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
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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

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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
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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.

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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.

S-DIAS STEPPER MOTOR OUTPUT STAGE ST 151
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2.2 Disclaimer
INFORMATION
The contents of this operating manual were prepared with the greatest
care. However, deviations cannot be ruled out. This operating manual
is regularly checked and required corrections are included in the sub-
sequent versions. The machine manufacturer is responsible for the
proper assembly, as well as device configuration. The machine opera-
tor is responsible for safe handling, as well as proper operation.
The current operating manual can be found on our website. If neces-
sary, contact our support.
Subject to technical changes, which improve the performance of the
devices. The following operating manual is purely a product descrip-
tion. It does not guarantee properties under the warranty.
Please thoroughly read the corresponding documents and this operat-
ing manual before handling a product.
SIGMATEK GmbH & Co KG is not liable for damages caused
through, non-compliance with these instructions or applicable
regulations.

ST 151 S-DIAS STEPPER MOTOR OUTPUT STAGE
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2.3 General Safety Directives
The Safety Directives in the other sections of this operating manual must be observed. These
instructions are visually emphasized by symbols.
INFORMATION
According to EU Directives, the operating manual is a component of a
product.
This operating manual must therefore be accessible in the vicinity of
the machine since it contains important instructions.
This operating manual should be included in the sale, rental or transfer
of the product, or its online availability indicated.
Regarding the requirements for Safety and health connected to the use
of machines, the manufacturer must perform a risk assessment in ac-
cordance with machine directives 2006/42/EG before introducing a ma-
chine to the market.
Operate the unit with devices and accessories approved by
SIGMATEK only.

S-DIAS STEPPER MOTOR OUTPUT STAGE ST 151
05.12.2023 Page 11
CAUTION
Handle the device with care and do not drop or let fall.
Prevent foreign bodies and fluids from entering the device.
The device must not be opened!
Manipulez l’appareil avec précaution et ne le laissez pas tomber.
Empêchez les corps étrangers et les liquides de pénétrer dans l’appa-
reil.
L’appareil ne doit pas être ouvert!
If the device does not function as intended or has damage that could
pose a danger, it must be replaced!
En cas de fonctionnement non conforme ou de dommages pouvant en-
traîner des risques, l'appareil doit être remplacé!
The module complies with EN 61131-2.
In combination with a facility, the system integrator must comply with
EN 60204-1 standards.
For your own safety and that of others, compliance with the environ-
mental conditions is essential.
Le module est conforme à la norme EN 61131-2.
En combinaison avec une équipement, l’intégrateur de système doit
respecter la norme EN 60204-1.
Pour votre propre sécurité et celle des autres, le respect des conditions
environnementales est essential.

ST 151 S-DIAS STEPPER MOTOR OUTPUT STAGE
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2.4 Designated Use
The Safety functions implemented in the product are designed for use with safety applications
in a SIGMATEK control and meet the required conditions for safe operation according to SIL
3, HFT 1 n compliance with EN 62061 and according to PL e, Kat. 4 in compliance with EN
ISO 13849-1.
CAUTION
The instructions contained in this operating manual must be followed.
For error-free operation, proper transport and storage are essential.
Installation, mounting, programming, initial start-up, operation, mainte-
nance and decommissioning can only be performed by qualified per-
sonnel.
Qualified personnel in this context are people, who have completed
training or have trained under supervision of qualified personnel and
have been authorized to operate and maintain safety-related equip-
ment, systems and facilities in compliance with the strict directives and
standards of safety technology (Functional Safety).
Les instructions contenues dans ce manuel technique doivent être sui-
vies.
Pour un fonctionnement sans erreur, le transport et le stockage appro-
priés sont essentiels.
L’installation, le montage, la programmation, la mise en service initiale,
l’exploitation, la maintenance et la mise hors service ne peuvent être
effectués que par une personne qualifiée.
Dans ce contexte, on entend par personnel qualifié les personnes qui
ont suivi une formation ou qui ont été formées sous la supervision d’un
personnel qualifié et qui ont été autorisées à utiliser et à entretenir
l’équipement, les systèmes et les installations de sécurité conformé-
ment aux directives et aux normes strictes de la technique de sécurité
(Sécurité fonctionnelle).
For your own safety and that of others, the product should be used for
their designated purpose only.
Correct EMC installation is also included under designated use.
Pour votre propre sécurité et celle des autres, le produit ne doivent être
utilisés qu’à des fins prévues.

S-DIAS STEPPER MOTOR OUTPUT STAGE ST 151
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Une installation CEM correcte est également incluse dans l’utilisation
prévue.
Non-designated use consists of:
•any changes made to the module or the use of damaged mod-
ules.
•use of the module inconsistent with the technical margins de-
scribed in this operating manual or the specifications defined in
the technical data.
L'utilisation non désignée consiste en:
•toute modification apportée au module ou l'utilisation des mo-
dules endommagés.
•utilisation du module non conforme aux marges techniques dé-
crites dans ce manuel ou aux spécifications définies dans les
données techniques.
Before delivering the module, the machine manufacturer must ensure
that it is in “delivery condition”. See chapter Transport/Storage for more
information.
Avant de livrer le module, le constructeur de la machine doit s'assurer
qu'il est en "état de livraison". Voir le chapitre Transport/Storage pour
plus d’informations.
2.5 Software/Training
The application is created with the software LASAL CLASS 2 and LASAL SCREEN Editor,
the Safety application is created using the SAFETYDesigner. Basic information on Safety
(Functional Safety) can be found in the Safety System Handbook.
Training for the LASAL development environment, with which the product can be configured,
is provided. Information on our training schedule can be found on our website.

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3 Standards and Directives
3.1 Residual Risks
CAUTION
The following residual risks for the product must be included in the sys-
tem integrator's risk assessment:
•Release of non-environmentally safe substances, emissions
and unusual temperatures
•Possible effects of information technology devices
Les risques résiduels suivants pour le produit doivent être inclus dans
l'évaluation des risques de l'intégrateur de système:
•Libération de substances non respectueuses de l'environne-
ment, émissions et températures inhabituelles
•Effets possibles des dispositifs de technologie de l'information
3.2 Safety of the Machine or Equipment
INFORMATION
Observe all on-site rules and regulations for accident prevention and
occupational safety.
3.3 Directives
The product was constructed in compliance with the following European Union directives and
tested for conformity.

S-DIAS STEPPER MOTOR OUTPUT STAGE ST 151
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3.3.1 Functional Safety Standards
EN IEC 62061 - Safety of machinery - Functional safety of safety-related control systems
EN ISO 13849-1 - Safety of machinery —Safety-related parts of control systems —Part 1:
General principles for design
EN ISO 13849-2 - Safety of machinery —Safety-related parts of control systems —Part 2:
Validation
3.3.2 EU Conformity Declaration
EU Declaration of Conformity
The product ST 151 conforms to the following European directives:
•2006/42/EG Machine Directive
•2014/30/EU Electromagnetic Compatibility (EMC Directive)
•2011/65/EU “Restricted use of certain hazardous substances in
electrical and electronic equipment” (RoHS Directive)
The EU Conformity Declarations are provided on the SIGMATEK website.
See Products/Downloads or use the search function and the keyword “EU
Declaration of Conformity”.
3.4 Safety-Relevant Parameters
Safety parameters for 2-channel application of the ST 151
Safety Parameters
Safety Levels
EN 62061
PFHD= 4.99E-08 (1/h)
SFF = 91.92 %
SIL 3
EN ISO 13849-1
MTTFD= 3498 years
DC = 99.12 %
PL e / Cat. 4
3.5 Compatibility
INFORMATION
Compatibility
For compatibility of the S-DIAS Safety modules, see section "Compati-
bility of S-DIAS Safety Modules" in the system handbook.

ST 151 S-DIAS STEPPER MOTOR OUTPUT STAGE
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4 Type Plate
HW: Hardware version
SW: Software version

S-DIAS STEPPER MOTOR OUTPUT STAGE ST 151
05.12.2023 Page 17
5 Technical Data
5.1 Stepper Motor Output Specifications
Number of phases
2
Output voltage
dependent on the supply (18-55 V)
Current controller frequency
maximum 32 kHz
Output current
maximum 5 A RMS
Output current over the environ-
mental temperature
maximum 5 A continuous current at 45 °C
maximum 3 A continuous current at 55 °C
DC-link capacitance
10 µF
Operating modes
step frequency mode
Step resolution
full step, half step 1)
4-/8-/16-/32-/64x micro step
Voltage measurement
15-70 V
with an under voltage < 15 V or over voltage > 70 V, the motor output is
shut down through the hardware.
Temperature measurement
0-125 °C
with temperature warning at 103 °C
with temperature warning at 108 °C
1) In the operation modes half and micro step, the current amplitude is raised by a factor of √2. With this current
increase, nearly 95% of the full step torque and in micro step mode, 100% of full step torque is achieved. In half
step mode, the current increase must be activated through the software.
INFORMATION
Note on frequency resonance
Operating a stepper motor in the stepper frequency default mode can
lead to resonance in certain frequency ranges. This is indicated by loss
or torque reduction => the stepper motor loses steps. This phenome-
non is a result of the stepper motor construction and depends on the
load. The problem can be minimized or avoided by half or micro step
operation.

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5.2 Brake Chopper Specifications
Number
1
Output
GND switching
Maximum current
6 A 1)
Short-circuit protection
yes
Regen resistor
External power resistor
Regen resistor switching thresh-
old on/off
60 V/55 V
1) Regen braking must be dimensioned according to the application. For most applications, a 15 Ω/100 W resistor is
sufficient. If multiple motor modules are drivenwith one intermediate circuit supply, it is possible to equip only one
module with regen braking. The recommended regen resistor is available at SIGMATEK under the article number
20-014-061-Z1.
WARNING
Hot surface warning!
Physical contact poses a burn hazard!
During operation, the surface of the brake resistor can become very
hot and remain so for some time after operation.
Avertissement de surface chaude
Le contact physique pose un risque de brûlure
Pendant le fonctionnement, la surface de la résistance de freinage
peut devenir très chaude et le rester pendant un certain temps après le
fonctionnement.