Stober SD6 Series User manual

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

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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

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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

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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

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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.

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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.

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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.

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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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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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Stober SD6 Series User manual

Stober SD6 Series User manual

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