SIGMA TEK ST 151 User manual

ST 151
S-DIAS Stepper Motor Output
Stage
Instruction Manual
Date of creation: 23.10.2017
Version date: 05.12.2023
Article number: 20-014-151-E

Publisher: SIGMATEK GmbH & Co KG
A-5112 Lamprechtshausen
Tel.: [phone]
Fax : [phone]
Email: [email protected]
WWW.SIGMATEK-AUTOMATION.COM
Copyright © 2017
SIGMATEK GmbH & Co KG
Translation of the Original Instruction
All rights reserved. No part of this work may be reproduced, edited using an electronic system, duplicated or dis-
tributed in any form (print, photocopy, microfilm or in any other process) without the express permission.
We reserve the right to make changes in the content without notice. The SIGMATEK GmbH & Co KG is not responsible
for technical or printing errors in the handbook and assumes no responsibility for damages that occur through use
of this handbook.

S-DIAS STEPPER MOTOR OUTPUT STAGE ST 151
05.12.2023 Page 1
S-DIAS Stepper Motor Output Stage ST 151
with 1 stepper motor output stage 50 V/5 A
1 brake chopper
1 incremental encoder input RS422/TTL switchable
2 enable inputs +24 V/3.2 mA/0.5 ms with
STO function
2 latch/digital inputs+24 V/3.7 mA/10 µs
The S-DIAS stepper motor output stage allows the connection of
2-phase stepper motors with a phase current up to 5 A. In the
standard step frequency mode, the operating modes half step, full
step and micro step (up to 64x) is supported.
The integrated brake chopper provides the connection for an ex-
ternal regen resistor, with which excess energy generated by the
braking process of the motor can be dissipated.
The incremental encoder input, which supports RS422 as well as
TTL encoders, is provided for position feedback.
With both enable inputs, the safety function STO is implemented.
The 2 latch/digital inputs are provided for the reference motion and monitoring the end posi-
tions.
ST 151-X: main board and S-DIAS connectors coated in Purocoat (Certonal)

ST 151 S-DIAS STEPPER MOTOR OUTPUT STAGE
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Contents
1Introduction............................................................................. 6
1.1 Target Group/Purpose of this Operating Manual......................6
1.2 Important Reference Documentation .........................................6
1.3 Contents of Delivery.....................................................................6
2Basic Safety Guidelines......................................................... 7
2.1 Symbols Used...............................................................................7
2.2 Disclaimer......................................................................................9
2.3 General Safety Directives ..........................................................10
2.4 Designated Use...........................................................................12
2.5 Software/Training .......................................................................13
3Standards and Directives......................................................14
3.1 Residual Risks ............................................................................14
3.2 Safety of the Machine or Equipment ........................................14
3.3 Directives.....................................................................................14
3.3.1 Functional Safety Standards..............................................................15
3.3.2 EU Conformity Declaration................................................................15
3.4 Safety-Relevant Parameters......................................................15
3.5 Compatibility...............................................................................15
4Type Plate...............................................................................16
5Technical Data .......................................................................17
5.1 Stepper Motor Output Specifications.......................................17

S-DIAS STEPPER MOTOR OUTPUT STAGE ST 151
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5.2 Brake Chopper Specifications...................................................18
5.3 Incremental Encoder Input Specifications...............................19
5.4 STO Enable Input Specifications ..............................................20
5.5 Latch/Digital Input Specifications.............................................20
5.6 Electrical Requirements.............................................................21
5.7 Miscellaneous .............................................................................23
5.8 Environmental Conditions.........................................................23
6Mechanical Dimensions........................................................24
7Connector Layout..................................................................25
7.1 Status LEDs.................................................................................26
7.2 Applicable Connectors...............................................................27
7.3 Label Field...................................................................................28
8Wiring.....................................................................................29
8.1 Wiring Example...........................................................................29
8.2 Note..............................................................................................30
9Description of Functions......................................................31
9.1 Stepper Motor Output Stage Operating Modes.......................31
9.1.1 Full Step Mode.................................................................................. 31
9.1.2 Half Step Mode................................................................................. 31
9.1.3 Micro Step Mode............................................................................... 32
9.2 Stepper Motor Current Regulator..............................................33
9.3 Incremental Encoder ..................................................................35

ST 151 S-DIAS STEPPER MOTOR OUTPUT STAGE
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9.3.1 Signal Process “Count UP”................................................................35
9.3.2 Signal Process “Count DOWN” .........................................................35
9.3.3 Signal Process “Reference Pulse (Zero Position)” ............................35
9.3.4 Latch Function...................................................................................36
10 Additional Safety Information...............................................37
10.1 STO...............................................................................................39
10.2 Function.......................................................................................39
10.3 Function Test ..............................................................................40
11 Wiring Examples....................................................................41
11.1 Performance Level e, Category 4 or SIL 3 –Safety-SPS........41
11.2 Performance Level e, Category 3 or SIL 3 –Safety-SPS........43
11.3 Performance Level e, Category 4 or SIL 3 –Conventional.....45
11.4 Performance Level e, Category 2 or SIL 2 –Safety-SPS........47
12 Assembly/Installation............................................................49
12.1 Check Contents of Delivery.......................................................49
12.2 Mounting......................................................................................50
13 Transport/Storage..................................................................52
14 Storage ...................................................................................52
15 Maintenance...........................................................................53
15.1 Service.........................................................................................53
15.2 Repair...........................................................................................53

S-DIAS STEPPER MOTOR OUTPUT STAGE ST 151
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16 Disposal .................................................................................53
17 Hardware Class ST151..........................................................54
17.1 General.........................................................................................57
17.2 Incremental Encoder ..................................................................58
17.3 Digital Inputs 1 and 2..................................................................59
17.4 Stepper Motor..............................................................................60
17.5 Asynchronous Values................................................................64
17.5.1 Communication Interfaces ................................................................ 65
17.6 Global Methods...........................................................................66
17.6.1 StartMeasure .................................................................................... 66
17.6.2 GetMeasureState.............................................................................. 67
17.7 Internal Properties......................................................................67
17.7.1 Visual Object View............................................................................ 67
17.7.2 Default Mode..................................................................................... 68
17.7.3 Advanced Mode................................................................................ 69
17.7.4 Adaptive Micro Stepping................................................................... 70
17.7.5 Accepting Initial Values..................................................................... 73
17.7.6 Latching ............................................................................................ 73
17.7.7 Current Increase............................................................................... 74
17.7.8 Stall Current Reduction..................................................................... 75
17.7.9 Stepping Hysteresis.......................................................................... 75

ST 151 S-DIAS STEPPER MOTOR OUTPUT STAGE
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1 Introduction
1.1 Target Group/Purpose of this Operating Manual
This operating manual contains all information required for the operation of the product.
This operating manual is intended for:
•Project planners
•Technicians
•Commissioning engineers
•Machine operators
•Maintenance/test technicians
General knowledge of automation technology is required.
Further help and training information, as well as the appropriate accessories can be found on
our website www.sigmatek-automation.com.
Our support team is happily available to answer your questions.
Please see our website for our hotline number and business hours.
1.2 Important Reference Documentation
•Safety System Handbook
This and additional documents can be downloaded from our website or obtained through
support.
1.3 Contents of Delivery
1x ST 151

S-DIAS STEPPER MOTOR OUTPUT STAGE ST 151
05.12.2023 Page 7
2 Basic Safety Guidelines
2.1 Symbols Used
The following symbols are used in the operator documentation for warning and danger mes-
sages, as well as informational notes:
DANGER
Danger indicates that death or serious injury will occur, if the specified
measures are not taken.
To avoid death or serious injuries, observe all guidelines.
Danger indique une situation dangereuse qui, faute de prendre les me-
sures adéquates, entraînera des blessures graves, voire mortelles.
Respectez toutes les consignes pour éviter des blessures
graves, voire mortelles.
WARNING
Warning indicates that death or serious injury can occur, if the specified
measures are not taken.
To avoid death or serious injuries, observe all guidelines.
Avertissement d’une situation dangereuse qui, faute de prendre les
mesures adéquates, entraînera des blessures graves, voire mortelles.
Respectez toutes les consignes pour éviter des blessures
graves, voire mortelles.
CAUTION
Caution indicates that moderate to slight injury can occur, if the speci-
fied measures are not taken.
To avoid moderate to slight injuries, observe all guidelines.
Attention indique une situation dangereuse qui, faute de prendre les
mesures adéquates, peut entraîner des blessures assez graves ou lé-
gères.
Respectez toutes les consignes pour éviter des blessures
graves, voire mortelles.

ST 151 S-DIAS STEPPER MOTOR OUTPUT STAGE
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DANGER
•Electrical voltage
•Tension électrique
CAUTION
Danger for ESD-sensitive components.
Les signes de danger pour les composants sensibles aux décharges
électrostatiques.
INFORMATION
Information
Provides important information on the product, handling or rel-
evant sections of the documentation, which require attention.