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Stober SR6 User Manual
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STOBER
5 | Technical data
05/2019 | ID 442790.01
51
Dimensions
Dimension
GVADU 210×20
GBADU 265×30
GBADU 335×30
ID No.
55441
55442
55443
A
210
265
335
H
192
246
316
C
20
30
30
D
40
60
60
E
18.2
28.8
28.8
F
6.2
10.8
10.8
G
2
3
3
K
2.5
4
4
J
4.3
5.3
5.3
β
65°
73°
73°
Tab. 54: GVADU, GBADU dimensions [mm]
A
D
F
E
G
C
J
K
H
b
Fig.9: GVADU, GBADU dimensional drawing
H
K
J
K
Fig.10: GVADU, GBADU drilling diagram
50
52
Table of Contents
Sc6 Drive Controller Manual
2
Default Chapter
2
Table of Contents
2
1 Foreword
8
2 User Information
9
Storage and Transfer
9
Described Product Type
9
Timeliness
9
Original Language
9
Limitation of Liability
9
Formatting Conventions
10
Use of Symbols
10
Markup of Text Elements
11
Conventions for Cables
12
Symbols, Marks and Test Symbols
12
Trademarks
13
3 General Safety Instructions
14
Directives and Standards
14
Qualified Personnel
14
Intended Use
15
Transport and Storage
15
Operational Environment and Operation
16
Tab. 1 Maximum Symmetrical Nominal Short-Circuit Current of the Drive Controller
16
Working on the Machine
17
Decommissioning
17
Disposal
17
Firefighting
17
4 System Configuration
18
Fig. 1 System Overview
18
Hardware Components
19
Drive Controllers
19
Fig. 2 SC6A062 Nameplate
19
Fig. 3 Sticker with MV and Serial Number
20
Tab. 2 Meaning of the Specifications on the SC6 Nameplate
20
Tab. 3 Meaning of the Specifications on the Sticker
20
Tab. 4 Example Code for Type Designation
21
Tab. 5 Meaning of the Example Code
21
Tab. 6 Available SC6 Types and Sizes
21
Controller
22
Operating Motors, Encoders and Brakes
22
Accessories
23
Software Components
27
Project Configuration and Parameterization
27
Applications
27
5 Technical Data
28
Drive Controllers
28
General Technical Data
28
Tab. 7 Device Features
28
Tab. 8 Transport and Storage Conditions
28
Tab. 9 Operating Conditions
28
Tab. 10 Discharge Times of the DC Link Circuit
29
Tab. 11 Control Unit Electrical Data
29
Tab. 12: SC6 Electrical Data, Size 0
30
Tab. 13 SC6 Electrical Data, Size 0, for 4 Khz Clock Frequency
30
Tab. 14 SC6 Electrical Data, Size 0, for 8 Khz Clock Frequency
30
Tab. 15: Brake Chopper Electrical Data, Size 0
30
Tab. 16: SC6 Electrical Data, Size 1
31
Tab. 17 SC6 Electrical Data, Size 1, for 4 Khz Clock Frequency
31
Tab. 18 SC6 Electrical Data, Size 1, for 8 Khz Clock Frequency
31
Tab. 19: Brake Chopper Electrical Data, Size 1
31
Tab. 20: SC6 Electrical Data, Size 2
32
Tab. 21 SC6 Electrical Data, Size 2, for 4 Khz Clock Frequency
32
Tab. 22 SC6 Electrical Data, Size 2, for 8 Khz Clock Frequency
32
Tab. 23: Brake Chopper Electrical Data, Size 2
32
Tab. 24 X101 Electrical Data
33
Tab. 25 X103 Electrical Data
33
Fig. 4 Asymmetric Load on Double-Axis Controllers
34
Tab. 26 Power Loss Data of the SC6 Drive Controller in Accordance with en 61800-9-2
35
Derating
36
Tab. 27 Absolute Losses in the Accessories
36
Dimensions
38
Weight
38
Fig. 5 SC6 Dimensional Drawing
38
Tab. 28 SC6 Dimensions [MM]
38
Tab. 29 SC6 Weight [G]
38
Assignment of DL6B to SC6
39
Tab. 30 Device Features
39
Tab. 31 Transport and Storage Conditions
39
Tab. 32 Operating Conditions
39
Tab. 33 Assignment of DL6B to SC6
39
Dimensions
40
Fig. 6 DL6B Dimensional Drawing
40
Tab. 34 DL6B Dimensions [MM]
40
Weight
41
Safety Technology
41
Tab. 35 DL6B Weight [G]
41
Tab. 36 X12 Electrical Data
41
Operating Motors
42
Tab. 37 Motor Types and Control Modes
42
Evaluable Encoders
43
Overview
43
Signal Transmission
43
Tab. 38 Overview of Encoder Connection
43
Tab. 39 Endat 2.1 Digital Specification
44
Tab. 40 Endat 2.2 Digital Specification
44
Tab. 41 SSI Specification
44
Tab. 42 Specification for TTL Differential Incremental Signals
45
Tab. 43 Specification for Resolver Signals
45
Tab. 44 Specification for HIPERFACE DSL
45
X101 for Encoders
46
X103 for Encoders
46
Tab. 45 Encoder Models with Unsuitable Supply Voltage Range
46
Tab. 46 Specification for Single-Ended HTL Incremental Signals and Single-Ended HTL Pulse Train Signals
46
Tab. 47 Specification for Single-Ended HTL Incremental Signals and Single-Ended HTL Pulse Train Signals
46
Controllable Brakes
47
Evaluable Motor Temperature Sensors
47
Tab. 48 Electrical Data of the Brake Output
47
Braking Resistor
48
Tubular Fixed Resistor FZMU, FZZMU
48
Tab. 49 Assignment of FZMU, FZZMU Braking Resistor - SC6 Drive Controller
48
Tab. 50 FZMU, FZZMU Specification
48
Fig. 7 FZMU (1), FZZMU (2) Dimensional Drawing
49
Fig. 8 FZMU, FZZMU Drilling Diagram
49
Tab. 51 FZMU, FZZMU Dimensions [MM]
49
Flat Resistor GVADU, GBADU
50
Tab. 52 Assignment of GVADU, GBADU Braking Resistor - SC6 Drive Controller
50
Tab. 53 GVADU, GBADU Specification
50
Fig. 9 GVADU, GBADU Dimensional Drawing
51
Fig. 10 GVADU, GBADU Drilling Diagram
51
Tab. 54 GVADU, GBADU Dimensions [MM]
51
6 Project Configuration
52
Drive Controllers
52
DC Link Connection
52
Information on Design and Operation
53
Design
54
Motors
56
Mixed Operation
57
Fig. 11 Grounding Concept in Mixed Operation with SI6 and SD6 with Powered SC6 Drive Controller
57
Fig. 12 Grounding Concept in Mixed Operation with SI6 with Powered SC6 Drive Controller
58
7 Storage
59
Drive Controller
59
Annual Reforming
59
Reforming before Commissioning
60
Fig. 13 Voltage Levels Dependent on Storage Time
60
8 Installation
61
Safety Instructions for Installation
61
Basic Assembly Instructions
61
Drive Controllers
61
Fig. 14 Fields for Equipment Identification on the Front of the Device
61
Braking Resistor
62
Minimum Clearances
63
Fig. 15 Minimum Clearances
63
Tab. 55 Minimum Clearances [MM]
63
Drilling Diagrams and Bore Dimensions
64
Drive Controllers
64
Fig. 16 SC6 and DL6B Drilling Diagram
64
Tab. 56 Drilling Dimensions for SC6 Drive Controller [MM]
64
Length of Copper Rails
65
Fig. 17 Determination of the Correct Length of the Copper Rails
65
Tab. 57 Drilling Dimensions for Quick DC-Link DL6B [MM]
65
Installing the Drive Controller Without a Rear Section Module
66
Installing the DC Link Connection
67
Mounting the Drive Controller on the Rear Section Module
69
9 Connection
72
Safety Instructions for Connection
72
Line Routing
72
Protective Measures
73
Power Grid Supply in Case of Parallel Connection
73
Line Fuse
74
Tab. 58 Recommended Maximum Line Fuse in Stand-Alone Operation
74
Tab. 59 Recommended Line Fuse in Parallel Connection
75
Grid Connection in Case of Parallel Connection
76
Residual Current Protective Device
76
Housing Grounding
77
Fig. 18 Connection of the Grounding Conductor
77
EMC Recommendations
78
Tab. 60 Minimum Cross-Section of the Grounding Conductor
78
Drive Controller
79
Overview
79
Fig. 19 Connection Overview Using the Example of the SC6A162
79
X2A: Brake a
80
Tab. 61 X2A Connection Description, Brake a
80
Tab. 62 Maximum Cable Length of the Power Cable [M]
80
X2A: Motor Temperature Sensor a
81
X2B: Brake B
81
X2B: Motor Temperature Sensor B
81
Tab. 63 X2A Connection Description, Motor Temperature Sensor a
81
Tab. 64 Maximum Cable Length of the Power Cable [M]
81
X4A: Encoder a
82
Tab. 65 X4A Connection Description for Endat 2.2 Digital Encoders and SSI Encoders
82
Tab. 66 X4A Connection Description for Differential TTL and Differential HTL Incremental Encoders (HTL Via HT6 Adapter)
83
Tab. 67 X4A Connection Description for Resolvers
83
Tab. 68 X4A Connection Description for HIPERFACE DSL Encoders
84
X4B: Encoder B
85
X9: Ethernet Service Interface
85
Tab. 71 AP6A00 Connection Description for Resolver (9-Pin to 15-Pin)
85
Tab. 72 X9 Connection Description
85
Tab. 73 Cable Length [M]
85
X10: 400 V Supply
86
Tab. 74 Cable Requirements
86
Tab. 75: X10 Connection Description, Size 0
86
Tab. 76: X10 Connection Description, Size 1 and 2
86
X11: 24 V Supply
87
Tab. 77 Control Unit Electrical Data
87
Tab. 78 X11 Connection Description
87
Tab. 79 Cable Length [M]
87
X12: Safety Technology (Option SR6)
88
Tab. 80 X12 Connection Description
88
Tab. 81 Cable Length [M]
88
X20A: Motor a
89
Tab. 82 X20A Connection Description, Size 0
89
Tab. 83 X20A Connection Description, Sizes 1 and 2
89
Tab. 84 Maximum Cable Length of the Power Cable [M]
89
X20B: Motor B
90
X21: Braking Resistor
90
Tab. 85 X21 Connection Description, Size 0
90
Tab. 86 X21 Connection Description, Sizes 1 and 2
90
X22: DC Link Connection
91
Tab. 87 X22 Connection Description, Size 0
91
Tab. 88 X22 Connection Description, Sizes 1 and 2
91
X101: Be1 - Be4
92
Tab. 69 Cable Length [M]
92
Tab. 89 X101 Connection Description for Binary Signals
92
Tab. 90 X101 Connection Description for Single-Ended HTL Incremental Signals, Axis a
92
Tab. 91 X101 Connection Description for Single-Ended HTL Pulse/Direction Signals, Axis a
92
Tab. 92 Cable Length [M]
92
X103: Be6 - Be9
93
Tab. 93 X103 Connection Description for Binary Signals
93
Tab. 94 X103 Connection Description for Single-Ended HTL Incremental Signals, Axis B
93
Tab. 95 X103 Connection Description for Single-Ended HTL Pulse/Direction Signals, Axis B
93
X200, X201: Ethercat
94
Tab. 96 Cable Length [M]
94
Tab. 97 X200 and X201 Connection Description
94
X200, X201: Profinet
95
Tab. 98 X200 and X201 Connection Description
95
X300: Brake 24 V Supply
96
X700: SD Slot
96
Tab. 99 Electrical Data of the Control Unit Brake Control
96
Tab. 100 X300 Connection Description
96
Tab. 101 Cable Length [M]
96
Connecting a Drive Controller
97
Braking Resistor
99
FZMU, FZZMU Connection Description
99
Fig. 20 FZMU Connection Overview
99
Fig. 21 FZZMU Connection Overview
99
Tab. 102 FZMU, FZZMU Connection Description
99
Tab. 103 FZMU, FZZMU, FZZMQU Conductor Cross-Section
99
GVADU, GBADU Connection Description
100
Cables
100
Tab. 104 GVADU, GBADU Connection Description
100
Power Cables
101
Tab. 105 Maximum Cable Length of the Power Cable [M]
101
Tab. 106 Con.15 Power Cable Pin Assignment
102
Tab. 107 Con.15 Connector Dimensions
102
Tab. 108 Con.23 Power Cable Pin Assignment
102
Tab. 109 Con.23 Connector Dimensions
102
Tab. 110 Con.40 Power Cable Pin Assignment
103
Tab. 111 Con.40 Connector Dimensions
103
Encoder Cables
104
Tab. 112 Con.15 Encoder Cable Pin Assignment, Endat 2.1/2.2 Digital
105
Tab. 113 Con.15 Connector Dimensions
105
Tab. 114 Con.17 Encoder Cable Pin Assignment, Endat 2.1/2.2 Digital
106
Tab. 115 Con.17 Connector Dimensions
106
Tab. 116 Con.23 Encoder Cable Pin Assignment, Endat 2.1/2.2 Digital
107
Tab. 117 Con.23 Dimensions
108
Tab. 118 Con.23 Encoder Cable Pin Assignment, SSI
108
Tab. 119 Con.23 Dimensions
108
Tab. 120 Con.23 Encoder Cable Pin Assignment, Incremental HTL
109
Tab. 121 Con.23 Dimensions
109
Tab. 122 Con.15 Encoder Cable Pin Assignment, Resolver
111
Tab. 123 Con.15 Connector Dimensions
111
Tab. 124 Con.17 Encoder Cable Pin Assignment, Resolver
112
Tab. 125 Con.17 Connector Dimensions
112
Tab. 126 Con.23 Encoder Cable Pin Assignment
113
Tab. 127 Con.23 Dimensions
113
One Cable Solution
114
Tab. 128 Con.23 Hybrid Cable Pin Assignment
115
Tab. 129 Con.23 Connector Dimensions
115
Tab. 130 Con.40 Hybrid Cable Pin Assignment
115
Tab. 131 Con.40 Connector Dimensions
115
10 Commissioning
116
Initiating the Project
117
Projecting the Drive Controller and Axis
117
Configuring Safety Technology
118
Creating Other Modules and Drive Controllers
118
Specifying a Module
119
Specifying the Project
119
Mechanical Drive Model
119
Parameterizing the STOBER Motor
120
Parameterizing the Axis Model
120
Testing the Project Configuration
123
11 Communication
125
Direct Connection
125
Fieldbus
125
12 Diagnostics
126
Drive Controller
126
Fig. 22 Positions of the Diagnostic Leds on the Front and Top of the Drive Controller
126
Fieldbus State
127
Fig. 23 Leds for the Ethercat State
127
Tab. 132 Meaning of the Red LED (Error)
127
Tab. 133 Meaning of the Green LED (Run)
127
Fig. 24 Leds for the PROFINET State
128
Tab. 134 Meaning of the Red LED (BF)
128
Tab. 135 Meaning of the Green LED (Run)
128
Fsoe State
129
Fig. 25 LED for the Fsoe State
129
Tab. 136 Meaning of the Green LED (Fsoe Status Indicator in Accordance with IEC 61784-3)
129
Drive Controller State
130
Fig. 26 Leds for the State of the Drive Controller
130
Tab. 137 Meaning of the Green LED (Run)
130
Tab. 138 Meaning of the Red Leds (Error)
130
Tab. 139 States of the LEDS When Starting the Drive Controller
130
Tab. 140 States of the Leds When Using an SD Card to Transfer a Firmware File
131
Tab. 141 States of the Leds after Transferring a Firmware File and Restarting the Drive Controller
131
Service Network Connection
132
Fig. 27 Leds for the State of the Service Network Connection
132
Tab. 142 Meaning of the Green LED (Link)
132
Fieldbus Network Connection
133
Fig. 28 Leds for the State of the Ethercat Network Connection
133
Fig. 29 Leds for the State of the PROFINET Network Connection
134
Events
135
Overview
135
Event 31: Short/Ground
137
Event 32: Short/Ground Internal
137
Event 33: Overcurrent
138
Event 34: Hardware Fault
139
Event 35: Watchdog
139
Event 36: High Voltage
140
Event 37: Motor Encoder
140
Event 38: Temperature Drive Controller Sensor
143
Event 39: Overtemperature Drive Controller I2T
144
Event 40: Invalid Data
145
Event 41: Temp.motortmp
146
Event 42: Tempbrakeres
147
Event 44: External Fault 1
148
Event 45: Overtemp.motor I2T
149
Event 46: Low Voltage
150
Event 47: Torque Limit
151
Event 50: Safety Module
152
Event 51: Virtual Master Limit Switch
153
Event 52: Communication
154
Event 53: Limit Switch
155
Event 54: Following Error
156
Event 56: Overspeed
157
Event 57: Runtime Usage
158
Event 59: Overtemperature Drive Controller I2T
159
Event 60: Application Event 0 - Event 67: Application Event 7
160
Event 68: External Fault 2
161
Event 69: Motor Connection
162
Event 70: Parameter Consistency
163
Event 71: Firmware
164
Event 72: Brake Test Timeout
165
Event 76: Position Encoder
166
Event 77: Master Encoder
169
Event 78: Position Limit Cyclic
171
Event 79: Motor / Position Monitor
172
Event 80: Illegal Action
173
Event 81: Motor Allocation
173
Event 83: Failure of One/ All Phases (Mains)
174
Event 84: Drop in Network Voltage When Power Section Active
175
Event 85: Excessive Jump in Reference Value
176
Event 86: Unknown Leanmotor Record
177
Event 87: Reference Lostreference Loss
178
Event 88: Control Panel
179
Event 89: Maximum Current Lm
180
13 Replacement
181
Safety Instructions for Device Replacement
181
Replacing the Drive Controller
181
Updating Firmware
183
Replacing or Updating Firmware Using DS6
183
Updating Firmware Using an SD Card
184
Changing the Fieldbus
184
14 Service
185
Information about the Product
185
STOBER Electronics Service
185
Reverse Documentation
186
Creating Reverse Documentation in a New Project
186
Loading Reverse Documentation in an Existing Project
186
15 Appendix
188
Overview
188
Bldf 5.08 180 Sn
190
Ispc 5 -Stgcl-7,62
192
Wiring Examples
193
Stand-Alone Operation with Direct Brake Control
193
Fig. 30 Wiring Example with Direct Brake Control
193
Parallel Connection
194
Fig. 31 Wiring Example with Quick DC-Link
194
Device Addressing
195
Drivecontrolsuite
196
System Requirements
196
Installation Types
196
Installing Software
197
Structure of the Program Interface
198
Fig. 32 Drivecontrolsuite: Program Interface
198
Updates
199
Fig. 33 Drivecontrolsuite: Navigation Using Text Links and Symbols
199
Communication Requirements
200
Configuring Virtual Machines
201
Detailed Information
202
Symbols in Formulas
203
Abbreviations
205
16 Contact
207
Consultation, Service and Address
207
Your Opinion Is Important to Us
207
Close to Customers Around the World
208
Glossary
209
List of Figures
212
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Commissioning Instructions
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Stober SR6 Specifications
General
Brand
Stober
Model
SR6
Category
Controller
Language
English
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