Stober SC6 Series Training manual

SC6 drive controller
Commissioning instructions
en-US
11/2017
ID 442793.00
stober.com

Table of contents STÖBER
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Table of contents
1 Foreword .............................................................................................................................. 5
2 User information.................................................................................................................. 6
2.1 Storage and transfer .....................................................................................................6
2.2 Described product type.................................................................................................6
2.3 Timeliness.....................................................................................................................6
2.4 Original language..........................................................................................................6
2.5 Limitation of liability.......................................................................................................6
2.6 Formatting conventions ................................................................................................7
2.6.1 Use of symbols............................................................................................... 7
2.6.2 Markup of text elements ................................................................................. 8
2.7 Symbols, markings and test marks...............................................................................9
2.8 Trademarks.................................................................................................................10
3 General safety instructions .............................................................................................. 11
3.1 Directives and standards ............................................................................................11
3.2 Qualified personnel.....................................................................................................11
3.3 Intended use ...............................................................................................................12
3.4 Transport and storage ................................................................................................12
3.5 Operational environment and operation .....................................................................12
3.6 Working on the machine .............................................................................................13
3.7 Disposal ......................................................................................................................13
4 Drive controller technical data ......................................................................................... 14
4.1 General technical data................................................................................................14
4.2 Electrical data .............................................................................................................15
4.2.1 Control unit ................................................................................................... 15
4.2.2 Power unit: Size 0......................................................................................... 15
4.2.3 Power unit: Size 1......................................................................................... 17
4.2.4 Power unit: Size 2......................................................................................... 18
5 Storage ............................................................................................................................... 20
5.1 Drive controller............................................................................................................20
5.1.1 Annual reforming .......................................................................................... 20
5.1.2 Reforming before commissioning................................................................. 21
6 Installation.......................................................................................................................... 23
6.1 Safety instructions for installation ...............................................................................23
6.2 Basic assembly instructions........................................................................................23
6.3 Minimum clearances...................................................................................................25

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6.4 Drilling diagram and dimensions.................................................................................26
6.5 Length of copper rails .................................................................................................27
6.6 Installing the drive controller without a rear section module .......................................28
6.7 Installing the DC link connection.................................................................................29
6.8 Mounting the drive controller on the rear section module...........................................30
7 Connection......................................................................................................................... 31
7.1 Safety instructions for connection...............................................................................31
7.2 Line routing .................................................................................................................32
7.3 Protective measures ...................................................................................................32
7.3.1 Line fuse....................................................................................................... 32
7.3.2 Residual current protective device ............................................................... 34
7.3.3 Housing grounding ....................................................................................... 36
7.3.4 EMC recommendations................................................................................ 37
7.4 Drive controller............................................................................................................38
7.4.1 Overview....................................................................................................... 38
7.4.2 X2A: Motor holding brake A.......................................................................... 39
7.4.3 X2A: Motor temperature sensor A................................................................ 40
7.4.4 X2B: Motor holding brake B.......................................................................... 40
7.4.5 X2B: Motor temperature sensor B................................................................ 40
7.4.6 X4A: Encoder A............................................................................................ 41
7.4.7 X4B: Encoder B............................................................................................ 46
7.4.8 X9: Ethernet service interface ...................................................................... 46
7.4.9 X10: 400V supply ........................................................................................ 47
7.4.10 X11: 24V supply .......................................................................................... 48
7.4.11 X12: Safety technology................................................................................. 49
7.4.12 X20A: Motor A .............................................................................................. 50
7.4.13 X20B: Motor B .............................................................................................. 51
7.4.14 X21: Braking resistor .................................................................................... 51
7.4.15 X22: DC link connection ............................................................................... 52
7.4.16 X101: BE1 – BE4.......................................................................................... 52
7.4.17 X103: BE6 – BE9.......................................................................................... 54
7.4.18 X200, X201: EtherCAT................................................................................. 55
7.4.19 X200, X201: PROFINET............................................................................... 56
7.4.20 X300: Brake 24V supply.............................................................................. 57
7.4.21 X700: SD slot................................................................................................ 58
7.4.22 Connecting a drive controller........................................................................ 58
8 Commissioning.................................................................................................................. 60
8.1 Initiating the project.....................................................................................................60
8.1.1 Projecting the drive controller and axis......................................................... 60
8.1.2 Creating other modules and drive controllers............................................... 62
8.1.3 Specifying a module ..................................................................................... 62
8.1.4 Specifying the project ................................................................................... 63

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8.2 Mapping the mechanical drive model .........................................................................63
8.2.1 Parameterizing a STOBER motor ................................................................ 64
8.2.2 Parameterizing the axis model ..................................................................... 64
8.3 Testing the project configuration.................................................................................67
9 Appendix ............................................................................................................................ 69
9.1 Wiring examples .........................................................................................................69
9.1.1 Stand-alone operation with direct brake control ........................................... 69
9.2 Detailed information....................................................................................................70
9.3 Symbols in formulas ...................................................................................................71
9.4 Abbreviations .............................................................................................................. 72
Glossary ............................................................................................................................. 73

STÖBER 1 | Foreword
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1 Foreword
The compact stand-alone SC6 drive controller allows for sensorless control of STOBER LM
series Lean motors. These motors provide energy efficiency at the performance level of a
synchronous servo motor. With higher efficiency than that required for comparable IE4
asynchronous motors, they also guarantee investment protection. However, the SC6 can also
be used in combination with asynchronous motors and synchronous servo motors, such as the
STOBER EZ series, as well as with encoders. The SC6 drive controller is available in three
sizes with a nominal output current of up to 19A: sizes 0 and 1 as a double-axis controller, size
2 as a single-axis controller.
Features
§Sensorless position control by STOBER Lean motors
§Control of rotary synchronous servo motors, asynchronous motors and torque motors
§HIPERFACE DSL One Cable Solution
§Electronic motor nameplate via HIPERFACE DSL or EnDat 2.2 digital encoder interface
§Integrated EtherCAT or PROFINET communication
§STO safety technology using terminals or STO and SS1 using FSoE (Safety over
EtherCAT): PLe/SIL3
§Integrated holding brake activation
§Single-ended load on double-axis controllers for operation of motors with different power
§Energy supply over DC link connection

2 | User information STÖBER
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2 User information
This documentation covers the SC6 drive controller. You will receive support for the assembly of
the individual modules along with the associated components that you will need to operate the
drive controllers in the control cabinet.
You will also find information on wiring the modules correctly and checking their functionality in
the group with an initial test.
More information on project configuration and diagnostics can be found in the manual for the
SC6 drive controller; see the chapter Detailed information [}70].
Information
To ensure proper functionality, we recommend using cables from STOBER that are matched to
the complete system. In case of use of unsuitable connection cables, we reserve the right to
reject claims under the warranty.
2.1 Storage and transfer
As this documentation contains important information for handling the product safely and
efficiently, it must be stored in the immediate vicinity of the product until product disposal and be
accessible to qualified personnel at all times.
Also pass on this documentation if the product is transferred or sold to a third party.
2.2 Described product type
This documentation is binding for:
SC6 drive controller in conjunction with the
DriveControlSuite software V 6.3-A or higher and associated firmware V 6.3-A or higher.
2.3 Timeliness
Check whether this document is the most up-to-date version of the documentation. We provide
the latest document versions for our products for download on our website:
http://www.stoeber.de/en/download.
2.4 Original language
The original language of this documentation is German; all other language versions are derived
from the original language.
2.5 Limitation of liability
This documentation was created taking into account the applicable standards and regulations
as well as the current state of technology.
STOBER shall assume no responsibility for damage resulting from failure to comply with the
documentation or from use that deviates from the intended use of the product. This is especially
true for damage caused by individual technical modifications to the product or projecting and
operation of the product by unqualified personnel.

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2.6 Formatting conventions
Orientation guides in the form of signal words, symbols and special text markups are used to
emphasize specific information so that you are able identify it in this documentation quickly.
2.6.1 Use of symbols
Safety instructions are identified with the following symbols. They indicate special risks when
handling the product and are accompanied by relevant signal words that identify the extent of
the risk. In addition useful tips and recommendations for efficient and faultless operation are
specially highlighted.
ATTENTION!
Notice
This indicates that damage to property may occur
▪ if the stated precautionary measures are not taken.
CAUTION!
Caution
This word with a warning triangle indicates that minor personal injury may occur
▪ if the stated precautionary measures are not taken.
WARNING!
Warning
This word with a warning triangle means there may be a considerable risk of fatal injury
▪ if the stated precautionary measures are not taken.
DANGER!
Danger
This word with a warning triangle indicates that there is a considerable risk of fatal injury
▪ if the stated precautionary measures are not taken.
Information
Information indicates important information about the product or serves to emphasize a section
in the documentation that deserves special attention from the reader.

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2.6.2 Markup of text elements
Certain elements of the continuous text are distinguished as follows.
Quick DC-Link module Words or expressions with a special meaning
Detailed information Internal cross-reference
http://www.stoeber.de External cross-reference
Software and display indicators
The following formatting is used to identify the various information content of elements
referenced by the software interface or the drive controller display, as well as any user entries.
Main menu
Settings
Window names, dialog names, page names or buttons,
combined proper nouns, functions referenced by the
interface
Select
Referencing method A
Predefined entry
Save your
<own IP address>
User-defined entry
EVENT 52:
COMMUNICATION
Display indicators (status, messages, warnings, faults)
for status information referenced by the interface
Keyboard shortcuts and command sequences or paths are represented as follows.
[CTRL], [CTRL] + [S] Key, shortcut
Table > Insert table Navigation to menus/submenus (path specification)
Interpretation of parameter identification
Parameter identification consists of the following elements, where short forms are also possible,
i.e. only specifying a coordinate or the combination of coordinate and name.
E50 Drive controller G6 0
Coordinate
Name
Version
Drive controller
generation/series

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2.7 Symbols, markings and test marks
The following symbols, markings and test marks are used in this document.
Grounding symbol
Grounding symbol in accordance with IEC 60417-5019
(DB:2002-10).
RoHS lead-free marking
Marking in accordance with RoHS directive 2011-65-EU.
CE mark
Manufacturer's self declaration: The product meets the
requirements of EU directives.
UL mark
This product is listed by UL for the United States and Canada.
Representative samples of this product have been evaluated by
UL and meet the requirements of applicable standards.
UL test marks for recognized components
This component or material is recognized by UL. Representative
samples of this product have been evaluated by UL and meet
applicable requirements.

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2.8 Trademarks
The following names used in connection with the device, its optional equipment and its
accessories are trademarks or registered trademarks of other companies:
EnDat®EnDat® and the EnDat® logo are registered trademarks of Dr.
Johannes Heidenhain GmbH, Traunreut, Germany.
EtherCAT®,
Safety over EtherCAT®,
TwinCAT®
EtherCAT®, Safety over EtherCAT® and TwinCAT® are registered
trademarks of patented technologies licensed by Beckhoff
Automation GmbH, Verl, Germany.
HIPERFACE®HIPERFACE® and the HIPERFACE DSL® logo are registered
trademarks of SICK STEGMANN GmbH, Donaueschingen,
Germany.
PLCopen®PLCopen® is a registered trademark of the PLCopen
Organisation, Gorinchem, Netherlands.
PROFIBUS®,
PROFINET®
The PROFIBUS and the PROFINET logo are registered
trademarks of PROFIBUS Nutzerorganisation e.V., Karlsruhe,
Germany.
speedtec®, springtec®speedtec® and springtec® are registered trademarks of
Intercontec Pfeiffer Industrie-Steckverbindungen GmbH, 94559
Niederwinkling, Germany.
All other trademarks not listed here are the property of their respective owners.
Products that are registered as trademarks are not specially indicated in this documentation.
Existing property rights (patents, trademarks, protection of utility models) are to be observed.

STÖBER 3 | General safety instructions
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3 General safety instructions
There are risks associated with the product described in this documentation that can be
prevented by complying with the described warning and safety instructions as well as the
included technical rules and regulations.
3.1 Directives and standards
The following European directives and standards are relevant to the product specified in this
documentation:
§Machinery Directive 2006/42/EC
§Low Voltage Directive 2014/35/EU
§EMC Directive 2014/30/EU
§EN 61326-3-1:2008
§EN 61800-3:2004 and A1:2012
§EN 61800-5-1:2007
§EN 61800-5-2:2007
§EN 50178:1997
§IEC 61784-3:2010
Subsequent references to the standards do not specify the respective year in order to improve
readability.
3.2 Qualified personnel
In order to be able to perform the tasks described in this documentation, the persons instructed
to perform them must have the appropriate professional qualification and be able to assess the
risks and residual hazards when handling the products. For this reason, all work on the products
as well as their operation and disposal may be performed only by professionally qualified
personnel.
Qualified personal are persons who have acquired authorization to perform these tasks either
through training to become a specialist and/or instruction by specialists.
Furthermore, valid regulations, legal requirements, applicable basic rules, this documentation
and the safety instructions included in it must be carefully read, understood and observed.

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3.3 Intended use
As defined by DIN EN 50178, SC6 drive controllers are electrical devices operating as power
electronics to control the flow of energy in high-voltage systems.
They are intended solely for the operation of STOBER LM series Lean motors, synchronous
servo motors (e.g. from the STOBER EZ series), asynchronous motors or torque motors.
The connection of other electronic loads constitutes improper use.
3.4 Transport and storage
Inspect the delivery for any transport damage immediately after you receive it. Notify the
transport company of any damage immediately. Do not put a damaged product into operation.
To ensure the faultless and safe operation of the products, they must be professionally set up,
installed, operated and maintained. If you have to transport or store the products, you must
protect them from mechanical impacts and vibrations as well as observe the recommended
transport and storage conditions in the technical data.
Store the products in a dry and dust-free room if you do not install them immediately.
3.5 Operational environment and operation
The products are subject to sales restrictions in accordance with IEC 61800-3.
The products are not designed for use in a public low-voltage network that supplies residential
areas. Radio-frequency interference can be expected if the products are used in this type of
network.
The products are designed exclusively for operation in TN networks.
The products are intended exclusively for installation in control cabinets with at least protection
class IP54.
Always operate the products within the limits specified by the technical data.
The following applications are prohibited:
§Use in potentially explosive atmospheres
§Use in environments with harmful substances as specified by EN 60721, such as oils, acids,
gases, vapors, dust and radiation
Implementation of the following applications is permitted only after approval from STOBER:
§Use in non-stationary applications
§The use of active components (drive controllers, supply modules, energy recovery units or
discharge units) from third-party manufacturers

STÖBER 3 | General safety instructions
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The drive controller is exclusively intended for operation in TN networks and only suitable for
use in supply grids. At 480VAC, the drive controllers are permitted to supply a maximum
symmetrical nominal short-circuit current in accordance with the following table:
Size Max. symm. nominal short-circuit current
Size 0 – Size 2 5000A
Tab. 1: Maximum symmetrical nominal short-circuit current of the drive controller
3.6 Working on the machine
Apply the 5 safety rules in the order stated before performing any work on the machine:
§Disconnect (also ensure that the auxiliary circuits are disconnected).
§Protect against being turned on again.
§Check that voltage is not present.
§Ground and short circuit.
§Cover adjacent live parts.
Information
Note that the you can only determine that voltage is no longer present once the discharge time
has elapsed. The discharge time depends on the self-discharge of the drive controller. You can
find the discharge time in the general technical data.
3.7 Disposal
Observe the current national and regional regulations when disposing of the product! Dispose of
the individual product parts depending on their properties, e.g. as:
§Electronic waste (circuit boards)
§Plastic
§Sheet metal
§Copper
§Aluminum
§Battery

4 | Drive controller technical data STÖBER
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4 Drive controller technical data
This chapter contains the general technical data and the electrical data for the SC6 drive
controller. Additional technical data on the drive controller and accessories can be found in the
manual; see the chapter Detailed information [}70].
4.1 General technical data
The following specifications apply to all drive controller types.
Device features
Protection class of the device IP20
Protection class of the
installation space
At least IP54
Radio interference suppression Integrated line filter in accordance with EN 61800-3:2012,
interference emission class C3
Overvoltage category III in accordance with EN 61800-5-1:2008
Test symbols
Tab. 2: Device features
Transport and storage conditions
Storage/
transport temperature
−20°C to +70°C
Maximum change: 20K/h
Relative humidity Maximum relative humidity 85%, non-condensing
Vibration (transport) in
accordance with DIN
EN60068-2-6
5Hz ≤ f ≤ 9Hz: 3.5mm
9Hz ≤ f ≤ 200Hz: 10m/s²
200Hz ≤ f ≤ 500Hz: 15m/s²
Tab. 3: Transport and storage conditions
Operating conditions
Surrounding temperature
during operation
0°C to 45°C with nominal data
45°C to 55°C with derating −2.5%/K
Relative humidity Maximum relative humidity 85%, non-condensing
Installation altitude 0m to 1000m above sea level without restrictions
1000m to 2000m above sea level with −1.5%/100m
derating
Pollution degree Pollution degree 2 in accordance with EN 50178
Ventilation Installed fan
Vibration (operation) in
accordance with DIN EN
60068-2-6
5Hz ≤ f ≤ 9Hz: 0.35mm
9Hz ≤ f ≤ 200Hz: 1m/s²
Tab. 4: Operating conditions

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Discharge times
Self-discharge of DC
intermediate circuit
5min
Tab. 5: Discharge times of the DC link circuit
4.2 Electrical data
The electrical data of the available SC6 sizes as well as the properties of the brake chopper can
be found in the following sections.
Information
Direct, repeat activation of the supply voltage is possible for cyclical line on/line off operation in
the event that charging capacity is not increased.
An explanation of the symbols used for formulas can be found in Chapter Symbols in formulas.
4.2.1 Control unit
Electrical data All types
U1CU 24VDC, +20%/−15%
I1maxCU 0.5A
Tab. 6: Control unit electrical data
4.2.2 Power unit: Size 0
Electrical data SC6A062
U1PU 3 × 400 VAC, +32% / −50%, 50/60 Hz;
3 × 480 VAC, +10% / −58%, 50/60 Hz
f2PU 0 – 700 Hz
U2PU 0 – max. U1PU
CPU 270µF
CmaxPU 1400µF
Tab. 7: SC6 electrical data, size 0
The maximum charging capacity depends on the time between energizing two devices:
Information
If a time span of ≥ 15min is maintained between energizing two devices, the maximum charging
capacity CmaxPU increases to 1880μF.

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Nominal currents up to +45°C (in the control cabinet)
Electrical data SC6A062
fPWM,PU 4kHz
I1N,PU 10A
I2N,PU 2×4,5A
I2maxPU 210% for 2s
Tab. 8: SC6 electrical data, size 0, for 4kHz clock frequency
Electrical data SC6A062
fPWM,PU 8 kHz
I1N,PU 8,9A
I2N,PU 2×4A
I2maxPU 250% for 2s
Tab. 9: SC6 electrical data, size 0, for 8kHz clock frequency
Electrical data SC6A062
UonCH 780–800 VDC
UoffCH 740–760VDC
R2minRB 100Ω
PmaxRB 6.4kW
PeffRB 2.9kW
Tab. 10: Brake chopper electrical data, size 0

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4.2.3 Power unit: Size 1
Electrical data SC6A162
U1PU 3 × 400 VAC, +32% / −50%, 50/60 Hz;
3 × 480 VAC, +10% / −58%, 50/60 Hz
f2PU 0 – 700 Hz
U2PU 0 – max. U1PU
CPU 940µF
CmaxPU 1400µF
Tab. 11: SC6 electrical data, size 1
Information
If a time span of ≥ 15min is maintained between energizing two devices, the maximum charging
capacity CmaxPU increases to 1880μF.
Nominal currents up to +45°C (in the control cabinet)
Electrical data SC6A162
fPWM,PU 4kHz
I1N,PU 23,2A
I2N,PU 2×10A
I2maxPU 210% for 2s
Tab. 12: SC6 electrical data, size 1, for 4kHz clock frequency
Electrical data SC6A162
fPWM,PU 8 kHz
I1N,PU 20,9A
I2N,PU 2×9A
I2maxPU 250% for 2s
Tab. 13: SC6 electrical data, size 1, for 8kHz clock frequency

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Electrical data SC6A162
UonCH 780–800 VDC
UoffCH 740–760VDC
R2minRB 47Ω
PmaxRB 13.6kW
PeffRB 6.2kW
Tab. 14: Brake chopper electrical data, size 1
4.2.4 Power unit: Size 2
Electrical data SC6A261
U1PU 3 × 400 VAC, +32% / −50%, 50/60 Hz;
3 × 480 VAC, +10% / −58%, 50/60 Hz
f2PU 0 – 700 Hz
U2PU 0 – max. U1PU
CPU 940µF
CmaxPU 1400µF
Tab. 15: SC6 electrical data, size 2
Information
If a time span of ≥ 15min is maintained between energizing two devices, the maximum charging
capacity CmaxPU increases to 1880μF.
Nominal currents up to +45°C (in the control cabinet)
Electrical data SC6A261
fPWM,PU 4kHz
I1N,PU 22,6A
I2N,PU 19A
I2maxPU 210% for 2s
Tab. 16: SC6 electrical data, size 2, for 4kHz clock frequency

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Electrical data SC6A261
fPWM,PU 8 kHz
I1N,PU 17,9A
I2N,PU 15A
I2maxPU 250% for 2s
Tab. 17: SC6 electrical data, size 2, for 8kHz clock frequency
Electrical data SC6A261
UonCH 780–800 VDC
UoffCH 740–760VDC
R2minRB 47Ω
PmaxRB 13.6kW
PeffRB 6.2kW
Tab. 18: Brake chopper electrical data, size 2

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5 Storage
Store the products in a dry and dust-free room if you do not install them immediately.
Observe the Transport and storage conditions [}14] specified in the technical data.
5.1 Drive controller
The DC link capacitors can lose their electrical strength due to long storage times.
ATTENTION!
Material damage due to reduced electrical strength!
Reduced electrical strength can cause considerable material damage when switching on the
drive controller.
▪ Reform drive controllers in storage annually or before commissioning.
5.1.1 Annual reforming
To prevent damage to stored drive controllers, STOBER recommends connecting stored
devices to the supply voltage once per year for one hour.
The following graphics show the basic line connection for 3-phase devices.
X10
L1
F1
PE
L1 L2
T1 PE
L3
L2 L3
L1–L3 Lines 1 to 3
N Neutral conductor
PE Grounding conductor
F1 Fuse
T1 Drive controller