrical data X103 specification for binary signals Electrical data Binary input Value Low level BE6 BE9 0 8 VDC High level 12 30 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...

Страница 24: ... 265 286 Body height h1 343 Fastening clip height h2 15 Height incl fastening clips h3 373 Total height incl shield connection h4 423 Fastening holes M5 Vertical distance a 360 2 Vertical distance to the upper edge b 5 Tab 26 SC6 dimensions mm 4 1 8 Weight Type Weight without packaging g Weight with packaging g SC6A062 3600 5200 SC6A162 5300 6700 SC6A261 5200 6400 Tab 27 SC6 weight g ...

Страница 25: ...f 500 Hz 15 m s Fall height for freefall2 Weight 100 kg in accordance with DIN EN 61800 2 or DIN EN 60721 3 2 1997 class 2M1 0 25 m Tab 29 Transport and storage conditions Operating conditions Surrounding temperature during operation 0 C to 45 C with nominal data 45 C to 55 C with derating 2 5 K Relative humidity Maximum relative humidity 85 non condensing Installation altitude 0 m to 1000 m above...

Страница 26: ...lts d2 49 Height h1 375 Fastening clip height h2 15 Height incl fastening clips h3 405 Fastening holes Vertical distance wall mounting a1 393 2 Vertical distance module mounting a2 360 Vertical distance to the upper edge b1 4 5 Vertical distance to the upper edge b2 22 Tab 32 DL6B dimensions mm 4 2 4 Weight Type Weight without packaging g Weight with packaging g DL6B10 420 460 DL6B11 560 600 Tab 3...

Страница 27: ...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 34 X12 electrical data 4 4 Controllable brakes The brake of axis A is connected to X2A Connect the brake of axis B to X2B for double axis controllers You can control the following brakes Directly connected 24 VDC brakes Indirectly connected brakes e g over coupling contactor The b...

Страница 28: ...uced electrical strength Reduced electrical strength can cause considerable material damage when switching on the drive controller Reform drive controllers in storage annually or before commissioning 5 1 1 Annual reforming To prevent damage to stored drive controllers STOBER recommends connecting stored devices to the supply voltage once per year for one hour The following graphics show the basic ...

Страница 29: ...0 L1 L2 T2 PE L3 T1 L1 L3 Lines 1 to 3 N Neutral conductor PE Grounding conductor F1 Fuse T1 Variable transformer T2 Drive controller 0 25 50 75 100 t h U 1 2 3 1 0 5 0 2 4 6 8 Fig 5 Voltage levels dependent on storage time 1 Storage time of 1 2 years Apply voltage for 1 hour before switching on 2 Storage time of 2 3 years Implement reforming according to the graph before switching on 3 Storage ti...

Страница 30: ...properties may result in a short circuit inside the devices and device failure as a result 6 2 Basic assembly instructions Note the points described below for installation 6 2 1 Drive controllers Note the following points for installation Prevent condensation e g with anti condensation heating elements For reasons related to EMC use installation plates with a conductive surface unpainted etc Avoid...

Страница 31: ...C on the side D in front All sizes 100 200 5 503 Tab 36 Minimum clearances mm Braking resistors Avoid installation below drive controllers or supply modules In order for heated air to flow out unimpeded a minimum clearance of approximately 200 mm must be maintained in relation to neighboring components or walls and approximately 300 mm must be maintained to components above or ceilings 3 Minimum c...

Страница 32: ... diagram The bore dimensions depend on the selected design The following specifications apply to installation without a rear section module SC6 dimension Size 0 Size 1 size 2 Horizontal fastening holes 4 2 M5 A 45 65 B Size 0 46 1 56 1 B Size 1 size 2 56 1 66 1 Vertical fastening holes 4 2 M5 C 360 2 360 2 Tab 37 Drilling dimensions for SC6 drive controller mm The following specifications apply to...

Страница 33: ...of the Quick DC Link modules you require three prepared copper rails with a cross section of 5 12 mm The length of the copper rails is 5 mm shorter than the total width of the group i e the total width of all DL6B Quick DC Link modules present in the group B A 5 mm Note that the correct length of the copper rails can be determined only after installation of all modules A B Fig 9 Determination of t...

Страница 34: ...ontrollers in storage require reforming each year or before commissioning at the latest Tools and material You will need Fastening screws Tool for tightening the fastening screws Requirements and installation Perform the following steps for each drive controller within the group and in the specified order ü In accordance with the drilling diagram taking into consideration the various device dimens...

Страница 35: ...s the quick fastening clamps included with the DL6B Quick DC Link modules The insulation end sections for the left and right termination of the group that are available separately Fastening screws and tool for tightening the fastening screws Requirements and installation Perform the following steps in the specified order ü You have tapped holes for fastening screws on the mounting plate at the ins...

Страница 36: ...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 ...

Страница 37: ... controller on the rear section module DANGER Electrical voltage Risk of fatal injury due to electric shock Always switch off all power supply voltage before working on the devices Note the discharge time of the DC link capacitors in the general technical data You can only determine the absence of voltage after this time period Information Note that drive controllers in storage require reforming e...

Страница 38: ...the DC link connection have already been installed in the installation position 1 Remove terminal X22 from the appropriate terminal set Connect the brown cable D on the bottom of the Quick DC Link module to D of terminal X22 and the black cable D of the Quick DC Link module to D of terminal X22 Ensure that the connection lines of the Quick DC Link module are twisted pairs D D 2 Place the drive con...

Страница 39: ...her assemblies M5 The nut and washer assemblies are included with the Quick DC Link module 4 Connect the grounding conductor to the ground bolt Note the instructions and requirements in the chapter Housing grounding 44 5 Attach the X22 terminal of the Quick DC Link module ð The installation is completed In the next step connect the drive controller ...

Страница 40: ...g in or unplugging connection terminals connecting or removing connecting wiring and installing or removing accessories are prohibited while the voltage supply is switched on Protect the devices against falling parts bits or strands of wire pieces of metal etc during installation or other work in the control cabinet Parts with conductive properties may result in a short circuit inside the devices ...

Страница 41: ...s when operating a single drive controller Full range safety fuses for cable and line protection with operating class gG in accordance with IEC 60269 2 1 or time delay triggering characteristics in accordance with DIN VDE 0636 Miniature circuit breakers with triggering characteristic C in accordance with EN 60898 Circuit breakers Information Note that the charge current after switching on the powe...

Страница 42: ...use elements Information Note that the charge current after switching on the power supply is less than the nominal input current of the power unit I1N PU Size Type I1N PU 4 kHz A I1maxPU 4 kHz A Fuse selection Miniature circuit breakers Safety fuse 0 SC6A062 10 21 A EATON Type FAZ Z10 3 Item No 278926 Triggering characteristics Z 10 A SIBA Type URZ Item No 50 140 06 25 Triggering characteristics g...

Страница 43: ... selecting a suitable RCD DANGER Electrical voltage Risk of fatal injury due to electric shock Leakage currents with a DC current component may occur in 3 phase installations Always protect 3 phase installations with type B residual current protective devices sensitive to all currents False triggering Causes Depending on stray capacitances and imbalances leakage currents above 30 mA may occur duri...

Страница 44: ...the grounding conductor exhibits the minimum cross section of 10 mm A grounding bolt is mounted to the devices for connecting the 2nd grounding conductor Note the tightening torque of 4 0 Nm Observe the order for assembly 1 4 5 2 3 Fig 10 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 cont...

Страница 45: ...ntroller if you are using a motor without a brake Connect the shield of the motor cable over large contact areas and in the immediate vicinity of the drive controller To do this use the shield clamp and 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 more...

Страница 46: ...he device Front of the device 1 Ground bolt 9 X4B Encoder B only for double axis controllers 18 3 diagnostic LEDs for communication and safety technology 2 X10 400 VAC supply 10 X4A Encoder A 19 3 diagnostic LEDs for drive controller 3 X11 24 VDC supply 11 X20B Motor B only for double axis controllers 20 X700 SD slot 4 X103 BE6 BE9 12 X2B Brake B pin 5 6 and temperature sensor B pin 7 8 only for d...

Страница 47: ...lable at X2A see the chapter Controllable brakes 27 Term Pin Designation Function 5 6 5 1BD1 Brake actuation 6 1BD2 Reference potential Tab 42 X2A connection description brake A For connecting wiring observe the terminal specifications in the chapter BCF 3 81 180 SN 89 Cable requirements Motor type Connection Size 0 to 2 Synchronous servo motor asynchronous motor Without output choke 50 m shielded...

Страница 48: ...4 Term Pin Designation Function 7 8 7 1TP1 PTC connection 8 1TP2 Tab 44 X2A connection description motor temperature sensor A For connecting wiring observe the terminal specifications in the chapter BCF 3 81 180 SN 89 Cable requirements Motor type Connection Size 0 to 2 Synchronous servo motor asynchronous motor Without output choke 50 m shielded Synchronous servo motor asynchronous motor With out...

Страница 49: ...ata of the evaluable encoders at X4 can be found in the manual for the SC6 drive controller see the chapter Detailed information 94 EnDat 2 2 digital encoders and SSI encoders Socket Pin Designation Function 8 7 6 5 4 3 2 1 15 14 13 12 11 10 9 1 2 GND Reference potential for encoder supply to pin 4 3 4 U2 Encoder supply 5 Data Differential input for DATA 6 7 8 Clock Differential input for CLOCK 9 ...

Страница 50: ...nection description for differential TTL and differential HTL incremental encoders HTL via HT6 adapter Information Using an HT6 adapter for level conversion from HTL signals to TTL signals it is also possible to connect a differential HTL incremental encoder to terminal X4 Note that with an external power supply the maximum level of 20 VDC for the HTL signals may not be exceeded Resolver Socket Pi...

Страница 51: ...r HIPERFACE DSL encoders Cable requirements Feature All sizes Max cable length 100 m shielded Tab 50 Cable length m Information To ensure proper functionality we recommend using cables from STOBER that are matched to the complete system If unsuitable connection cables are used we reserve the right to reject claims under the warranty Unsuitable encoder models The following STOBER encoder models may...

Страница 52: ...2 7 S4 Sin Sin input 1 8 S3 Cos Cos input 3 9 R2 Ref Resolver excitation signal 6 Tab 52 AP6A00 connection description for resolver 9 pin to 15 pin 7 4 7 X4B Encoder B The encoder of axis B is connected to X4B for double axis controllers Only X4A is available for single axis controllers The connection description of X4B matches the X4A description Information Note that a master encoder must be con...

Страница 53: ...b 53 X9 connection description Cable requirements Feature All sizes Max cable length 100 m shielded Tab 54 Cable length m Information To ensure proper functionality we recommend using cables from STOBER that are matched to the complete system If unsuitable connection cables are used we reserve the right to reject claims under the warranty It is also possible to use cables with the following specif...

Страница 54: ...ng method and the surrounding temperature Size 0 Terminal Pin Designation Function 1 2 3 4 1 L1 Power supply 2 L2 3 L3 4 PE Grounding conductor Tab 56 X10 connection description size 0 For connecting wiring observe the terminal specifications in the chapter GFKC 2 5 ST 7 62 90 Sizes 1 and 2 Terminal Pin Designation Function 1 2 3 4 1 L1 Power supply 2 L2 3 L3 4 PE Grounding conductor Tab 57 X10 co...

Страница 55: ...n 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 AT6 2 3 Reference potential for 24 VDC bridged in the terminal 4 Tab 59 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...

Страница 56: ...nction 1 2 3 4 5 6 7 8 1 STOa Input of safety channel 1 2 3 STOb Input of safety channel 2 4 5 GND Reference potential for STOa and STOb internally bridged with terminal 7 6 STOstatus Acknowledgment signal of safety channels 1 and 2 for diagnostic purposes 7 GND Reference potential for STOa and STOb internally bridged with terminal 5 8 U1status STO supply status recommended fuse protection max 3 1...

Страница 57: ... chapter SPC 5 ST 7 62 91 Cable requirements Motor type Connection Size 0 to 2 Synchronous servo motor asynchronous motor Without output choke 50 m shielded Synchronous servo motor asynchronous motor With output choke 100 m shielded Lean motor Standard 50 m shielded Tab 65 Maximum cable length of the power cable m Information To ensure proper functionality we recommend using cables from STOBER tha...

Страница 58: ...ilable for the connection of a braking resistor Size 0 Terminal Pin Designation Function 1 2 1 RB Braking resistor connection 2 RB Tab 66 X21 connection description size 0 For connecting wiring observe the terminal specifications in the chapter GFKIC 2 5 ST 7 62 91 Sizes 1 and 2 Terminal Pin Designation Function 1 2 1 RB Braking resistor connection 2 RB Tab 67 X21 connection description sizes 1 an...

Страница 59: ...pter ISPC 5 STGCL 7 62 92 Sizes 1 and 2 Terminal Pin Designation Function 1 2 1 D DC link connection 2 D Tab 69 X22 connection description sizes 1 and 2 For connecting wiring observe the terminal specifications in the chapter ISPC 16 ST 10 16 92 7 4 16 X101 BE1 BE4 The binary inputs 1 to 4 are available on terminal X101 X101 for binary signals For evaluating binary signals at X101 note the specifi...

Страница 60: ...e ground not bridged with X103 pin 5 Tab 71 X101 connection description for single ended HTL incremental signals axis A Single ended HTL pulse train Terminal Pin Designation Function 5 4 3 2 1 1 BE1 2 BE2 3 BE3 Frequency 4 BE4 Direction 5 DGND Reference ground not bridged with X103 pin 5 Tab 72 X101 connection description for single ended HTL pulse direction signals axis A Connecting wiring For co...

Страница 61: ... at X103 can be found in the manual for the SC6 drive controller see the chapter Detailed information 94 Information Note that a master encoder must be connected to X101 during synchronous operation Single ended HTL incremental encoders Terminal Pin Designation Function 5 4 3 2 1 1 BE6 2 BE7 N channel 3 BE8 A channel 4 BE9 B channel 5 DGND Reference ground not bridged with X101 pin 5 Tab 75 X103 c...

Страница 62: ...ication 2 Tx 3 Rx 4 5 6 Rx Communication 7 8 Tab 78 X200 and X201 connection description Cable requirements Information To ensure proper functionality we recommend using cables from STOBER that are matched to the complete system If unsuitable connection cables are used we reserve the right to reject claims under the warranty STOBER provides ready made cables for the EtherCAT connection It is also ...

Страница 63: ...ir CAT 5e quality level Signals are transmitted according to the 100BASE TX method i e with a transfer rate of 100 Mbps at a frequency of 125 MHz 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 ...

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

Страница 65: ... with the shield clamp to the shield contact of terminal X20A 4 Attach terminals X20A and X2A 5 Optional Connect the supply voltage for the brakes to terminal X300 and attach it 6 For double axis controllers Repeat steps 2 to 4 for the terminals X2B and X20B 7 Optional Connect an encoder to terminal X4A 8 Optional for double axis controllers Connect an encoder to terminal X4B Top of the device ü Y...

Страница 66: ...for complex parameterization of the motor encoder and brake STOBER LM Lean motor without encoder with optional brake These motors are stored in the motor database of the DriveControlSuite along with all the data relevant for project configuration Furthermore the motor data and the purging and engaging times of the brake are part of the firmware By selecting the desired motor from the database all ...

Страница 67: ...Version Version your project configuration Description If necessary specify supporting additional information such as the change history of the project configuration 2 Drive controller tab Select the SC6 series and the device type of the drive controller 3 Option modules tab Safety module If the drive controller is part of a safety circuit select the SR6 or SY6 safety module 4 Device controller ta...

Страница 68: ...the next step you have to configure the safety technology in accordance with the commissioning steps outlined in the corresponding manual see the chapter Detailed information 94 8 1 3 Creating other modules and drive controllers We recommend sorting all drive controllers of your project in DriveControlSuite either functionally by groups and combining a group under a module or organizing several dr...

Страница 69: ...ect tree 2 Change to the project menu and click Project configuration ð The Project window opens 3 Establish the relationship between your circuit diagram and the newly created project in DriveControlSuite Equipment Specify the equipment code of the project Designation Give the project a unique name Version Version the project Version description If necessary specify supporting additional informat...

Страница 70: ... purging and engaging times are already stored You just have to activate the brake 1 Highlight the relevant drive controller in the project tree and click on the first projected axis in the project menu Wizard area 2 Select the Motor wizard 3 B101Cable length Select the cable length of the power cable in use 4 Repeat the steps for the 2nd axis only for double axis controllers Then activate the bra...

Страница 71: ...l range 8 2 2 2 Scale the axis 1 Highlight the relevant drive controller in the project tree and click on the first projected axis in the project menu Wizard area 2 Select the Axis model wizard Axis Scaling 3 Scale the axis by configuring the overall gear ratio between the motor and output To simplify this scaling for you you are provided with the scaling calculator Conversion of position velociti...

Страница 72: ...t Position 3 If necessary limit the position of your axis using a software or hardware limit switch to secure the travel range Limiting velocity acceleration jerk optional The specified default values are designed for slow velocities without gear units For this reason adapt the saved values Note that the velocity of the motor is parameterized in units other than that of the axis model Verify the v...

Страница 73: ...table compared with the results of the scaling calculator always replace them with values that are more suitable for test operation Transferring the test configuration ü You have verified the plausibility of the predefined test movement variables To be able to transfer a test configuration to a drive controller you must connect your PC and the drive controller to the network ü The relevant drive c...

Страница 74: ... The STO safety function must not be activated 1 Select Jog control panel 2 Click Control panel on and then Enable ð The drive is controlled using the activated control panel 3 Move the axis step by step and test the direction of motion velocity distances etc using the Jog Jog JogStep and JogStep buttons 4 Optimize your project configuration based on your test results as necessary 5 To deactivate ...

Страница 75: ...detailed information through the DriveControlSuite commissioning software 9 1 Drive controller STOBER drive controllers have diagnostic LEDs that visually indicate the state of the drive controller as well as the states of the physical connection and communication 3 2 1 5 4 Err Run FSoE Fig 12 Positions of the diagnostic LEDs on the front and top of the drive controller 1 Fieldbus state 2 FSoE sta...

Страница 76: ...ror 2 Green Run Red LED Behavior Error Description Off No Error No error Flashing Invalid Configuration Invalid configuration 1x flash Unsolicited State Change The EtherCAT slave changed operating states by itself 2x flash Application Watchdog Timeout The EtherCAT slave did not receive new PDO data during the configured watchdog timeout Tab 83 Meaning of the red LED error Green LED Behavior Operat...

Страница 77: ...un Fig 14 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 85 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 connec...

Страница 78: ...ion 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 sett...

Страница 79: ...s 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 88 Meaning of the green LED run Red LED Behavior Description Off No error Flashing Warning On Fault Rapid flashing No configuration active Tab 89 Meaning of the red LEDs error Pattern when starting the drive controller LEDs Green Red Red Behavior...

Страница 80: ...ive controller has to be restarted Off Off Off Error during copying process remove card and restart drive controller Single blink Off Tab 91 States of the LEDs when using an SD card to transfer a firmware file Pattern after transferring a firmware file and restarting the drive controller After restarting the drive controller during a firmware update the three LEDs flash in various combinations and...

Страница 81: ...7 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 93 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 94 Meaning of the yellow LED act ...

Страница 82: ...X200 and X201 on the top of the device indicate the state of the EtherCAT network connection LA LA IN EC X200 OUT EC X201 2 4 3 1 Fig 18 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 Ne...

Страница 83: ... Act Act Fig 19 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 96 Meaning of the green LEDs Link Yellow LED Behavior Description Off No data exchange Flashing Active data exchange with IO controller Tab 97 Mea...

Страница 84: ...roperties may result in a short circuit inside the devices and device failure as a result Opening the housing plugging in or unplugging connection terminals connecting or removing connecting wiring and installing or removing accessories are prohibited while the voltage supply is switched on If you couple the drive controller in the DC link make sure that all Quick DC Link modules are built over wi...

Страница 85: ...an find information about firmware updates in the chapter Updating firmware 86 ü Optional The SD card is present in the drive controller being replaced the original project is stored on the SD card Or The control unit of the drive controller being replaced still works copy the original project to the SD card before removing the drive controller 1 Optional If an AES battery module is present discon...

Страница 86: ...indow opens 3 Direct connection tab IP address column Activate the IP address in question or activate all listed using the context menu Confirm your selection with OK ð The Assignment and live firmware update window opens All drive controllers connected through the selected IP addresses are displayed 4 Live firmware update tab By default the newest firmware version suitable for the DriveControlSui...

Страница 87: ...Ds flash in various combinations and frequencies Information about this can be found in the chapter Drive controller state 79 1 Insert the prepared SD card into the drive controller to be updated 2 Start the drive controller ð The transfer of the firmware file begins 3 Remove the SD card when the transfer is complete ð The copying process is successfully completed as soon as the green LED of the d...

Страница 88: ...to electric shock and thermal overload Prepare the conductor ends according to the terminal specifications In the case of pre made cables and conductors check the conductor ends and adjust them if necessary 11 1 1 Overview The following tables clarify which specifications must be observed for which connections depending on the type of drive controller and accessory Drive controllers Type X2A X2B X...

Страница 89: ...G according to UL CSA 24 Insulation stripping length 10 mm Tightening torque Tab 100 FMC 1 5 ST 3 5 specification 11 1 3 BCF 3 81 180 SN Feature Line type Value Contact spacing 3 81 mm Nominal current at ϑamb 40 C CE UL CSA 16 A 10 A 11 A Max conductor cross section Flexible without end sleeve 1 5 mm Flexible with end sleeve without plastic collar 1 0 mm Flexible with end sleeve with plastic colla...

Страница 90: ...according to UL CSA 26 Insulation stripping length 10 mm Tightening torque Tab 102 BLDF 5 08 180 SN specification 11 1 5 GFKC 2 5 ST 7 62 Feature Line type Value Contact spacing 7 62 mm Nominal current at ϑamb 40 C CE UL CSA 12 A 10 A 10 A Max conductor cross section Flexible without end sleeve 2 5 mm Flexible with end sleeve without plastic collar 2 5 mm Flexible with end sleeve with plastic coll...

Страница 91: ... mm AWG according to UL CSA 26 Insulation stripping length 10 mm Tightening torque Tab 104 Specification for GFKIC 2 5 ST 7 62 11 1 7 SPC 5 ST 7 62 Feature Line type Value Contact spacing 7 62 mm Nominal current at ϑamb 40 C CE UL CSA 32 A 35 A 35 A Max conductor cross section Flexible without end sleeve 6 0 mm Flexible with end sleeve without plastic collar 6 0 mm Flexible with end sleeve with pl...

Страница 92: ...mm AWG according to UL CSA 24 Insulation stripping length 15 mm Tightening torque Tab 106 ISPC 5 STGCL 7 62 specification 11 1 9 ISPC 16 ST 10 16 Feature Line type Value Contact spacing 10 16 mm Nominal current at ϑamb 40 C CE UL CSA 55 A 66 A 66 A Max conductor cross section Flexible without end sleeve 16 0 mm Flexible with end sleeve without plastic collar 16 0 mm Flexible with end sleeve with p...

Страница 93: ...ND STO_a STO_b GND Vc L1 L2 L3 PE 1 2 3 4 1 2 3 4 5 6 7 8 X11 1 2 F3 K1 M 24 VDC X300 1 2 T1 F2 F1 F4 1 X20A X4A X2A 1TP1 1TP2 U V W PE 7 8 1 2 3 4 n X2A 1BD1 1BD2 5 6 R1 1 2 RB RB 2 3 4 M M1 X21 1 PE L1 L2 L3 24 V DC M STO status X12 ST6 option Direct brake control D sub 15p Fig 20 Wiring example with direct brake control F1 F4 Fuse K1 Safety relay L1 L3 Three phase power supply M Reference groun...

Страница 94: ...BER Drive Based STOBER DB application Manual Project planning configuration parameterization function test detailed information 442706 SR6 safety technology STO via terminals Manual Technical data installation commissioning diagnostics 442741 SY6 safety technology STO and SS1 via FSoE Manual Technical data installation commissioning diagnostics 442744 EtherCAT communication SC6 SI6 Manual Installa...

Страница 95: ...PU A Maximum output current of the power unit I2N PU A Nominal 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 PeffRB W Effective power at the external braking resistor PmaxRB W Maximum power at the external braking resistor R2minRB Ω Minimum resistance of the external braking resistor RintRB Ω Resistance of...

Страница 96: ...t Protocol NAT Nominal response temperature PE Protective Earth i e grounding conductor PELV Protective Extra Low Voltage PL Performance Level PTC Positive Temperature Coefficient RCD Residual Current protective Device RoHS Restriction of Hazardous Substances SD Secure Digital memory card SDHC Secure Digital High Capacity memory card S FTP Screened Foiled Twisted Pair SF FTP Screened Foiled Foiled...

Страница 97: ...hour service hotline Phone 49 7231 582 3000 Our address STÖBER ANTRIEBSTECHNIK GmbH Co KG Kieselbronner Strasse 12 75177 Pforzheim Germany 12 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 critici...

Страница 98: ...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 ...

Страница 99: ...STÖBER Antriebstechnik GmbH Co KG Kieselbronner Str 12 75177 Pforzheim Germany Tel 49 7231 582 0 mail stoeber de www stober com 442793 01 05 2019 24 h Service Hotline 49 7231 582 3000 www stober com ...

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