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Stober SD6 User Manual
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SD6
Manual
442426.04
06/2015
en
2
Table of Contents
Sd6 Manual
2
Table of Contents
2
General Instructions
3
General Instructions
4
About this Manual
4
Operation and
4
Further Documentation
5
Further Support
5
Directives and Norms
5
Contents
5
Abbreviations, Formula Symbols and Indices
6
Symbols, Identifiers, Marks
8
Licenses
9
2 Safety Information, Ul-Compliant Use 2 Safety Information, Ul-Compliant Use
10
Safety Information, UL-Compliant Use
10
Safety Information, UL-Compliant Use
11
Operation in Accordance with Its Intended Use
11
Component Part of the Product
11
Risk Assessment
11
Qualified Personnel
11
Operation and
11
Working on the Machine
12
Disposal
12
Presentation of Notes on Safety
12
UL-Compliant Use
13
Function
14
3 Components of the Drive System 3 Components of the Drive System
15
Components of the Drive System
15
Components of the Drive System
16
Drive Controller
16
Nameplate
16
Sizes
17
Type Designation
17
Motors
18
Synchronous Linear Motors
18
Synchronous Servo Motors and Asynchronous Motors
18
Controller
19
Accessories
19
Function
19
Safety Technology
19
Terminal Modules
20
Communication
22
Braking Resistors
24
Chokes
24
DC Link Connection
24
EMC Shroud
25
Encoder Adapter Box
25
Battery Module for Encoder Buffering
26
Removable Data Storage
26
Product CD
26
Commissioning
26
4 Technical Data 4 Technical Data
27
Technical Data
27
Projecting
28
Technical Data
29
Notes on Safety
29
Electrical Data
29
Control Board
29
Power Board
30
Size 0: Sd6A0X
30
Size 1: Sd6A1X
31
Size 2: Sd6A2X
31
Derating
32
Effect of the Clock Frequency
32
Size 3: Sd6A3X
32
Calculating the Derating
33
Effect of Installation Altitude
33
Effect of Surrounding Temperature
33
Device Features
33
Operation and
33
Transportation, Storage and Operating
34
Environment
34
Operating Motors
35
Commissioning
35
Connection X4
36
Evaluatable Encoders
36
Connection X101 (Binary Input Encoder)
37
Connection X120
37
Connection X140
38
Controllable Brakes
39
Evaluatable Motor Temperature Sensors
39
Protective Measures
40
Line Fuse
40
Function
41
Residual Current Safety Device
41
Housing Ground
42
Dimensions
43
Terminal Modules
45
Specification - XI6
45
Specification - RI6
48
Specification - IO6
49
Communication Modules
50
EC6 Communication Module
50
4.10 Quick DC-Link
50
Function
50
Electrical Data
52
Power Supply
53
Line Fuse
54
Contact
55
Power Contactor
55
Projecting
56
4.11 Braking Resistors
58
Fzmu, Fzzmu
58
Fgfku
59
Gvadu, Gbadu
61
Bottom Brake Resistor RB 5000
62
4.12 Chokes
63
Power Choke
64
Function
67
Output Derater
67
Projecting
68
Transportation and Storage
71
Commissioning
72
6 Installation 6 Installation
74
Installation
74
Installation
75
Notes on Safety
75
Drive Controller
75
Commissioning
75
Commissioning
76
Terminal Modules
77
Communication Modules
78
Quick DC-Link
79
Bottom Brake Resistor
81
EMC Shroud
83
Encoder Adapter Box
84
Screw Fastening
84
Top-Hat Rail Fastening
84
7 Connection
85
Connection
87
General Information
87
Wiring
87
Protective Measures
87
Line Fuse
88
Residual Current Safety Device
89
Housing Ground
90
EMC Connection
90
Selecting the Cables
91
Notes on Safety
87
Drive Controller
91
Overview of Terminals
91
Size 0
92
Size 1
93
Size 2
94
Size 3
95
Function
96
X10: 230 V/400 V Power
96
X11: 24 V Power
96
Function
97
X1: Enable and Relay 1
97
Function
98
X12: Safety Technology
98
Function
99
X20: Motor
99
Function
101
X5, X6: Motor Holding Brake
101
Function
102
X2: Motor Temperature Sensor
102
Function
103
X30: Quick DC-Link, Braking Resistor
103
Function
104
X3A, X3B: Pc, Igb
104
X4: Encoder
104
Function
106
Function
107
Function
108
X100
108
Function
109
X101
109
Function
111
Function
112
X102
112
X103A
112
Function
113
X103B
113
Function
114
X103C
114
X120
115
Function
116
Function
117
X140
117
Function
118
Function
119
Function
120
Function
121
Terminal Modules
107
Communication Modules
122
X200, X201: Ethercat
122
X200: Canopen
122
Function
122
Encoder Adapter Box
123
Linear Encoder
123
Linear Encoder Endat 2.1/2.2 Digital and SSI
123
Linear Encoder TTL with Hall Sensor
123
Linear Encoder TTL with Wake and Shake
123
Sin/Cos Linear Encoder with Wake and Shake
123
Overview of Terminals
124
X300
125
Function
125
X301
126
X302
126
Function
126
X303
127
X304: Connection Via D-Sub Connector
127
Function
127
X305, X306: Connection Via Loose Cable Ends
128
Function
128
Cables
129
Power Cable
129
Function
129
Encoder Cables
131
Encoder Endat 2.1/2.2 Digital and SSI
131
Function
132
Function
133
Endat 2.1 Sin/Cos Encoder
135
Encoder HTL
139
Encoder TTL
140
Resolver
141
8 Basic Properties 8 Basic Properties
145
Basic Properties
145
Setup
145
Basic Properties
146
Parameters
146
Function
146
Parameter Address
146
Function
147
Parameter Description
147
Access Level
148
Parameter Data
148
Visibility
148
Applications
149
Data Types
149
Firmware
149
Function
149
Skip Functions
149
Interfaces
150
Operator Panel
150
Setup
150
Menu Structure and Navigation
151
Function
152
Languages
152
Status Display
152
Drivecontrolsuite
153
Access Level
153
Configuration Level
153
Function
153
Parameter Level
153
Events
154
Function
154
9 Drive Controller
155
Device Controller
157
STOBER Device State Machine
157
Function
157
Function
160
Controlword and Statusword
161
Function
161
Function
162
Function
163
Device State Machine According to Cia 402
164
Function
167
Function
168
Controlword and Statusword
169
Function
169
Function
170
Enable
171
Device State Machine According to Cia 402
171
Function
171
Parameters
171
STOBER Device State Machine
171
Auto-Start
173
Function
173
Quick Stop
174
Device State Machine According to Cia 402
175
Parameters
175
STOBER Device State Machine
175
Acknowledgement
176
Function
176
Operational State
177
Display
177
Drive Controller
157
Introduction
157
Axis Management
177
Axes as Parameter Sets
178
Selecting Axes
178
Projecting
178
Parameters
179
Function
180
Local Mode
181
Setup
181
Function
183
Energy Management
184
Power Input
184
Function
184
Parameterize Power Input
184
46:Low Voltage
185
Display
186
Brake Resistor
186
Energetic Utilization
188
39:Tempdev I2T
188
42:Tempbrakeres
189
45:Otempmot. I2T
190
59:Tempdev. I2T
191
Parameters
192
Thermal
193
Components
193
Cycle Time
193
Function
194
Function
195
Input and Output Signals
196
Binary Inputs
196
Binary Outputs
196
Analog Inputs
198
Ae1
198
Function
198
Ae2
199
Ae3
200
Analog Outputs
201
Aa1
201
Aa2
203
Position Simulation
205
Display
206
Saving Data with Protection against Power Failure
206
Setup
206
10 Motor 10 Motor
208
Motor
208
10.1 Introduction
209
10.2 Motor Settings
209
Control Modes
209
Commissioning
210
Parameterizing Motor Data
211
Selecting a Standard Motor
211
Activating an Electronic Rating Plate
212
Editing Motor Parameters
212
Synchronous Servo Motor
212
Synchronous Linear Motor
214
Asynchronous Motor
217
Commissioning
219
Actions
222
B40 Phase Test
222
Function
222
Performing Actions with Enable
222
Function
223
B41 Autotuning
224
Function
224
B45 Action Autotune SLVC
225
Function
225
Motor
209
10.4 Display
227
Motor Temperature Sensor Settings
227
Holding Brake
229
Function
229
Function
233
Function
234
Function
236
Function
237
Contact
238
Function
239
Contact
240
Commissioning
241
Function
242
Function
243
Projecting
244
Function
246
Function
247
Encoder
249
Function
250
Function
254
Function
255
Function
256
Function
257
Mechanical Drive Model
259
Setup
260
Communication
264
Function
265
Function
269
Setup
270
Function
273
Function
276
Function
284
And Maintenance
290
Function
293
Optimize
295
Commissioning
332
Diagnosis
363
Function
364
Function
367
Contact
369
Function
370
Contact
376
Contact
378
Function
388
Function
390
Commissioning
392
Function
393
Contact
397
Contact
398
Commissioning
406
Function
407
Function
408
Function
409
Function
410
Function
428
Function
432
Function
433
Function
434
Contact
436
ID 442426.04 We Keep Things Moving
437
Other manuals for Stober SD6
Commissioning Instructions
166 pages
Operation Manual
40 pages
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Stober SD6 Specifications
General
Series
SD6
Type
Servo Drive
Communication Interface
CANopen
Control Modes
Position, Velocity, Torque
Protection Features
Overcurrent, Overvoltage, Overtemperature
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