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SD6
Manual
442426.0406/2015en
ID 442426.04 2WE KEEP THINGS MOVING
Table of contents
Manual SD6
Table of contents
1 General instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . .3
2 Safety information, UL-compliant use . . . . . . . . . . . . . . .. . . .10
3 Components of the drive system .. . . . . . . . . . . . . . . . . . .. . . .15
4 Technical data .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . .27
5 Transportation and storage .. . . . . . . . . . . . . . . . . . . . . . . .. . . .71
6 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . .74
7 Connection .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . .85
8 Basic properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . .145
9 Drive controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. ..155
10 Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. ..208
11 Holding brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . .229
12 Encoder .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . .249
13 Mechanical drive model . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . .259
14 Communication .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . .264
15 Optimize . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. ..295
16 Diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . .363
ID 442426.04 3WE KEEP THINGS MOVING
General instructions
1Manual SD6
1 General instructions
Overview of sections
1.1 About this manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . .4
1.2 Further documentation .. . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . .5
1.3 Further support .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . .5
1.4 Directives and norms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . .5
1.5 Abbreviations, formula symbols and indices . . . . . . . . .. . . . .6
1.6 Symbols, identifiers, marks .. . . . . . . . . . . . . . . . . . . . . . . .. . . . .8
1.7 Licenses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . .9
ID 442426.04 4WE KEEP THINGS MOVING
General instructions
1Manual SD6
The new SD6 drive controller offers maximum precision and productivity for
automation technology and machine manufacturing despite ever more
complex functions. Highly dynamic drives ensure the shortest recovery times
from fast changes in reference value and load jumps. You also have the option
of connecting the drive controllers in a DC intermediate circuit, which improves
the energy footprint of the entire system.
Properties
• Large power range using 4 sizes
• Quick DC-Link: Innovative installation concept for the DC link connection
• Very good control performance
• Easy to service
• Isochronous system bus (in preparation)
• Modular safety technology (in preparation)
• Free, graphical programming in accordance with IEC 61131-3 CFC (in
preparation)
1.1 About this manual
This manual describes the SD6 drive controller. It contains information on the
following topics:
• Projecting
• Transport and storage
• Installation
• Connection
• Operation and setup of the drive controller, motor and its attachments and
the entire drive.
• Communication between the startup computer and drive controller
• Optimization of the drive controller
• Diagnostics in the event of errors
The safety function Safe Torque off (STO) is implemented by means of safety
card ST6. Detailed information about ST6 can be found in the corresponding
manual (see section 1.2 Further documentation).
Original version
The original version of this manual is in German.
This documentation applies to the following devices:
• Drive controller SD6 from
DriveControlSuite V 6.0-F and
Firmware version V 6.0-F
What is new?
Index Date Changes
02 06/2014 • General corrections
Supplemented:
• Size 3
• Quick DC-Link
• Terminal modules RI6 and IO6
• Synchronous linear motors and LA6 adapter
box
• UL-compliant use
03 12/2014 • Electrical data: size 3, derating
04 06/2015 • General corrections
• Electrical data: derating
• Mechanical drive model, CiA 402
ID 442426.04 5WE KEEP THINGS MOVING
General instructions
1Manual SD6
1.2 Further documentation
The documentation listed in the following table provides relevant information on
the SD6 drive controller.
You can find the latest document versions at www.stoeber.de.
1.3 Further support
If you have technical questions that are not answered by this document, please
contact:
• Phone: +49 7231 582-3060
• E-mail: applications@stoeber.de
1.4 Directives and norms
The SD6 drive controller meets the requirements of the following directives and
standards:
• Machinery Directive 2006/42/EC
• Low Voltage Directive 2006/95/EC
• EMC Directive 2004/108/EC
• EN 61326-3-1:2008
• EN 61800-3:2004
• EN 61800-5-1:2007
• EN 61800-5-2:2007
• EN 50178:1997
Device/software Documentation Contents ID
SD6 drive controllers Commissioning
instructions Installation and
functional test 442537
Controller Based Mode
(CBM) application Manual Operation and
setup,
commissioning
442454
Communication
module EtherCAT EC6 Operating manual Installation,
connection, setup,
commissioning and
customer service
442516
Communication
module CANopen CA6 Operating manual Installation,
connection, setup,
commissioning and
customer service
442637
MC6 Motion Controller Manual Projecting,
installation,
connection, setup,
customer service
and maintenance
442461
ST6 safety technology Manual Projecting,
connection, setup 442478
Absolute Encoder
Support AES Operating manual Function,
connection 442343
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General instructions
1Manual SD6
1.5 Abbreviations, formula symbols and
indices
Abbreviations
AA Analog output
AC Alternating Current
AE Analog input
AES Absolute Encoder Support
AWG American Wire Gauge
BA Binary output
BAT Battery
BE Binary input
BG Size
CAN Controller Area Network
CBM Controller Based Mode
CH Brake chopper
CiA CAN in Automation
CNC Computerized Numerical Control
csp Cyclic synchronous position mode
cst Cyclic synchronous torque mode
csv Cyclic synchronous velocity mode
CU Control Unit
DC Direct Current
I/O Input/output
EMF Electromotive force
EMC Electromagnetic Compatibility
HTL High threshold logic
I/O Input/Output
IA Installation Altitude
IGB Integrated Bus
ip Interpolated position mode
IP International Protection
LS Limit Switch
MAC Media-Access-Control
MTF Motor temperature sensor
PE Protective Earth
PELV Protective Extra Low Voltage
PLC Programmable Logic Controller (dt.: SPS)
PTC Positive Temperature Coefficient
PU Power Unit
PWM Pulse Width Modulation
RB Brake Resistor
RS Reference Switch
RCD Residual Current protective Device
PLC Programmable logic controller
SSI Serial Synchronous Interface
STO Safe Torque Off
TTL Transistor-transistor logic
rpm Revolutions per minute
UL Underwriters Laboratories
W&S Wake and Shake
ZK DC link
ZP Zero pulse
Abbreviations
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General instructions
1Manual SD6
Formula
symbols Unit Explanation
D%Derating
DIA % Derating depending on the installation altitude of
the drive controller
DT% Derating depending on the surrounding
temperature of the drive controller
f Hz Frequency
f2Hz Output frequency
f2PU Hz Output frequency of the drive controller power
board
fmax Hz Maximum frequency
fPWM,PU Hz Internal pulse clock frequency of the drive
controller power board
I A Current
I1A Input current
I1maxPU A Maximum input current of the drive controller
power board
I1maxCU A Maximum input current of the drive controller
control board
I1N,PU A Nominal input current of the drive controller power
board
I2A Output current
I2max A Maximum output current
I2maxPU A Maximum output current of the drive controller
power board
I2min A Minimum output current
I2N,PU A Nominal output current of the drive controller
power board
INA Nominal current
nrpmSpeed
nNrpm Nominal speed: Speed at which the nominal torque
MN is reached.
PWPower
PmaxRB W Maximum power at the external braking resistor
PV,PU W Power loss of the drive controller power board
PV,CU W Power loss of the drive controller control board
RΩResistance
R2minRB ΩMinimum resistance of the external braking
resistor
ϑ°C Temperature
ϑamb,max °C Maximum surrounding temperature
τth s Thermal time constant
tsTime
tmin s Minimum time
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General instructions
1Manual SD6
1.6 Symbols, identifiers, marks
RVVoltage
U1V Input voltage
U1CU V Input voltage of the drive controller control board
U1PU V Input voltage of the drive controller power board
U1max V Maximum input voltage
U2V Output voltage
U2BAT V Output voltage of the backup battery
U2PU V Output voltage of the drive controller power board
Umax V Maximum voltage
UmaxPU V Maximum voltage of the drive controller power
board
UoffCH V Off limit of the brake chopper
UonCH V On limit of the brake chopper
Other
p Number of pole pairs
λLine Power factor at the supply network: equivalent to
cos φ between the effective and apparent power
Symbols
EN 61558-2-20
Choke without overload protection.
Grounding symbol according to IEC 60417-5019
(DB:2002-10).
Identification and test symbols
Lead-free identifier for RoHS
Lead-free identifier according to RoHS directive 2011-65-
EU.
CE mark
Manufacturer's self declaration: The product meets the
requirements of EU directives.
UL test mark
This product is listed by UL for the USA and Canada.
Representative samples of this product have been
evaluated by UL and meet the requirements of applicable
standards.
UL test marks for recognized component
This component or material is recognized by UL.
Representative samples of this product have been
evaluated by UL and meet applicable requirements.
ID 442426.04 9WE KEEP THINGS MOVING
General instructions
1Manual SD6
The following names that are used in conjunction with the device, its optional
equipment and its accessories are trademarks or registered trademarks of
other companies:
All other trademarks that are not listed here are the property of their respective
owners.
Products that are registered as trademarks are not specially indicated in this
documentation. Existing property rights (patents, trademarks, protection of
utility models) are to be observed.
1.7 Licenses
Software of the following license provider is used in SD6:
SEGGER Microcontroller GmbH & Co. KG
In den Weiden 11
D-40721 Hilden
Germany
Tel.+49 2103-2878-0
Fax.+49 2103-2878-28
E-mail: support@segger.com
Internet: http://www.segger.com
Trademarks
CANopen,
CiA CANopen and CiA are registered Community trademarks
of CAN in Automation e.V., Nuremberg, Germany.
EnDat EnDat and the EnDat logo are registered trademarks of Dr.
Johannes Heidenhain GmbH, Traunreut, Germany.
EtherCAT EtherCAT and the EtherCAT logo are registered
trademarks of Beckhoff Automation GmbH, Verl,
Germany.
HIWIN The HIWIN logo is a registered trademark of HIWIN
TECHNOLOGIES CORP., Taichung, Taiwan.
Microsoft,
Windows,
Windows XP
Microsoft, Windows, Windows XP and the Windows logo
are registered trademarks of Microsoft Corporation in the
USA and/or other countries.
PROFIBUS,
PROFINET The PROFIBUS/PROFINET logo is a registered
trademark of PROFIBUS Nutzerorganisation e. V.
Karlsruhe, Germany.
ID 442426.04 10WE KEEP THINGS MOVING
Safety information, UL-compliant use
2Manual SD6
2 Safety information, UL-compliant use
Overview of sections
2.1 Operation in accordance with its intended use . . . . . . .. . . .11
2.2 Component part of the product . . . . . . . . . . . . . . . . . . . . .. . . .11
2.3 Risk assessment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . .11
2.4 Qualified personnel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . .11
2.5 Working on the machine . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . .12
2.6 Disposal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . .12
2.7 Presentation of notes on safety .. . . . . . . . . . . . . . . . . . . .. . . .12
2.8 UL-compliant use .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . .13
ID 442426.04 11WE KEEP THINGS MOVING
Safety information, UL-compliant use
2Manual SD6
The devices can represent a source of danger. Therefore observe
• the safety guidelines, technical rules and regulations given in the following
sections
• and points.
STOBER shall assume no liability for damage resulting from failure to comply
with the instruction manual or relevant regulations. We reserve the right to
make technical changes for the purpose of improving the devices.
2.1 Operation in accordance with its intended
use
As defined by DIN EN 50178 (previously VDE 0160), the drive controllers are
electrical equipment operating as power electronics to control the flow of
energy in high voltage systems. They are designed exclusively for installation
in switching cabinets, protection class at least IP54, and for supplying
• synchronous servo motors and
• asynchronous motors.
Designated use does not include connecting other electrical loads!
2.2 Component part of the product
The technical documentation is a component part of a product.
• Since the technical documentation contains important information, always
keep it handy in the vicinity of the device until the machine is disposed of.
• If the product is sold, disposed of, or rented out, always include the
technical documentation with the product.
2.3 Risk assessment
Before the manufacturer may bring a machine onto the market, he must
conduct a risk assessment according to Machine Directive 06/42/EC. As a
result, the risks associated with the use of the machine are determined. The
risk assessment is a multi-stage and iterative process. On no account can
sufficient insight into the Machine Directive be given as part of this
documentation. For this reason, seek detailed information about the norms and
legal position. When installing the drive controller in machines, commissioning
is forbidden until it has been determined that the machine meets the
requirements of EC Directive 06/42/EC.
2.4 Qualified personnel
Devices may cause residual risks. For this reason, all work on the devices as
well as operation and disposal must only be performed by qualified personnel
who are aware of the possible dangers.
Qualified personnel are persons who have acquired the authorisation to
perform these activities by
• Training from specialists and/or
• Instruction from specialists
In addition, they must have
• read,
• understood and
• observed the applicable regulations, legal provisions, rules and standards
and existing technical documentation including the safety information
contained in it.
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Safety information, UL-compliant use
2Manual SD6
2.5 Working on the machine
Apply the 5 safety rules in the order stated before performing any work on the
machine:
1. Disconnect.
Also ensure that the auxiliary circuits are disconnected.
2. Protect against being turned on again.
3. Check that voltage is not present.
4. Ground and short circuit.
5. Cover or block off adjacent live parts.
2.6 Disposal
Please comply with the latest national and regional regulations! Dispose of the
individual parts separately depending on their nature and currently valid
regulations such as, for example:
• Electronic scrap (PCBs)
• Plastic
• Sheet metal
• Copper
•Aluminum
2.7 Presentation of notes on safety
NOTICE
Notice
means that property damage may occur
if the stated precautionary measures are not taken.
CAUTION!
Caution
with warning triangle means that minor injury may occur
if the stated precautionary measures are not taken.
WARNING!
Warning
means that there may be a serious danger of death
if the stated precautionary measures are not taken.
DANGER!
Danger
means that serious danger of death exists
if the stated precautionary measures are not taken.
Information
Note that the discharge time of the DC link capacitors is up to 5
minutes. You can only determine the absence of voltage after this
time period.
Information
refers to important information about the product or serves to
emphasize a section in the documentation to which the reader
should pay special attention.
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Safety information, UL-compliant use
2Manual SD6
2.8 UL-compliant use
Additional information for use under UL conditions (UL – Underwriters
Laboratories).
Surrounding temperature and pollution degree
The maximum surrounding temperature for UL-compliant operation is 45 °C.
Observe the specifications in the general data for use in an environment with a
pollution degree, see section 4.4.
Mains configuration
All device types that are supplied with 480 V are designed exclusively for
operation on Wye source with 480/277 V.
Power supply and motor overload protection
Observe the specifications in the electrical data of the drive controller for this,
see section 4.2.
Mains fuse
Observe the specifications for the UL-compliant mains fuse in section 4.6.1.
Applies to use in Canada in accordance with CSA-C22.2 No. 14-13
Depending on the device type, additional overvoltage protection must be
positioned mains-side from the device that meets the following conditions.
• Single-phase – SD6A02:
- Overvoltage category 3
- Phase ground = 240 V (permissible rating surge voltage = 4 kV peak)
- phase-phase (or N) = 240 V (permissible rating surge voltage = 4 kV
peak)
• Three-phase – from SD6A04:
- Overvoltage category 3
- Phase ground = 277 V (permissible peak rating surge voltage = 4 kV
peak)
- phase-phase (or N) = 480 V (permissible rating surge voltage = 6 kV
peak)
Motor protection
All models of STOBER 6th generation drive controllers have a certified i²t
model, a calculation model for thermal monitoring of the motor. This fulfils the
requirements for semiconductor motor overload protection in accordance with
the change to UL 508C dated May 2013. To activate the protective function and
set it up, make the following parameter settings – which differ from the default
values: U10 = 2:Warning and U11 = 1.00 s. This module can be used as an
alternative or in addition to motor protection with temperature monitoring as
described in section 7.3.8.
Motor temperature sensor
All models of STOBER 6th generation drive controllers have connections for
PTC thermistors (NAT 145 °C) or KTY temperature sensors (KT84-130).
Observe the terminal description X2 for proper connection, see section 7.3.8.
Braking resistor
If the drive controllers will be fitted with an externally mounted braking resistor,
separate overtemperature protection must be made available.
24 V power supply
Low voltage circuits must be supplied by an isolated source whose maximum
output voltage does not exceed 28.8 V. Note also the technical specifications
for the X11 connector in this regard, see section7.3.3.
Lines
Use only copper conductors for an surrounding temperature of 60/75 °C.
Information
STOBER recommends using PTC thermistors as thermal motor
protection.
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Safety information, UL-compliant use
2Manual SD6
Fuses
Fuses must be approved according to UL 248.
• Use a 1 A fuse (delayed-action) upstream from relay 1. Note also terminal
description X1, pin 1, see section 7.3.4.
• Protect the supply of the motor holding brake with a 4 A fuse (delayed-
action). Note also terminal description X6, see section 7.3.7
• The following points apply to extended interfaces with terminal module XI6,
RI6 or IO6: Protect the 24-V supply with a 1 A fuse (delayed-action). Note
also terminal description X101, pin 18 or 19, see section 7.4.2.
Branch circuit protection
An integral solid state short circuit protection does not provide branch circuit
protection. If you would like to branch the output of the drive controller, branch
circuit protection must be ensured in conformity with the instructions of
STOBER, the National Electrical Code and all additional applicable local
regulations or equivalent specifications.
UL test
During the UL acceptance process of STOBER, only risks for electrical shock
and fire hazard were examined. Aspects of functional safety were not assessed
in the UL acceptance. These aspects are assessed for STOBER by the TÜV
SÜD certification authority, for example.
ID 442426.04 15WE KEEP THINGS MOVING
Components of the drive system
3Manual SD6
3 Components of the drive system
Overview of sections
3.1 Drive controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . .16
3.1.1 Nameplate .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
3.1.2 Type designation .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
3.1.3 Sizes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
3.2 Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . .18
3.2.1 Synchronous servo motors and asynchronous motors . . . . . . . 18
3.2.2 Synchronous linear motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
3.3 Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . .19
3.4 Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . .19
3.4.1 Safety technology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
3.4.2 Terminal modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
3.4.3 Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
3.4.4 DC link connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
3.4.5 Braking Resistors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
3.4.6 Chokes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
3.4.7 EMC shroud .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .25
3.4.8 Encoder adapter box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .25
3.4.9 Battery module for encoder buffering . . . . . . . . . . . . . . . . . . . .26
3.4.10 Removable data storage .. . . . . . . . . . . . . . . . . . . . . . . . . . . . .26
3.4.11 Product CD .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .26
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Components of the drive system
3Manual SD6
3.1 Drive controller
3.1.1 Nameplate
UL test mark
UL and cUL (CSA-UL) certified drive controllers with corresponding test mark
meet the requirements of standards UL 508C and UL 840.
Designation Value in the
example Meaning
Type SD6A06TEX Drive controller type
according to the type
designation
Date 1318 Production week in format
YYWW, in the example
shown here year 2013, week
18
S/N 7000204 Serial number
Nominal connection
voltage 3 x 400 V ~
50 Hz
UL: 3 x 480 V ~
50–60 Hz
Nominal connection voltage
Nominal connection
power 2.5 kVA Nominal connection power
Input current 4.0 A Input current
Output data 3 x 3.4 A
0...460 V
0...700 Hz
Output data
Protection class IP20 Protection class
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Components of the drive system
3Manual SD6
3.1.2 Type designation
Sample code
Explanation
3.1.3 Sizes
The drive controller SD6 includes the following types and sizes:
SD 6 A 0 6 T E X
Code Designation Design
SD Series Servo Drive
6Generation 6. Generation
A, B Version
0 – 3 Size
0 – 9 Power output stage (within the size)
TSafety module ST6: Safe Torque Off (STO)
N
E
C
Communication module Empty
EC6: EtherCAT
CA6: CANopen
N
X
R
I
Terminal module Empty
XI6: Extended I/O
RI6: Resolver I/O
IO6: Standard I/O
Type Size
SD6A02 0
SD6A04 0
SD6A06 0
SD6A14 1
SD6A16 1
SD6A24 2
SD6A26 2
SD6A34 3
SD6A36 3
SD6A38 3
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Components of the drive system
3Manual SD6
3.2 Motors
3.2.1 Synchronous servo motors and asynchronous
motors
You can use the SD6 drive controller to operate synchronous servo motors (for
example the STOBER series EZ) or asynchronous motors.
Evaluation options for feedback are available on the X4 connection for
following encoder types:
• Absolute value encoder EnDat 2.1/2.2 digital
• Absolute value encoder SSI
• Incremental encoder (HTL and TTL)
Other encoder types can be connected via the optionally available terminal
modules (see section 3.4.2 Terminal modules), for example:
• Resolver
• Absolute value encoder EnDat 2.1 sin/cos
• Sin/cos encoder
• Incremental encoder (HTL and TTL), single-ended
All modules from the 6th generation of STOBER drive controllers have
connections for PTC thermistors or KTY temperature sensors and can control
a 24 V/DC brake as standard.
3.2.2 Synchronous linear motors
The SD6 drive controller supports control of iron-core, permanent-magnet
linear motors from a wide range of different manufacturers such as HIWIN
GmbH, isel Germany AG and Siemens AG.
Linear motors are used for linear movements when speed, acceleration and
increased positional accuracy are primary concerns.
The position of the linear motor is determined based on an optical, magnetic or
inductive measurement system. These measurement systems consist of
a dimensional element or magnetic tape that determines the position of the
motor through interaction with a read head or probe.
An additional linear encoder transfers this information to the drive controller as
position data.
Depending on the key requirement in each specific case (for example speed,
accuracy, etc.), different linear encoders (together with accessories) can be
used.
All modules have connections for PTC thermistors or KTY temperature sensors
and can control a 24 V/DC brake as standard.
Supported measurement system (linear encoders)
Absolute measurement systems:
• Linear encoder EnDat 2.2 digital
• Linear encoder SSI
Relative measurement systems:
• Incremental encoder (HTL and TTL)
• Sin/cos linear encoder: connection via optional terminal module RI6
(terminal X140)
Determine commutation with relative measurement systems using:
• Hall sensor via adapter box LA6 (see section 3.4.8 Encoder adapter box)
• Wake and Shake (W&S)
Adapter box LA6
The LA6 adapter box makes it possible to connect sensor signals of various
linear motor types to SD6. The adapter box is responsible for splitting the
different sensor signals, which are in some cases combined on one connector,
depending on the motor type, and for the level adjustment and potential
separation of the Hall signals.
Depending on the different motor manufacturers, the signals are forwarded via
different connections (D-sub 15-pin, D-sub 9-pin or free cable ends).
ID 442426.04 19WE KEEP THINGS MOVING
Components of the drive system
3Manual SD6
3.3 Controller
3.4 Accessories
3.4.1 Safety technology
The pulse board in the drive controller generates the pulse patterns required
by the power board to produce the rotary field. The pulse patterns in the SD6
are transferred from the control board to the power board via the ST6 safety
card.
If the safety function is active, a reliable pulse inhibit prevents the pulse pattern
from being transferred to the power board. The power board is unable to
generate a rotary field and the motor is torque-free.
If the safety function is active, pulse patterns are directed to the power board
and the motor can be operated.
Fig. 3-1Overall system SD6 drive controller with ST6
This is equivalent to the safety function Safe torque off (STO) in accordance
with DIN EN 61800-5-2:2007. This type of shutdown is designated as Stop
category 0 in DIN EN 60204-1:2006.
MC6 Motion Controller The development of the new 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.
SD6 and Motion Controller MC6 are either
connected to each other via EtherCAT or via
CANopen.
Information
Detailed information about the MC6 Motion Controller can be found
in the corresponding manual (see section 1.2 Further
documentation).
Safe Torque Off – ST6
Included in the standard design.
The ST6 accessory makes it possible to use the
"Safe Torque Off" (STO) safety function in the
SD6 drive controller in safety-relevant
applications according to EN ISO 13849-1.
STOb
STOa
Power
board
ST6
PWM
Control
board PWM
PWM
ID 442426.04 20WE KEEP THINGS MOVING
Components of the drive system
3Manual SD6
In the safety block diagram (Fig. 3-2 Safety block diagram) the SD6 drive
controller with the ST6 safety card corresponds to the actuator and forms the
basis for a restart inhibit:
Fig. 3-2Safety block diagram
Detailed information about using the safety technology and the ST6 safety card
can be found in the corresponding manual (see section 1.2 Further
documentation).
3.4.2 Terminal modules
Terminal module XI6
ID no. 138421 Terminal module for connecting analog and
binary signals as well as encoders.
Supported inputs and outputs:
• 13 binary inputs (24 V)
• 10 binary outputs (24 V)
• 3 analog inputs (± 10 V, 1 x 0 – 20 mA, 16
bits)
• 2 analog outputs (± 10 V, 12 bits)
Supported encoders / interfaces:
• SSI encoder (simulation and evaluation)
• TTL incremental encoder, differential
(simulation and evaluation)
• HTL incremental encoder, single-ended
(simulation and evaluation)
• TTL pulse train, differential (simulation and
evaluation)
• HTL pulse train, single-ended (simulation
and evaluation)
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