EPA digitax st User manual

User Guide
AC variable speed drive
for servo motors

Original Instructions
For the purposes of compliance with the EU Machinery Directive 2006/42/EC:
General Information
The manufacturer accepts no liability for any consequences resulting from inappropriate, negligent or incorrect installation or
adjustment of the optional operating parameters of the equipment or from mismatching the variable speed drive with the motor.
The contents of this guide are believed to be correct at the time of printing. In the interests of a commitment to a policy of continuous
development and improvement, the manufacturer reserves the right to change the specification of the product or its performance, or
the contents of the guide, without notice.
All rights reserved. No parts of this guide may be reproduced or transmitted in any form or by any means, electrical or mechanical
including photocopying, recording or by an information storage or retrieval system, without permission in writing from the publisher.
Drive software version
This product is supplied with the latest software version. If this drive is to be connected to an existing system or machine, all drive
software versions should be verified to confirm the same functionality as drives of the same model already present. This may also
apply to drives returned from an Emerson Industrial Automation Service Centre or Repair Centre. If there is any doubt please contact
the supplier of the product.
The software version of the drive can be checked by looking at Pr 11.29 and Pr 11.34. This takes the form of xx.yy.zz where Pr 11.29
displays xx.yy and Pr 11.34 displays zz. (e.g. for software version 01.01.00, Pr 11.29 = 1.01 and Pr 11.34 displays 0).
Environmental statement
Emerson Industrial Automation is committed to minimising the environmental impacts of its manufacturing operations and of its
products throughout their life cycle. To this end, we operate an Environmental Management System (EMS) which is certified to the
International Standard ISO 14001. Further information on the EMS, our Environmental Policy and other relevant information is
available on request, or can be found at:
http://www.emersonindustrial.com/en-EN/controltechniques/aboutus/environment/Pages/environment.aspx
The electronic variable-speed drives manufactured by Emerson Industrial Automation have the potential to save energy and (through
increased machine/process efficiency) reduce raw material consumption and scrap throughout their long working lifetime. In typical
applications, these positive environmental effects far outweigh the negative impacts of product manufacture and end-of-life disposal.
Nevertheless, when the products eventually reach the end of their useful life, they must not be discarded but should instead be
recycled by a specialist recycler of electronic equipment. Recyclers will find the products easy to dismantle into their major component
parts for efficient recycling. Many parts snap together and can be separated without the use of tools, while other parts are secured
with conventional fasteners. Virtually all parts of the product are suitable for recycling.
Product packaging is of good quality and can be re-used. Large products are packed in wooden crates, while smaller products come
in strong cardboard cartons which themselves have a high recycled fibre content. If not re-used, these containers can be recycled.
Polythene, used on the protective film and bags for wrapping product, can be recycled in the same way. Emerson Industrial
Automations' packaging strategy prefers easily-recyclable materials of low environmental impact, and regular reviews identify
opportunities for improvement.
When preparing to recycle or dispose of any product or packaging, please observe local legislation and best practice.
REACH legislation
EC Regulation 1907/2006 on the Registration, Evaluation, Authorisation and restriction of Chemicals (REACH) requires the supplier
of an article to inform the recipient if it contains more than a specified proportion of any substance which is considered by the European
Chemicals Agency (ECHA) to be a Substance of Very High Concern (SVHC) and is therefore listed by them as a candidate for
compulsory authorisation.
For current information on how this requirement applies in relation to specific Emerson Industrial Automations’ products, please
approach your usual contact in the first instance. Emerson Industrial Automations’ position statement can be viewed at:
www.emersonindustrial.com/en-EN/controltechniques/aboutus/environment/reachregulation/Pages/reachregulation.aspx.
Copyright © September 2015 Emerson Industrial Automation.
The information contained in this guide is for guidance only and does not form part of any contract. The accuracy cannot be guaranteed
as Emerson have an ongoing process of development and reserve the right to change the specification of their products without notice.
Control Techniques Limited. Registered Office: The Gro, Newtown, Powys SY16 3BE. Registered in England and Wales. Company
Reg. No. 01236886.
Moteurs Leroy-Somer SAS. Headquarters: Bd Marcellin Leroy, CS 10015, 16915 Angoulême Cedex 9, France. Share Capital: 65 800
512 €, RCS Angoulême 338 567 258.
Issue Number: 5
Software: 01.06.00 onwards
For patent and intellectual property related information please go to: www.ctpatents.info.

How to use this guide
This User Guide provides information for operating the drive from start to finish.
The information is in logical order, taking the reader from receiving the drive through to fine tuning the performance.
There are specific safety warnings throughout this guide, located in the relevant sections. In addition, Chapter 1 Safety
Information on page 6 contains general safety information. It is essential that the warnings are observed and the
information considered when working with or designing a system using the drive.
This map of the user guide helps to find the right sections for the task you wish to complete:
NOTE
1 Safety information
2 Product information
3 Mechanical installation
4 Electrical installation
5 Getting started
6 Basic parameters
7 Running the motor
8 Optimization
9 SMARTCARD operation
11 Advanced parameters
12 Technical data
13 Diagnostics
14 UL listing information
10 Onboard PLC

4Digitax ST User Guide
Issue: 5
Contents
1 Safety Information .................................6
1.1 Warnings, Cautions and Notes .............................6
1.2 Electrical safety - general warning ........................6
1.3 System design and safety of personnel ................6
1.4 Environmental limits ..............................................6
1.5 Access ...................................................................6
1.6 Fire protection .......................................................6
1.7 Compliance with regulations .................................6
1.8 Motor .....................................................................6
1.9 Mechanical brake control ......................................6
1.10 Adjusting parameters ............................................6
1.11 Electrical installation ..............................................6
2 Product information ..............................8
2.1 Introduction ...........................................................8
2.2 Drive ratings ..........................................................8
2.3 Drive model numbers ............................................9
2.4 Drive nameplate description ..................................9
2.5 Features of the drive ...........................................10
2.6 Options ................................................................11
2.7 Items supplied with the drive ...............................14
3 Mechanical installation .......................15
3.1 Safety information ...............................................15
3.2 Planning the installation ......................................15
3.3 Solutions Module / keypad installation / removal 16
3.4 Drive dimensions .................................................17
3.5 External EMC filter rating ....................................18
3.6 Optional braking resistor .....................................19
3.7 Terminal torque settings ......................................20
3.8 Routine maintenance ..........................................20
4 Electrical installation ...........................21
4.1 Power terminal connections ................................22
4.2 Ground connections ............................................23
4.3 AC supply requirements ......................................23
4.4 DC bus design .....................................................24
4.5 DC drive voltage levels .......................................24
4.6 Ratings ................................................................25
4.7 Output circuit and motor protection .....................25
4.8 Braking ................................................................26
4.9 Ground leakage ...................................................27
4.10 EMC (Electromagnetic compatibility) ..................28
4.11 Internal and external conducted emissions
conformity ............................................................30
4.12 Serial communications connections ....................31
4.13 Control connections ............................................32
4.14 Control terminals .................................................34
4.15 Encoder connections ...........................................37
4.16 Encoder terminals ...............................................38
4.17 Safe Torque Off ...................................................42
5 Getting started .................................... 43
5.1 User interfaces ................................................... 43
5.2 CT Soft ............................................................... 43
5.3 SYPTPro (Indexer & Plus only) .......................... 43
5.4 EZMotion PowerTools Pro ................................. 43
5.5 Keypad operation ............................................... 44
5.6 Understanding the display .................................. 44
5.7 Displaying parameters with non-default
values only ......................................................... 47
5.8 Displaying destination parameters only ............. 47
5.9 Communications ................................................ 47
6 Basic parameters ................................ 49
6.1 Single line descriptions ...................................... 49
6.2 Full descriptions ................................................. 54
7 Running the motor .............................. 60
7.1 Quick start Connections ..................................... 60
7.2 Quick Start set-up .............................................. 64
7.3 Setting up a feedback device ............................. 65
7.4 Setting up a buffered encoder output ................. 68
8 Optimization ........................................ 69
8.1 Motor map parameters ....................................... 69
9 EtherCAT interface ............................. 72
9.1 Features ............................................................. 72
9.2 What is EtherCAT? ............................................ 72
9.3 EtherCAT interface information .......................... 72
9.4 EtherCAT interface terminal descriptions ........... 72
9.5 Module grounding .............................................. 72
9.6 Network topology ............................................... 72
9.7 Minimum node-to-node cable length .................. 72
9.8 Quick start guide ................................................ 72
9.9 Quick start flowchart ........................................... 74
9.10 Saving parameters to the drive .......................... 75
9.11 EtherCAT interface Node address ..................... 75
9.12 EtherCAT interface RUN .................................... 75
9.13 Re-initializing the EtherCAT interface ................ 75
9.14 Process Data Objects (PDOs) ........................... 75
9.15 Service Data Object (SDO) parameter access .. 75
9.16 CANopen over EtherCAT (CoE) ........................ 76
9.17 Ethernet over EtherCAT (EoE) ........................... 80
9.18 Drive profile (DSP-402) support ......................... 81
9.19 Interpolated position mode ................................. 87
9.20 vl velocity mode .................................................. 88
9.21 Profile torque mode ............................................ 90
9.22 Homing mode ..................................................... 91
9.23 Cyclic sync position mode .................................. 94
9.24 Advanced features ............................................. 94
9.25 Advanced cyclic data configuration .................... 96
9.26 Internal shortcuts ................................................ 97
9.27 Quick reference .................................................. 98

Digitax ST User Guide 5
Issue: 5
10 SMARTCARD Operation ...................101
10.1 Introduction .......................................................101
10.2 Transferring data ...............................................102
10.3 Data block header information ..........................104
10.4 SMARTCARD parameters ................................104
10.5 SMARTCARD trips ...........................................106
11 Onboard PLC .....................................108
11.1 Onboard PLC and SYPTLite .............................108
11.2 Benefits .............................................................108
11.3 Limitations .........................................................108
11.4 Getting started ..................................................108
11.5 Onboard PLC parameters .................................108
11.6 Onboard PLC trips ............................................109
11.7 Onboard PLC and the SMARTCARD ...............109
12 Advanced parameters .......................110
12.1 Menu 1: Speed reference .................................116
12.2 Menu 2: Ramps .................................................120
12.3 Menu 3: Speed feedback and control ...............124
12.4 Menu 4: Torque and current control ..................127
12.5 Menu 5: Motor control .......................................130
12.6 Menu 6: Sequencer and clock ..........................133
12.7 Menu 7: Analog I/O ...........................................135
12.8 Menu 8: Digital I/O ............................................138
12.9 Menu 9: Programmable logic, motorized
pot, binary sum and timers ................................141
12.10 Menu 10: Status and trips .................................144
12.11 Menu 11: General drive set-up .........................146
12.12 Menu 12: Threshold detectors, variable
selectors and brake control function .................147
12.13 Menu 13: Position control .................................152
12.14 Menu 14: User PID controller ............................156
12.15 Menus 15 and 16: Solutions Module set-up ......159
12.16 Menu 17: Motion processors .............................160
12.17 Menu 18: Application menu 1 ...........................163
12.18 Menu 19: Application menu 2 ...........................163
12.19 Menu 20: Application menu 3 ...........................163
12.20 Menu 21: Second motor parameters ................164
12.21 Menu 22: Additional Menu 0 set-up ..................165
12.22 Advanced features ............................................166
13 Technical Data ...................................173
13.1 Drive technical data ..........................................173
13.2 Optional external EMC filters ............................182
13.3 Overall EMC filter dimensions ...........................182
14 Diagnostics ........................................183
14.1 Trip indications ..................................................183
14.2 Alarm indications ...............................................198
14.3 Status indications ..............................................199
14.4 EtherCAT Diagnostics .......................................199
14.5 Network configuration objects ...........................200
14.6 Diagnostic parameters ......................................200
14.7 Drive trip display codes .....................................200
14.8 EtherCAT interface temperature .......................201
14.9 EtherCAT interface serial number .....................201
14.10 EtherCAT interface error codes ........................201
14.11 Error handling ...................................................201
14.12 Critical task % free ............................................203
14.13 SDO abort codes ..............................................203
14.14 FLASH file system % free .................................203
15 UL listing information .......................204
15.1 Common UL information ...................................204
15.2 AC supply specification .....................................204
15.3 Maximum continuous output current .................204
15.4 Common DC bus ..............................................204
15.5 DC Supplied drive .............................................205
15.6 UL listed accessories ........................................205

Safety
Information
Product
information
Mechanical
installation
Electrical
installation
Getting
started
Basic
parameters
Running the
motor Optimization EtherCAT interface
SMARTCARD
Operation
Onboard
PLC
Advanced
parameters
Technical
Data Diagnostics UL listing information
6Digitax ST User Guide
Issue: 5
1 Safety Information
1.1 Warnings, Cautions and Notes
A Note contains information which helps to ensure correct operation of
the product.
1.2 Electrical safety - general warning
The voltages used in the drive can cause severe electrical shock and/or
burns, and could be lethal. Extreme care is necessary at all times when
working with or adjacent to the drive.
Specific warnings are given at the relevant places in this guide.
1.3 System design and safety of personnel
The drive is intended as a component for professional incorporation into
complete equipment or a system. If installed incorrectly, the drive may
present a safety hazard.
The drive uses high voltages and currents, carries a high level of stored
electrical energy, and is used to control equipment which can cause
injury.
Close attention is required to the electrical installation and the system
design to avoid hazards either in normal operation or in the event of
equipment malfunction. System design, installation, set-up and
maintenance must be carried out by personnel who have the necessary
training and experience. They must read this safety information and this
guide carefully.
The STOP and Safe Torque Off functions of the drive do not isolate
dangerous voltages from the output of the drive or from any external
option unit. The supply must be disconnected by an approved electrical
isolation device before gaining access to the electrical connections.
With the sole exception of the Safe Torque Off function, none of the
drive functions must be used to ensure safety of personnel, i.e.
they must not be used for safety-related functions.
Careful consideration must be given to the functions of the drive which
might result in a hazard, either through their intended behavior or
through incorrect operation due to a fault. In any application where a
malfunction of the drive or its control system could lead to or allow
damage, loss or injury, a risk analysis must be carried out, and where
necessary, further measures taken to reduce the risk - for example, an
over-speed protection device in case of failure of the speed control, or a
fail-safe mechanical brake in case of loss of motor braking.
The Safe Torque Off function has been approved by IFA as meeting the
requirements of the following standards, for the prevention of
unexpected starting of the drive:
EN 61800-5-2:2007 SIL 3
EN ISO 13849-1:2006 PL e
EN 954-1:1997 Category 3 (This standard is withdrawn and
should not be used for new designs, information provided for legacy
applications only).
The Safe Torque Off function may be used in a safety-related
application. The system designer is responsible for ensuring that the
complete system is safe and designed correctly according to the
relevant safety standards.
1.4 Environmental limits
Instructions regarding transport, storage, installation and use of the drive
must be complied with, including the specified environmental limits.
Drives must not be subjected to excessive physical force.
1.5 Access
Access must be restricted to authorized personnel only. Safety
regulations which apply at the place of use must be complied with.
1.6 Fire protection
The drive enclosure is not classified as a fire enclosure. A separate fire
enclosure must be provided. For details regarding fire protection please
refer to section 3.2.5 Fire protection on page 15.
1.7 Compliance with regulations
The installer is responsible for complying with all relevant regulations,
such as national wiring regulations, accident prevention regulations and
electromagnetic compatibility (EMC) regulations. Particular attention
must be given to the cross-sectional areas of conductors, the selection
of fuses or other protection, and protective ground (earth) connections.
Within the European Union, all machinery in which this product is used
must comply with the following directives:
2006/42/EC: Safety of machinery.
2004/108/EC: Electromagnetic Compatibility.
1.8 Motor
Ensure the motor is installed in accordance with the manufacturer’s
recommendations. Ensure the motor shaft is not exposed.
The values of the motor parameters set in the drive affect the protection
of the motor. The default values in the drive should not be relied upon.
It is essential that the correct value is entered in Pr 0.46 motor rated
current. This affects the thermal protection of the motor.
1.9 Mechanical brake control
The brake control functions are provided to allow well co-ordinated
operation of an external brake with the drive. While both hardware and
software are designed to high standards of quality and robustness, they
are not intended for use as safety functions, i.e. where a fault or failure
would result in a risk of injury. In any application where the incorrect
operation of the brake release mechanism could result in injury,
independent protection devices of proven integrity must also be
incorporated.
1.10 Adjusting parameters
Some parameters have a profound effect on the operation of the drive.
They must not be altered without careful consideration of the impact on
the controlled system. Measures must be taken to prevent unwanted
changes due to error or tampering.
1.11 Electrical installation
1.11.1 Electric shock risk
The voltages present in the following locations can cause severe electric
shock and may be lethal:
• AC supply cables and connections
• DC bus, dynamic brake cables and connections
• Output cables and connections
• Many internal parts of the drive, and external option units
Unless otherwise indicated, control terminals are single insulated and
must not be touched.
1.11.2 Isolation device
The AC supply must be disconnected from the drive using an approved
isolation device before any cover is removed from the drive or before
any servicing work is performed.
1.11.3 STOP function
The STOP function does not remove dangerous voltages from the drive,
the motor or any external option units.
A Warning contains information which is essential for
avoiding a safety hazard.
A Caution contains information which is necessary for
avoiding a risk of damage to the product or other equipment.
WARNING
CAUTION
NOTE

Safety
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Product
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Mechanical
installation
Electrical
installation
Getting
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Basic
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Running the
motor Optimization EtherCAT interface
SMARTCARD
Operation
Onboard
PLC
Advanced
parameters
Technical
Data Diagnostics UL listing information
Digitax ST User Guide 7
Issue: 5
1.11.4 Stored charge
The drive contains capacitors that remain charged to a potentially lethal
voltage after the AC supply has been disconnected. If the drive has been
energized, the AC supply must be isolated at least ten minutes before
work may continue.
Normally, the capacitors are discharged by an internal resistor. Under
certain, unusual fault conditions, it is possible that the capacitors may fail
to discharge, or be prevented from being discharged by a voltage
applied to the output terminals. If the drive has failed in a manner that
causes the display to go blank immediately, it is possible the capacitors
will not be discharged. In this case, consult Emerson Industrial
Automation or their authorized distributor.
1.11.5 Equipment supplied by plug and socket
Special attention must be given if the drive is installed in equipment
which is connected to the AC supply by a plug and socket. The AC
supply terminals of the drive are connected to the internal capacitors
through rectifier diodes which are not intended to give safety isolation. If
the plug terminals can be touched when the plug is disconnected from
the socket, a means of automatically isolating the plug from the drive
must be used (e.g. a latching relay).
1.11.6 Permanent magnet motors
Permanent magnet motors generate electrical power if they are rotated,
even when the supply to the drive is disconnected. If that happens then
the drive will become energized through its motor terminals.
If the motor load is capable of rotating the motor when the supply is
disconnected, then the motor must be isolated from the drive before
gaining access to any live parts.

Safety
Information
Product
information
Mechanical
installation
Electrical
installation
Getting
started
Basic
parameters
Running the
motor Optimization EtherCAT interface
SMARTCARD
Operation
Onboard
PLC
Advanced
parameters
Technical
Data Diagnostics UL listing information
8Digitax ST User Guide
Issue: 5
2 Product information
2.1 Introduction
The Digitax ST family of servo drives are available with five levels of
intelligence:
• Digitax ST Base
• Digitax ST Indexer
• Digitax ST Plus
• Digitax ST EZMotion
• Digitax ST EtherCAT
The Digitax ST Base drive operates in velocity or torque modes and is
designed to operate with a centralized motion controller or as a
standalone drive.
The Digitax ST Indexer drive performs point-to-point motion profiling
including relative, absolute, rotary plus, rotary minus, registration and
homing motion. The Digitax ST Indexer will operate as a single
standalone system controller. Alternatively, the Digitax ST Indexer can
form part of a distributed system where commands are sent over a
fieldbus or through digital input/output signals. The Digitax ST Indexer
drive is commissioned using a simple and easy to use indexing tool that
resides within CTSoft, a set-up tool for Emerson Industrial Automation
products.
The Digitax ST plus drive offers all the features available o the Digitax
ST Indexer drive with the addition of performing complex motion as a
single axis or synchronized to a reference axis. This offers digital lock
and electronic camming via a virtual master reference. The Digitax ST
Plus drive is commissioned using a simple and easy to use indexing tool
that resides within CT Soft, a set-up tool for Emerson Industrial
Automation products.
For more complex systems using the Digitax ST Indexer and Digitax ST
Plus drives, an export feature is available that allows the user to import
applications into SYPTPro for further development.
The Digitax ST EZMotion drive is part of the Motion Made Easy family of
servo drives and allows the user to create programs to sequence
motion, I/O control, and other machine operations in one environment.
Digitax ST EZMotion also supports advanced functions such as a
Position Capture Object, Multiple Profile Summation, Queuing, and
Program Multitasking.
The Digitax ST EtherCAT drive offers onboard EtherCAT allowing the
product to be connected to an EtherCAT network as a slave device. It
can be used in a variety of applications, including those requiring
accurate synchronization and precise motion control.
All variants provide a Safe Torque Off function.
Four documentation guides are available for Digitax ST, these cover all
variants:
All guides are available for download at:
http://www.emersonindustrial.com/en-EN/controltechniques/downloads/
userguidesandsoftware/Pages/downloads.aspx
or
www.emersonindustrial.com/en-EN/leroy-somer-motors-drives/
downloads/Pages/manuals.aspx
Installation Guide (packed with product)
• Designed to be used by an "Electrician/Wireman" installing the drive
(FIGS Available).
Technical Data Guide
• Designed as a reference guide for experienced drive users (FIGS
Available).
User Guide
• Designed as a step by step guide to help the user become familiar
with the product, and as a reference guide for experienced drive
users (FIGS Available).
Advanced User Guide
• In-depth parameter descriptions.
2.2 Drive ratings
The drive rating is limited by numerous systems which protect the power
stage hardware. (Rectifier, DC bus, inverter)
These systems come into operation under various extremes of operating
conditions. (I.e. ambient, supply imbalance, output power.)
2.2.1 Maximum ratings
Table 2-1 Maximum ratings
*The maximum rating information, in Table 2-1 above, for the 200 V
single phase supply, illustrates a 200 % overload capability. When the
Digitax ST 120x is used with a single phase supply it is possible to
achieve the three phase nominal current rating as long as the single
phase peak current rating is observed.
The rating information shown in section 2.3 Drive model numbers on
page 9 is based on the limitations of the drive output stage only.
The ratings are based on the following operating conditions:
• Ambient temperature = 40 °C
• Altitude = 1000 m
• Not exceeding power ratings
• DC bus voltage = 565 V for DST140X
• DC bus voltage = 325 V for DST120X
The sizing tool should be used to select a drive for a profile or condition
that is not given as an example in section 13.1.2 Typical pulse duty on
page 173.
Model No of input
phases
Nominal current
In
Peak current
IMAX
AA
DST1201 1 1.1* 2.2
DST1202 1 2.4* 4.8
DST1203 1 2.9* 5.8
DST1204 1 4.7* 9.4
DST1201 3 1.7 5.1
DST1202 3 3.8 11.4
DST1203 3 5.4 16.2
DST1204 3 7.6 22.8
DST1401 3 1.5 4.5
DST1402 3 2.7 8.1
DST1403 3 4.0 12.0
DST1404 3 5.9 17.7
DST1405 3 8.0 24.0

Safety
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Product
information
Mechanical
installation
Electrical
installation
Getting
started
Basic
parameters
Running the
motor Optimization EtherCAT interface
SMARTCARD
Operation
Onboard
PLC
Advanced
parameters
Technical
Data Diagnostics UL listing information
Digitax ST User Guide 9
Issue: 5
2.3 Drive model numbers
Each drive variant and rating has a unique model number.
Figure 2-1 Model code explanation
2.4 Drive nameplate description
The drive rating label provides the user with various details relating to the drive variant and rating.
Figure 2-2 Typical drive label
Model: Digitax ST
Frame size
Voltage rating
2:
4:
200V to 240V
380V to 480V
Current rating step
Variant
DST 1 2 01 B
B:
I:
P:
Z:
E:
Base
Indexer
Plus
EZMotion
EtherCAT
Model
3098-0010 2.2/5.1Apk 250ms
S/N: 3000005001
Serial
number
Rating
Please read the manual before connecting
Electric Shock Risk: Wait 10 mins
between disconnecting supply
and accessing terminals
UL file: E171230
Approvals
Approvals label
Designed in the U.K. Made in China
IND. CONTROL
EQUIPMENT
R
RoHS
Compliant
I/P 200-240V 50-60Hz 1/3ph 4.0/3.1A
O/P 0-240V 2.2/5.1Apk
Input
voltage
CT Model type Serial
number
Single/three phase
peak output current
Output voltage
ST 1.1A M/TL 3ph
Rating label
S/N: 3000005001 Single/three
phase input
current
Frequency
LS Model
type
CUS
8
R10
Date code
N1652

Safety
Information
Product
information
Mechanical
installation
Electrical
installation
Getting
started
Basic
parameters
Running the
motor Optimization EtherCAT interface
SMARTCARD
Operation
Onboard
PLC
Advanced
parameters
Technical
Data Diagnostics UL listing information
10 Digitax ST User Guide
Issue: 5
2.5 Features of the drive
Figure 2-3 Features of the drive
*
The Marker Tag (as shown in Figure 2-3 above), is where markers can be placed to identify a particular drive which can prove beneficial where several Digitax
ST drives are located in the same panel.
** A drive reset can be performed even when a keypad is not installed, by pressing the recessed reset button.
If the embedded interface is removed, the warranty for the drive will be void.
The drive is supplied with a SMARTCARD installed. Do not remove until after first power-up, as defaults are stored on the SMARTCARD.
Solutions
Module
slot 2
cover
Solutions
Module
slot 1
cover
Buffered
encoder output
Encoder In
connection
Motor
connections
Line to
ground
varistor
screw
AC supply
48V connection
(for low voltage
DC operation)
Braking
resistor
connections
SMARTCARD
slot
Serial port
connector
Control
terminals
Relay
terminal
Keypad
connection
EMC bracket
Ground
screw
EMC bracket
Ground
screw
Status LED
Marker tag
location
*
Internal
EMC
filter
screw
Rating
label
Approvals
label
Brake
resistor slot
Reset
button
**
Fan
Control cable
strain relief
Product
identifier
NOTE
NOTE
Be aware of possible live terminals when inserting the SMARTCARD.
WARNING
Static precautions must be taken when removing the Solutions Module slot covers.
CAUTION

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Getting
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Operation
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PLC
Advanced
parameters
Technical
Data Diagnostics UL listing information
Digitax ST User Guide 11
Issue: 5
2.6 Options
Figure 2-4 Options available with Digitax ST
* A SMARTCARD is provided as standard. For further information refer to Chapter 10 SMARTCARD Operation on page 101.
All Solutions Modules are color-coded in order to make identification easy. The following table shows the color-code key and gives further details on
their function.
Table 2-2 Solutions Module identification
SM-Keypad Plus
SMARTCARD*
DST Keypad
CT Comms
cable
External footprint/
bookcase EMC
filter
Internal
braking
resistor
Grounding
bracket
15-way
D-type
converter
I/O Expansion
Applications
Automation
Fieldbus
Feedback
Slot2
Slot1
*
Type Solutions Module Color Name Further Details
Feedback
Light Green SM-Universal
Encoder Plus
Universal Feedback interface
Feedback interface for the following devices:
Light Blue SM-Resolver
Resolver interface
Feedback interface for resolvers.
Simulated quadrature encoder outputs
Brown SM-Encoder Plus
Incremental encoder interface
Feedback interface for incremental encoders without
commutation signals.
No simulated encoder outputs available
Inputs Outputs
• Incremental encoders • Quadrature
• SinCos encoders • Frequency and direction
• SSI encoders • SSI simulated outputs
• EnDat encoders

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Feedback
Dark Brown SM-Encoder Output
Plus
Incremental encoder interface
Feedback interface for incremental encoders without
commutation signals.
Simulated encoder output for quadrature, frequency and
direction signals
N/A 15-way D-type
converter
Drive encoder input converter
Provides screw terminal interface for encoder wiring and spade
terminal for shield
N/A
Single ended
encoder interface
(15 V or 24 V)
Single ended encoder interface
Provides an interface for single ended ABZ or UVW encoder
signals, such as those from hall effect sensors. 15 V and 24 V
versions are available.
N/A ERN1387 Encoder
Interface Board
ERN1387 Encoder Interface Board
Provides an interface for Heidenhain ERN1387 and ERN487
SinCos encoder which use a single SinCos cycle per revolution
commutation track. A SM-Universal Encoder Plus module is
required to use this interface board.
Automation
(I/O
Expansion)
Yellow SM-I/O Plus
Extended I/O interface
Increases the I/O capability by adding the following to the
existing I/O in the drive:
Yellow SM-I/O 32
Extended I/O interface
Increase the I/O capability by adding the following to the
existing I/O in the drive:
• High speed digital I/O x 32
• +24 V output
Dark Yellow SM-I/O Lite
Additional I/O
1 x Analog input (±10 V bi-polar or current modes)
1 x Analog output (0-10 V or current modes)
3 x Digital input and 1 x Relay
Dark Red SM-I/O Timer
Additional I/O with real time clock
As per SM-I/O Lite but with the addition of a Real Time Clock
for scheduling drive running
Turquoise SM-I/O PELV
Isolated I/O to NAMUR NE37 specifications
For chemical industry applications
1 x Analog input (current modes)
2 x Analog outputs (current modes)
4 x Digital input / outputs, 1 x Digital input, 2 x Relay outputs
Olive SM-I/O 120V Additional I/O conforming to IEC 61131-2 120 Vac
6 digital inputs and 2 relay outputs rated for 120 Vac operation
Cobalt Blue SM-I/O 24V
Protected
Additional I/O with overvoltage protection up to 48 V
2 x Analog outputs (current modes)
4 x Digital input / outputs, 3 x Digital inputs, 2 x Relay outputs
Automation
(Applications)
Golden
brown SM-Register
Applications Processor
2nd processor for running position capture functionality with
CTNet support.
Type Solutions Module Color Name Further Details
• Digital inputs x 3 • Analog output (voltage) x 1
• Digital I/O x 3 • Relay x 2
• Analog inputs (voltage) x 2

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Table 2-3 Keypad identification
Fieldbus
Purple SM-PROFIBUS-DP-
V1
Profibus option
PROFIBUS DP adapter for communications with the drive
Medium Grey SM-DeviceNet DeviceNet option
Devicenet adapter for communications with the drive
Dark Grey SM-INTERBUS Interbus option
Interbus adapter for communications with the drive
Pink SM-CAN CAN option
CAN adapter for communications with the drive
Light Grey SM-CANopen CANopen option
CANopen adapter for communications with the drive
Red SM-SERCOS
SERCOS option
Class B compliant. Torque velocity and position control modes
supported with data rates (bit/sec): 2 MB, 4 MB, 8 MB and 16
MB.
Minimum 250 μsec network cycle time. Two digital high speed
probe inputs 1 μsec for position capture
Beige SM-Ethernet
Ethernet option
10 base-T / 100 base-T; Supports web pages, SMTP mail and
multiple protocols: DHCP IP addressing; Standard RJ45
connection
Pale Green SM-LON LonWorks option
LonWorks adapter for communications with the drive
Brown Red SM-EtherCAT EtherCAT option
EtherCAT adapter for communications with the drive
SLM Orange SM-SLM
SLM interface
The SM-SLM allows SLM feedback to be connected directly to
the Digitax ST drive and allows operation in either of the
following modes:
• Encoder only mode
• Host mode
Type Solutions Module Color Name Further Details
Type Keypad Name Further Details
Keypad
Digitax ST Keypad LED keypad option
Keypad with a LED display
SM-Keypad Plus Remote keypad option
Keypad with an alpha-numeric LCD display with Help function

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Table 2-4 Other options
2.7 Items supplied with the drive
The drive is supplied with the following items:
• Installation Guide
•SMARTCARD
• Safety Information booklet
• Certificate of Quality
An accessory box containing the items illustrated in Figure 2-5 is also provided.
Figure 2-5 Accessory box contents
Type Option Name Further details
EMC EMC Filters These additional filters are designed to operate together with the drive’s own
integral EMC filter in areas of sensitive equipment
Communications
CT Comms cable Cable with isolation RS232 to RS485 converter. For connecting PC/Laptop to
the drive when using the various interface software (e.g. CTSoft)
CTSoft Software for PC or Laptop which allows the user to commission and store
parameter settings.
SyPTLite Software for PC or Laptop which allows the user to program PLC functions
within the drive.
Both CTSoft and SyPTLite can be downloaded at: http://www.emersonindustrial.com/en-EN/
controltechniques/downloads/userguidesandsoftware/Pages/digitaxst.aspx
Internal braking
resistor Braking resistor Optional braking resistor 70R 50 W
SMARTCARD SMARTCARD Standard feature that enables simple configuration of parameters in a variety of
ways
Control
connectors
Relay
connector
Ground
screws
Cable
guides
Grounding
bracket
Ground
screws
Digitax ST
Plus
additional
connectors
123
Digitax ST
EtherCAT
additional
connector

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Issue: 5
3 Mechanical installation
This chapter describes how to use all mechanical details to install the
drive. The drive is intended to be installed in an enclosure. Key features
of this chapter include:
• Through-hole mounting
• IP54 as standard or through-panel mounting
• Enclosure sizing and layout
• Solutions Module installing
• Terminal location and torque settings
3.1 Safety information
3.2 Planning the installation
The following considerations must be made when planning the installation:
3.2.1 Access
Access must be restricted to authorized personnel only. Safety
regulations which apply at the place of use must be complied with.
3.2.2 Environmental protection
The drive must be protected from:
• moisture, including dripping water or spraying water and
condensation. An anti-condensation heater may be required, which
must be switched off when the drive is running.
• contamination with electrically conductive material
• contamination with any form of dust which may restrict the fan, or
impair airflow over various components
• temperature beyond the specified operating and storage ranges
• corrosive gasses
During installation it is recommended that the vents on the drive are
covered to prevent debris (e.g. wire off-cuts) from entering the drive.
3.2.3 Cooling
The heat produced by the drive must be removed without its specified
operating temperature being exceeded. Note that a sealed enclosure
gives much reduced cooling compared with a ventilated one, and may
need to be larger and/or use internal air circulating fans.
3.2.4 Electrical safety
The installation must be safe under normal and fault conditions.
Electrical installation instructions are given in Chapter 4 Electrical
installation on page 21.
3.2.5 Fire protection
The drive enclosure is not classified as a fire enclosure. A separate fire
enclosure must be provided.
For installation in the USA, a NEMA 12 enclosure is suitable.
For installation outside the USA, the following (based on IEC 62109-1,
standard for PV inverters) is recommended.
Enclosure can be metal and/or polymeric, polymer must meet
requirements which can be summarized for larger enclosures as using
materials meeting at least UL 94 class 5VB at the point of minimum
thickness.
Air filter assemblies to be at least class V-2.
The location and size of the bottom shall cover the area shown in Figure
3-1. Any part of the side which is within the area traced out by the 5°
angle is also considered to be part of the bottom of the fire enclosure.
Figure 3-1 Fire enclosure bottom layout
The bottom, including the part of the side considered to be part of the
bottom, must be designed to prevent escape of burning material - either
by having no openings or by having a baffle construction. This means
that openings for cables etc. must be sealed with materials meeting the
5VB requirement, or else have a baffle above. See Figure 3-2 for
acceptable baffle construction. This does not apply for mounting in an
enclosed electrical operating area (restricted access) with concrete floor.
Follow the instructions
The mechanical and electrical installation instructions must
be adhered to. Any questions or doubt should be referred to
the supplier of the equipment. It is the responsibility of the
owner or user to ensure that the installation of the drive and
any external option unit, and the way in which they are
operated and maintained, comply with the requirements of
the Health and Safety at Work Act in the United Kingdom or
applicable legislation and regulations and codes of practice in
the country in which the equipment is used.
Stored charge
The drive contains capacitors that remain charged to a
potentially lethal voltage after the AC supply has been
disconnected. If the drive has been energized, the AC
supply must be isolated at least ten minutes before work
may continue. Normally, the capacitors are discharged by an
internal resistor. Under certain, unusual fault conditions, it is
possible that the capacitors may fail to discharge, or be
prevented from being discharged by a voltage applied to the
output terminals. If the drive has failed in a manner that
causes the display to go blank immediately, it is possible the
capacitors will not be discharged. In this case, consult
Emerson Industrial Automation or their authorized
distributor.
Competence of the installer
The drive must be installed by professional assemblers who
are familiar with the requirements for safety and EMC. The
assembler is responsible for ensuring that the end product or
system complies with all the relevant laws in the country
where it is to be used.
Enclosure
The drive is intended to be mounted in an enclosure which
prevents access except by trained and authorized
personnel, and which prevents the ingress of contamination.
It is designed for use in an environment classified as
pollution degree 2 in accordance with IEC 60664-1. This
means that only dry, non-conducting contamination is
acceptable.
WARNING
WARNING
WARNING
WARNING
NOTE
Drive
5
o

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Figure 3-2 Fire enclosure baffle construction
3.2.6 Electromagnetic compatibility
Variable speed drives are powerful electronic circuits which can cause
electromagnetic interference if not installed correctly with careful
attention to the layout of the wiring.
Some simple routine precautions can prevent disturbance to typical
industrial control equipment.
If it is necessary to meet strict emission limits, or if it is known that
electromagnetically sensitive equipment is located nearby, then full
precautions must be observed. In-built into the drive, is an internal EMC
filter, which reduces emissions under certain conditions. If these
conditions are exceeded, then the use of an external EMC filter may be
required at the drive inputs, which must be located very close to the
drives. Space must be made available for the filters and allowance made
for carefully segregated wiring. Both levels of precautions are covered in
section 4.10 EMC (Electromagnetic compatibility) on page 28.
3.2.7 Hazardous areas
The drive must not be located in a classified hazardous area unless it is
installed in an approved enclosure and the installation is certified.
3.3 Solutions Module / keypad installation
/ removal
Figure 3-3 Installation of a Solutions Module
The protective tab from the Solutions Module slot must be removed
before attempting to install a Solutions Module.
Figure 3-4 Installation of a keypad
Power down the drive before installing / removing the
Solutions Module. Failure to do so may result in damage to
the product.
Be aware of possible live terminals when installing the
keypad.
Not less
th an 2 X B a ffle p la te s (m a y b e
above or below b ottom
of enclosure)
X
B o tto m of fire
enclosure
Not less
than 2
times ‘X’ Baffle plates (may be above or
below bottom of enclosure)
Bottom of fire enclosure
X
CAUTION
NOTE
WARNING

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Issue: 5
3.4 Drive dimensions
The drive complies with the requirements of IP20 as standard.
Figure 3-5 Dimensions
Figure 3-6 Ingress protective label
The ingress protective labels (shown on Figure 3-6 above) should
remain in place while the drive is mounted, and until all the electrical
wires have been connected. The labels should be removed before first
power up.
Figure 3-7 Minimum mounting clearances
*2 mm clearance between drives to allow for mechanical tolerance.
If Solutions Modules are installed, a larger clearance between drives will
be required if access to the modules is needed without removing the
drive.
Enclosure
The drive is intended to be mounted in an enclosure which prevents access except by trained and authorized personnel, and which
prevents the ingress of contamination. It is designed for use in an environment classified as pollution degree 2 in accordance with IEC
60664-1. This means that only dry, non-conducting contamination is acceptable.
WARNING
62mm
(2.44in)
249.7mm
(9.83in)
220mm (8.66in)
47mm
(1.85in)
7.5mm
(0.3in)
304mm
(11.96in)
292mm
(11.49in)
6mm
(0.24in)
∅ 5.4mm (0.21in)
M5
322mm
(12.68in)
226mm (8.9in)
226mm (8.9in)
229mm (9.02in)
Ingress protective labels
NOTE
100mm (4in)
100mm (4in)
*2mm (0.08in)
NOTE

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Digitax ST can be mounted using a DIN rail, either fixed at the top or the
bottom of the drive (as illustrated in Figure ). Two screws are required to
fix the drive to the backplate at the opposite end to the DIN rail.
Figure 3-8 DIN rail mounting
3.5 External EMC filter rating
Filter details for each drive rating are provided in the tables below.
Table 3-1 External EMC filter ratings
The external EMC filters can be footprint or bookcase mounted, see Figure 3-9 and Figure 3-10.
Figure 3-9 Bookcase mounting Figure 3-10 Footprint mounting
47mm (1.85in)
312.7mm
(12.31in)
Used with
Number
of
phases
Filter part number
Maximum
continuous
current
Power
losses
at rated
current IP
rating
Weight
Operational
leakage
current
Worst
case
leakage
current
Filter
terminal
tightening
torque
CT Schaffner
@40°C
(104°F)
A
@50°C
(122°F)
A
WKglbmAmANmlbft
DST120X 1 4200-6000 FS23072-19-07 19 17.3 11
20
1.2 2.64 29.5 56.9 0.8 0.6
DST120X 3 4200-6001 FS23073-17-07 17 15.5 13 1.2 2.64 8 50 0.8 0.6
DST140X 3 4200-6002 FS23074-11-07 11 10 10 1.2 2.64 16 90 0.8 0.6

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Figure 3-11 External EMC filter dimensions
Figure 3-11 shows a 3 phase filter. For a single phase filter, there are only 3 input terminals (L1, N, ground) and 3 output cables (L1, N, ground).
3.6 Optional braking resistor
3.6.1 Optional internal braking resistor
Figure 3-12 Installing an optional internal braking resistor (top view of drive)
1. Remove screws.
2. Remove grill.
3. Install the braking resistor shield.
4. Install the optional internal braking resistor in the slot provided (note the angle).
5. Electrically connect the braking resistor and thermistor (connections shown in Figure 4-1 Power terminal connections on page 22).
6. Re-install the grill and mounting screws by reversing the procedure in points 1 and 2.
3.6.2 Optional external braking resistor
If using an external braking resistor, the following Warning must be adhered to:
Braking resistor: High temperatures and overload protection
Braking resistors can reach high temperatures. Locate braking resistors so that damage cannot result. Use cable having insulation capable
of withstanding the high temperatures.
29mm (1.14in)
359mm (14.13in)
339mm (13.35in)
304mm (11.97in)
38mm
(1.50in)
61mm
(2.40in)
M5 M5
Torque settings of connector = 0.8 N m
∅ 5.3mm (M5)
(0.21in)
∅ 5.3mm (M5)
(0.21in)
4
2
1
Brake
connections
Thermistor
connection
3
56
WARNING

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3.7 Terminal torque settings
Table 3-2 Torque settings
*Torque tolerance = 10 %
Table 3-3 Plug-in terminal block maximum cable sizes
3.8 Routine maintenance
The drive should be installed in a cool, clean, well ventilated location.
Contact of moisture and dust with the drive should be prevented.
Regular checks of the following should be carried out to ensure drive /
installation reliability are maximized:
Terminals Torque setting*
Power terminals 1.0 N m (12.1 lb in)
Control terminals 0.2 N m (1.7 lb in)
Status relay terminals 0.5 N m (4.5 lb in)
Ground terminals 4 N m (35 lb in)
Small ground terminal screws 2 N m (17.7 lb in)
Model size Terminal block description Max cable size
All 11 way control connectors 1.5 mm2(16 AWG)
All 2 way relay connector 2.5 mm2(12 AWG)
Environment
Ambient
temperature
Ensure the enclosure temperature remains at or below
maximum specified
Dust
Ensure the drive remains dust free – check that the
heatsink and drive fan are not gathering dust. The
lifetime of the fan is reduced in dusty environments.
Moisture Ensure the drive enclosure shows no signs of
condensation
Enclosure
Enclosure
door filters Ensure filters are not blocked and that air is free to flow
Electrical
Screw
connections Ensure all screw terminals remain tight
Crimp
terminals
Ensure all crimp terminals remains tight – check for any
discoloration which could indicate overheating
Cables Check all cables for signs of damage