SD6 Stober Servoregelaar Handleiding en

SD6
Manual
en 06/2015 442426.04
Table of contents
Manual SD6
Table of contents
1 General instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3
2 Safety information, UL-compliant use . . . . . . . . . . . . . . . . . . .10
3 Components of the drive system .. . . . . . . . . . . . . . . . . . . . . . .15
4 Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .27
5 Transportation and storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . .71
6 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .74
7 Connection .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .85
8 Basic properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .145
9 Drive controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .155
10 Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .208
11 Holding brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .229
12 Encoder .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .249
13 Mechanical drive model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .259
14 Communication .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .264
15 Optimize . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .295
16 Diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .363
ID 442426.04 WE KEEP THINGS MOVING 2

1 General instructions
Manual SD6
Overview of sections
1.1 About this manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4
1.2 Further documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5
1.3 Further support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5
1.4 Directives and norms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5
1.5 Abbreviations, formula symbols and indices . . . . . . . . . . . . . .6
1.6 Symbols, identifiers, marks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8
1.7 Licenses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9

Manual SD6
The new SD6 drive controller offers maximum precision and productivity for Original version
automation technology and machine manufacturing despite ever more The original version of this manual is in German.
complex functions. Highly dynamic drives ensure the shortest recovery times
from fast changes in reference value and load jumps. You also have the option This documentation applies to the following devices:
of connecting the drive controllers in a DC intermediate circuit, which improves • Drive controller SD6 from 
the energy footprint of the entire system. DriveControlSuite V 6.0-F and 
Firmware version V 6.0-F
Properties
• Large power range using 4 sizes
• Quick DC-Link: Innovative installation concept for the DC link connection What is new?
• Very good control performance
Index Date Changes
• Easy to service
02 06/2014 • General corrections
• Isochronous system bus (in preparation)
Supplemented:
• Modular safety technology (in preparation)
• Size 3
• Free, graphical programming in accordance with IEC 61131-3 CFC (in
• Quick DC-Link
preparation)
• Terminal modules RI6 and IO6
• Synchronous linear motors and LA6 adapter
1.1 About this manual box
This manual describes the SD6 drive controller. It contains information on the • UL-compliant use
following topics: 03 12/2014 • Electrical data: size 3, derating
• Projecting
04 06/2015 • General corrections
• Transport and storage
• Electrical data: derating
• Installation
• Mechanical drive model, CiA 402
• Connection
• Operation and setup of the drive controller, motor and its attachments and
the entire drive.
• Communication between the startup computer and drive controller
• Optimization of the drive controller
• Diagnostics in the event of errors
The safety function Safe Torque off (STO) is implemented by means of safety
card ST6. Detailed information about ST6 can be found in the corresponding
manual (see section 1.2 Further documentation).

Manual SD6
1.2 Further documentation 1.3 Further support

The documentation listed in the following table provides relevant information on If you have technical questions that are not answered by this document, please
the SD6 drive controller.  contact:
You can find the latest document versions at www.stoeber.de. • Phone: +49 7231 582-3060
• E-mail: applications@stoeber.de
Device/software Documentation Contents ID
SD6 drive controllers Commissioning Installation and 442537
instructions functional test 1.4 Directives and norms
Controller Based Mode Manual Operation and 442454 The SD6 drive controller meets the requirements of the following directives and
(CBM) application setup, standards:
commissioning • Machinery Directive 2006/42/EC
Communication Operating manual Installation, 442516 • Low Voltage Directive 2006/95/EC
module EtherCAT EC6 connection, setup, • EMC Directive 2004/108/EC
commissioning and • EN 61326-3-1:2008
customer service • EN 61800-3:2004
Communication Operating manual Installation, 442637 • EN 61800-5-1:2007
module CANopen CA6 connection, setup, • EN 61800-5-2:2007
commissioning and • EN 50178:1997
customer service
MC6 Motion Controller Manual Projecting, 442461
installation,
connection, setup,
customer service
and maintenance
ST6 safety technology Manual Projecting, 442478
connection, setup
Absolute Encoder Operating manual Function, 442343
Support AES connection

Manual SD6
1.5 Abbreviations, formula symbols and Abbreviations

indices IA Installation Altitude
IGB Integrated Bus
Abbreviations
ip Interpolated position mode
AA Analog output IP International Protection
AC Alternating Current LS Limit Switch
AE Analog input
MAC Media-Access-Control
AES Absolute Encoder Support MTF Motor temperature sensor
AWG American Wire Gauge PE Protective Earth
BA Binary output
PELV Protective Extra Low Voltage
BAT Battery
PLC Programmable Logic Controller (dt.: SPS)
BE Binary input PTC Positive Temperature Coefficient
BG Size PU Power Unit
CAN Controller Area Network
PWM Pulse Width Modulation
CBM Controller Based Mode RB Brake Resistor
CH Brake chopper RS Reference Switch
CiA CAN in Automation
RCD Residual Current protective Device
CNC Computerized Numerical Control PLC Programmable logic controller
csp Cyclic synchronous position mode SSI Serial Synchronous Interface
cst Cyclic synchronous torque mode
STO Safe Torque Off
csv Cyclic synchronous velocity mode TTL Transistor-transistor logic
CU Control Unit rpm Revolutions per minute
DC Direct Current
UL Underwriters Laboratories
I/O Input/output W&S Wake and Shake
EMF Electromotive force ZK DC link
EMC Electromagnetic Compatibility
ZP Zero pulse
HTL High threshold logic
I/O Input/Output

Manual SD6
Formula Unit Explanation I2max A Maximum output current

symbols
I2maxPU A Maximum output current of the drive controller
D % Derating power board
DIA % Derating depending on the installation altitude of I2min A Minimum output current
the drive controller I2N,PU A Nominal output current of the drive controller
DT % Derating depending on the surrounding power board
temperature of the drive controller IN A Nominal current
f Hz Frequency n rpm Speed
f2 Hz Output frequency nN rpm Nominal speed: Speed at which the nominal torque
f2PU Hz Output frequency of the drive controller power MN is reached.
board P W Power
fmax Hz Maximum frequency PmaxRB W Maximum power at the external braking resistor
fPWM,PU Hz Internal pulse clock frequency of the drive PV,PU W Power loss of the drive controller power board
controller power board
PV,CU W Power loss of the drive controller control board
I A Current
R Ω Resistance
I1 A Input current
R2minRB Ω Minimum resistance of the external braking
I1maxPU A Maximum input current of the drive controller resistor
power board
ϑ °C Temperature
I1maxCU A Maximum input current of the drive controller
control board ϑamb,max °C Maximum surrounding temperature
I1N,PU A Nominal input current of the drive controller power τth s Thermal time constant
board
t s Time
I2 A Output current
tmin s Minimum time

Manual SD6
R V Voltage 1.6 Symbols, identifiers, marks

U1 V Input voltage Symbols
U1CU V Input voltage of the drive controller control board EN 61558-2-20

Choke without overload protection.
U1PU V Input voltage of the drive controller power board
Grounding symbol according to IEC 60417-5019
U1max V Maximum input voltage (DB:2002-10).
U2 V Output voltage
Identification and test symbols
U2BAT V Output voltage of the backup battery
Lead-free identifier for RoHS
U2PU V Output voltage of the drive controller power board Lead-free identifier according to RoHS directive 2011-65-
Umax V Maximum voltage EU.
CE mark
UmaxPU V Maximum voltage of the drive controller power Manufacturer's self declaration: The product meets the
board requirements of EU directives.
UoffCH V Off limit of the brake chopper UL test mark
This product is listed by UL for the USA and Canada.
UonCH V On limit of the brake chopper
Representative samples of this product have been
Other evaluated by UL and meet the requirements of applicable
standards.
p Number of pole pairs
UL test marks for recognized component
λLine Power factor at the supply network: equivalent to This component or material is recognized by UL.
cos φ between the effective and apparent power Representative samples of this product have been
evaluated by UL and meet applicable requirements.

Manual SD6
The following names that are used in conjunction with the device, its optional 1.7 Licenses
equipment and its accessories are trademarks or registered trademarks of
other companies: Software of the following license provider is used in SD6:
SEGGER Microcontroller GmbH & Co. KG
Trademarks In den Weiden 11
D-40721 Hilden
CANopen, CANopen and CiA are registered Community trademarks Germany
CiA of CAN in Automation e.V., Nuremberg, Germany. Tel.+49 2103-2878-0
Fax.+49 2103-2878-28
EnDat EnDat and the EnDat logo are registered trademarks of Dr.
E-mail: support@segger.com
Johannes Heidenhain GmbH, Traunreut, Germany.
Internet: http://www.segger.com
EtherCAT EtherCAT and the EtherCAT logo are registered
trademarks of Beckhoff Automation GmbH, Verl,
Germany.
HIWIN The HIWIN logo is a registered trademark of HIWIN

TECHNOLOGIES CORP., Taichung, Taiwan.
Microsoft, Microsoft, Windows, Windows XP and the Windows logo

Windows, are registered trademarks of Microsoft Corporation in the
Windows XP USA and/or other countries.
PROFIBUS, The PROFIBUS/PROFINET logo is a registered

PROFINET trademark of PROFIBUS Nutzerorganisation e. V.
Karlsruhe, Germany.
All other trademarks that are 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.

2 Safety information, UL-compliant use
Manual SD6

2.1 Operation in accordance with its intended use . . . . . . . . . . .11
2.2 Component part of the product . . . . . . . . . . . . . . . . . . . . . . . . .11
2.3 Risk assessment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
2.4 Qualified personnel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
2.5 Working on the machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12
2.6 Disposal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12
2.7 Presentation of notes on safety . . . . . . . . . . . . . . . . . . . . . . . . .12
2.8 UL-compliant use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13

Manual SD6
The devices can represent a source of danger. Therefore observe 2.3 Risk assessment
• the safety guidelines, technical rules and regulations given in the following
sections Before the manufacturer may bring a machine onto the market, he must
• and points. conduct a risk assessment according to Machine Directive 06/42/EC. As a
STOBER shall assume no liability for damage resulting from failure to comply result, the risks associated with the use of the machine are determined. The
with the instruction manual or relevant regulations. We reserve the right to risk assessment is a multi-stage and iterative process. On no account can
make technical changes for the purpose of improving the devices. sufficient insight into the Machine Directive be given as part of this
documentation. For this reason, seek detailed information about the norms and
legal position. When installing the drive controller in machines, commissioning
2.1 Operation in accordance with its intended is forbidden until it has been determined that the machine meets the
requirements of EC Directive 06/42/EC.
use
As defined by DIN EN 50178 (previously VDE 0160), the drive controllers are
2.4 Qualified personnel
electrical equipment operating as power electronics to control the flow of
energy in high voltage systems. They are designed exclusively for installation Devices may cause residual risks. For this reason, all work on the devices as
in switching cabinets, protection class at least IP54, and for supplying well as operation and disposal must only be performed by qualified personnel
• synchronous servo motors and who are aware of the possible dangers.
• asynchronous motors. Qualified personnel are persons who have acquired the authorisation to
Designated use does not include connecting other electrical loads! perform these activities by
• Training from specialists and/or
• Instruction from specialists
2.2 Component part of the product In addition, they must have
• read,
The technical documentation is a component part of a product.
• understood and
• Since the technical documentation contains important information, always
• observed the applicable regulations, legal provisions, rules and standards
keep it handy in the vicinity of the device until the machine is disposed of.
and existing technical documentation including the safety information
• If the product is sold, disposed of, or rented out, always include the
contained in it.
technical documentation with the product.

Manual SD6
2.5 Working on the machine 2.7 Presentation of notes on safety

Apply the 5 safety rules in the order stated before performing any work on the
NOTICE
machine:
1. Disconnect. Notice
Also ensure that the auxiliary circuits are disconnected. means that property damage may occur
2. Protect against being turned on again.
 if the stated precautionary measures are not taken.
3. Check that voltage is not present.
4. Ground and short circuit.
5. Cover or block off adjacent live parts. CAUTION!
Information Caution
Note that the discharge time of the DC link capacitors is up to 5 with warning triangle means that minor injury may occur
minutes. You can only determine the absence of voltage after this  if the stated precautionary measures are not taken.
time period.
WARNING!
2.6 Disposal Warning
Please comply with the latest national and regional regulations! Dispose of the means that there may be a serious danger of death
individual parts separately depending on their nature and currently valid  if the stated precautionary measures are not taken.
regulations such as, for example:
• Electronic scrap (PCBs) DANGER!
• Plastic
• Sheet metal Danger
• Copper means that serious danger of death exists
• Aluminum  if the stated precautionary measures are not taken.
Information
refers to important information about the product or serves to
emphasize a section in the documentation to which the reader
should pay special attention.

Manual SD6
2.8 UL-compliant use Motor protection

All models of STOBER 6th generation drive controllers have a certified i²t
Additional information for use under UL conditions (UL – Underwriters model, a calculation model for thermal monitoring of the motor. This fulfils the
Laboratories). requirements for semiconductor motor overload protection in accordance with
the change to UL 508C dated May 2013. To activate the protective function and
Surrounding temperature and pollution degree
set it up, make the following parameter settings – which differ from the default
The maximum surrounding temperature for UL-compliant operation is 45 °C.
values: U10 = 2:Warning and U11 = 1.00 s. This module can be used as an
Observe the specifications in the general data for use in an environment with a
alternative or in addition to motor protection with temperature monitoring as
pollution degree, see section 4.4.
described in section 7.3.8.
Mains configuration Information
All device types that are supplied with 480 V are designed exclusively for STOBER recommends using PTC thermistors as thermal motor
operation on Wye source with 480/277 V. protection.
Power supply and motor overload protection Motor temperature sensor

Observe the specifications in the electrical data of the drive controller for this, All models of STOBER 6th generation drive controllers have connections for
see section 4.2. PTC thermistors (NAT 145 °C) or KTY temperature sensors (KT84-130).
Observe the terminal description X2 for proper connection, see section 7.3.8.
Mains fuse 
Observe the specifications for the UL-compliant mains fuse in section 4.6.1. Braking resistor
Applies to use in Canada in accordance with CSA-C22.2 No. 14-13 If the drive controllers will be fitted with an externally mounted braking resistor,
Depending on the device type, additional overvoltage protection must be separate overtemperature protection must be made available.
positioned mains-side from the device that meets the following conditions.
• Single-phase – SD6A02:  24 V power supply
- Overvoltage category 3 Low voltage circuits must be supplied by an isolated source whose maximum
- Phase ground = 240 V (permissible rating surge voltage = 4 kV peak) output voltage does not exceed 28.8 V. Note also the technical specifications
- phase-phase (or N) = 240 V (permissible rating surge voltage = 4 kV for the X11 connector in this regard, see section7.3.3.
peak)
Lines
• Three-phase – from SD6A04: 
Use only copper conductors for an surrounding temperature of 60/75 °C.
- Overvoltage category 3
- Phase ground = 277 V (permissible peak rating surge voltage = 4 kV
peak)
- phase-phase (or N) = 480 V (permissible rating surge voltage = 6 kV
peak)

Manual SD6
Fuses
Fuses must be approved according to UL 248.
• Use a 1 A fuse (delayed-action) upstream from relay 1. Note also terminal
description X1, pin 1, see section 7.3.4.
• Protect the supply of the motor holding brake with a 4 A fuse (delayed-
action). Note also terminal description X6, see section 7.3.7
• The following points apply to extended interfaces with terminal module XI6,
RI6 or IO6: Protect the 24-V supply with a 1 A fuse (delayed-action). Note
also terminal description X101, pin 18 or 19, see section 7.4.2.
Branch circuit protection

An integral solid state short circuit protection does not provide branch circuit
protection. If you would like to branch the output of the drive controller, branch
circuit protection must be ensured in conformity with the instructions of
STOBER, the National Electrical Code and all additional applicable local
regulations or equivalent specifications.
UL test
During the UL acceptance process of STOBER, only risks for electrical shock
and fire hazard were examined. Aspects of functional safety were not assessed
in the UL acceptance. These aspects are assessed for STOBER by the TÜV
SÜD certification authority, for example.

3 Components of the drive system
Manual SD6
3 Components of the drive system 3.4.7 EMC shroud .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
3.4.8 Encoder adapter box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

3.4.9 Battery module for encoder buffering . . . . . . . . . . . . . . . . . . . . 26
3.1 Drive controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .16 3.4.10 Removable data storage .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
3.1.1 Nameplate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 3.4.11 Product CD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
3.1.2 Type designation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
3.1.3 Sizes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
3.2 Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18

3.2.1 Synchronous servo motors and asynchronous motors . . . . . . . 18
3.2.2 Synchronous linear motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
3.3 Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .19
3.4 Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .19

3.4.1 Safety technology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
3.4.2 Terminal modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
3.4.3 Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
3.4.4 DC link connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
3.4.5 Braking Resistors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
3.4.6 Chokes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Manual SD6
3.1 Drive controller Designation Value in the Meaning

3.1.1 Nameplate example
Type SD6A06TEX Drive controller type
according to the type
designation
Date 1318 Production week in format
YYWW, in the example
shown here year 2013, week
18
S/N 7000204 Serial number
Nominal connection 3 x 400 V ~  Nominal connection voltage
voltage 50 Hz
UL: 3 x 480 V ~
50–60 Hz
Nominal connection 2.5 kVA Nominal connection power
power
Input current 4.0 A Input current
Output data 3 x 3.4 A Output data
0...460 V
0...700 Hz
Protection class IP20 Protection class
UL test mark
UL and cUL (CSA-UL) certified drive controllers with corresponding test mark
meet the requirements of standards UL 508C and UL 840.

Manual SD6
3.1.2 Type designation 3.1.3 Sizes

Sample code The drive controller SD6 includes the following types and sizes:
SD 6 A 0 6 T E X Type Size
SD6A02 0
Explanation
SD6A04 0
Code Designation Design
SD6A06 0
SD Series Servo Drive
SD6A14 1
6 Generation 6. Generation
SD6A16 1
A, B Version
SD6A24 2
0–3 Size
SD6A26 2
0–9 Power output stage (within the size)
SD6A34 3
T Safety module ST6: Safe Torque Off (STO)
SD6A36 3
N Communication module Empty
SD6A38 3
E EC6: EtherCAT
C CA6: CANopen
N Terminal module Empty
X XI6: Extended I/O
R RI6: Resolver I/O
I IO6: Standard I/O

Manual SD6
3.2 Motors a dimensional element or magnetic tape that determines the position of the
motor through interaction with a read head or probe.
3.2.1 Synchronous servo motors and asynchronous An additional linear encoder transfers this information to the drive controller as
motors position data.
You can use the SD6 drive controller to operate synchronous servo motors (for Depending on the key requirement in each specific case (for example speed,
example the STOBER series EZ) or asynchronous motors. accuracy, etc.), different linear encoders (together with accessories) can be
used.
Evaluation options for feedback are available on the X4 connection for
following encoder types: All modules have connections for PTC thermistors or KTY temperature sensors
• Absolute value encoder EnDat 2.1/2.2 digital and can control a 24 V/DC brake as standard.
• Absolute value encoder SSI
Supported measurement system (linear encoders)
• Incremental encoder (HTL and TTL)
Absolute measurement systems:
Other encoder types can be connected via the optionally available terminal • Linear encoder EnDat 2.2 digital
• Linear encoder SSI
modules (see section 3.4.2 Terminal modules), for example:
• Resolver
Relative measurement systems:
• Absolute value encoder EnDat 2.1 sin/cos
• Sin/cos encoder
• Sin/cos linear encoder: connection via optional terminal module RI6
• Incremental encoder (HTL and TTL), single-ended
(terminal X140)
All modules from the 6th generation of STOBER drive controllers have
Determine commutation with relative measurement systems using:
connections for PTC thermistors or KTY temperature sensors and can control
• Hall sensor via adapter box LA6 (see section 3.4.8 Encoder adapter box)
a 24 V/DC brake as standard.
• Wake and Shake (W&S)
Adapter box LA6

3.2.2 Synchronous linear motors The LA6 adapter box makes it possible to connect sensor signals of various
The SD6 drive controller supports control of iron-core, permanent-magnet linear motor types to SD6. The adapter box is responsible for splitting the
linear motors from a wide range of different manufacturers such as HIWIN different sensor signals, which are in some cases combined on one connector,
GmbH, isel Germany AG and Siemens AG. depending on the motor type, and for the level adjustment and potential
Linear motors are used for linear movements when speed, acceleration and separation of the Hall signals.
increased positional accuracy are primary concerns. Depending on the different motor manufacturers, the signals are forwarded via
The position of the linear motor is determined based on an optical, magnetic or different connections (D-sub 15-pin, D-sub 9-pin or free cable ends).
inductive measurement system. These measurement systems consist of

Manual SD6
3.3 Controller The pulse board in the drive controller generates the pulse patterns required
by the power board to produce the rotary field. The pulse patterns in the SD6
MC6 Motion Controller are transferred from the control board to the power board via the ST6 safety
card.
The development of the new MC6 Motion
If the safety function is active, a reliable pulse inhibit prevents the pulse pattern
Controller and its integration into the STOBER
from being transferred to the power board. The power board is unable to
product portfolio opens up new solutions for
generate a rotary field and the motor is torque-free.
drive technology, especially for complex
If the safety function is active, pulse patterns are directed to the power board
functions with demanding requirements for
and the motor can be operated.
timing and precision.
STOa
STOb
SD6 and Motion Controller MC6 are either
connected to each other via EtherCAT or via
CANopen.
Information PWM
Detailed information about the MC6 Motion Controller can be found Control PWM Power
ST6
in the corresponding manual (see section 1.2 Further board PWM board
documentation).
3.4 Accessories Fig. 3-1Overall system SD6 drive controller with ST6
3.4.1 Safety technology This is equivalent to the safety function Safe torque off (STO) in accordance
with DIN EN 61800-5-2:2007. This type of shutdown is designated as Stop
Safe Torque Off – ST6 category 0 in DIN EN 60204-1:2006.
Included in the standard design.
The ST6 accessory makes it possible to use the
"Safe Torque Off" (STO) safety function in the
SD6 drive controller in safety-relevant
applications according to EN ISO 13849-1.

Manual SD6
In the safety block diagram (Fig. 3-2 Safety block diagram) the SD6 drive 3.4.2 Terminal modules
controller with the ST6 safety card corresponds to the actuator and forms the
basis for a restart inhibit: Terminal module XI6
ID no. 138421
Terminal module for connecting analog and
binary signals as well as encoders.
Supported inputs and outputs:

• 13 binary inputs (24 V)
• 10 binary outputs (24 V)
Fig. 3-2Safety block diagram • 3 analog inputs (± 10 V, 1 x 0 – 20 mA, 16
bits)
Detailed information about using the safety technology and the ST6 safety card • 2 analog outputs (± 10 V, 12 bits)
can be found in the corresponding manual (see section 1.2 Further
documentation). Supported encoders / interfaces:
• SSI encoder (simulation and evaluation)
• TTL incremental encoder, differential
(simulation and evaluation)
• HTL incremental encoder, single-ended
• TTL pulse train, differential (simulation and
evaluation)
• HTL pulse train, single-ended (simulation
and evaluation)

Manual SD6
Terminal module RI6 Interface adapter AP6

ID no. 138422 Encoder cables that were connected to a
Terminal module for connecting analog and POSIDYN SDS 4000 can be connected via the
binary signals as well as encoders. AP6 interface adapter to the X140 encoder
interface of the RI6 terminal module.
• 5 binary inputs (24 V) The following versions are available:
• 2 analog inputs (± 10 V, 1 x 0 – 20 mA, 16 AP6A00
bits) ID no. 56498
• 2 analog outputs (± 10 V, ± 20 mA, 12 bits) Adapter X140 resolver, 9/15-pin.
Supported encoders / interfaces: AP6A01

• Resolver (evaluation) ID no. 56522
• Encoder EnDat 2.1 sin/cos (evaluation) Adapter X140 resolver, 9/15-pin with motor
• Encoder EnDat 2.1/2.2 digital (evaluation) temperature sensor - lead through.
• Sin/cos encoder (evaluation)
• SSI encoder (simulation and evaluation) AP6A02
• TTL incremental encoder, differential ID no. 56523
(simulation and evaluation) Adapter X140 EnDat 2.1 sin/cos, 15/15-pin with
• TTL incremental encoder, single-ended motor temperature sensor - lead through.
(evaluation)
• HTL incremental encoder, single-ended
• TTL pulse train, differential (simulation and
evaluation)
• TTL pulse train, single-ended (evaluation)
• HTL pulse train, single-ended (simulation
and evaluation)

Manual SD6
3.4.3 Communication
Terminal module IO6
ID no. 138420
Terminal module for connecting analog and
binary signals as well as encoders.

• 5 binary inputs (24 V)
• 2 analog inputs (± 10 V, 1 x 0 – 20 mA, 12
bits)
• 2 analog outputs (± 10 V, ± 20 mA) The SD6 drive controller has two interfaces for IGB communication on the top
of the device as standard.
Supported encoders / interfaces: The communication module is installed in the shaft at the top and the drive
• HTL incremental encoder, single-ended controller is connected to the field bus system via it.
(simulation and evaluation) The following communication modules are available:
• HTL pulse train, single-ended (simulation • EC6 for the EtherCAT connection and
and evaluation) • CA6 for the CANopen connection
IGB connecting cable

Cable for connecting the X3A or X3B interface
for IGB, CAT5e, magenta.
The following versions are available:
ID no. 56489: 0.4 m.

ID no. 56490: 2 m.

Manual SD6
PC connecting cable EtherCAT cable

ID no. 49857 EtherNet patch cable, CAT5e, yellow.
To connect the X3 A or X3 B interface to PC,
CAT5e, blue, 5m. The following versions are available:
ID no. 49313: approx. 0.2 m.

ID no. 49314: approx. 0.35 m.
Hi-speed USB 2.0 Ethernet adapter CA6 communication module

ID no. 49940 ID no. 138427
Adapter for connecting Ethernet to a USB Communication module for the CANopen
connection. connection.
EC6 communication module

ID no. 138425
Communication module for the EtherCAT
connection.

Manual SD6
3.4.4 DC link connection 3.4.5 Braking Resistors

If you want to connect SD6 drive controllers as part of Quick DC-Link, you will If a motor brakes or a drive controller reduces its speed reference value, the
need the DL6 Quick DC-Link module. Connect the DC link capacitors of kinetic energy of the drive system is fed back to the DC link capacitors of the
several devices from the 6th generation of STOBER drive controllers via DL6. drive controller. However the capacity of these capacitors is limited to a defined
maximum voltage. From a certain voltage level, an integrated brake chopper
Quick DC-Link DL6 connects the braking resistor as a consumer – this absorbs the existing braking
For the horizontal connection, you can get DL6 energy, the voltage lowers and the kinetic energy is mostly converted to heat.
in three different designs suitable for the size of In addition to the different drive controllers, STOBER offers corresponding
the drive controller: braking resistors in different sizes and performance classes (see 4.11 Braking
Resistors).
DL6A1
ID no. 56441
DL6 base element for sizes 0 and 1. 3.4.6 Chokes
Chokes and coils that reduce the susceptibility of drive systems and offset
DL6A2 interfering pulses. They are thus used to protect components, devices or power
ID no. 56442 supplies and simultaneously increase their interference immunity and
DL6 base element for size 2. availability.
STOBER offers network and output deraters corresponding to your application
DL6A3 (see 4.12 Chokes).
ID no. 56443
DL6 base element for size 3.
The quick tension clamps for attaching the

copper rails as well as the connection pieces are
included in the scope of delivery. End pieces are
available separately (2 pcs. ID No. 56494). The
copper rails are not included in the scope of
delivery. These must have a cross-section of 5 x
12 mm.

Manual SD6
3.4.7 EMC shroud 3.4.8 Encoder adapter box

You can use the EMC shroud EM6 to connect the cable shield of the power
cable. Two different designs are available. Encoder adapter box LA6A00
ID no. 56510
EMC shroud EM6A0
LA6 for connecting HIWIN-TTL.
ID no. 135115 Encoder adapter box for transferring TTL and
EMC shroud for size 0 to 2.  Hall sensor signals from HIWIN synchronous
Accessory part for shield connection of the linear motors to the SD6 drive controller.
motor line. Attachable to the basic housing. LA6 for the adaptation of additional linear motors
Including shield connection terminal for power on request.
cable cross-sections of 1 to 10 mm².
SSI/TTL connection cable X120

EMC shroud EM6A3 ID no. 49482
ID no. 135120 Cable for connecting the TTL interface X120 to
EMC shroud for size 3. the SD6 drive controller (on terminal module RI6
Accessory part for shield connection of the or XI6) with the X301 interface on the LA6
motor line. Attachable on the basic housing. adapter box for transferring Hall sensor signals.
Including shield connection terminal for power 0.3 m.
cable cross-sections of 6 to 25 mm².
If necessary you can also connect the cable
shield of the braking resistor and DC link POSISwitch connection cable
connection on the shroud. Additional shield Cable for connecting terminals X4 to the SD6
connection terminals are available as drive controller and X300 on the LA6 adapter
accessories for this purpose (ID No. 56521). box for transferring incremental encoder signals.
The following versions are available:
ID no. 45405: 0.5 m.

ID no. 45386: 2.5 m.

Manual SD6
3.4.9 Battery module for encoder buffering 3.4.10 Removable data storage
Absolute Encoder Support AES Removable Data Storage Paramodule
ID no. 55452 Included in the standard design.
For buffering the power supply when using the ID no. 56403
inductive absolute value encoder EnDat 2.2 The plug-in ParaModule with integrated
digital with battery-buffered Multiturn power microSD card (128 MB, industrial) is available as
stage, for example EBI1135, EBI135. a storage medium.
A battery is included. The microSD card is also available separately as
a spare part (ID No. 56436).
Replaceable battery AES

ID no. 55453 3.4.11 Product CD
Replaceable battery for Absolute Encoder
Support AES. Product CD "STOBER ELECTRONICS 6"
Included in the standard design.
ID no. 442538
The CD-ROM contains the DriveControlSuite
DS6 project configuration and commissioning
software, documentation as well as the device
description files for the drive controller –
controller connection.

4 Technical data
Manual SD6
4 Technical data 4.5.1 Evaluatable encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
4.5.1.1 Connection X4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
4.5.1.2 Connection X120 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
4.1 Notes on safety .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .29 4.5.1.3 Connection X101 (binary input encoder) . . . . . . . . . . 37
4.2 Electrical Data .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .29 4.5.1.4 Connection X140 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
4.2.1 Control board .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 4.5.2 Controllable brakes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
4.2.2 Power board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 4.5.3 Evaluatable motor temperature sensors . . . . . . . . . . . . . . . . . . 39
4.2.2.1 Size 0: SD6A0x . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 4.6 Protective measures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .40

4.2.2.2 Size 1: SD6A1x . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 4.6.1 Line fuse . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
4.2.2.3 Size 2: SD6A2x . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 4.6.2 Residual current safety device .. . . . . . . . . . . . . . . . . . . . . . . . . 41
4.2.2.4 Size 3: SD6A3x . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 4.6.3 Housing ground . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
4.2.2.5 Derating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
4.7 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .43
4.2.2.5.1 Effect of the clock frequency . . . . . . . . . . 32
4.8 Terminal modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .45
4.2.2.5.2 Effect of surrounding temperature .
. . . . . . 33 4.8.1 Specification - XI6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
4.2.2.5.3 Effect of installation altitude . . . . . . . . . . . 33 4.8.2 Specification – RI6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
4.2.2.5.4 Calculating the derating . . . . . . . . . . . . . . 33 4.8.3 Specification – IO6 .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
4.3 Device features .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .33 4.9 Communication modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .50

4.9.1 EC6 communication module . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
4.4 Transportation, storage and operating 
environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .34 4.10 Quick DC-Link . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .50
4.5 Operating motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .35 4.10.1 Electrical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

4 Technical data
Manual SD6
4.10.2 Power supply .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
4.10.3 Line fuse . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
4.10.4 Power contactor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
4.10.5 Projecting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
4.11 Braking Resistors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .58

4.11.1 FZMU, FZZMU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
4.11.2 FGFKU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
4.11.3 GVADU, GBADU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
4.11.4 Bottom brake resistor RB 5000 . . . . . . . . . . . . . . . . . . . . . . . 62
4.12 Chokes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .63

4.12.1 Power choke . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
4.12.2 Output derater . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

4 Technical data
Manual SD6
4.1 Notes on safety 4.2 Electrical Data

Drive controllers are products subject to sales restrictions in accordance with
Information
IEC 61800-3.
An explanation of the most important formula symbols can be found
The drive controllers are not designed for use in a public low frequency network
in section 1.5 Abbreviations, formula symbols and indices.
that supplies residential areas.
In a residential environment this product may cause high-frequency
interference. If this occurs the user may be asked to take suitable measures. 4.2.1 Control board
Type All SD6 drive controller types
The drive controllers are not designed for use in a public low frequency network
that supplies residential areas. High-frequency interference can be expected if U1CU 20.4 – 28.8 V
the drive controllers are used in a network of this type. I1maxCU a) 1.5 A
b)
PV,CU (I2 = 0 A) Size 0 – Size 2: max. 30 W
Always operate the devices within the limits specified in the technical data. Size 3: max. 55 W
The following applications are prohibited: a) Depending on the accessories used.
• Use in areas subject to explosion hazard b) Depending on the option modules and encoders connected.
• Use in environments with harmful substances as specified by EN 60721,
for example oils, acids, gases, vapors, dust and radiation
Implementation of the following applications is only permitted after approval is

obtained from STOBER:
• Use in non-stationary applications

4 Technical data
Manual SD6
4.2.2 Power board Properties of the brake chopper
Type SD6A02 SD6A04 SD6A06

4.2.2.1 Size 0: SD6A0x
UonCH 400 – 420 V 780 – 800 V
Type SD6A02 SD6A04 SD6A06 UoffCH 360 – 380 V 740 – 760 V
U1PU 3 x 400 V, R2minRB 100 Ω
1 x 230 V, +32 % / -50 %, 50/60 Hz;
PmaxRB 1.8 kW 6.4 kW
+20 % / -40 %, 50/60 Hz 3 x 480 V,
+10 % / -58 %, 50/60 Hz
f2PU 0 – 700 Hz
U2PU 0 – max. U1
PV,PU (I2 = IN) 80 W 65 W 90 W

fPWM,PU 4 kHza)
I1N,PU 8.3 A 2.8 A 5.4 A
I2N,PU 4A 2.3 A 4.5 A
I2maxPU 180 % for 5 s; 150 % for 30 s
a) Clock frequency adjustable from 4 to 16 kHz, see section 4.2.2.5 Derating.

a)
fPWM,PU 8 kHz
I1N,PU 6A 2.2 A 4A
I2N,PU 3A 1.7 A 3.4 A
I2maxPU 250 % for 2 s; 200 % for 5 s

4 Technical data
Manual SD6
4.2.2.2 Size 1: SD6A1x 4.2.2.3 Size 2: SD6A2x
Type SD6A14 SD6A16 Type SD6A24 SD6A26

U1PU 3  400 V, +32 % / -50 %, 50/60 Hz; U1PU 3  400 V, +32 % / -50 %, 50/60 Hz;
3  480 V, +10 % / -58 %, 50/60 Hz 3  480 V, +10 % / -58 %, 50/60 Hz
f2PU 0 – 700 Hz f2PU 0 – 700 Hz
U2PU 0 – max. U1 U2PU 0 – max. U1
PV,PU (I2 = IN) 170 W 200 W PV,PU (I2 = IN) 220 W 280 W

a) a)
fPWM,PU 4 kHz fPWM,PU 4 kHz
I1N,PU 12 A 19.2 A I1N,PU 26.4 A 38.4 A
I2N,PU 10 A 16 A I2N,PU 22 A 32 A
I2maxPU 180 % for 2 s; 150 % for 30 s I2maxPU 180 % for 5 s; 150 % for 30 s
a) Clock frequency adjustable from 4 to 16 kHz, see section 4.2.2.5 Derating. a) Clock frequency adjustable from 4 to 16 kHz, see section 4.2.2.5 Derating.

a)
fPWM,PU 8 kHza) fPWM,PU 8 kHz
I1N,PU 9.3 A 15.8 A I1N,PU 24.5 A 32.6 A
I2N,PU 6A 10 A I2N,PU 14 A 20 A
I2maxPU 250 % for 2 s; 200 % for 5 s I2maxPU 250 % for 2 s; 200 % for 5 s
a) Clock frequency adjustable from 4 to 16 kHz, see section 4.2.2.5 Derating. a) Clock frequency adjustable from 4 to 16 kHz, see section 4.2.2.5 Derating.
Properties of the brake chopper Properties of the brake chopper

UonCH 780 – 800 V UonCH 780 – 800 V
UoffCH 740 – 760 V UoffCH 740 – 760 V
R2minRB 47 Ω R2minRB 22 Ω
PmaxRB 13.6 kW 13.6 kW PmaxRB 29.1 kW 29.1 kW

4 Technical data
Manual SD6
4.2.2.4 Size 3: SD6A3x 4.2.2.5 Derating

When dimensioning the drive controller, observe the derating of the nominal
output current depending on the clock frequency, surrounding temperature,
3 x 400 V, +32 % / -50 %, 50/60 Hz; and installation altitude. There is no restriction for a surrounding temperature
U1PU
3 x 480 V, +10 % / -58 %, 50/60 Hz from 0 °C to 45 °C and an installation altitude of 0 m to 1000 m. The details
f2PU 0 – 700 Hz given below apply to values outside these ranges.
U2PU 0 – max. U1
4.2.2.5.1 Effect of the clock frequency
PV,PU (I2 = IN) 350 W 600 W 1000 W
Changing the clock frequency fPWM affects the amount of noise produced by
the drive amongst other things. However, increasing the clock frequency
results in increased losses. During project configuration, define the highest
a)
fPWM,PU 4 kHz clock frequency and use it to determine the nominal output current I2N,PU for
I1N,PU 45.3 A 76 A 76 A dimensioning the drive controller.
I2N,PU 44 A 70 A 85 Ab)
Nominal output current I2N,PU [A]
I2maxPU 180 % for 5 s; 150 % for 30 s
a) Clock frequency adjustable from 4 to 16 kHz, see section 4.2.2.5 Derating. switching frequency 4 kHz 8 kHz 16 kHz
b) Specification applies for the default setting of the field weakening voltage limit: B92 = 80 %. SD6A02 4 3 2
SD6A04 2.3 1.7 1.1
SD6A06 4.5 3.4 2.3
fPWM,PU 8 kHza)
SD6A14 10 6 4
I1N,PU 37 A 62 A 76 A
SD6A16 16 10 5.7
I2N,PU 30 A 50 A 60 A
SD6A24 22 14 8.1
I2maxPU 250 % for 2 s; 200 % for 5 s
SD6A26 32 20 12
SD6A34 44 30 18
Properties of the brake chopper SD6A36 70 50 31
Type SD6A34 SD6A36 SD6A38 SD6A38 85a) 60 37.8
a) Specification applies for the default setting of the field weakening voltage limit: B92 = 80 %.
UonCH 780 – 800 V
UoffCH 740 – 760 V Information
R2minRB 15 Ω Enter the defined clock frequency for setting up the drive controller
PmaxRB 42 kW in B24.

4 Technical data
Manual SD6
4.2.2.5.2 Effect of surrounding temperature The derating factor DT is calculated as follows:

Derating depending on the surrounding temperature is determined as follows: DT = 100 % - 5  2.5 % = 87.5 %
• 0 °C to 45 °C: no restrictions (DT = 100 %) The derating factor DIA is calculated as follows:
• 45 °C to 55 °C: Derating -2,5 % / K DIA = 100 % - 5  1.5 % = 92.5 %
The output current to be observed for project configuration is:
Example I2N,PU = 3.4 A  0.875  0.925 = 2.75 A
The drive controller will be operated at 50 °C.
The derating factor DT is calculated as follows
DT = 100 % - 5  2.5 % = 87.5 % 4.3 Device features
4.2.2.5.3 Effect of installation altitude
Derating depending on the installation altitude is determined as follows: Protection class of the IP20
• 0 m to 1000 m above sea level: no restriction (DIA = 100 %) device
• 1000 to 2000 m above sea level: Derating -1.5 % / 100 m Protection class of the At least IP54
control cabinet
Example
Radio interference EN 61800-3, interference emission class C3
The drive controller will be installed at an altitude of 1500 m above sea level.
suppression
The derating factor DIA is calculated as follows:
DIA = 100 % - 5  1,5 % = 92.5 % Overvoltage category III to EN 61800-5-1
4.2.2.5.4 Calculating the derating

Size Weight
Follow these steps for the calculation:
Without packaging [kg] With packaging [kg]
1. Determine the highest clock frequency (fPWM) that will be used during
operation and use it to determine the nominal current I2N,PU. 0 2,53 3.52
2. Determine the derating factors for installation altitude and surrounding 1 3.7 5.47
temperature. 2 5.05 6.49
3. Calculate the nominal output current I2N,PU according to the following 3 13.3 14.8
formula: 
I2N,PU = I2N,PU  DT  DIA If you order a drive controller with accessory parts, the weight is increased as
follows:
A drive controller of type SD6A06 will be operated at a clock frequency of 8 kHz • Communication module: 50 g
at an altitude of 1500 m above sea level and an surrounding temperature of • Terminal module: 135 g
50 °C.
The nominal current of the SD6A06 at 8 kHz is 3.4 A.

4 Technical data
Manual SD6
4.4 Transportation, storage and operating

environment
NOTICE
Material damage!
The DC link capacitors in devices of sizes 0, 1 and 2 can lose their electrical
strength through long storage times. Considerable material damage can arise
from a reduced electrical strength of the DC link capacitors when switching on.
 Use devices in storage annually or before startup.
Surrounding operating 0 °C to 45 °C for nominal data

temperature
Storage/ -20 °C to +70 °C 
transport temperature Maximum change: 20 K/h
Relative humidity Maximum relative humidity 85 %, non-
condensing
Installation altitude Up to 1000 m above sea level without restrictions
Pollution degree Pollution degree level 2 as per EN 50178
Ventilated Installed fan
Vibration (operation) 5 Hz ≤ f ≤ 9 Hz: 0.35 mm
9 Hz ≤ f ≤ 200 Hz: 1 m/s2
Vibration (transport) 5 Hz ≤ f ≤ 9 Hz: 3.5 mm
9 Hz ≤ f ≤ 200 Hz: 10 m/s2
200 Hz ≤ f ≤ 500 Hz: 15 m/s2

4 Technical data
Manual SD6
4.5 Operating motors

You can operate the following motors together with the specified control modes on the SD5 drive controller:
Motor type B20 control mode Encoder Other settings Characteristics

Without field weakening High dynamics, high accuracy, very
(B91 field weakening = constant speed, high overcurrent
0:inactive) protection
Synchronous Absolute value encoder
64:SSM - vector control With field weakening High dynamics, high accuracy, very
servo motor required
(B91 field weakening = 1:active) constant speed, high overcurrent
protection, greater speed range, but also
higher current requirement
Linear encoder and
Synchronous High dynamics, high overcurrent
70:SLM - vector control commutation —
linear motor protection
information required
2:ASM - vector control Encoder required High dynamics, high accuracy, very
— constant speed, high overcurrent
protection
3:ASM - Sensorless Dynamics, accuracy, constant speed,
—
vector control overcurrent protection
Linear characteristic curve
Very constant speed, accuracy
(B21 V/f characteristic = 0:linear)
Asynchronous 1:ASM - V/f slip
Quadratic characteristic curve
motor compensated Very constant speed, accuracy, especially
(B21 V/f characteristic =
No encoder required suitable for fan applications
1:quadratic)
Very constant speed
0:ASM - V/f control Quadratic characteristic curve
Very constant speed, especially suitable
for fan applications
1:quadratic)
Note that the settings described here are adequate for initial commissioning and for operation with most drives. If you would like to optimize your drive, find a
description in section 15 Optimize.

4 Technical data
Manual SD6
4.5.1 Evaluatable encoders Calculation example – limit frequency fmax

... for an encoder with 2,048 pulses per revolution: 
4.5.1.1 Connection X4
3,000 revolutions per minute (equivalent to 50 revolutions per
General specification second) * 2,048 pulses per revolution
U2 5-15 V (see encoder supply) = 102,400 pulses per second 
I2max X4: 250 mA = 102.4 kHz << 1 MHz
Sum X4, X120, X140: 500 mA
I2min 13 mA Encoder supply
Maximum cable 100 m U2 Through
length 5V Encoder sense line STOBER synchronous
(controlled at the connected to pin 12 (sense) servo motors
Specification for EnDat 2.1 encoder) Standard: EnDat 2.1/2.2
Encoder type Single and Multiturn, not suitable for linear encoders 5 V Pin 12 (sense) bridged with STOBER asynchronous
Switching frequency 2 MHz (controlled at X4) pin 4 (U2) motors
TTL (for customer-specific
Specification for EnDat 2.2 solutions),
Encoder type Single-turn and multiturn without cable
compensation
Switching frequency 4 MHz
10 V  Pin 12 (sense) not used
(unregulated)
SSI specification
15 V Pin 12 (sense) bridged with STOBER asynchronous
Switching frequency 250 kHz
(controlled at X4) pin 2 (GND) motors
Sampling rate 250 µs
HTL encoder: Bridge
Code Binary or Gray
created in the cable plug
Encoder type and Multiturn: 24 or 25 bits
that is connected to X4
format Single-turn13 bits short or 13 bits tree 
SSI encoder: Bridge for U2
(13 bits of data in a 25-bit telegram)
is created in the bracket
Transfer Double (default setting) or single
flange socket
Specification for incremental signals

fmax ≤ 1 MHz (evaluation and simulation)
Signal level TTL and HTL

4 Technical data
Manual SD6
4.5.1.2 Connection X120 Encoder supply

Depending on the power consumption of the encoder, an external supply is
General specification required whereby differences in the GND connection arise.
U2 15 V (see encoder supply)
I2max 250 mA, sum X4, X120, X140: 500 mA
U2 Bridge
Maximum cable 50 m
Internal: Pin 8 (U2) Pin 1 (GND-ENC) to pin 9 (GND)
length
External Pin 1 (GND-ENC) to GND of external supply
Specification SSI encoder (evaluation and simulation)
switching frequency 592 kHz (motor encoder) or 250 kHz (position 4.5.1.3 Connection X101 (binary input encoder)
encoder)
General specification
Code Binary or Gray
Maximum cable 30 m, shielded
Encoder type Multiturn: 24 or 25 bits length
Single-turn: 13 bit short or 13 Bit short
Transfer Double transmission, can be switched off
Evaluation – Incremental encoder and pulse train
HTL TTL
Specification incremental encoder, pulse train 
High level 12-30 V 2–6V
(evaluation and simulation) and Hall sensor (only evaluation)
Low level 0-8 V 0 – 0.8 V
fmax Evaluation: ≤ 1 MHz
Simulation: 500 kHz U1 max 30 V 6V
Signal level TTL I1 max 16 mA 13 mA

fmax 100 kHz if High level > 15 250 kHz
V and external push pull
Calculation example – limit frequency fmax  configuration
... for an encoder with 2,048 pulses per revolution:: 
tmin Cycle time of the application with time stamp
correction (resolution 1 µs)
second) * 2,048 pulses per revolution
= 102,400 pulses per second 
= 102.4 kHz

4 Technical data
Manual SD6
Simulation – Incremental encoder and pulse train Specification encoder EnDat 2.1 digital, EnDat 2.1 sin/cos and 
U2 18–28,8 V sin/cos encoder (evaluation)
I2max XI6: 50 mA, RI6 and IO6: 100 mA U2 5 – 12 V, see encoder supply
Eff. Update rate 4 kHz I2max 250 mA, 

sum X4, X120 and X140 (EnDat): 500 mA
fmax 250 kHz
(Maximum output frequency for one track) I2min 13 mA
Extrapolation 66 MHz fmax 225 kHz

frequency Encoder type Single-turn and multiturn
Maximum cable 100 m
length
Calculation example – limit frequency 
... for encoder with 2,048 pulses per revolution: 
3,000 revolutions per minute (equivalent to 50 revolutions per Calculation example – limit frequency fmax 
second) * 2,048 pulses per revolution ... for encoder with 2,048 pulses per revolution: 
= 102,400 pulses per second  3,000 revolutions per minute (equivalent to 50 revolutions per
= 102.4 kHz second) * 2,048 pulses per revolution
4.5.1.4 Connection X140 = 102.4 kHz
Resolver specification (evaluation)

U2 -10 V ... +10 V Specification encoder EnDat 2.2 digital (evaluation)
I2max 80 mA Encoder type Single-turn and multiturn
f2 7 – 9 kHz switching frequency 4 MHz
Pmax 0.8 W
Transfer ratio 0.5 ± 5 %
Number of poles 2, 4 and 6
Phase shift ± 20 el.°
Maximum cable 100 m
length

4 Technical data
Manual SD6
Encoder supply 4.5.2 Controllable brakes

U2 Through You can control the following brakes:
5V Encoder sense line connected to pin STOBER • 24-V brakes connected directly to X5 (in accordance with the technical
(controlled at 12 (sense) synchronous servo data).
the encoder) motors  • Indirectly connected brakes with different nominal voltage (controlled via
Standard: EnDat 2.1/ an external 24 VDC switching device).
2.2 The brake is supplied via X6.
5 V Pin 12 (sense) bridged with pin 4 STOBER

(controlled at (UB+) asynchronous Electrical data
X4) motors U1 24–30 V
TTL 
I1max 3.0 A
(for customer-
Brake Maximum 1 Hz
specific solutions),
without cable switching
compensation frequency
10 V  Pin 12 (sense) not

(unregulated) used 4.5.3 Evaluatable motor temperature sensors
A maximum of 2 PTC drillings in series or one KTY-84 can be connected to the
SD6.
Information
Before using a KTY, note that motor protection is not ensured to the
same extent as when monitoring with PTC drilling.
Information
Note that evaluation of the temperature sensors is always active. If
operation without temperature sensor is permitted, the connections
must be bridged on X2. Otherwise a fault will be triggered when the
device is switched on.

4 Technical data
Manual SD6
4.6 Protective measures Type Input current Input current Recommended

The drive controllers are only suitable for operation on TN networks and only I1N,PU (8 kHz) I1N,PU (4 kHz) mains fuse (max.)
for use in supply current networks that are able to provide a maximally SD6A02 5.9 A 8.3 A 10 A
symmetrical nominal short circuit current at 480 volts according to the following SD6A04 2.2 A 2.8 A 10 A
table.
SD6A06 4A 5.4 A 10 A
Size Max. symmetrical nominal short-circuit current SD6A14 9.3 A 12 A 16 A
Size 0 – size 2 5000 A SD6A16 15.8 A 19.2 A 20 A
Size 3 10,000 A SD6A24 24.5 A 26.4 A 35 A
SD6A26 32.6 A 38.4 A 50 A
4.6.1 Line fuse SD6A34 37 A 45.3 A 50 A
The mains fuse ensures line and power protection in the drive controller. SD6A36 62 A 76 A 80 A
You can use the following protective devices: SD6A38 76 A 76 A 80 A
• Full range safety melt fuses for cable and circuit protection to IEC 60269-
2-1/DIN VDE 0636, part 201 NH fuses (operating class gG in accordance The following applies to size 3 (SD6A34, SD6A36, SD6A38): 
with IEC operating class specification or slow blow in accordance with Operation only with mains commutation reactors and mains fuse for operating
VDE) class gG (see section "Line fuses" > "Full range safety melt fuses").
• Circuit breaker with trigger characteristics C in accordance with EN 60898
• Power circuit breaker Information
Note that these values apply only to the drive controllers that are
connected to the mains individually. Different parameters apply to
drive controllers in a Quick DC-Link system.

4 Technical data
Manual SD6
UL-compliant line fuse 4.6.2 Residual current safety device

Use the following fuses for UL-compliant operation:
STOBER devices can be protected with a Residual Current protective Devices
• Fuses of class RK1, for example Bussmann KTS-R-xxA/600 V.
(RCD) to detect residual currents. Residual current protective devices prevent
• For drive controllers sizes and 1 you can also use fuses of class CC.
electrical accidents, especially ground fault through the body. They are
• For drive controllers size 0 to 2 you can also use type E motor starters from
generally distinguished according to their triggering limit and suitability for
Eaton Industries, consisting of a motor protection switch and supply
detecting different types of residual current.
terminal.
Depending on the function, stray currents may occur when operating drive
controllers. Stray currents are interpreted as residual currents by residual
See the table below for suitable fuses:
current protective devices and may therefore lead to false triggering.
Type Class CC Class RK1 Type E motor starters Depending on the relevant power supply connections, residual currents may
(Eaton Industries) occur with or without a DC current component. Because of this, you should
SD6A02 10 A 10 A PKZM0-10/SP + BK25/3-PKZ0-E take into consideration both the height and also the shape of the possible stray
or residual current when selecting a suitable RCD.
SD6A04 10 A 10 A PKZM0-10/SP + BK25/3-PKZ0-E
SD6A06 10 A 10 A PKZM0-10/SP + BK25/3-PKZ0-E
SD6A14 15 A 15 A PKZM0-16/SP + BK25/3-PKZ0-E DANGER!
SD6A16 20 A 20 A PKZM0-25/SP + BK25/3-PKZ0-E Electric shock hazard!

SD6A24 – 35 A PKZM0-32/SP + BK25/3-PKZ0-E The combination of single-phase drive controllers and residual current
protective devices type A or AC can lead to false triggering of the RCDs.
SD6A26 – 50 A PKZM4-50 + BK50/3-PKZ4-E
Stray currents with a DC current component may occur in 3-phase drive
SD6A34 – 50 A –
controllers.
SD6A36 – 80 A –
 Always protect single-phase drive controllers with residual current
SD6A38 – 80 A –
protective devices type B, sensitive to all currents, or with type F, sensitive
to mixed currents.
 Always protect 3-phase drive controllers with residual current protective
devices type B, sensitive to all currents.

4 Technical data
Manual SD6
False triggering – causes 4.6.3 Housing ground

Depending on stray capacitances and asymmetries, stray currents up to 40 mA
Note the following information on the connection of the protective earth to
may occur during operation. Undesirable false triggering occurs
ground the housing correctly:
• ... when drive controllers to the supply voltage.
• Note the assembly sequence:
This false triggering can be rectified by using short-time delayed (super-
resistant), selective (delayed switch-off) residual current protective devices • 1 M6 earth bolt 1
or RCDs with increased trigger current  6
• 2 Contact disk
(for example 300 or 500 mA). 5
• 3 Cable socket
• ... Due to higher frequency stray currents for long motor cables under 4
• 4 Washer 3
normal operating conditions: 
This false triggering can be rectified for example using low-capacitance • 5 Return spring 2
cables or output deraters. (optional)
• ... due to unbalances in the supply network.  • 6 Nut
This false triggering can be rectified for example using an isolating Contact disk, washer, return spring and nuts are supplied with the drive
transformer. controller.
• Tightening torque: 4 Nm
Information
• Stray currents > 10 mA can arise in normal operation. To fulfill DIN EN
Check whether the use of residual current protective devices with
61800-5-1 and EN 60204-1, connect the earth bolts with a copper
increased trigger current as well as with short-time delayed or
conductor according to the following table:
delayed switch-off trigger characteristics are permitted in your
application. Cross-section A Minimum cross-section Amin
Installation Feeder Earth conductor at earth bolts
A ≤ 2.5 mm2 2.5 mm2
DANGER!
2.5 < A ≤ 16 mm2 A
Electric shock hazard!
16 – 35 mm2 ≥16 mm2
Stray and residual currents with a DC current component can restrict the
> 35 mm2 A/2
functionality of residual current protective devices types A and AC.
 Always follow the installation instructions for the protective devices you are
using.

4 Technical data
Manual SD6
4.7 Dimensions Dimensions [mm] Size 0 Size 1 Size 2

d2 Drive controller Height h1 300
d1 Height incl. EMC shroud h2 355

w
b
Height incl. AES h3 367
Width w 70 105
Depth d1 194 284
Depth incl. braking resistor  d2 212 302
RB 5000
h1 EMC shroud Height e 27
Depth f 40
a
h2
h3
Fastening holes Vertical distance a 283+2
Vertical distance  b 6
to upper edge

4 Technical data
Manual SD6
Dimensions
Size 3
[mm]
Drive Height h1 382.5
controller Height incl. EMC shroud h2 540
Width w1 190
Depth d1 305
EMC shroud Height e 174
Width w2 147
Depth f 34
d2 113
Fastening  Vertical distance a 365+2
holes Vertical distance from bottom edge b 6
Horizontal distance from the
c1 150+0.2/-0.2
fastening holes of the drive controller
Horizontal distance from the side
g1 20
edge of the drive controller
Horizontal distance from the c2 132
fastening holes of the EMC shroud
Horizontal distance from the side g2 7.5
edge of the EMC shroud

4 Technical data
Manual SD6
4.8 Terminal modules X101 specification
4.8.1 Specification - XI6
X100 specification
length
Electrical data
length
Binary inputs  Low level 0–8 V
BE1 to BE3 High level 12–30 V
Electrical data Input voltage Max. 30 V
Analog inputs  Level ±10 V Input current Max. 16 mA
AE1 and AE2 Resolution 16 bits Input frequency Max. 10 kHz
Internal resistance > 40 kΩ Binary inputs  Low level 0–8 V
Refresh rate Cycle time of the BE4 and BE5 High level 12–30 V
application
Input voltage Max. 30 V
Analog input  Level ±20 mA
Input current Max. 16 mA
AE1 as current input Resolution IO6: 12 bits
(AE1+ and AE1 shunt Input frequency XI6: max. 100 kHz
XI6, RI6: 16 bits
bridged) IO6, RI6: max. 250 kHz
Internal resistance 492 Ω
Binary outputs  Maximum output current XI6: 50 mA 
Wire break monitoring Parametrizable in F15 BA1 and BA2 IO6, RI6: 100 mA
Analog outputs  Level ±10 V Typical voltage drop <2V
AA1 and AA2 Maximum output current XI6: 10 mA Refresh rate Cycle time of the
IO6, RI6: ± 20 mA application (at least 1
ms)
Output frequency Max. 250 kHz
24 vdc power supply Input voltage 18–28.8 V

4 Technical data
Manual SD6
X102 specification X103A specification
General specification General specification

Maximum cable 30 m, shielded Maximum cable 30 m, shielded
length length
Electrical data Electrical data

Analog input AE3 Level ±10 V Binary outputs  Maximum output current 50 mA
Resolution 16 bits BA3 and BA4 Typical voltage drop <2V
Internal resistance > 40 kΩ Refresh rate Cycle time of the
Refresh rate Cycle time of the application
application (at least 1 Inductive load Max. 1.2 VA
ms) Binary outputs  Maximum output current 50 mA
BA5 and BA6 Typical voltage drop <2V
Refresh rate Cycle time of the
application

4 Technical data
Manual SD6
X103B specification X103C specification

Maximum cable 30 m, shielded Maximum cable 30 m, shielded
length length
Electrical data Electrical data

Binary outputs  Maximum output current 50 mA Binary inputs  Low level 0–8 V
BA7 to BA10 Typical voltage drop <2V BE7 to BE13 High level 12–30 V
Refresh rate Cycle time of the Input voltage Max. 30 V
application Input current Max. 16 mA
Binary input BE6 Low level 0–8 V Input frequency Max. 3 kHz
High level 12–30 V
Input frequency Max. 3 kHz

4 Technical data
Manual SD6
4.8.2 Specification – RI6 X101 specification
X100 specification Electrical data
Electrical data Binary inputs  Low level 0–8 V

Analog inputs  Level ± 10 V
AE1 and AE2 Resolution 16 bits Input voltage Max. 30 V
Internal resistance > 40 kΩ Input current Max. 16 mA
Refresh rate Cycle time of the Input frequency Max. 10 kHz

application Binary inputs  Low level 0–8 V
Analog input  Level ± 20 mA BE4 and BE5 High level 12–30 V
AE1 as current input Resolution 16 bits Input voltage Max. 30 V
(AE1+ and AE1 shunt
Internal resistance 492 Ω Input current Max. 16 mA
bridged)
Wire break monitoring Parameterizable in F15 Input frequency Max. 400 kHz
Analog outputs  Level ± 10 V, ± 20mA Binary outputs  Maximum output current 100 mA
AA1 and AA2 Maximum output current ± 20mA BA1 and BA2 Typical voltage drop <2V
(short-circuit-proof) Refresh rate Cycle time of the
application
Binary outputs  Maximum output current 50 mA
BA1 and BA2 as Typical voltage drop <2V
encoder output
Output frequency Max. 1 MHz
24-V power supply Input voltage 18–28.8 V

4 Technical data
Manual SD6
4.8.3 Specification – IO6 X101 specification
X100 specification Electrical data
Electrical data Binary inputs  Low level 0–8 V

Analog inputs  Level ± 10 V
AE1 and AE2 Resolution 12 bits Input voltage Max. 30 V
Internal resistance > 40 kΩ Input current Max. 16 mA
Refresh rate Cycle time of the Input frequency Max. 10 kHz

application Binary inputs  Low level 0–8 V
Analog input  Level ± 20 mA BE4 and BE5 High level 12–30 V
AE1 as current input Resolution 12 bits Input voltage Max. 30 V
(AE1+ and AE1 shunt
Internal resistance 492 Ω Input current Max. 16 mA
bridged)
Wire break monitoring Parameterizable in F15 Input frequency Max. 400 kHz
Analog outputs  Level ± 10 V, ± 20mA Binary outputs  Maximum output current 100 mA
AA1 and AA2 Maximum output current ± 20mA BA1 and BA2 Typical voltage drop <2V
(short-circuit-proof) Refresh rate Cycle time of the
application
BA1 and BA2 as Typical voltage drop <2V
encoder output
Output frequency Max. 1 MHz
24-V power supply Input voltage 18–28.8 V

4 Technical data
Manual SD6
4.9 Communication modules 4.10 Quick DC-Link

4.9.1 EC6 communication module Electrical energy recovery
Motors that are being braked act like generators: in operation with an active
Accessory part EC6 is required for an accessory part.
drive controller, they convert the kinetic energy inherent in the movement into
Information electrical energy. 
For more extensive information about EtherCAT consult the This electrical energy is fed into the DC link capacitors of the drive controller. It
EtherCAT operating instructions (see section 1.2 Further can be made available to driving motors if the DC intermediate circuits are
documentation)! connected, which makes for efficient use.
When a motor brakes, the voltage in the DC intermediate circuit increases.
Cable specification
However, the capacitors in the DC link are only able to absorb a limited amount
STOBER provides ready-made cables for the EtherCAT connection. These
of energy. If the DC link voltage increases above a defined limit, a chopper
cables must be used to ensure proper functionality.
circuit is activated that converts excess energy to heat via a connected braking
It is also possible to use cables with the following specification:
resistor.
Plug wiring Patch or crossover If the maximum admissible voltage is reached, it is important to prevent
possible damage: The drive controller takes on the "Fault" status and switches
Quality CAT5e
off.
Shielding SFTP or PIMF
In a DC link connection, the DC link capacitors of the relevant drive controllers
are switched in parallel. That increases the maximum amount of energy that
can be absorbed in the DC intermediate circuit in comparison to an individual
device.
Information
In a controlled emergency stop, all drive controllers may possibly be
braking at the same time. You should take this into consideration in
the design to determine whether a central braking resistor is
necessary to be able to stop system parts safely within a specified
time.
Especially in winding technology that use motors for permanent braking or in

general for regular acceleration and braking cycles, the DC link connection
saves energy and money.

4 Technical data
Manual SD6
Connecting Quick DC-Link – drive controller

The DC link capacitors of exactly two drive controllers can be connected via the
SD6 output terminals. To connect the capacitors of multiple drive controllers,
you need a separate module DL6. (see also 6.5 Quick DC-Link).
Information
Note that you can only connect the 6th generation of STOBER drive
controllers.
Relevant design and operating instructions

Note the following factors in the planning phase and during subsequent Quick
DC-Link operation:
• the capacity of the charging circuits of the drive controllers that are
supplied with power
• the sizes of the drive controllers and
• their maximum output power.
•
Information
Quick DC-Link may be subject to system-specific or country-
specific standards.

4 Technical data
Manual SD6
4.10.1 Electrical Data

When designing and operating the Quick DC-Link, always observe the electrical data and the individual drive controller sizes and types.
The maximum DC link voltage is 750 V and the maximum permitted current is 200 A.
Size (voltage) Type I1N,PU I2N,PU I2N,PU Own capacity Charging Remaining
[A] [A] 4 kHz [A] 8 kHz [µF] capacity charging
[µF] capacity
[µF]
0 (1 x 230 V) SD6A02 8.3 4 3 340 1620 1280
SD6A04 2.8 2.3 1.7 135 540 405
0 (3 x 400 V)
SD6A06 5.4 4.5 3.4 135 540 405
SD6A14 12 10 6 470 1405 935
1 (3 x 400 V)
SD6A16 19.2 16 10 560 1405 845
SD6A24 26.4 22 14 680 1405 725
2 (3 x 400 V)
SD6A26 38.4 32 20 1000 1405 405
SD6A34 45.3 44 30 430 5100 4670
3 (3 x 400 V) SD6A36 76 70 50 900 5100 4200
SD6A38 76 85 60 900 5100 4200

4 Technical data
Manual SD6
4.10.2 Power supply NOTICE

Mains supply
Material damage!
Operate only drive controllers with the same power supply voltage as part of
Quick DC-Link.  If the EMC limit values are exceeded while a DC link connection is in operation,
take suitable measures to maintain electromagnetic compatibility.
Always route the compound DC link connections as short as possible. If they
DANGER! are longer than 30 cm, they must be shielded.
Device damage!
If single-phase and three-phase drive controllers are connected, the single- Protection against failure of a drive controller
phase drive controllers will be damaged.
Connect either all one-phase or else all three-phase drive controllers. NOTICE
Danger of device damage!
Note also the following rules:
• All single-phase drive controllers must be connected to the same external The failure of a drive controller in the DC link can cause damage to other drive
conductor. controllers. For this reason, a failure must initiate the separation of the
• All three-phase drive controllers must be connected to the same mains complete Quick DC-link system from the network.
power supply.  Note in this regard the wiring and parameterization of relay 1 in 7.3.9 X30:
Quick DC-Link, braking resistor, page 103].
Special features for a connection with drive controllers size 3
• AC supply
If a Quick DC-Link consists of drive controllers of sizes 0, 1, 2 and 3, only
those of size three may be supplied with power. The others must be
supplied exclusively with DC voltage.
• Number 
The maximum number of size 3 drive controllers you can connect is 3.
• Power choke
A power choke of type TEP4010-2US00 must be installed for each size 3
drive controller supplied with power (see 4.12.1 Power choke).

4 Technical data
Manual SD6
4.10.3 Line fuse

Fuse protection against overload and short circuit
Every drive controller in the compound DC link system supplied with power must be protected by a fuse at the mains input by both overload and short circuit
protection connected in series. A miniature circuit breaker protects against overload and a safety fuse against short circuit.
Information
To ensure problem-free operation, always comply with the recommended trigger limits and trigger
characteristics of the fuse elements.
Selecting fuse protection

Size I1N,PU [A] I1maxPU [A]
Circuit Breaker Safety fuse
SD6A04 2,8 5,0 Fa. EATON Fa. SIBA
0 Type: FAZ-B6/3, Art.No.: 278841 Type: URZ, Art.No. 50 140 06.20
SD6A06 5,4 9,7
Trigger characteristic: B 6 A Trigger characteristic: gR 20 A
1 Type: FAZ-Z20/3, Art.No.: 278928 Type: URZ, Art.No. 50 140 06.32
SD6A16 19,2 34,6
Trigger characteristic: Z 20 A Trigger characteristic: gR 32 A
2 Type: FAZ-Z40/3, Art.No.: 278931 Type: URZ, Art.No. 50 140 06:80
SD6A26 38,4 69,1
Trigger characteristic: Z 20 A Trigger characteristic: gR 80 A
SD6A34 45,3 81,5 Fa. EATON
SD6A36 76 136,8 Type: FAZ-B63/3, Art.No.: 278853a)
Trigger characteristic: B 63 A Fa. SIBA
3 Type: URZ, Art.No. 50 140 06.100
SD6A38 76 136,8 Fa. Siemens Trigger characteristic: gR 100 A
Type: SIRUS, Art.No.: 3RV 1041-4KA10
Trigger characteristic: 57 A – 75 Ab)
a) Reduces the input current from 73 A to 63 A. This causes the power output to be reduced, however reliable rectifier protection is not guaranteed.
b) Circuit breaker size S3, CLASS 10, adjustable current range: 57 A – 75 A, electromagnetic triggering: 975 A. Rectifier diodes are not protected in the range of 2 times to 13 times the nominal current.

4 Technical data
Manual SD6
Mains fuse – maximum number of drive controllers 4.10.4 Power contactor

Multiple drive controllers with the power can be connected via a common mains
All drive controllers supplied with power must be connected with the mains
fuse. The size of the mains fuse as well as the mains input current of the drive
voltage via a common contactor. Make certain to observe the instructions in
controllers that are supplied with power correspond to that of a single drive
7.3.9 X30: Quick DC-Link, braking resistor.
controller.
To prevent damage to the safety fuse, the number of possible drive controllers
on a common mains fuse is limited as follows: NOTICE
• Size 0 Maximum 4 drive controllers,
Material damage!
• Size 1 Maximum 2 drive controllers,
• Size 2 Maximum 5 drive controllers, Use only one contactor! 
• Size 3 Maximum 2 drive controllers. If multiple contactors are used, the charge resistors of the drive controllers will
be damaged by the scattering of switching times that will occur.
NOTICE
Material damage!
To ensure uniform distribution of the charge current to all the drive controllers
supplied with AC power, all fuses must be closed when the supply voltage is
turned on. 

To ensure that the input rectifier is not overloaded in case a fuse fails, the
evaluation of phase monitoring of the drive controllers that are supplied with AC
power must result in the entire compound DC link system being disabled.

4 Technical data
Manual SD6
4.10.5 Projecting Calculating the mains current for motors

The required drive power can be used to determine the mains current for
Charging capacity
motors:
The charging circuit integrated into a drive controller is also able to charge the P mains  P motor concurrent
DC intermediate circuit of other drive controllers in addition to its own DC
intermediate circuit.
During projecting of a Quick DC-Link, make certain that the total of the charging Calculating motor power and voltage
capacities of the drive controllers that are supplied with power is greater than The following formulas and assumptions apply when calculating motor power
or equal to the total of the charging capacity of the entire compound DC link and voltage:
system. P motor = 3  U motor  I motor  cos  motor
Checking the charging capacity of drive controllers supplied with power – P mains = 3  U mains  I mains required   mains
example
U motor max = 0 8  U mains
Two drive controllers type SD6A26 that are supplied with power should be able
to charge six type SD6A04 drive controllers. Calculate the maximum charging U motor cos  motor
I mains required = ------------------  I motor  ---------------------------
capacity of the two drive controllers that are supplied with power as follows: U mains  mains
2 x 1405 µF = 2810 µF. In addition, the field weakening range also begins.

The DC link circuit capacity in the system to be charged is:  The effective factor of a servo motor (cos φ Motor ) is about 0.9 when operating
2 x 1000 µF (SD6A26) + 6 x 135 µF (SD6A04) = 2810 µF. at 4 kHz and about 0.98 when operating at 8 kHz. The effective factor of an
It is therefore equal to the maximum charging capacity.  asynchronous motor can be determined based on the relevant electrical data.
Quick DC-Link is permissible in this case. The following rule applies to the power factor of the mains power supply:
 mains = 0 6  I mains  40A
Current-carrying capacity of the input rectifier
When designing the Quick DC-Link, make certain that the total required mains  mains = 0 7  I mains  40A
current does not exceed the maximum mains current.
I mains required  I mains max To be able to determine the required mains current and the sizes of the drive
To calculate both the effective and the maximum mains current, SERVOsoft® controllers to be supplied with power in the context of Quick DC-Link, the
may be required as mechanical and electrical design software for drive required motor power must be calculated.
systems. The total maximum permitted input current Imains,max is derived from the total
of the maximum input currents Imains,max of all connected drive controllers in
continuous operation.

4 Technical data
Manual SD6
Dynamic movements of the connected motors are possible in the permitted Depending on the DC link circuit capacity in the system being charged, the
range, see 4.2.2 Power board. minimum time between two mains power-on processes can be determined by
The following applies for the total of the input currents of the connected drive the maximum charging capacity of the drive controllers connected to the mains
controller: (K factor).
• If all the drive controllers supplied with power have the same power, the
total of maximum mains-side input currents can be calculated using the
formula
Imains, max = 0.8 · n supply · Imains, individual device The times specified below are worst-case values for a regularly recurring
power-on with full discharge of the DC link circuit capacity.
• If all drive controllers supplied with power do not have the same power, the These times are reduced for a single instance of repeated power-on, or if the
total of the input current can be calculated by multiplying the input current DC link circuit capacities remain entirely or partially charged.
of the smallest drive controller supplied with power by the number of all
AC-supplied drive Minimum time between
drive controllers supplied with power:
controllers Factor K two mains power-on
Imains,max = 0.9 · n supply · Imains, individual device, min
processes [min]
To prevent current asymmetries, all drive controllers supplied with power that ≤ 0.5 1
Size 0
have different power must have the same fuse protection, which must also be ≥ 0.5 2
equivalent to the drive controller with the lowest power. ≤ 0.427 1
0.428 – 0.570 2
Current-carrying capacity of the copper wires Sizes 1, 2 0.571 – 0.712 3
"DC rails" connect the DC link capacitors of the drive controllers with each 0.713 – 0.854 4
other. These are copper rails that are mounted with corresponding holding > 0.854 5
clamps and must have a cross-sectional dimension of 5 x 12 mm. Size 3 0.5
The maximum permitted current-carrying capacity of the copper rails is 200 A.
Calculation example
Minimum time between two mains power-on processes Three SD6A16 drive controllers are connected and two of them are connected
The drive controllers have temperature-dependent resistors in the charging to the mains. The K factor can be calculated according to the formula
circuit to prevent the devices from being destroyed when the mains current is previously noted as follows:
switched after an error – such as a short-circuited DC intermediate circuit, 1680F
 = --------------------- = 0 598
wiring error, etc. When the DC intermediate circuit is being charged, the 2810F
resistors heat up. To prevent an overload, it is essential to maintain a minimum
The minimum time between two mains power-on processes is three minutes
amount of time between two power-on processes.
(see table).

4 Technical data
Manual SD6
4.11 Braking Resistors Braking resistor – drive controller assignment
In addition to the different drive controllers, STOBER offers braking resistors in Type FZMU 400x65 FZZMU 400x65
different sizes and performance classes described in the following. ID no. 49010 55445 53895 55447
When selecting, note the minimum permitted braking resistors of the individual SD6A02 X — — —
SD6 types (see 4.2.2, page 30).
SD6A04 X — — —
4.11.1 FZMU, FZZMU SD6A06 X — — —
Properties SD6A14 (X) — X —

SD6A16 (X) — X —
Type FZMU 400x65 FZZMU 400x65
SD6A24 — X (X) X
ID no. 49010 55445 53895 55447
SD6A26 — X (X) X
Resistance [Ω] 100 22 47 22
SD6A34 — (X) — (X)
Power [W] 600 1200
SD6A36 — (X) — (X)
Therm. time const. τth [s] 40 40
SD6A38 — (X) — (X)
Pulse power for < 1 s [kW] 18 36
Not possible: —
Umax [V] 848 848
Recommended: X
Weight [kg] approx. 2.2 approx. 4.2 Possible: (X)
Protection class IP20 IP20
Test marks
The internal connections are wired with heat-resistant, silicon-insulated

strands of wire on terminals. Also ensure a heat-resistant and stress-resistance
design for the connection!
Conductor cross-section
Connection type Conductor cross-section [mm2]

Rigid 0.5 – 4.0
Flexible with cable end sleeve 0.5 – 2.5

4 Technical data
Manual SD6
Dimensions [mm] 4.11.2 FGFKU

Type FZMU 400x65 FZZMU 400x65 Properties
ID no. 49010 55445 53895 55447
Type FGFKU
LxD 400  65 400  65
ID no. 55449 55450 55451 53897
H 120 120
Resistance [Ω] 22 15 15 15
K 6.5  12 6.5  12
Power [W] 2500 6000 8000
M 430 426
Therm. time const. τ th [s] 30 20 20
O 485 450
Pulse power for < 1 s [kW] 50 120 160
R 92 185
Umax [V] 848 848 848
R 64 150
Weight [kg] Approx. 7.5 12 18
X 10 10
Test marks
FZMU FZZM(U)
L R R The internal connections are wired with heat-resistant, silicon-insulated
strands of wire on terminals. Also ensure a heat-resistant and stress-resistance
design for the connection!
øD
Conductor cross-section
M X K K Connection type Conductor cross-section [mm2]

O U U Rigid 2.5 – 10
Flexible with cable end sleeve 2.5 – 10
U
K
Drill pattern
M

4 Technical data
Manual SD6
Braking resistor – drive controller assignment 490 C
Type FGFKU
ID no. 55449 55450 55451 53897
SD6A24 X — — —
260
SD6A26 X — — —
SD6A34 (X) X X X
SD6A36 (X) X X X
Ø10,5 A
SD6A38 (X) X X X
380 B
Not possible: —
Recommended: X A
Possible: (X)
10,5
Dimensions [mm]
380
Drill pattern
Type FGFKU
ID no. 55449 55451 53897
55450
A 270 370 570
B 295 395 595
C 355 455 655

4 Technical data
Manual SD6
4.11.3 GVADU, GBADU Braking resistor – drive controller assignment
Properties Type GVADU GBADU GBADU GBADU GBADU

21020 26530 40530 33530 26530
Type GVADU GBADU GBADU GBADU
21020 26530 33530 40530 ID no. 55441 55442 55499 55443 55444
ID no. 55441 55442 55444 55443 55499 SD6A02 X X X — —
Resistance [Ω] 100 100 22 47 100 SD6A04 X X X — —
Power [W] 150 300 300 400 500 SD6A06 X X X — —
Therm. time const.  SD6A14 (X) (X) (X) X —

60 60
τ th [s] SD6A16 (X) (X) (X) X —
Pulse power  SD6A24 — — — (X) X
3.3 6.6 6.6 8.8 11
for < 1 s [kW] SD6A26 — — — (X) X
Umax [V] 848 848 SD6A34 — — — — (X)
Cable design Radox FEP SD6A36 — — — — (X)
Cable length [mm] 50 50 SD6A38 — — — — (X)
Cable cross- 18/19 Not possible: —
14/19
section [AWG] (0.82 Recommended: X
(1.9 mm²)
mm²) Possible: (X)
Weight [g] 300 950 950 1200 1450
Protection class IP54 IP54
Test marks

4 Technical data
Manual SD6
Dimensions [mm] 4.11.4 Bottom brake resistor RB 5000

Type GVADU GBADU GBADU GBADU Properties
21020 26530 33530 40530
Type RB 5022 RB 5047 RB 5100
ID no. 55441 55442 55444 55443 55449
ID no. 45618 44966 44965
A 210 265 335 405
Resistance [Ω] 22 47 100
H 192 246 316 386
Power [W] 100 60 60
C 20 30 30 30
Therm. time const. τ th [s] 8
D 40 60 60 60
Pulse power for < 1 s [kW] 1.5 1.0 1.0
E 18.2 28.8 28.8 28.8
Umax [V] 800
F 6.2 10.8 10.8 10.8
Weight [g] Approx. 640 Approx. 460 Approx. 440
G 2 3 3 3
Cable design Radox
K 2.5 4 4 4
Cable length [mm] 250
J 4.3 5.3 5.3 5.3
Cable cross-section [AWG] 18/19
 65° 73° 73° 73° (0.82 mm²)
Maximum torque for studs
5
[Nm]
Protection class IP40
Test marks

4 Technical data
Manual SD6
Drive controller – braking resistor assignment 4.12 Chokes

Type RB 5022 RB 5047 RB 5100 To reduce high-frequency currents on electrical cables and thus increase the
ID no. 45618 ID no. 44966 ID no. 44965 interference immunity and availability of drive systems, coils such as network
SD6A04 — — X or output deraters are used – corresponding to your application.
SD6A06 — — X
Power chokes involve inductive metal wire coils that reduce undesired
SD6A14 — X (X) harmonics or distortion in the network (e.g. for commutation of the current
SD6A16 — X (X) flow). In addition, they relieve the DC-Link circuit capacity of the drive
SD6A24 X — — controller.
SD6A26 X — —
Output deraters reduce charge current peaks due to the cycle signal and line
SD6A34 — — —
capacity. They make long motor cables possible, increase the motor service life
SD6A36 — — — and reduce harmonic currents.
SD6A38 — — —
Not possible: —
Recommended: X
Possible: (X)
Note the attachment to the drive controller (section 6.6 Bottom brake resistor)!
Dimensions [mm]
Type RB 5022 RB 5047 RB 5100

ID no. 45618 44966 44965
Height 300 300
Width 94 62
Depth 18 18
Drilling pattern corresponds to
2 1 0 and 1
size

4 Technical data
Manual SD6
4.12.1 Power choke Type TEP4010-2US00
WARNING! ID no. 56528

Phases 3
Risk of burns! Fire hazard! Material damage!
Permitted thermal continuous current 100 A
Chokes can heat up to over 100 °C under permitted operating conditions.
Rated current 90 A
 Take protective measures against accidental and intentional contact with
the choke. Rated inductance 0.1410 mH
 Make sure that no flammable material is in the vicinity of the choke. Mains voltage 480 V
 Do not install chokes under or near the drive controller. Voltage drop (Uk) 2%
Frequency 60 Hz
WARNING! Protection class IP 00
Fire hazard! Max. surrounding temperature ϑamb,max 40° C
Using chokes outside of the nominal data (cable length, current, frequency, Insulation class B
etc.) can cause the chokes to overheat. Connection Flange connection
 Always comply with the maximum nominal data when operating the Mounting Screws
chokes. Specification EN 61558-2-20
UL Recognized Component (CAN; USA) Yes
CE mark Yes
Identification/test mark, symbol , ,

4 Technical data
Manual SD6
Dimensions TEP4010-2US00
Height [mm] 235
Width [mm] 219
Depth [mm] 118
Vertical distance 1 –
201
fastening holes [mm]
Vertical distance 2 –
136
Horizontal distance 1 –
88
Horizontal distance 2 –
75
Drill holes – depth [mm] 7
Drill holes – width [mm] 12
Screw connection – M M6
Weight [kg] 10

4 Technical data
Manual SD6

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4 Technical data
Manual SD6
4.12.2 Output derater Information

The following technical data applies for a rotary field frequency of
WARNING! 200 Hz. For example, this rotary field frequency is achieved with a
Risk of burns! Fire hazard! Material damage! motor with 4 pole pairs and a nominal speed of 3000 rpm.
Chokes can heat up to over 100 °C under permitted operating conditions. Always observe the specified derating for higher rotary field
frequencies.
 Take protective measures against accidental and intentional contact with
Also observe the dependency of the cycle frequency.
the choke.
 Make sure that no flammable material is in the vicinity of the choke. Type TEP3720- TEP3820- TEP4020-
 Do not install chokes under or near the drive controller. 0ES41 0CS41 0RS41
ID no. 53188 53189 53190
Voltage range 3 x 0 to 480 V
WARNING!
Frequency range 0 to 200 Hz
Fire hazard!
IN at 4 kHz 4A 17.5 A 38 A
Using chokes outside of the nominal data (cable length, current, frequency, IN at 8 kHz 3.3 A 15.2 A 30.4 A
etc.) can cause the chokes to overheat. Max. permitted motor
 Always comply with the maximum nominal data when operating the cable length with 100 m
chokes. output derater
Max. surrounding 40 °C
NOTICE temperature ϑ
amb,max
Danger of machine standstill!
Design Open
The motor temperature sensor evaluation is malfunctioning due to cable
Winding losses 11 W 29 W 61 W
capacities.
Iron losses 25 W 16 W 33 W
 If you use cables which are longer than 50 m and the cables are not from Connections Screw terminals
STOBER, the cores for the motor temperature sensor and the brake must
Max. conductor 10 mm2
be separate (maximum length: 100 m).
cross-section
UL Recognized Yes
Component 
(CAN; USA)
Test marks

4 Technical data
Manual SD6
Projecting Derating TEP3820-0CS41

Select the output chokes according to the rated currents of the motor and IN [A]
output chokes. In particular, observe the derating of the output choke for rotary
20
field frequencies higher than 200 Hz.
18
You can calculate the rotary field frequency for your drive with the following
16
formula:
14
p
f = n N  ------ 12
60
10
1
f Rotary field frequency in Hz
8 2
n Speed in rpm
6
p Number of pole pairs
4
N Nominal value
2
Derating TEP3720-0ES41 0 f [Hz]

0 100 200 300 400 500 600 700
IN [A]
1 Cycle frequency 4 kHz
4,5 2 Cycle frequency 8 kHz
4
3,5
2,5
2 1
2
1,5
0,5
0 f [Hz]
0 100 200 300 400 500 600 700


4 Technical data
Manual SD6
Derating TEP4020-0RS41
Dimensions TEP3720- TEP3820- TEP4020-
IN [A] 0ES41 0CS41 0RS41
40 Height h [mm] Max. 153 Max. 153 Max. 180
35 Width w [mm] 178 178 219
30 Depth d [mm] 73 88 119
25 Vertical distance – 166 166 201

fastening holes
20 1
a1 [mm]
15 2
Vertical distance – 113 113 136
10 fastening holes
5
a2 [mm]
Horizontal distance – 53 68 89
0 f [Hz]
0 100 200 300 400 500 600 700 fastening holes
1 Cycle frequency 4 kHz b1 [mm]
2 Cycle frequency 8 kHz Horizontal distance – 49 64 76
fastening holes
b2 [mm]
Drill holes – depth 5.8 5.8 7
[mm]
Drill holes – width  11 11 13
f [mm]
Screw connection – M M5 M5 M6
Weight [kg] 2.9 5.9 8.8

4 Technical data
Manual SD6
A
M 1:2
a2
a1
w
h
e
b2
b1
A d
a1
M
Mounting borings in
b1
acc. to DIN EN 60852-4

5 Transportation and storage
Manual SD6

5.1 Notes on safety .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .72
5.2 Transportation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .72
5.3 Storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .72

Manual SD6
5.1 Notes on safety The graphics below show the principle network connection for 3-phase and 1-
phase devices.
Inspect the delivery for any transport damage immediately after you receive it.
Notify any damage to the transport company immediately. Do not operate the
product if damaged.
Store the device in a dry and dust-free room if you do not install it immediately.
If the device will be stored for one year or more, make certain to read section
5.3 Storage.
5.2 Transportation
Protect the drive controller against impacts during transport. For example use
the carton in which the drive controller was delivered. Please note the figures
specified in section 4.4 Transportation, storage and operating environment.
5.3 Storage
NOTICE
Material damage!
The DC link capacitors in devices of sizes 0, 1 and 2 can lose their electrical Legend
strength through long storage times. Considerable material damage can arise L1–L3 = lines 1 to 3
from a reduced electrical strength of the DC link capacitors when switching on. N = neutral conductor
 Use devices in storage annually or before startup. PE = protective ground
F1 = fuse
Perform forming for stored devices. A1 = drive controllers
Information If annual forming is not possible, form the stored devices before commissioning
STOBER recommends connecting stored devices to the supply according to the wiring and voltage levels shown below.
voltage according to the wiring shown for one hour every year.
Please note that the drive controllers are designed exclusively for
operation in TN networks.

Manual SD6
Power voltage [%]
PE
PE
L1
L1
L2
L3
N
100
F1 F1 75
T1 T1
50
A1 L1 L2 L3 PE A1 L1 N PE
X10 X10 25
0 Time [h]
0 0.5 1 2 4 6 8
Legend
Storage time 1 - 2 years: Before enabling, apply voltage for
L1–L3 = lines 1 to 3 one hour.
N = neutral conductor Storage time 2 - 3 years: Before enabling, form as per curve.
PE = protective ground
Storage time 3 years: Before enabling, form as per curve.
F1 = fuse
Storage time under 1 year: No action required.
T1 = variable transformer
A1 = drive controllers

6 Installation
Manual SD6
6 Installation
6.1 Notes on safety .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .75
6.2 Drive controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .75
6.3 Terminal modules .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .77
6.4 Communication modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .78
6.5 Quick DC-Link .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .79
6.6 Bottom brake resistor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .81
6.7 EMC shroud .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .83
6.8 Encoder adapter box .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .84

6.8.1 Top-hat rail fastening . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
6.8.2 Screw fastening .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

6 Installation
Manual SD6
6.1 Notes on safety 6.2 Drive controller

Installation work is only admissible when no voltage is present. Observe the 5
safety rules.
Remove the additional covers before commissioning so that the device will not
overheat.
Note the minimum open areas specified in the technical data during installation
to prevent the drive controller from overheating.
Protect the device against falling parts (bits or strands of wire, pieces of metal,
etc.) during installation or other work in the control cabinet. Parts with
conductive properties may result in a short circuit or device failure within the
drive controller.
Min. clearance A B Ca)

[mm] Above Below On the side
Size 0 – 2 100 100 5
... with EMC shroud 100 120 5
Size 3 100 100 5
... with EMC shroud 100 220 5
a) Only without Quick DC-Link module DL6

6 Installation
Manual SD6
The clearance dimensions noted here apply only to installation without a DL6
Drive controller installation
Quick DC-Link module. If you would like to operate drive controllers as part of
Quick DC-Link, see the applicable dimensions 6.5 Quick DC-Link. 1. If present, install both a terminal module and a communication module
(see section 6.3 Terminal modules).
Requirements:
• Prevent condensation, for example with anti-condensation heating 2. Prepare the mounting plate according to the separately enclosed drilling
elements. diagram.
• Note that drive controllers in storage must be used annually or no later than 3. Install the drive controller on the mounting plate. Make certain chips and
before commissioning. oil are cleaned from the mounting plate.
• For reasons related to EMC, use mounting plates with a conductive surface 4. Connect the housing ground (see section 4.6.3 Housing ground).
(unpainted, etc.). 5. Connect the drive controller, terminal module and communication module
• Fasten the devices onto the mounting plate with M5 screws. according to the contact plan.
• Attach the devices vertically.
• Avoid installation above or in the immediate vicinity of heat-generating
devices 
such as output deraters or braking resistors.
• To ensure there is sufficient air circulation in the control cabinet, observe
the minimum clearances.
• A contact plan of the system in which the connection of the drive controller
is described must be present.
You need:
• a tool to drill the tapped holes in the mounting plate.
• a tool to tighten the fastening screws.

6 Installation
Manual SD6
6.3 Terminal modules Terminal module installation
WARNING! 1. Press the spring lock on the front cover lightly to unlock it.
2. Push the front cover down as far as it will go.
Danger of personal injury and material damage due to electric shock!
3. Remove the cover towards the front.
 Always switch off all power supply voltage before working on the drive
controller! Note that the discharge time of the DC link capacitors is 5 4. Insert the terminal module so that the recesses on the module and the
minutes. You can only determine the absence of voltage after this time holding down mechanisms on the drive controller can be guided past one
period. another. The rear of the plug-in card must be resting against the drive
controller.
5. Push the terminal module up so that the pin contacts are pushed into the
CAUTION!
female connector strip.
Danger of property damage due to electrostatic discharge, among 6. Fasten the terminal module onto the drive controller with the fastening
others! screw.
 Provide suitable protective measures while handling open PCBs (e.g., ESD
clothing, environment free of dirt and grease).
 Do not touch the contact surfaces.
Analog and binary signals can only be connected via one of terminal modules
XI6, RI6 or IO6. Installation is identical for all terminal modules.
You need:
• A Torx screwdriver TX10.
• The accessory enclosed with the terminal module.

6 Installation
Manual SD6
You will need the EC6 or CA6 communication module to connect EtherCAT or
6.4 Communication modules
CANopen. EC6 is installed on the upper slot, the same as CA6. The installation
is identical for both communication modules.
WARNING!
Danger of personal injury and material damage due to electric shock! You need:
 Always switch off all power supply voltage before working on the drive • A Torx screwdriver TX10.
controller! Note that the discharge time of the DC link capacitors is 5 • The cover and screw included with the communication module.
minutes. You can only determine the absence of voltage after this time
Installation of the communication module
period.
1. Loosen the fastening screw for the dummy cover on the top of the drive
CAUTION! controller.
Danger of property damage due to electrostatic discharge, among 2. Push the communication module into the drive controller on the guide
others! rails.
 Provide suitable protective measures while handling open PCBs (e.g., ESD 3. Push the module in so that the pin contacts are pushed into the female
clothing, environment free of dirt and grease). connector strip.
 Do not touch the contact surfaces. 4. Insert the tips of the cover included with the communication module into
the recess in the front at an angle.
WARNING! 5. Set the cover down on the drive controller so that the tips are resting under
Danger of personal injury and material damage due to electric shock! the edge.
6. Fasten the cover with the two screws.
controller! Note that the discharge time of the DC link capacitors is up to 5
period.
CAUTION!
Danger of material damage due for example to electrostatic discharge!
 Take suitable protective measures when handling open printed circuit
boards, for example clothing appropriate for ESD and an environment free
of dirt and grease.
 Do not touch the contact surfaces.

6 Installation
Manual SD6
6.5 Quick DC-Link

WARNING!
Danger of personal injury and material damage due to electric shock!
controller! Note that the discharge time of the DC link capacitors is 5
period.
To connect the SD6 drive controllers as part of Quick DC-Link, you will need
the DL6 Quick DC-Link modules. They are mounted downstream from a drive
controller. The linked system is implemented by copper rails.
Note the following dimensions for the overall installation.

6 Installation
Manual SD6
Quick DC-Link – installation of DL6 modules

Clearance of  SZ 0/1 SZ 0/1 SZ 2 SZ0/1 SZ 2 SZ 3
fastening holes [mm] – – – – – – Requirements:
SZ 0/1 SZ 2 SZ 2 SZ 3 SZ 3 SZ 3 • For reasons related to EMC, use mounting plates with a conductive surface
Size 0/1 Vertical a 283 283 283 — — — (unpainted, etc.).
distance • You have tapped holes for threaded bolts on the mounting plate at the
Size 3 a — — — 380 380 380
installation location, taking into consideration the different device
Drive b 75 93 110 56 73 45 dimensions.
controller • Avoid installation above or in the immediate vicinity of heat-generating
Drive devices 
controller such as output deraters or braking resistors.
with • To ensure there is sufficient air circulation in the control cabinet, observe
b 75 93 110 — — —
bottom Horizontal the minimum clearances.
braking distance • The copper rails must be straight, smooth, free of burrs and cleaned.
resistor
Drive 108 ± You need:
b 73 ± 2 91 ± 2 62 ± 2 79 ± 2 51 ± 2
controller 2 • Copper rails (cross-sectional dimension: 5 x 12 mm).
with DL6 d — — — 150 150 150 • The threaded bolts enclosed with the DL6 modules as well as the
corresponding screws and washers.
• The insulation inserts and holding clamps enclosed with the DL6 modules.
DL6 – length of copper rails
• A PH2 Phillips screwdriver.
Length of copper rails (5 x 12) [mm] • An 8 mm hexagonal socket wrench.
Size 0/1 Initial dimension c 57
Distance dimension b 73
Size 2 Initial dimension c 90
Size 3 Initial dimension c 198
Total length n x distance dimension + 2 x initial dimension

6 Installation
Manual SD6
Installation of DL6 modules 6.6 Bottom brake resistor

1. Fasten the DL6 modules onto the mounting plate with the threaded bolts. WARNING!
2. Insert the insulation inserts between the modules and on both ends. Danger of personal injury and material damage due to electric shock!
3. Clean the copper rails, especially on the contact points.  Always switch off all power supply voltage before working on the drive
4. Insert the two copper rails one after the other and fasten them in place with controller! Note that the discharge time of the DC link capacitors is 5
two holding clamps per module. Make certain the contact points of the minutes. You can only determine the absence of voltage after this time
copper rails do not become contaminated. period.
5. Pull the X30 clamps off the relevant drive controllers.
Requirements:
6. Connect the brown cables D+ to X30 terminals D+ and the black cables
• You have tapped holes for threaded bolts on the mounting plate in the
D- to X30 terminals D-.
control cabinet at the installation location, taking into consideration the
7. Size 3: 
different device dimensions. The threaded bolts are included with the
Mount the EM6A3 EMC shrouds as described in section 6.7 EMC shroud.
submounting braking resistor.
8. Place the drive controllers on the respective guides.
9. Press the drive controllers down on the respective guides. You need:
10. Sizes 0 – 2:  • The threaded bolts included with the submounting brake resistor.
Mount the EM6A0 EMC shrouds as described in section 6.7 EMC shroud. • The screws and washers included with the submounting brake resistor.
11. Attach each drive controller to the corresponding threaded bolt with the • A PH2 Phillips screwdriver.
enclosed screws and washers. • An 8 mm hexagonal socket wrench.
12. Fasten the X30 terminals to the bottoms of the corresponding drive
controllers.

6 Installation
Manual SD6
Installation of the submounting brake resistor 3. Press the device down on the guides:
1. Attach the bottom brake resistor to the mounting plate with the studs:
4. Attach the device to the studs with the screws and washers:
2. Place the device on the guides:
 You have installed the submounting brake resistor.
5. Connect the braking resistor.

Refer to the terminal description for X30 (R+ and R-) for proper connection
of the cable, see section 7.3.9.
6. Parameterize the braking resistor in the drive controller.

6 Installation
Manual SD6
6.7 EMC shroud Attaching the EMC shroud EM6A0 to a drive controller size 0, 1 or 2
WARNING! 1. Undo the lower fastening screw and washers of the drive controller.
Danger of personal injury and material damage due to electric shock! 2. Insert the shroud into the openings on the bottom of the drive controller at
a slight angle.
controller! Note that the discharge time of the DC link capacitors is 5 3. Press the back of the shroud either directly on the mounting plate or on
minutes. You can only determine the absence of voltage after this time the stud in the bottom.
period. 4. Attach the shroud to the drive controller and mounting plate or studs with
the fastening screw and washers.
You can use the EM6 EMC shroud to connect the cable shield of the power
Attaching the EMC shroud EM6A3 to a drive controller size 3
cable. Different designs are available for sizes 0 to 2 and also for size 3.
Attachment of this accessory part accordingly differs on drive controllers sizes 1. Fasten the shroud onto the bottom of the drive controller with the enclosed
0 to 2 compared to attachment on drive controllers size 3. fastening screws in the tapped holes provided for that purpose (max.
tightening torque: 2.4 Nm).
Preconditions:
• Sizes 0 – 2: You have already installed the drive controller in the control
cabinet, if necessary in combination with a Quick DC-Link or a bottom
brake resistor.
You need:
• A PH2 Phillips screwdriver.
• Size 3: The two enclosed screws and washers (combination screws with
toothed lock washer, M4x8).

6 Installation
Manual SD6
6.8 Encoder adapter box 6.8.1 Top-hat rail fastening

Preconditions:
WARNING! • Already mounted, 35 mm wide and symmetrical top-hat rail according to
Danger of personal injury and material damage due to electric shock! EN 50022 (TS 35)
 Always switch off all power supply voltage before working on the drive Mounting an adapter box on a top-hat rail
controller! Note that the discharge time of the DC link capacitors is 5
minutes. You can only determine the absence of voltage after this time 1. Place the spring of the installation aid on the back of the adapter box on
period. the top-hat rail.
2. Press the adapter box up and back until you hear the clamping
The adapter box LA6 should be directly mounted next to the drive controller. mechanism engage.
The following dimensions apply for installation:
6.8.2 Screw fastening

You need:
• A Torx screwdriver TX10 for loosening the installation aid.
• Two M5 screws (not included with delivery).
Direct mounting of the adapter box
1. Remove the installation aid on the back of the adapter box before
assembly. To do this loosen the two screws.
2. Fasten the adapter box onto the mounting plate with the M5 screws.
The permissible installation possibilities are described in the following sections.

7 Connection
Manual SD6
7 Connection 7.3.5 X12: Safety technology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
7.3.6 X20: Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99

7.3.7 X5, X6: Motor holding brake . . . . . . . . . . . . . . . . . . . . . . . . . . 101
7.1 Notes on safety .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .87 7.3.8 X2: Motor temperature sensor . . . . . . . . . . . . . . . . . . . . . . . . . 102
7.2 General information .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .87 7.3.9 X30: Quick DC-Link, braking resistor .. . . . . . . . . . . . . . . . . . . 103
7.2.1 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 7.3.10 X3A, X3B: PC, IGB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
7.2.2 Protective measures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 7.3.11 X4: Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
7.2.2.1 Line fuse .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88 7.4 Terminal modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .107

7.2.2.2 Residual current safety device . . . . . . . . . . . . . . . . . . 89 7.4.1 X100 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
7.2.2.3 Housing ground . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90 7.4.2 X101 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
7.2.3 EMC connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90 7.4.3 X102 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
7.2.4 Selecting the cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 7.4.4 X103A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
7.3 Drive controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .91 7.4.5 X103B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
7.3.1 Overview of terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 7.4.6 X103C . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
7.3.1.1 Size 0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 7.4.7 X120 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
7.3.1.2 Size 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 7.4.8 X140 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
7.3.1.3 Size 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94 7.5 Communication modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .122

7.3.1.4 Size 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 7.5.1 X200, X201: EtherCAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
7.3.2 X10: 230 V/400 V power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96 7.5.2 X200: CANopen .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
7.3.3 X11: 24 V power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

7.6 Encoder adapter box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .123
7.3.4 X1: Enable and relay 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

7 Connection
Manual SD6
7.6.1 Linear encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
7.6.1.1 Linear encoder EnDat 2.1/2.2 digital and SSI .. . . . . 123
7.6.1.2 Linear encoder TTL with Wake and Shake . . . . . . . 123
7.6.1.3 Linear encoder TTL with Hall sensor . . . . . . . . . . . . 123
7.6.1.4 Sin/cos linear encoder with Wake and Shake .. . . . . 123
7.6.2 Overview of terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
7.6.3 X300 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
7.6.4 X301 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
7.6.5 X302 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
7.6.6 X303 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
7.6.7 X304: Connection via D-sub connector . . . . . . . . . . . . . . . . . . 127
7.6.8 X305, X306: Connection via loose cable ends . . . . . . . . . . . . 128
7.7 Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .129

7.7.1 Power cable .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
7.7.2 Encoder Cables .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
7.7.2.1 Encoder EnDat 2.1/2.2 digital and SSI .. . . . . . . . . . 131
7.7.2.2 EnDat 2.1 sin/cos encoder . . . . . . . . . . . . . . . . . . . . 135
7.7.2.3 Encoder HTL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
7.7.2.4 Encoder TTL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
7.7.2.5 Resolver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141

7 Connection
Manual SD6
7.1 Notes on safety The drive controllers are not designed for use in a public low frequency network
that supplies residential areas. High-frequency interference can be expected if
Connection work is only admissible when no voltage is present. Observe the 5 the drive controllers are used in a network of this type.
safety rules (see chapter 2.5 Working on the machine).
Drive controllers are products subject to sales restrictions in accordance with
Make note of the following points: IEC 61800-3.
• The drive controller housing must be closed before you turn on the power The drive controllers are not designed for use in a public low frequency network
supply voltage. that supplies residential areas.
• When the power supply voltage is turned on, hazardous voltages may be In a residential environment this product may cause high-frequency
present on the connection terminals and the cables connected to them. interference. If this occurs the user may be asked to take suitable measures.
• The device is not reliably free of voltage simply because all the displays are
blank!
The following actions are prohibited while the power supply voltage is turned
7.2 General information
on: 7.2.1 Wiring
• Opening the housing
Observe the regulations applicable for your machine or system when installing
• Connecting or disconnecting connection clamps
the electrical equipment, e.g. DIN IEC 60364 or DIN EN 50110.
• Connecting or disconnecting connection wiring
• Removing or installing accessories.
7.2.2 Protective measures
The drive controllers are only suitable for operation on TN networks and only
Protect the device against falling parts (bits or strands of wire, pieces of metal,
for use in supply current networks that are able to provide a maximally
etc.) during installation or other work in the control cabinet. Parts with
symmetrical nominal short circuit current at 480 volts according to the following
conductive properties may result in a short circuit or device failure within the
table.
drive controller.
Use only copper conductors. For the corresponding lead cross-sections Size Max. symmetrical nominal short-circuit current
consult standards DIN VDE 0298-4 or DIN EN 60204-1 (appendices D, G) as Size 0 – size 2 5000 A
well as the relevant terminal specifications in this documentation.
Size 3 10,000 A
The protection class is protective grounding. Because of this, operation is only
admissible if the protective ground wire is connected according to
requirements.
The essential protective ground connections are identified by "PE" or the
international symbol for grounding (IEC 60417, symbol 5019 ).

7 Connection
Manual SD6
7.2.2.1 Line fuse Information

The mains fuse ensures line and power protection in the drive controller. Note that these values apply only to the drive controllers that are
You can use the following protective devices: connected to the mains individually. Different parameters apply to
• Full range safety melt fuses for cable and circuit protection to IEC 60269- drive controllers in a Quick DC-Link system.
2-1/DIN VDE 0636, part 201 NH fuses (operating class gG in accordance
UL-compliant line fuse
with IEC operating class specification or slow blow in accordance with
Use the following fuses for UL-compliant operation:
VDE)
• Fuses of class RK1, for example Bussmann KTS-R-xxA/600 V.
• Circuit breaker with trigger characteristics C in accordance with EN 60898
• For drive controllers sizes and 1 you can also use fuses of class CC.
• Power circuit breaker
• For drive controllers size 0 to 2 you can also use type E motor starters from
Type Input current Input current Recommended Eaton Industries, consisting of a motor protection switch and supply
I1N,PU (8 kHz) I1N,PU (4 kHz) mains fuse (max.) terminal.
SD6A02 5.9 A 8.3 A 10 A See the table below for suitable fuses:
SD6A04 2.2 A 2.8 A 10 A Type Class CC Class RK1 Type E motor starters
SD6A06 4A 5.4 A 10 A (Eaton Industries)
SD6A14 9.3 A 12 A 16 A SD6A02 10 A 10 A PKZM0-10/SP + BK25/3-PKZ0-E
SD6A16 15.8 A 19.2 A 20 A SD6A04 10 A 10 A PKZM0-10/SP + BK25/3-PKZ0-E
SD6A34 37 A 45.3 A 50 A SD6A16 20 A 20 A PKZM0-25/SP + BK25/3-PKZ0-E
SD6A36 62 A 76 A 80 A SD6A24 – 35 A PKZM0-32/SP + BK25/3-PKZ0-E
SD6A38 76 A 76 A 80 A SD6A26 – 50 A PKZM4-50 + BK50/3-PKZ4-E
SD6A34 – 50 A –
The following applies to size 3 (SD6A34, SD6A36, SD6A38): 
Operation only with mains commutation reactors and mains fuse for operating SD6A36 – 80 A –
class gG (see section "Line fuses" > "Full range safety melt fuses"). SD6A38 – 80 A –

7 Connection
Manual SD6
7.2.2.2 Residual current safety device False triggering – causes

STOBER devices can be protected with a Residual Current protective Devices Depending on stray capacitances and asymmetries, stray currents up to 40 mA
(RCD) to detect residual currents. Residual current protective devices prevent may occur during operation. Undesirable false triggering occurs
electrical accidents, especially ground fault through the body. • ... when drive controllers to the supply voltage.
They are generally distinguished according to their triggering limit and This false triggering can be rectified by using short-time delayed (super-
suitability for detecting different types of residual current. resistant), selective (delayed switch-off) residual current protective devices
Depending on the function, stray currents may occur when operating drive or RCDs with increased trigger current 
controllers. Stray currents are interpreted as residual currents by residual (for example 300 or 500 mA).
current protective devices and may therefore lead to false triggering. • ... Due to higher frequency stray currents for long motor cables under
Depending on the relevant power supply connections, residual currents may normal operating conditions: 
occur with or without a DC current component. Because of this, you should This false triggering can be rectified for example using low-capacitance
take into consideration both the height and also the shape of the possible stray cables or output deraters.
or residual current when selecting a suitable RCD.
• ... due to unbalances in the supply network. 
This false triggering can be rectified for example using an isolating
DANGER! transformer.
Electric shock hazard! Information

The combination of single-phase drive controllers and residual current Check whether the use of residual current protective devices with
protective devices type A or AC can lead to false triggering of the RCDs. increased trigger current as well as with short-time delayed or
delayed switch-off trigger characteristics are permitted in your
Stray currents with a DC current component may occur in 3-phase drive
application.
controllers.
 Always protect single-phase drive controllers with residual current Installation
protective devices type B, sensitive to all currents, or with type F, sensitive DANGER!
to mixed currents.
Electric shock hazard!
 Always protect 3-phase drive controllers with residual current protective
devices type B, sensitive to all currents. Stray and residual currents with a DC current component can restrict the
functionality of residual current protective devices types A and AC.
 Always follow the installation instructions for the protective devices you are
using.

7 Connection
Manual SD6
7.2.2.3 Housing ground 7.2.3 EMC connection

Note the following information on the connection of the protective earth to
ground the housing correctly: Information
This section provides general information on EMC-compliant
• Note the assembly sequence:
installation. This involves recommendations. Depending on the
• 1 M6 earth bolt 1 application, ambient conditions as well as the legal requirements,
• 2 Contact disk 6 measures beyond these recommendations may be required.
• 3 Cable socket 5 • Lay the power line, motor cable and signal lines separately from each other,
• 4 Washer 4 e.g. in separate cable channels.
• 5 Return spring
3
• Only use shielded, low-capacitance cables as motor cables.
(optional)
2
• If the brake line is carried in the motor cable, it must be separately shielded.
• 6 Nut
• Connect the shield of the motor cable with large contact areas and in the
Contact disk, washer, immediate vicinity of the drive controller. Use the EM6 EMC shroud to do
return spring and nuts are supplied with the drive controller. this.
• Tightening torque: 4 Nm • Shield the cable for connection to a braking resistor if it exceeds a length
• Stray currents > 10 mA can arise in normal operation. To fulfill DIN EN of 30 cm. In this case, connect the shield with large contact areas and in
61800-5-1 and EN 60204-1, connect the earth bolts with a copper the immediate vicinity of the drive controller.
conductor according to the following table: • For motors with terminal boxes, connect the shield to the terminal box with
Cross-section A Minimum cross-section Amin large contact areas. For example, use EMC cable screw connections.
Feeder Earth conductor at earth bolts • Connect the shield of the control lines on one side with the reference
A ≤ 2.5 mm2 2.5 mm2 ground of the source, e.g. the PLC or CNC.
2.5 < A ≤ 16 mm2 A

2
16 – 35 mm ≥16 mm2
> 35 mm2 A/2

7 Connection
Manual SD6
7.2.4 Selecting the cables 7.3 Drive controller

Note that the motor, cables and drive controller each have electrical properties
which influence one another. Unfavorable combinations could possibly result
7.3.1 Overview of terminals
in impermissible voltage peaks on the motor and drive controller and therefore The terminal overview described in this section show the SD6 drive controller
to increased wear. with the following equipment in the pictures:
Take into consideration the following instructions when selecting suitable • Safety technology ST6
leads: • Terminal module XI6
• Lead cross-sections for the cables to the motor:  • Communication module EC6 (EtherCAT)
Make certain you choose the permissible continuous open-circuit current 
for the motor. The following equipment is also optionally available as an alternative:
• Lead cross-sections for the power connection of the drive controller:  • Terminal module RI6 or IO6
When choosing the mains fuse, make certain to select the maximum
• Communication module CA6 (CANopen)
admissible conductor cross-section of terminal X10. Be careful of how the
cables are laid and the surrounding temperature.
• Pay attention also to the trailability and torsional strength of the leads.
• When using a motor brake, pay attention to the voltage drop in the supply
voltage on the lead.

7 Connection
Manual SD6
7.3.1.1 Size 0
1 Housing grounding 7 X120: Encoder connection to optional terminal module XI6

2 X10: 230 V/400 V power supply (X120 and X140: Encoder connections to terminal module RI6,
3 X11: 24-V power supply alternatively available)
4 X12: Safety technology (ST6) (Without encoder connection: Terminal module IO6, alternatively available)
5 X3A and X3B: PC, IGB 8 X4: Encoder
6 X200 and X201: Optional communication module EtherCAT (EC6) 9 X1: Enable and relay 1
(X200: CANopen DS-301 (CA6), alternatively available) 10 X2: Motor temperature sensor
11 X6: Motor holding brake (feedback and supply)
12 X5: Motor holding brake (control)
13 X20: Motor
14 X30: Quick DC-Link, braking resistor

7 Connection
Manual SD6
7.3.1.2 Size 1
1 Housing grounding 7 X120: Encoder connection to optional terminal module XI6

2 X10: 400 V power supply (X120 and X140: Encoder connections to terminal module RI6,
3 X11: 24-V power supply alternatively available)
(X200: CANopen DS-301 (CA6), alternatively available) 10 X2: Motor temperature sensor
13 X20: Motor

7 Connection
Manual SD6
7.3.1.3 Size 2
1 Housing grounding 7 X120: Encoder connection to terminal module XI6

2 X10: 400 V power supply (X120 and X140: encoder connections to optional terminal module RI6,
3 X11: 24 V power supply alternatively available)
(X200: CANopen DS-301 (CA6), alternatively available) 10 X6: Motor holding brake (feedback and supply)
11 X2: Motor temperature sensor
13 X20: Motor

7 Connection
Manual SD6
7.3.1.4 Size 3
1 X10: 400 V power supply 6 X120: Encoder connection to terminal module XI6
2 X11: 24 V power supply (X120 and X140: encoder connections to optional terminal module RI6,
3 X12: Safety technology (ST6) alternatively available)
4 X3A and X3B: PC, IGB (Without encoder connection: Terminal module IO6, alternatively available)
5 X200 and X201: Optional communication module EtherCAT (EC6) 7 X4: Encoder
(X200: CANopen DS-301 (CA6), alternatively available) 8 X1: Enable and relay 1
9 X2: Motor temperature sensor
12 X20: Motor, Quick DC-Link, braking resistor

7 Connection
Manual SD6
7.3.2 X10: 230 V/400 V power Maximum conductor cross-section of power supply connection
terminals
Terminal description – single-phase power connection size 0
Size 0 1 2 3
Pin Designation Function
Max. cross-section for 6 25
— Plastic dummy plug
conductor with ferrule 2.5 4 (10 for rigid (35 for rigid
L1 Input voltage [mm2]
L1 N PE
conductors) conductors)
N Neutral conductor
PE Protective ground
7.3.3 X11: 24 V power
Terminal description – three-phase power supply connection size 0, size Connection of 24 V to X11 is required for powering the control part.
1 and size 2
NOTICE
Pin Designation Function Device damage due to overload!
Size 0 Size 1 Size 2 L1 If the 24-V supply is looped to multiple devices via terminal X11, the device may
L1 L2 L3 PE
L1 L2 L3 PE
L1
L2 Input voltage be damaged by a current that is too high.

L2
L3  Make certain that the current via terminal X11 does not exceed 15 A (UL:
L3
PE Protective ground 10 A).

PE
Control board
Terminal description – three-phase power supply connection size 3
U1 20.4 – 28.8 V
I1maxa) 1.5 A
L1 a) Depending on the accessories
L1
L2 Input voltage
L3
L2
PE Protective ground
L3
PE

7 Connection
Manual SD6
Terminal description X11 7.3.4 X1: Enable and relay 1

Pin Designation Function Use the enable signal to enable the power pack of the drive controller. The
+ + 24 V 24 V DC supply of the control unit, design function of relay 1 can be adjusted in parameter F75.
+ + 24 V according to EN 60204: General specification

PELV, secondary earthed,
Maximum cable length 30 m
max. line length 30 m
+
_ – GND Reference potential for 24 V; bridged in the Electrical Data
– GND terminal U2max 30 V
I2max 1,0 A
Information Life expectancy Mechanical: min. of 5,000,000 switching
Relay 1
The drive controller may not be connected to a DC mains supply. operations
Instead supply the drive controller via a local 24 V DC power supply. At 24 V/1A (ohmic load): 300,000 switching
operations.
Maximum conductor cross-section High level 12–30 V
Connection type Maximum conductor cross-section [mm2] Enable Low level 0–8 V
Rigid 2.5 I1max 16 mA
Flexible 2.5 Terminal description X1

Flexible with cable end,
2,5 Pin Designation Function
without plastic sleeve
1 Contact 1 Relay 1
Flexible with cable end, with
2,5 Recommended fuse: max.
1 2 3 4
plastic sleeve 2 Contact 2
1 ATa)
2 leads with the same cross-
— 3 GND
section with double cable end Enable
4 Input
a) Use a 1 A fuse (delayed-action) upstream from relay 1 for fuse protection. Make certain for UL-
compliant operation that the fuse has been approved for the requirements of UL 248.

7 Connection
Manual SD6
Maximum conductor cross-section Electrical data
Pin Designation/function Data

Connection type Maximum conductor cross-section [mm2]
1 U1max = 30 VDC (PELV)
Rigid 1.5
2 STOa (bridged internally) High level = 15–30 V
Flexible 1.5
Low level = 0–8 V
Flexible with cable end, without 1.5 I1max = 100 mA (< 30 mA at 24 V)
3
plastic sleeve STOb (bridged internally) IMax terminal = 4 A
4
Flexible with cable end, with 0.5 C1 = 100 nF
plastic sleeve 5 GND for STOa and STOb  —
2 leads with the same cross- — (bridged internally with terminal
section with double cable end 7)
6 STOstatus U2 = U1 - (200 mΩ * I1)
7.3.5 X12: Safety technology 7 GND for STOa and STOb  —
(bridged internally with terminal
Information 5)
Please note:
8 Power supply of STOstatus U1 = 18–28.8 VDC
If you will be using the safety function, make certain to read the ST6
I1max = 100 mA
manual (see section 1.2 Further documentation).
If you do not want to use the safety function, connect 24 V to Terminal description X12
X12.STOa and X12 STOb, for example by connecting X11.
Pin Designation/function
1
STOa (bridged internally)
2
1 2 3 4 5 6 7 8 3
STOb (bridged internally)
4
5 GND for STOa and STOb (bridged internally with terminal 7)
6 STOStatus
7 GND for STOa and STOb (bridged internally with terminal 5)
8 Supply of STOStatus

7 Connection
Manual SD6
Cable requirements
Terminal description X20 – size 3
Feature Line type Unit Min Max
Cross-section Fine wire line without cable end sleeve mm2 0.14 1
R- Brake resistor
R-
Fine wire line  mm2 0.2 1
R+
R+
with cable end sleeve without plastic
W Motor connection phase W
collar
W
V Motor connection phase V
Fine wire line  mm2 0.2 1
V
with cable end sleeve and plastic collar U Motor connection phase U
U
According to AWG AWG 26 18 D- DC link
D-
Length — m — 30 D+
D+
Insulation — mm — 9 PE Protective ground
PE
stripping
length
Maximum conductor cross-section of power supply connection

7.3.6 X20: Motor terminals
Terminal description X20 – size 0, size 1, size 2 Size 0 1 2 3

Max. cross-section for 6 25
conductor with ferrule 2.5 4 (10 for rigid (35 for rigid
Size 0 Size 1 Size 2 U Motor connection phase U
[mm2] conductors) conductors)
U
V Motor connection phase V

V
Maximum motor cable length

V
W PE
W Motor connection phase W

W
W
PE
PE Protective ground Size 0 to 2 3

PE
Without output derater 50 m 100 m

With output choke 100 m —

7 Connection
Manual SD6
Connection without output derater

Observe the following points when connecting the motor without the output
derater:
• Ground the shield of the motor cable with the shield connection clamp on
the EMC shroud.
• Keep the exposed conductor as short as possible. All devices and circuits
that are sensitive to EMC must be kept at a distance of at least 0.3 m.
Connection with output derater 7 8

PE PE 1U1 1U2 1V1 1V2 1W1 1W2
Observe the following points when connecting the motor to the output derater: Pin 7 and
8 are
• Ground the shield of the motor cable with large area contacts in the bridged at
immediate vicinity of the output derater, for example with electrically the output
derator
conductive metal cable terminals on a grounded connection rail.
• Keep the exposed conductor as short as possible. All devices and circuits
that are sensitive to EMC must be kept at a distance of at least 0.3 m.
The graphic below shows an example for the shielded connection of a motor
with output derater (graphic: icotek GmbH).

7 Connection
Manual SD6
7.3.7 X5, X6: Motor holding brake Terminal description X6

Information
Note that motor holding brakes from other manufacturers may only 1 Acknowledge- Acknowledgement input of an optional
be connected after consultation with STOBER. ment switching amplifier for brake diagnostics –
provided the holding brake is connected to
the SD6 indirectly (for example via a coupling
Electrical data contactor)
U1 24–30 V 2 GND Reference potential for acknowledgement
_
I1max 3.0 A 1 2 +
+ + 24 V Power supply voltage for the brake
Brake Maximum 1 Hz Recommended fuse: max. 6 ATa)
switching - GND Reference potential for power supply voltage
frequency of the brake
a) Use of a 4 A fuse (slow-blow) is mandatory for a UL-compliant application. The fuse must be
Terminal description X5 approved according to UL 248.

5 1BD1 Control brake Maximum conductor cross-section

Rigid 2,5
6 1BD2 Reference potential Flexible 2,5
Flexible with cable end, 2,5
5 6
Flexible with cable end, with 2,5
plastic sleeve
2 leads with the same cross- —
section with double cable end

7 Connection
Manual SD6
7.3.8 X2: Motor temperature sensor Terminal description X2
Motor windings are monitored thermally using the motor temperature sensors Pin Designation Function
such as PTC or KTY sensors. 7 1TP1/1K1 + Connection of PTC or KTY
PTC sensors are thermistors and their resistance changes significantly with the
temperature. When a PTC reaches its defined nominal response temperature,
the resistance increases dramatically, by twice or more the original resistance
to several kOhms. PTC sensors allow for effective motor protection as PTC 8 1TP2/1K2 -
drillings.
On the other hand, KTY sensors are temperature sensors with linear 7 8
characteristic resistance curves. The motor temperature can be measured with

a KTY sensor. However, the measurements are limited to one motor winding,
which also restricts motor protection considerably compared with PTC drillings.
Maximum conductor cross-section
Terminal X2 is provided for connecting motor temperature sensors. This means
you can connect either one KTY 84 in one winding, one PTC per winding or up
to two PTC drillings for operation with multiple motors.
Rigid 2,5
Information
Flexible 2,5
Note that evaluation of the temperature sensors is always active. If
operation without temperature sensor is permitted, the connections Flexible with cable end, 2,5
must be bridged on X2. Otherwise a fault will be triggered when the without plastic sleeve
device is switched on. Flexible with cable end, with 2,5
plastic sleeve
Motor temperature sensor lines in the resolver or EnDat cable (SDS 4000) 2 leads with the same cross- —
If you replace a SDS 4000 with a SD6, the lines of the motor temperature section with double cable end
sensor are carried in the previously used resolver or EnDat cable. To be able
to continue using the cable, you need the accessory part RI6 (see section 3.4
Accessories) to which you can the connect cable via an interface adapter. The
adapter is available in three different designs (see section 3.4 Accessories).

7 Connection
Manual SD6
7.3.9 X30: Quick DC-Link, braking resistor Schematic diagram for Quick DC-Link
Terminal X30 is available for connecting a braking resistor and – in the case of
a Quick DC-Link – for connecting a drive controller with module DL6.
Regarding the structure of Quick DC-Link, note 4.10 Quick DC-Link, page 50]
Terminal description X30

SZ 0 SZ 1 SZ 2 D-
DC link
D- D+ R+ R-
D+
D-
D- D+ R+ R-
R+
D+
R-
R+
Braking resistor
R-
Legend
1 Power contactor
2 Miniature circuit breaker
3 Short circuit protection
4 Relay 1: must be integrated into the control unit! Note the parameterization
of the relay in F75.
5 Braking resistor: Dimension the braking resistor according to the braking
output of the Quick DC-Link and the technical data of the drive controller.

7 Connection
Manual SD6
7.3.10 X3A, X3B: PC, IGB 7.3.11 X4: Encoder

You can implement the functions of the IGB (Integrated Bus) with the X3A and
NOTICE
X3B interfaces:
• Direct connection to the PC Danger of encoder destruction!
• IGB Motionbus  X4 may not be connected or disconnected when the device is on!
• Remote maintenance
Terminal description X3A and X3B U2 5-15 V (see encoder supply)
Pin Designation Function I2max X4: 250 mA
1 TxData+ Ethernet communication Sum X4, X120, X140: 500 mA
2 TxData- I2min 13 mA
3 RecvData+ Maximum cable 100 m

length
4 — Not used
5 — Specification for EnDat 2.1
6 RecvData- Ethernet communication Encoder type Single and Multiturn, not suitable for linear encoders
7 — Not used Switching frequency 2 MHz
8 —
Cable specification Specification for EnDat 2.2

STOBER provides ready-made cables for
Encoder type Single-turn and multiturn
• direct connection PC - drive controller and
Switching frequency 4 MHz
• to set up the Integrated Bus.
These cables must be used to ensure proper functionality. SSI specification

It is also possible to use cables with the following specification: Switching frequency 250 kHz
Plug wiring Patch or crossover Sampling rate 250 µs
Quality CAT5e Code Binary or Gray

7 Connection
Manual SD6
SSI specification Encoder supply
Encoder type and Multiturn: 24 or 25 bits U2 Through

format Single-turn13 bits short or 13 bits tree 
5V Encoder sense line STOBER synchronous
(13 bits of data in a 25-bit telegram) (controlled at the connected to pin 12 (sense) servo motors
Transfer Double (default setting) or single encoder) Standard: EnDat 2.1/2.2
5 V Pin 12 (sense) bridged with STOBER asynchronous
(controlled at X4) pin 4 (U2) motors
TTL (for customer-specific
fmax ≤ 1 MHz (evaluation and simulation) solutions),
Signal level TTL and HTL without cable
compensation
10 V  Pin 12 (sense) not used
Calculation example – limit frequency fmax
(unregulated)
... for an encoder with 2,048 pulses per revolution: 
3,000 revolutions per minute (equivalent to 50 revolutions per 15 V Pin 12 (sense) bridged with STOBER asynchronous
second) * 2,048 pulses per revolution (controlled at X4) pin 2 (GND) motors
= 102,400 pulses per second  HTL encoder: Bridge
= 102.4 kHz << 1 MHz created in the cable plug
that is connected to X4
SSI encoder: Bridge for U2
is created in the bracket
flange socket

7 Connection
Manual SD6
Terminal description X4 for encoder EnDat 2.1/2.2 digital and SSI encoder Terminal description X4 for HTL encoder
Pin Designation Function Pin Designation Function, data

1 — — 1 B+ Differential input for B-track
Socket 2 GND Reference for encoder supply to pin 4 Socket 2 GND Reference for encoder power on pin 4
3 — — 3 N+ Differential input for N-track
4 U2 Encoder supply 4 U2 Encoder power
5 DATA+ Differential input for DATA 5 — —
6 — — 6 A+ Differential input for A-track
7 — — 7 — —
1 9 1 9
8 CLK+ Differential input for C:PCL 8 — —
9 — — 9 B- Inverse, differential input for B-track
 
10 — — 10 N- Inverse, differential input for N-track
8 15 8 15
11 — — 11 A- Inverse, differential input for A-track
12 Sense Sensor line for the supply voltage to adjust 12 Sense Sensor lead for power supply to settle the
the encoder supply encoder power
13 DATA- Inverse differential input for DATA 13 — —
14 — — 14 — —
15 CLK- Inverse differential input for CLOCK 15 — —

7 Connection
Manual SD6
Terminal description X4 for TTL encoder 7.4 Terminal modules

Pin Designation Function, data
WARNING!
1 — —
Socket Danger of faulty machine behavior due to EMC faults!
2 GND Reference for encoder supply to pin 4
 Use exclusively cables up to 30 m in length for analog and binary inputs
3 — —
and outputs (AE, AA, BE, BA)!
4 U2 Encoder supply
5 B+ Differential input for B channel
6 — — Information
7 N+ Differential input for N channel Note that the sampling time and refresh rate Ta_min of the inputs
1 9
8 A+ Differential input for A channel and outputs depend on parameter A150 cycle time (corresponding
values: at least 1 ms).
9 — —

10 — —
8 15
11 — —
12 Sense Sensor line for the supply voltage to adjust
the encoder supply
13 B- Inverse, differential input for 
B channel
14 N- Inverse, differential input for 
N channel
15 A- Inverse, differential input for 
A channel

7 Connection
Manual SD6
7.4.1 X100 Terminal description X100

X100 specification Pin Designation Function
General specification 1 AE1+ + Input of the analog input AE1
Maximum cable 30 m, shielded 2 AE1-Shunt Current input; shunt connection Pin 2 must
length be jumpered with pin 1.
1 2 3 4 5 6 7 8
3 AE1- Inverted input of analog input AE1
4 AE2+ + Input of analog input AE2
Electrical data
5 AE2- Inverted input of analog input AE2
Analog inputs  Level ±10 V
AE1 and AE2 6 AA1 Analog output 1
Resolution 16 bits
7 AA2 Analog output 2
Internal resistance > 40 kΩ
8 AGND Reference ground
application
Analog input  Level ±20 mA Maximum conductor cross-section
AE1 as current input Resolution IO6: 12 bits
(AE1+ and AE1 shunt XI6, RI6: 16 bits
bridged) Rigid 1.5
Internal resistance 492 Ω
Flexible 1.5
Wire break monitoring Parametrizable in F15
Flexible with cable end, 1.5
Analog outputs  Level ±10 V
AA1 and AA2 Maximum output current XI6: 10 mA
Flexible with cable end, with 0.5
IO6, RI6: ± 20 mA
plastic sleeve

7 Connection
Manual SD6
7.4.2 X101 Terminal description X101 for binary signals
X101 specification Pin Designation Function

9 DGND
General specification Reference ground
10 DGND
length 11 BE1
9 10 11 12 13 14 15 16 17 18 19
12 BE2
13 BE3 Binary input
Electrical data
14 BE4
Binary inputs  Low level 0–8 V
15 BE5
16 BA1
Input voltage Max. 30 V Binary output
17 BA2
18 24 V-In 24-V supply for all binary outputs and
Input frequency Max. 10 kHz binary inputs BE6 to BE13.
19 24 V-In
Binary inputs  Low level 0–8 V Recommended fuse: max. 1 ATa)
BE4 and BE5 High level 12–30 V a) Use a 1 A fuse (delayed-action) upstream from relay 1 for fuse protection. Make certain for
UL-compliant operation that the fuse has been approved for the requirements of UL 248.
Input frequency XI6: max. 100 kHz
IO6, RI6: max. 250 kHz Connection type Maximum conductor cross-section [mm2]
Binary outputs  Maximum output current XI6: 50 mA  Rigid 1.5
BA1 and BA2 IO6, RI6: 100 mA
Flexible 1.5
Typical voltage drop <2V
Flexible with cable end, 1.5
Refresh rate Cycle time of the without plastic sleeve
application (at least 1
ms)
plastic sleeve
Output frequency Max. 250 kHz
24 vdc power supply Input voltage 18–28.8 V section with double cable end

7 Connection
Manual SD6
BE encoder and BA encoder simulation

Simulation – Incremental encoder and pulse train
To be able to simulate or evaluate encoders on binary interfaces, you must
place one of the terminal modules XI6, RI6 or IO6 in operation. U2 18–28,8 V
To evaluate single-ended incremental or pulse/directional signals, use binary I2max XI6: 50 mA, RI6 and IO6: 100 mA
inputs BE3, BE4 and BE5. If you would like to simulate them, use outputs BA1 Eff. Update rate 4 kHz
and BA2. fmax 250 kHz
Hall encoders are connected to binary inputs BE1, BE2 and BE3. (Maximum output frequency for one track)
General specification Extrapolation 66 MHz

frequency
length
Evaluation – Incremental encoder and pulse train 3,000 revolutions per minute (equivalent to 50 revolutions per
HTL TTL second) * 2,048 pulses per revolution
High level 12-30 V 2–6V = 102,400 pulses per second 
= 102.4 kHz
Low level 0-8 V 0 – 0.8 V
U1 max 30 V 6V
I1 max 16 mA 13 mA
fmax 100 kHz if High level > 15 250 kHz
V and external push pull
configuration
tmin Cycle time of the application with time stamp
correction (resolution 1 µs)

7 Connection
Manual SD6
Terminal description X101 – Incremental encoder and pulse train Terminal description X101 for Hall sensor
Pin Designation Function Pina) Designation Function

9 DGND 9 DGND
Reference ground, bridged internally Reference ground
10 DGND 10 DGND
11 BE1 — 11 BE1 HALL A
9 10 11 12 13 14 15 16 17 18 19
12 BE2 — 12 BE2 HALL B
13 BE3 Evaluation 13 BE3 HALL C
Incremental encoder: N 14 BE4 Binary input
Pulse train: –
15 BE5
9 10 11 12 13 14 15 16 17 18 19
14 BE4 Evaluation
16 BA1
Incremental encoder: A Binary output
17 BA2
Pulse train: frequency–
18 24 V-In 24 vdc power supply for all binary outputs
15 BE5 Evaluation
19 24 V-In and binary inputs BE6 to BE13.
Incremental encoder: B
Recommended fuse: max. 1 ATb)
Pulse train: direction
a) Connection to LA6, terminal X302.
16 BA1 Simulation b) Use a 1 A fuse (delayed-action) upstream from relay 1 for fuse protection. Make certain for
Incremental encoder: A UL-compliant operation that the fuse has been approved for the requirements of UL 248.
Pulse train: frequency–
17 BA2 Simulation
Incremental encoder: B
Pulse train: direction
18 24 V-In
24 vdc power supply, bridged internally
19 24 V-In

7 Connection
Manual SD6
7.4.3 X102 Maximum conductor cross-section
X102 specification
General specification Rigid 1.5
Flexible 1.5
length Flexible with cable end, 1.5
Electrical data plastic sleeve
Analog input AE3 Level ±10 V
Resolution 16 bits
Internal resistance > 40 kΩ
7.4.4 X103A
application (at least 1 X103A specification
ms)
Terminal description X102 Maximum cable 30 m, shielded
length
1 AE3+ + input of analog input AE3 
Differential input voltage
1 2
Electrical data
2 AE3- Inverted input of analog input AE3 Binary outputs  Maximum output current 50 mA
application
Inductive load Max. 1.2 VA
application

7 Connection
Manual SD6
Terminal description X103A 7.4.5 X103B

Information
1 BA3 When the 24 V power fails, binary inputs BE6 to BE13 have signal
1
2 2 BA4 status 0 (regardless of the physical signal state).
3 Binary output
4
3 BA5 X103B specification
4 BA6
length
Rigid 1,5
Flexible 1,5 Electrical data
Flexible with cable end, 1,5 Binary outputs  Maximum output current 50 mA
without plastic sleeve BA7 to BA10 Typical voltage drop <2V
Flexible with cable end, with 0,75 Refresh rate Cycle time of the
plastic sleeve application
2 leads with the same cross- — Binary input BE6 Low level 0–8V
High level 12–30 V
Input frequency Max. 3 kHz

7 Connection
Manual SD6
Terminal description X103B 7.4.6 X103C

Information
5 BA7 When the 24 V power fails, binary inputs BE6 to BE13 have signal
5 6 BA8 status 0 (regardless of the physical signal state).
6 Binary output
7 7 BA9
8
X103C specification
9 8 BA10
9 BE6 Binary input
length
Connection type Maximum conductor cross-section [mm2] Electrical data

Rigid 1,5 Binary inputs  Low level 0–8 V
Flexible 1,5 BE7 to BE13 High level 12–30 V
Flexible with cable end, 1,5 Input voltage Max. 30 V
without plastic sleeve Input current Max. 16 mA
Flexible with cable end, with 0,75 Input frequency Max. 3 kHz
plastic sleeve
Terminal description X103C
section with double cable end Pin Designation Function
10 BE7
11 BE8
10
11 12 BE9
12
13 13 BE10 Binary input
14
15 14 BE11
16
15 BE12
16 BE13

7 Connection
Manual SD6

Specification incremental encoder, pulse train 
(evaluation and simulation) and Hall sensor (only evaluation)
fmax Evaluation: ≤ 1 MHz
Rigid 1,5
Simulation: 500 kHz
Flexible 1,5
Signal level TTL
Flexible with cable end, 1,5
Flexible with cable end, with 0,75 Calculation example – limit frequency fmax 
plastic sleeve ... for an encoder with 2,048 pulses per revolution:: 
= 102.4 kHz
7.4.7 X120
Encoder supply
Encoder connection X120 is an integral part of terminal modules XI6 and RI6. Depending on the power consumption of the encoder, an external supply is
General specification required whereby differences in the GND connection arise.
U2 15 V (see encoder supply) U2 Bridge

I2max 250 mA, sum X4, X120, X140: 500 mA Internal: Pin 8 (U2) Pin 1 (GND-ENC) to pin 9 (GND)
Maximum cable 50 m External Pin 1 (GND-ENC) to GND of external supply
length
Specification SSI encoder (evaluation and simulation)

switching frequency 592 kHz (motor encoder) or 250 kHz (position
encoder)
Code Binary or Gray
Encoder type Multiturn: 24 or 25 bits
Single-turn: 13 bit short or 13 Bit short
Transfer Double transmission, can be switched off

7 Connection
Manual SD6
Terminal description X120 for SSI encoder Terminal description of X120 for incremental encoder
Pin Designation Function Pin Designation Function

1 GND-ENC Reference potential for pin 4 to pin 7 1 GND-ENC Reference potential for pin 2 to pin 7
Connector 2 — — Connector 2 N+ Differential input/output for the 
3 — — N channel
4 CLK- Inverse differential input/output for 3 N- Inverse differential input/output for the N
5 9 CLOCK 5 9
channel
5 CLK+ Differential input/output for CLOCK 4 A- Inverse differential input/output for the A
channel
1 6 6 DATA+ Differential input/output for DATA 1 6
5 A+ Differential input/output for the 
7 DATA- Inverse differential input/output for DATA
A channel
8 U2 Encoder supply
6 B+ Differential input/output for the
9 GND Reference for pin 8
B channel
7 B- Inverse differential input/output for the B
channel
8 U2 Encoder supply

7 Connection
Manual SD6
Terminal description X120 for pulse train 7.4.8 X140

Pin Designation Function Encoder connection X140 is an integral part of terminal module RI6.
1 GND-ENC Reference potential for pin 2 to pin 7 Resolver specification (evaluation)
Connector 2 — — U2 -10 V ... +10 V
3 — — I2max 80 mA
4 Imp- Inverse differential input/output for pulses f2 7 – 9 kHz
5 9 5 Imp+ Differential input/output for pulses Pmax 0.8 W
6 Direction+ Differential input/output for the direction Transfer ratio 0.5 ± 5 %
1 6 7 Direction- Inverse differential input/output for the Number of poles 2, 4 and 6
direction
Phase shift ± 20 el.°
8 U2 Encoder supply
Maximum cable 100 m
9 GND Reference for pin 8 length
Terminal description X120 for Hall sensor
Pina) Designation Function Specification encoder EnDat 2.1 digital, EnDat 2.1 sin/cos and 
1 GND-HALL Reference potential for pin 2 to pin 7 sin/cos encoder (evaluation)
Connector 2 HALL C+ Differential input/output for HALL C U2 5 – 12 V, see encoder supply
3 HALL C- Inverse, differential input/output for HALL C I2max 250 mA, 

sum X4, X120 and X140 (EnDat): 500 mA
4 HALL A- Inverse, differential input/output for HALL A
5 9
I2min 13 mA
5 HALL A+ Differential input/output for HALL A
fmax 225 kHz
6 HALL B+ Differential input/output for HALL B
1 6 Encoder type Single-turn and multiturn
7 HALL B- Inverse, differential input/output for HALL B
Maximum cable 100 m
8 U2 Encoder supply
length
a) 1:1 connection to LA6: pin assignment corresponds to terminal X301.

7 Connection
Manual SD6
Terminal description X140 for resolver

Calculation example – limit frequency fmax 
... for encoder with 2,048 pulses per revolution:  Pina) Designation Function
3,000 revolutions per minute (equivalent to 50 revolutions per 1 Sin+ Sin input
Socket 2 R1 Ref- Resolver excitation signal
= 102.4 kHz 3 Cos+ Cos input
4 — —
5 — —
Specification encoder EnDat 2.2 digital (evaluation)
6 R2 Ref+ Resolver excitation signal
Encoder type Single-turn and multiturn 1 9
7 — —
switching frequency 4 MHz
8 — —

Encoder supply 9 Sin- Sin input (inverse)
8 15
U2 Through 10 — —
5V Encoder sense line connected to pin STOBER 11 Cos- Cos input (inverse)
(controlled at 12 (sense) synchronous servo 12 — —
the encoder) motors 
13 — —
Standard: EnDat 2.1/
14 — —
2.2
15 — —
5 V Pin 12 (sense) bridged with pin 4 STOBER
a) View of D-sub
(controlled at (UB+) asynchronous
X4) motors
TTL 
(for customer-
specific solutions),
without cable
compensation
10 V  Pin 12 (sense) not
(unregulated) used

7 Connection
Manual SD6
Terminal description X140 for encoder EnDat 2.1/2.2 digital Terminal description X140 for encoder EnDat 2.1 sin/cos
Pina) Designation Function Pina) Designation Function

1 — — 1 Sin+ Sin input
Socket 2 GND Reference for encoder supply to pin 4 Socket 2 GND Reference for encoder supply to pin 4
3 — — 3 Cos+ Cos input
4 U2 Encoder supply 4 U2 Encoder supply
5 DATA+ Differential input for DATA 5 DATA+ Differential input for DATA
6 — — 6 — —
1 9 1 9
7 — — 7 — —
8 CLK+ Differential input for C:PCL 8 CLK+ Differential input for C:PCL
 
9 — — 9 Sin- Inverse sin input
8 15 8 15
10 — — 10 — —
11 — — 11 Cos- Inverse cos input
12 Sense Sense signals for voltage control 12 Sense Sense signals for voltage control
13 DATA- Inverse differential input for DATA 13 DATA- Inverse differential input for DATA
14 — — 14 — —
15 CLK- Inverse differential input for CLOCK 15 CLK- Inverse differential input for CLOCK
a) View of D-sub a) View of D-sub

7 Connection
Manual SD6
Terminal description X140 sin/cos encoder Terminal description for interface adapter AP6A00 (RI6)
Pina) Designati Function Pina) Designation Function Pinb)

on 1 — — —
1 Sin+ Sin input Socket 2 — — — Connector
Socket 2 GND Reference for encoder supply to pin 4 3 Sin- Sin input (inverse) 9
3 Cos+ Cos input 4 Cos- Cos input (inverse) 11 8 15
4 U2 Encoder supply 5 GND Reference to 2
5 — — ExcitationResolv

6 — — 6 — — —
1 9
7 — — 7 Sin+ Sin input 1
8 — — 8 Cos+ Cos input 3
1 9 9 Sin- Inverse sin input 9 ExcitationResolv Resolver excitation 6
1 — — signal
0 a) View of D-sub 9-pole for the connection of the SDS 4000-compatible resolver cable

b) View of D-sub 15-pin for the connection to the SD6, terminal X140 (RI6)
1 Cos- Inverse cos input
8 15
1
1 Sense Sense signals for voltage control
2
1 — —
3
1 — —
4
1 — —
5
a) View of D-sub

7 Connection
Manual SD6
Terminal description for interface adapter AP6A00 (RI6) Terminal description for interface adapter AP6A02 (RI6)
Pina) Designation Function Pinb) Pina) Id. Function Pinb)

1 — — — 1 Sin+ Sin input 1
Socket 2 1TP1/K1 Connection MTF if — Connector Socket 2 GND Reference for encoder supply to 2 Connector
carried in the encoder pin 4
cable; led out for direct 3 Cos+ Cos input 3
connection to terminal
4 U2 Encoder supply 4
X2.
5 DATA+ Differential input for DATA 5
3 Sin- Sin input (inverse) 9
6 — — 6
4 Cos- Cos input (inverse) 11
7 1TP1/K1 Connection MTF if carried in the —
5 GND Reference to 2 8 15
encoder cable; led out for direct
ExcitationResolv
connection to terminal X2. 8 15
6 1TP2/K2 Connection MTF if — 1 9
8 CLK+ Differential input for C:PCL 8
carried in the encoder
1 9 9 Sin- Inverse sin input 9
cable; led out for direct 
connection to terminal 10 — — 10
8 15 1 9
X2. 11 Cos- Inverse cos input 11
7 Sin+ Sin input 1 12 Sense Sense signals for voltage control 12
8 Cos+ Cos input 3 13 DATA- Inverse differential input for DATA 13
9 Excitation Resolver excitation 6 14 1TP2/K2 Connection MTF if carried in the —
Resolv signal encoder cable; led out for direct
a) View of D-sub 9-pole for the connection of the SDS 4000-compatible resolver cable connection to terminal X2.
15 CLK- Inverse differential input for 15
CLOCK
a) View of D-sub 15-pin for the connection of the SDS 4000-compatible EnDat cable

7 Connection
Manual SD6
7.5 Communication modules 7.5.2 X200: CANopen

Accessory part EC6 is required for a CANopen connection.
7.5.1 X200, X201: EtherCAT
Information
Accessory part EC6 is required for an accessory part.
Please see the supplementary documentation of CANopen (see
Information section 1.2 Further documentation)!
For more extensive information about EtherCAT consult the
Terminal description X200
EtherCAT operating instructions (see section 1.2 Further
documentation)! Pin Designation Function
X200 and X201 terminal description Connector 1 — —
2 CAN-L CAN-Low line
3 GND Reference ground
1 TxData+ EtherCAT communication
4 — —
2 TxData-
5 — —
3 RecvData+
6 — —
4 — —
7 CAN-H CAN-High line
5 — —
8 — —
6 RecvData- EtherCAT communication
9 — —
7 — —
8 — — Cable specification
To ensure error-free operation, especially at high baud rates, we recommend
Cable specification
a shielded fieldbus cable that meets all necessary technical requirements (for
STOBER provides ready-made cables for the EtherCAT connection. These
example a ripple resistor or sufficiently low cable capacitance – about 60 nF/
cables must be used to ensure proper functionality.
km) for CANopen communication (in accordance with ISO 11898).
It is also possible to use cables with the following specification:
Plug wiring Patch or crossover

Quality CAT5e

7 Connection
Manual SD6
7.6 Encoder adapter box 7.6.1.4 Sin/cos linear encoder with Wake and Shake
Sin/cos linear encoders with W&S can be connected directly with SD6 via
7.6.1 Linear encoder terminal module RI6. RI6 converts the analog sin/cos signals in digital signals.
A number of different linear encoders are supported. The connection differs Sin/cos linear encoders can be connected to terminal X140 on RI6.
depending on the encoder type selected.
7.6.1.1 Linear encoder EnDat 2.1/2.2 digital and SSI

Linear encoder EnDat 2.1/2.2 digital or SSI are connected directly to SD6 via
terminal X4.
With EnDat 2.2 digital, the drive controller evaluates the internal information of
the encoder and determines automatically whether an encoder of a rotary
motor or an encoder of a linear motor is connected.
7.6.1.2 Linear encoder TTL with Wake and Shake

TTL incremental encoders with Wake and Shake (W&S) as a process for
determining commutation are connected directly to terminal X4 with SD6.
7.6.1.3 Linear encoder TTL with Hall sensor

TTL incremental encoder in combination with a Hall sensor for determining
commutation are connected to the drive controller via the LA6 adapter box. LA6
is responsible for the signal adjustment of the Hall sensor signals. In addition
to the adapter box, one of terminal modules XI6, IO6 or RI6 is required for
connecting the Hall sensor to the SD6.
The incremental encoder is connected to terminal X4 of the drive controller.
The connection of the Hall sensor varies depending on the terminal module:
• XI6: connection to terminal X120 or X101
• IO6: connection to X101
• RI6: connection to terminal X120 or X101
Pre-assembled cables are available for connecting to the SD6.

7 Connection
Manual SD6
7.6.2 Overview of terminals

The terminal overview shows the adapter box for transferring TTL and Hall
sensor signals from HIWIN synchronous linear motors to the SD6 drive
controller.
1 X302: Connection to SD6, terminal X101 (on terminal module XI6, RI6 or 5 X306: Connection to HIWIN-TTL via loose cable ends
IO6) 6 Shielded terminal
2 X301: Connection to SD6, terminal X120 (on terminal module XI6 or RI6) 7 X303: 24V power supply
3 X300: Connection to SD6, terminal X4 8 X304: Connection to HIWIN-TTL via D-sub connector
4 X305: Connection to HIWIN-TTL via loose cable ends

7 Connection
Manual SD6
7.6.3 X300 Terminal description X300 for TTL encoders
Pina) Designation Function, data

1 — —
U2 a) 5V
Connector 2 GND Reference for encoder supply to pin 4
I2max 250 mA
3 — —
I2min 13 mA
Maximum cable 100 m 4 U2b) Encoder supply
length 5 B+ Differential input for B channel
a) The drive controller forwards the output voltage to the encoder. 6 — —
8 15 7 N+ Differential input for N channel
Specification for incremental signals 8 A+ Differential input for A channel
fmax ≤ 1 MHz 9 — —

Signal level TTL 10 — —
1 9
11 — —
12 Sense Sensor line for the supply voltage to adjust
the encoder supply
B channel
N channel
A channel
a) 1:1 connection to SD6: pin assignment corresponds to terminal X4.
b) LA6 passes on the encoder supply as well as the sense line to the drive controller.

7 Connection
Manual SD6
7.6.4 X301 7.6.5 X302

a)
U2 15 V I2max 50 mA
Typical voltage drop <2V
I2max 250 mA
Maximum cable 50 m Terminal description X302
length Pina) Designation Function
a) The drive controller forwards the output voltage to the encoder.
1 HALL A 24-V power supply output
2 HALL B 24-V power supply output
1 2 3 4 5 6 7 8
3 HALL C 24-V power supply output
fmax ≤ 1 MHz 4 – Reserve
Signal level TTL 5 – Reserve
6 HW-End1 Hardware limit switch 1
Terminal description X301 7 HW-End2 Hardware limit switch 2
Pina) Designation Function 8 DGND Reference ground

a) Connection to SD6, terminal X101 (on terminal module XI6, RI6 or IO6).
1 GND-HALL Reference potential for pin 2 to pin 7
Connector 2 HALL C+ Differential input/output for HALL C
3 HALL C- Inverse, differential input/output for HALL C
5 9 4 HALL A- Inverse, differential input/output for HALL A
5 HALL A+ Differential input/output for HALL A
1 6 6 HALL B+ Differential input/output for HALL B
7 HALL B- Inverse, differential input/output for HALL B
b)
8 U2 Encoder supply
a) 1:1 connection to LA6: pin assignment corresponds to terminal X120 (on terminal module XI6
or RI6).
b) LA6 passes on the encoder supply to the drive controller.

7 Connection
Manual SD6
7.6.6 X303 7.6.7 X304: Connection via D-sub connector

General specification WARNING!
U1 20.4-28.8 V Danger of personal injury and material damage due to electric shock!
I1max 100 mA There is no potential separation in the LA6 adapter box.
 Signals of the motor temperature sensor without potential separation must
Terminal description X303 not be routed via LA6. Instead they must be connected directly to the drive
controller (terminal X2).
1 + 24 V 24-V power supply
2 GND Reference potential for + 24 V
U2 5V
I2max 250 mA
I2min 13 mA
+ –
Maximum cable 100 m
length

fmax ≤ 1 MHz
Signal level TTL
Calculation example – limit frequency

= 102.4 kHz

7 Connection
Manual SD6
Terminal description X304 for connecting HIWIN-TTL 7.6.8 X305, X306: Connection via loose cable ends
a)
1 HALL A
U2 5V
Socket 2 U2 Encoder supply
I2max 250 mA
I2min 13 mA
N channel
Maximum cable 100 m
length
B channel
A channel Specification for incremental signals
1 9
6 Sense Sensor line for the supply voltage to adjust fmax ≤ 1 MHz
the encoder supply
Signal level TTL
 7 —
8 15 8 —
9 HALL B
10 GND Reference for encoder supply to pin 2 3,000 revolutions per minute (equivalent to 50 revolutions per
11 N+ Differential input for N channel second) * 2,048 pulses per revolution
12 B+ Differential input for B channel = 102,400 pulses per second 
13 A+ Differential input for A channel = 102.4 kHz
14 HALL C
15 —
a) Connection via D-sub connector

7 Connection
Manual SD6
Terminal description X305 for connecting HIWIN-TTL 7.7 Cables

a)
Information
1 HALL A
To ensure proper functionality of the drive we recommend using
2 U2 Encoder supply
cables from STOBER that are coordinated with the system. In case
of use of unsuitable connection cables, we reserve the right to reject
N channel
1 2 3 4 5 6 7 8 9
claims under the warranty.

B channel
5 A- Inverse, differential input for  7.7.1 Power cable
A channel Please observe the motor connection diagram that is delivered with every
6 Sense Sensor line for the supply voltage to adjust synchronous servo motor.
the encoder supply Power cables are available depending on the plug size in the following designs:
7 — • SpringTec quick lock for con.15
8 — • SpeedTec quick lock for con.23 and con.40
9 HALL B • Screw technology for con.58
a) Connection via loose cable ends: Pin assignment corresponds to terminal X304, pins 1–9.
Terminal description X306 for connecting HIWIN-TTL
Pina) Designation Function, data

1 GND Reference for encoder supply
2 N+ Differential input for N channel
1 2 3 4 5 6 7 8 9
3 B+ Differential input for B channel

4 A+ Differential input for A channel
5 HALL C
1 Plug connector (quick/screw lock)
6 — 2 Cable shield
7 — 3 Junction of all shields
8 — 4 Wire no.
9 — 5 Motor, brake temperature sensor
a) Connection via loose cable ends: Pin assignment corresponds to terminal X304, pins 10-15.

7 Connection
Manual SD6
Synchronous servo motors of series ED/EK and EZ are equipped with circular Power cable – connector size con.23
plugs as standard and can be connected to drive controllers with the following
power cables (the color specifications relate to the connection strands and are Bracket flange socket – Pin Signal Motor- Wire no.
only significant for the motor-internal wiring). motor internal
wire colors
Power cable – connector size con.15 1 1U1 BK 1
3 1V1 RD 2
Bracket flange socket – Pin Signal Motor- Wire no.
4 1W1 BU 3
motor internal wire
colors A 1BD1 RD 5
A 1U1 BK 1 B 1BD2 BK 6
B 1V1 BU 2 C 1TP1/1K1 BKBN 7
C 1W1 RD 3 D 1TP2/1K2 WHWH 8
1 1TP1/1K1 BKBN 7 PE GNYE
2 1TP2/1K2 WHWH 8 Housing Shield — —
3 1BD1 RD 5
4 1BD2 BK 6 Dimensions – connector size con.23
5 — — —
Length [mm] Diameter [mm]
PE GNYE
78 26
Housing Shield — —
Dimensions – connector size con.15

42 18.7

7 Connection
Manual SD6
Power cable – connector sizes con.40, con.58 7.7.2 Encoder Cables

STOBER motors are equipped with encoder systems as standard.
Bracket flange socket – Pin Signal Motor- Wire no.
Depending on the respective motor types, different encoder systems and
motor internal wire
associated plug connectors are used.
colors
The following section describes the individual encoder systems, plug
R 1U1 BK 1 connectors and signal assignments.
V 1V1 BU 2
W 1W1 RD 3 7.7.2.1 Encoder EnDat 2.1/2.2 digital and SSI
+ 1BD1 RD 5
– 1BD2 BK 6
1 1TP1/1K1 BKBN 7
2 1TP2/1K2 WHWH 8
PE GNYE
Housing Shield — —
Length [mm] Diameter [mm] 1 Bracket flange socket motor

99 46 2 STOBER encoder cable
3 Absolute Encoder Support
4 D-sub (X4)
Digital absolute encoder EnDat 2.1/2.2 digital of series EBI, ECI, EQI, ECN or
Length [mm] Diameter [mm] EQN can be combined with STOBER motors of series ED/EK and EZ. SSI
encoders can also be connected to STOBER asynchronous motors.
146 63.5
The suitable encoder cables are described below.

7 Connection
Manual SD6
Encoder cable – plug connector con.15

The voltage supply is buffered for the inductive EnDat 2.2 digital encoders "EBI 1135" and "EBI 135" with multiturn function. In this case, pin 2 and pin 3 are assigned
to the backup battery U2BAT. Note that the encoder cable must not be connected to X4 of the drive controller but to the Absolute Encoder Support (AES) for these
encoders.
Motor Signal Wire colors D-sub (X4)

Angle flange socket Pin Motor- Encoder Pin
internal
1 CLK+ VT YE 8
Sense
2 BU PK 12
U2BAT+a)
—
3 WH GY 3
U2BAT-a)
4 — — — —
5 DATA- PK BN 13
6 DATA+ GY WH 5
7 — — — —
8 CLK- YE GN 15
9 — — — —
10 GND WHGN BU 2
11 — — — —
12 U2 BNGN RD 4
Housing Shield
a) Only relevant for EBI encoders.

42 18.7

7 Connection
Manual SD6

The voltage supply is buffered for the inductive EnDat 2.2 digital encoders "EBI 1135" and "EBI 135" with multiturn function. In this case, pin 2 and pin 3 are assigned
to the backup battery U2BAT. Note that the encoder cable must not be connected to X4 of the drive controller but to the Absolute Encoder Support (AES) for these
encoders.

internal
1 CLK+ VT YE 8
Sense
2 BU PK 12
U2BAT+a)
—
3 WH GY 3
U2BAT-a)
4 — — — —
5 DATA- PK BN 13
6 DATA+ GY WH 5
7 — — — —
8 CLK- YE GN 15
9 — — — —
10 GND WHGN BU 2
11 — — — —
12 U2 BNGN RD 4
Housing Shield
a) Only relevant for EBI encoders.

56 22

7 Connection
Manual SD6

Cable with plug connector con.23 in combination with EnDat 2.1/2.2 digital encoders can be connected to synchronous servo motors ED/EK; connect these with
asynchronous motors in combination with SSI encoders.

internal
1 CLK+ VT YE 8
2 Sense BNGN PK 12
3 — — — —
4 — — — —
5 DAT- PK BN 13
6 DAT+ GY WH 5
7 — — — —
8 CLK- YE GN 15
9 — — — —
10 GND WHGN BU 2
11 — — — —
12 U2 BNGN RD 4
Housing Shield

58 26

7 Connection
Manual SD6
7.7.2.2 EnDat 2.1 sin/cos encoder
1 Bracket flange socket motor

2 STOBER encoder cable
3 D-sub (X140)
Absolute encoder EnDat 2.1 sin/cos of series ECI, EQI, ECN or EQN can be
combined with STOBER motors of series ED/EK and EZ.
The suitable encoder cables are described below.

7 Connection
Manual SD6

internal
1 Sense+ BU GNRD 12
2 Sense- WH GNBK 10
3 U2 BNGN BNRD 4
4 CLK+ VT WHBK 8
5 CLK- YE WHYE 15
6 GND WHGN BNBU 2
7 B+ (Sin+) BUBK RD 9
8 B- (Sin-) RDBK OG 1
9 DATA+ GY GY 5
10 A+ (Cos+) GNBK GN 11
11 A- (Cos-) YEBK YE 3
12 DATA- PK BU 13
A — — — —
B — — — —
C — — — —
Housing Shield

42 18.7

7 Connection
Manual SD6

internal
1 Sense+ BU GNRD 12
2 — — — —
3 — — — —
4 Sense- WH GNBK 10
5 — — — —
6 — — — —
7 U2 BNGN BNRD 4
8 CLK+ VT WHBK 8
9 CLK- YE WHYE 15
10 GND WHGN BNBU 2
11 — — — —
14 DATA+ GY GY 5
17 DATA- PK BU 13
Housing Shield

56 22

7 Connection
Manual SD6

Cable with plug connector con.23 in combination with EnDat 2.1 Sin/Cos encoders can be connected to ED/EK motors.

internal
1 Sense+ BU GNRD 12
2 — — — —
3 — — — —
4 Sense- WH GNBK 10
5 — — — —
6 — — — —
7 U2 BNGN BNRD 4
8 CLK+ VT WHBK 8
9 CLK- YE WHYE 15
10 GND WHGN BNBU 2
11 — — — —
14 DAT+ GY GY 5
17 DAT- PK BU 13
Housing Shield

58 26

7 Connection
Manual SD6
7.7.2.3 Encoder HTL

HTL incremental encoders can be combined with STOBER asynchronous motors.
The suitable encoder cable is described below.

internal
1 B- PK YE 9
2 — — — —
3 N+ RD PK 3
4 N- BK GY 10
5 A+ BN BN 6
6 A- GN WH 11
7 — — — —
8 B+ GY GN 1
9 — — — —
10 GND WH BU 2
11 — — — —
12 U2 BN RD 4
Housing Shield

58 26

7 Connection
Manual SD6
7.7.2.4 Encoder TTL

TTL incremental encoder in combination with a Hall sensor can be combined with HIWIN synchronous linear motors.
The matching encoder cable for the connection to the LA6 adapter box is described below.

Angle flange socket Pin Encoder Pin
1 A- YE 5
2 B- OG 4
3 N+ BU 11
4 U2 BNRD 2
5 Sense BNYE 6
6 — — —
7 — — —
8 — — —
9 A+ GN 13
10 B+ RD 12
11 N- GY 3
12 GND BNBU 10
13 — — —
14 HALL A GNRD 1
15 — — —
16 HALL B GNBK 9
17 HALL C BNGY 14
Housing Shield

56 22

7 Connection
Manual SD6
7.7.2.5 Resolver
1 Bracket flange socket motor

2 STOBER encoder cable
3 D-sub (X140)
Resolvers can be combined with STOBER motors of series ED/EK or EZ.
The suitable resolver cables are described below.

7 Connection
Manual SD6

internal
1 S3 Cos+ BK YE 3
2 S1 Cos- RD GN 11
3 S4 Sin+ BU WH 1
4 S2 Sin- YE BN 9
5 — — — Do not connect
7 R2 Ref+ YEWH GY 6
8 R1 Ref- RDWH PK 2
9 — — — —
10 — — — —
11 — — — —
12 — — — —
Housing Shield

42 18.7

7 Connection
Manual SD6

internal
1 S3 Cos+ BK YE 3
2 S1 Cos- RD GN 11
3 S4 Sin+ BU WH 1
4 S2 Sin- YE BN 9
7 R2 Ref+ YEWH GY 6
8 R1 Ref- RDWH PK 2
9 — — — —
10 — — — —
11 — — — —
12 — — — —
Housing Shield

56 22

7 Connection
Manual SD6

Cable with plug connector con.23 in combination with resolvers can only be connected to synchronous servo motors ED/EK.

internal
1 S3 Cos+ BK YE 3
2 S1 Cos- RD GN 11
3 S4 Sin+ BU WH 1
4 S2 Sin- YE BN 9
7 R2 Ref+ YEWH GY 6
8 R1 Ref- RDWH PK 2
9 — — — —
10 — — — —
11 — — — —
12 — — — —
Housing Shield

58 26
Cable color – key
BK BLACK PK PINK
BN BROWN RD RED
BU BLUE VT VIOLET
GN GREEN WH WHITE
GY GREY YE YELLOW
OG ORANGE

8 Basic properties
Manual SD6
8 Basic properties 8.2.2 DriveControlSuite .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
Overview of sections 8.3 Access level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .153

8.3.1 Parameter level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
8.1 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .146
8.3.2 Configuration level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
8.1.1 Parameter address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
8.4 Events . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .154
8.1.2 Parameter description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
8.1.3 Parameter data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
8.1.4 Visibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
8.1.4.1 Access level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
8.1.4.2 Skip functions .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
8.1.4.3 Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
8.1.4.4 Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
8.1.5 Data types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
8.2 Interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .150

8.2.1 Operator panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
8.2.1.1 Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
8.2.1.2 Menu structure and navigation .. . . . . . . . . . . . . . . . 151
8.2.1.3 Status display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
8.2.1.4 Languages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152

8 Basic properties
Manual SD6
8.1 Parameters The individual areas of parameter groups are listed in the following table:
Parameters serve the following purposes: Parameter group Covers area / dependency
• Adapt drive controller functionality to your application A.. Drive controller Drive controller, communication, cycle time
• Display current values such as actual speed or actual torque B.. Motor Motor
• Trigger actions such as "Save values" or "Phase test"
C.. Machine Speed, torque
8.1.1 Parameter address E.. Display values Display for device and application
The parameter address is structured according to the example below: F.. Terminals Analog inputs/outputs, 
The axis number identifies parameters that are set in each axis, for example binary inputs/outputs, brake
2.A150 cycle time. Global parameters are only present once for a device, for G.. Technology Depends on the application, for example
example A35 low voltage limit. synchronous motion
The group divides parameters according to functional properties. H.. Encoder Encoder
The line distinguishes between the individual parameters in a group.
I.. Motion Settings for all movements
The element subdivides a parameter (subfunctions).
P.. Customer-specific For programming only (optional)
The last place identifies the individual bits, for example in control words.
parameters
1.E250[2].3 Q.. Customer-specific For programming only (optional)
Axis Bit (only for Bit parameters) parameters, instance-
(only for axis
parameters)
dependent
Group Line Element (only for Array and record parameters) R.. Production data Production data for the drive controller
Fig. 8-1 Parameter address T.. Scope Scope parameters
U.. Protection functions Parameterization of events
Z.. Fault counter Fault counter for events

8 Basic properties
Manual SD6
8.1.2 Parameter description 1. Title line with coordinate, designation and version
2. Description
A parameter description consists of the following sections:
3. If selection parameter: Description of the settings.
4. Parameter data 1: Basic data of the parameter such as fieldbus addresses,
level or mapping capability. For a detailed description see 8.1.3 Parameter
data.
5. Parameter data 2: Data of the parameter such as processing functions,
scaling or skipping. For a detailed description see 8.1.3 Parameter data.
6. Context: The context in which the parameter is used can be indicated
between the description of selections and parameter data, for example in
the structure for signal scaling on analog input AE1.
Information
Note that the different sections are not displayed for every
parameter description. For example, the data tables in the
parameter table of DriveControlSuite are not displayed because the
parameter table already contains this data.
Fig. 8-2Structure of the parameter description

8 Basic properties
Manual SD6
8.1.3 Parameter data Parameter data 2

• Default: Default value of the parameter.
The following data items are specified for a parameter description:
• PreRead: Number of the PreRead function.
• PreWrite: Number of the PreWrite function.
Parameter data 1
• from FW version: The earliest firmware version in which a parameter is • PostRead: Number of the PostRead function.
present (see 8.1.4.4 Firmware). • PostWrite: Number of the PostWrite function.
• LSB
• Level R/W: Read and write level of the parameter (see 8.1.4.1 Access
level). • Limit value
• Axis type: • Scaling
• Skip: Number of the skip function.
– Global: The parameter is assigned to the drive controller.
• DepFlags
– Axis: The parameter is assigned to the axis range.
• Data type: see 8.1.5 Data types.
• Significant places: 8.1.4 Visibility
• EnableOff:
Whether parameters are visible depends on the following factors:
– Yes: Parameter can only be changed if the enable is switched off.
• The set access level
– No: Parameter can be changed regardless of the status of enable. • Skip functions
• Unit: Unit of the parameter, for example A or mm. • The selected application
• Type: Parameter type. • The firmware version in which a parameter was introduced
• Mapping: Mapping capability of the parameter.
– Yes: Parameter can be replaced by cyclic data exchange. 8.1.4.1 Access level
– No: Parameter can only be replaced by acyclic data exchange. When setting the access level in DriveControlSuite, note the operating manual
• Significant places for gain/NKS: for the software (1.2 Further documentation).
• PROFIBUS/PROFINET PNU/Subindex: Address for PROFIBUS or Set the access level for the following interfaces in the elements of parameter
PROFINET connection. A10:
• CANopen/EtherCAT Index/Subindex: Address for CANopen or • A10[0]: Parameter access via operator panel
EtherCAT connection. • A10[2]: Parameter access via CANopen or EtherCAT
• A10[3]: Parameter access via PROFIBUS or PROFINET
Elements A10[1] and A10[4] are present but are not currently in effect.

8 Basic properties
Manual SD6
8.1.4.2 Skip functions 8.1.5 Data types

Skip function hide parameters depending on logical conditions. For example,
the drive controller can evaluate an encoder on interface X120 if the XI6 Name Description Value range, decimal
terminal module is installed. To activate the evaluation, set parameter H120 Bool 1 bit (internal: LSB in 1 byte) 0, 1
X120 function. H120 is visible if you specified X16 during the project
BYTE 1 byte, unsigned 0–255
configuration of your drive in DriveControlSuite. Additional parameters will be
displayed if H120 has a setting other than 0:inactive. INT8 1 byte, signed -128–127
WORD 2 bytes - 1 word, unsigned 0–65535
8.1.4.3 Applications 2 bytes - 1 word, 
INT16 -32768–32767
Applications contain various functions, for example speed or position reference signed
values. Since each function has different parameters, each application has a
4 bytes - 1 double word, 
different set of parameters. DWORD 0–4294967295
unsigned
INT32 4 bytes - 1 double word, 
8.1.4.4 Firmware -2147483648–2147483647
signed
Parameters can be introduced for different firmware versions or may even be
present in a new version. These parameters or older versions of the Floating point, single
REAL32
parameters will not be visible in files from project configurations for older accuracy
As per ANSI / IEEE 754
firmware versions. For the first version in which a parameter or its version is Floating point, double
REAL64
present, see the parameter description accuracy
STR8 Text, 8 characters —
64BYTE 8 bytes, unsigned —

8 Basic properties
Manual SD6
8.2 Interfaces • Select the level, parameter groups and parameters.

OK • Accept modified parameter values.
The following options are available to access the drive controllers.
For example, if you want to control the drive via local mode or change • Display parameters of the start display.
Esc • Navigate one level back.
parameters, use the control field of the drive controller.
If you want to generally put the drive controller into operation, you need the • Reject modified parameter values.
"DriveControlSuite" software. Using the DriveControlSuite, you can select • Acknowledge fault.
applications and transfer relevant data to the drive controller. • Select parameter within a parameter group.
• Change parameter values.
8.2.1 Operator panel • Select parameter group.
8.2.1.1 Setup • Select character position of a parameter.
The control unit consists of a graphical display (LCD) and sensor keys. • Activate/deactivate local mode (deactivation causes the
enable to be deleted).
• Enable drive in local mode if parameterized.
I/0
• To save data with protection against power failure: Press

the key and hold it for 3 seconds.

8 Basic properties
Manual SD6
8.2.1.2 Menu structure and navigation
Esc Esc Esc
Status display Esc Status display Status display 1 Status display 2 Status display 3
Quick access I80 Current position 123.567° E49 Inhibit reason E19 Binary inputs E52 DriveCtrlrInfo
to parameters E08 N-motor filtered
E00 I-Motor
0.000 Upm
0.0 A
01000011 0000000000000000 [0] SD6A06
E47 Inhibit reason0.0 A E27 Binary outputs0.0 A [1] 999 0.0 A
E80 Oper. Cond. 3:SwitchOnDis. 1:Enable 0000000000000001 [2] 7000043
START DISPLAY
OK Esc
A:Drive controller B:Motor C:Machine
Parameter OK Esc
groups
B:Motor
B24 Switching freq. OK Change parameter value
Parameters B26 Motor encoder B26 Motor encoder
B40 Phase test
B41 Autotuning
OK
2:X4-encoder
Esc
Esc
B:Motor
B04 El. nameplate
B02 Back EMF
B00 Motor type
B310 Brake management

8 Basic properties
Manual SD6
Parameters – quick access 8.2.1.3 Status display

Quick access gives you direct access to the status of the most important Note that the default setting of the status display depends on the application.
(diagnostic) parameters. This level consists of a start display and four The following parameters are displayed in the default setting:
overviews of specific content:
• I80 current position
Status display 1 provides information about the causes of a possible switch on
• E08 n-motor filtered
disable; status display 2 provides information about the analog and binary
inputs and outputs; status display 3 for general drive controller data including • E00 I-Motor
type, firmware, integrated option modules, etc. You can navigate within this • E80 operating condition
level with the right and left arrow keys.
To find out which the corresponding parameter addresses for the values in the
Press "ESC" to reach the parameters associated with the values that appear in
status display, press and hold the ESC key in the basic view.
the start display. These parameters are individually configurable.
There are two ways to change the status display:
Parameter groups • You can display other parameters: to do this enter the addresses of the
Parameters are combined together in groups based on their functional parameters you want to display in parameter A144.x status display
properties, for example "Drive controller," "Motor," "Machine," "Terminals", parameter , for example A10[1] or 1.I400.
etc.You can navigate within this level with the right and left arrow keys; Select • You can use the drive controller display as the output medium of a higher-
one of the possible groups with "OK. level controller: to do this set A142 = 1:Terminal. Then the controller must
describe parameter array A141.x (one parameter element for each display
Parameters line). If the controller does not transfer any values, the display remains
You can navigate in a parameter group with the upper and lower arrow keys. empty.
Select one of the possible parameters with "OK." To change a parameter value, In parameter array A140.x read display lines you can read via the controller
choose the corresponding character position with the right and left arrow keys, which content is currently being displayed in which line of the display. The
then select the new value with the upper and lower arrow keys. Accept content of a line is represented in a parameter element. Depending on how the
changes with "OK" or reject them with "Esc. display is configured, not all lines and therefore not all parameter elements will
be filled.
Information
Note that a modified parameter value can only be saved so it will be 8.2.1.4 Languages
retained through a power failure with the save key on the control You can select the language for the display in parameter A12. German, English
unit. and French are currently available for selection.

8 Basic properties
Manual SD6
8.2.2 DriveControlSuite 8.3.2 Configuration level

You can place the drive in operation with the DriveControlSuite software. Select
Information
an application in the software and parameterize it for your purposes.
On the configuration level only levels 0 to 2 are freely adjustable.
DriveControlSuite also provides extensive options for diagnostics, for example
Level 3 enable is currently not supported.
scope functionality.
The configuration level determines the programming options.
8.3 Access level • Level 0: No view of the configuration window is available on this level.
You can load and parameterize applications, but not program them.
There are separate access levels for configuration and parameters. This
• Level 1: You can load and parameterize applications on this level. The
causes parameters to be hidden and the configuration view is locked after a
certain level. You can select between levels 0, 1, 2 and 3. application can be opened up to the first program level. You cannot
program.
8.3.1 Parameter level • Level 2: You can load and parameterize applications. The application can
You can select between the following parameter levels: be opened up to the second program level. You cannot program.
• Level 3: You can program (currently not supported).
• 0: Observer; the elementary displays can be seen. General parameters
can be changed.
• 1: Normal; the essential parameters of the selected application can be
observed and changed.
• 2: Extended; all parameters for startup and optimization of the selected
application can be observed and modified.
• 3: Service; Service parameters. They are used to provide comprehensive
diagnostics.
You can set different levels for different interfaces in parameter A10[x]:
• A10[0]: Access via the operator panel on the drive controller
• A10[2]: Access via fieldbus systems CANopen or EtherCAT
• A10[3]: Access via fieldbus systems PROFIBUS or PROFINET
Elements A10[1] and A10[4] have no function.

8 Basic properties
Manual SD6
Causes that are not documented with a number in the event description in
8.4 Events
section 16 Diagnosis simply provide references to possible errors. They do not
Event displays give you information about the status of the drive controller. A appear in the display.
list of event displays can be found in section 16 Diagnosis. Events relate to several areas:
The response to an event can be set up in four levels: Inactive, Message,
• With active configuration
Warning or Fault.
If device start-up is complete and configuration is active, the events
1. If an event is parameterized as a message, it will appear in the bottom line identified by the number monitor operation. Acknowledgement on the
of the display, flashing. An application is not affected by a message. operator panel or via binary input can be programmed for some of these
Operation continues normally. Messages are not acknowledged. They events. This does not affect communication or operation of the device. The
persist until the cause is eliminated. occurrence of the event is noted by a counter for use in further diagnostics.
2. A warning is indicated by a flashing text. The event is also displayed. After The fault counter is saved in parameter group Z...
a defined time has elapsed, the warning becomes a fault. The remaining Some of these events can be parameterized, for example event
time is shown in the display. If the cause is eliminated within the set time. 39:TempDev i2t.
the warning is reset. An application is not affected by a warning.
• Process errors detected by the CPU
3. If an event occurs with theFault level, the device immediately switches to
Errors related to the drive controller CPU are identified by the number sign
the Fault reaction device state. The event is displayed in the bottom line of
"#". In this case the power board and menu function of the operator panel
the display. A fault must be reset.
are switched off and communication is interrupted. The only way to return
to normal operation is to turn the device off and back on again.
The device provides notes about the cause for some of the events. They are
• Errors while the device is starting
identified by a number which also appears in the list of events in the display:
During device start-up, configuration parameter, flag and signal values are
loaded from the memory module. Then the configuration is started.
Detailed error messages can be generated for both steps. They are
identified by the asterisk sign "*" . If there is no ParaModul present or an
error occurs while it is being loaded from the memory module, *ParaModul
ERROR appears in the top line to identify this condition. If an error occurs
while the configuration is being started, *ConfigStrtERROR appears in the
display. To eliminate these errors, switch the device off and back on or
transfer a configuration.

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Manual SD6
9 Drive controller 9.3 Axis management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .177

Overview of sections 9.3.1 Axes as parameter sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
9.3.2 Selecting axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178

9.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .157
9.3.3 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
9.2 Device controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .157 9.4 Local mode .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .181
9.2.1 STOBER device state machine . . . . . . . . . . . . . . . . . . . . . . . . 157
9.5 Energy management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .184
9.2.1.1 Controlword and Statusword . . . . . . . . . . . . . . . . . . 161
9.5.1 Power input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184
9.2.2 Device state machine according to CiA 402 . . . . . . . . . . . . . . 164
9.5.1.1 Parameterize power input . . . . . . . . . . . . . . . . . . . . 184
9.2.2.1 Controlword and Statusword . . . . . . . . . . . . . . . . . . 169
9.5.1.2 46:Low voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185
9.2.3 Enable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
9.5.1.3 Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186
9.2.3.1 STOBER device state machine . . . . . . . . . . . . . . . . 171
9.5.2 Brake resistor .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186
9.2.3.2 Device state machine according to CiA 402 . . . . . . 171
9.5.3 Energetic utilization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
9.2.3.3 Parameters .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
9.5.3.1 39:TempDev i2t . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
9.2.4 Auto-start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
9.5.3.2 42:TempBrakeRes . . . . . . . . . . . . . . . . . . . . . . . . . . 189
9.2.5 Quick stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174
9.5.3.3 45:oTempMot. i2t . . . . . . . . . . . . . . . . . . . . . . . . . . . 190
9.2.5.1 STOBER device state machine . . . . . . . . . . . . . . . . 175
9.5.3.4 59:TempDev. i2t . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191
9.2.5.2 Device state machine according to CiA 402 . . . . . . 175
9.5.3.5 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192
9.2.5.3 Parameters .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
9.5.4 Thermal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193
9.2.6 Acknowledgement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
9.2.7 Operational state . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177

9.6 Cycle time .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .193
9.2.8 Display .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177 9.7 Components .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .193

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9.8 Input and output signals .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .196

9.8.1 Binary inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196
9.8.2 Binary outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196
9.8.3 Analog inputs .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198
9.8.3.1 AE1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198
9.8.3.2 AE2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
9.8.3.3 AE3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200
9.8.4 Analog outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201
9.8.4.1 AA1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201
9.8.4.2 AA2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203
9.8.5 Position simulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
9.8.6 Display .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206
9.9 Saving data with protection against power failure . . . . . . .206

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9.1 Introduction Designation Behavior

This section describes basic settings that must be considered in each project Fault response • The application can be partially reparameterized.
for the drive controller and adjusted for your application. Examples include active • An error-dependent action is being performed (lock
selecting a device state machine, parameterization of power input or setting drive function or quick stop).
and calibrating analog inputs. • A torque can be assigned.
Quick stop active • The application can be partially reparameterized.
9.2 Device controller • The quick stop function is being performed.
• A torque is assigned.
9.2.1 STOBER device state machine
The illustration below shows which changes of state are possible.
The STOBER device state machine recognizes the following states:
14
Fault reaction active
Störungsreaktion aktiv
Designation Behavior
Not ready to • Power is supplied to the electronics. 0 15
switch on • The self test is running.

NotNicht Einschaltbereit
ready for switchon Fault
Störung
• Initialization is running.
• No torque is assigned. 1
12 16
Switch on disable • Software/hardware initialization is complete.
13 Einschaltsperre
Switchon disable 10
• The application can be reparameterized.
• No torque is assigned. 2 6
• The safety technology can be active. 11 9
Ready for switchon
Einschaltbereit
Ready to switch • The application can be reparameterized.
on • No torque is assigned. 3 5
Switched on • The application can be reparameterized.

Eingeschaltet
Switched on
• No torque is assigned.
Operation  • The application can be partially parameterized. 4
7
enabled • A torque is assigned.
Betrieb freigegeben
Operation enabled Schnellhalt
Quick stop aktiv
active
8
Fault • The application can be parameterized.
• No torque is assigned. Fig. 9-1 STOBER device state machine

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The following conditions apply for changes of state:
Change of state Conditions

0 Device start-up > Not ready to switch on Control board power supply turned on
1 Not ready to switch on > switch on disable Self test completed without errors
AND initialization complete
2 Switch on disable > ready to switch on (Release inactivea)9.2.3.1 STOBER device state machine OR Autostart activeb)9.2.4 Auto-start)
AND DC link chargedc)
AND safety technology deactivated
AND one axis actived)
AND IGB motion bus inactivee)14 Communication OR (IGB motion bus activef) AND (IGB state = 3:IGB
motion bus f)14 Communication OR IGB exception mode activeg)14 Communication OR Local mode
activeh)14 Communication))
3 Ready to switch on > switched on Enable activea)
4 Switched on > operation enabled Enable activea)
5 Switched on > ready to switch on Enable inactivea)
6 Ready to switch on > switch on disable DC link not chargedc)
OR safety technology actived)
OR Axis inactivee)
OR (IGB motion bus activef) AND IGB state not equal to 3:IGB motion bus g) AND IGB exception mode
inactiveh) AND Local mode inactivei))
7 Operation enabled > quick stop active Signal quick stop activei)
OR (enable inactivea) AND quick stop signal with enable off active)g)
8 Quick stop active > operation enabled Enable activea)
AND quick stop signal inactive j)
AND quick stop end reachedj)
9 Quick stop > ready to switch on Enable inactivea)
AND quick stop end reachedj)
10 Quick stop active > switch on disable Safety technology actived)

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Manual SD6

11 Operation enabled > ready to switch on Enable inactivea)
AND quick stop with enable off inactivej)
12 Operation enabled > switch on disable Safety technology actived)
13 Switched on > switch on disable DC link not chargedc)
OR safety technology actived)
OR (IGB motion bus activef) AND IGB state not equal to 3:IGB motion busg) AND IGB exception mode
inactiveh) AND Local mode inactivei))
14 All states > fault response active Fault detectedj)
15 Fault response active > fault Fault response completedk)
16 Fault > switch on disable No faultk)
AND rising edge of signal acknowledgementk)
a) See section 9.2.3.2 Device state machine according to CiA 402
b) See section 9.2.4 Auto-start
c) See section 9.5 Energy management
d) See section 9.3 Axis management
e) See section 14 Communication
f) See section 14 Communication
g) See section 14 Communication
h) See section 14 Communication
i) See section 9.4 Local mode
j) See section 9.2.5 Quick stop
k) See section 8.4 Events
Please note section 8.4 Events, an explanation of IGB states and the IGB exception mode.

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E48 device control state version 0 4: IGB-motionbus The IGB motion bus is projected, but:
• A124 IGB exception state is not activated
State of device controller. or
The state machine of the device controller enables the drive function and • A155 IGB-state is not equal to 3 or
power stage or disables them. • The IGB motion bus is not synchronized
(see A182 IGB motion bus conditions).
E47 switch on inhibit reason version 1 5: STO active The STO safety function is active 
(Safe Torque Off).
The cause of the switch on disable state of the device state machine.
6: quick stop CiA 402 only:
The display change every 1.5 seconds if there are multiple causes at the same
The command (control word A515, bit 0, 1, 2,
time.
3, 7) is Quick stop.
0: inactive 7: control word CiA 402 only:
1: Enable The following rules apply, depending on the The command (control word A515, bit 0, 1, 2,
relevant device state machine: 3, 7) is not Shutdown.
• CiA 402: 
E47 is available for evaluation by a human observer. E49 is available for
X1.Enable is inactive ("Low"); 
evaluation by a control unit.
X1.Enable must always be active.
• STOBER device state machine: E49 switch on inhibit reason version 1
A34 auto-start is inactive and X1.Enable is
The cause of the "switch on disable" state. Each bit codes a cause.
active. 
X1 Enable must be Low  Bit Description Comment
(protection against automatic restart). 0 Enable The following rules apply, depending on the
2: Network/ DC link • There is no/not sufficient network voltage relevant device state machine:
• A38 DC power-input is not active. • CiA 402: 
3: Axis • No axis is active or X1.Enable is inactive ("Low"); 
• axis switchover is running. X1.Enable must always be active.
• STOBER device state machine:
active. 
X1 Enable must be Low 
(protection against automatic restart).

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Bit Description Comment 9.2.1.1 Controlword and Statusword

1 Network/DC link • There is no/not sufficient network voltage A180 device control byte version 0
• A38 DC power-input is not active.
Control byte.
2 Axis • No axis is active or
• axis switchover is running. Bit Description Comment
3 Motion bus The IGB motion bus is projected, but: 0 additional enable Works in addition to
• A124 IGB exception state is not activated or terminal enable X1 if A60
• A155 IGB-state is not equal to 3 or is set to parameter.
• The IGB motion bus is not synchronized (see Observation via A300.
A182 IGB motion bus conditions). 1 Acknowledgement Acknowledgement of
4 STO The STO safety function is active  device faults if A61 is set
(Safe Torque Off). to parameter.
5 Quick stop CiA 402 only: Observation via A301.
The command (control word A515, bit 0, 1, 2, 3, 2 /quick stop If A62 is set to
7) is Quick stop. parameter.
6 Control word CiA 402 only: Observation via A302.
The command (control word A515, bit 0, 1, 2, 3, 3 - 4 axis selector With multi-axis
7) is not Shutdown. operation, the axis to be
7 Reserved — activated is selected
here if A63 and A64 are
set to parameter.
E80 operating condition version 1 Observation via A303
and A304.
Display of the current operating state according to the operating display. Useful
for fieldbus queries. Bit 4 bit 3 Axis
00 1
01 2
10 3
11 4

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Manual SD6
Bit Description Comment Information

5 axis disable Deactivate all axes (no This parameter determines the response of the drive controller
motor switched on) if A65 during remote maintenance. It could be accidentally overwritten
is set to parameter. and changed by a remote maintenance process, resulting in
Observation via A305. impaired functionality (connection broken, loss of data, etc.). There
6 Open the brake unconditionally Open brake override if are two ways to prevent accidental changes:
- Read the data from the drive controller when setting up the
F06 is set to parameter
and F92 is set to internal. connection.
- Use a project file associated with the drive controller in which this
7 Handshake bit Bit 7 in A180 is copied to
parameter is set correctly.
bit 7 in E200 with each
cycle of the device
controller E200 device status byte version 0
If bit 7 in A180 is toggled
by the higher-level PLC, Status byte.
this can be detected by • Element 0:
E200, a terminated Bit Description Comment
communication cycle
0 Enabled 1 = The drive is ready, no
(send data, evaluate,
fault
return).
Corresponds to E48 = 4
1 Fault 1 = The drive has a fault
A181 device control byte 2 version 0 or a fault response is
active
Control byte 2.
Bit Description Comment or 6
0 Remote maintenance If the source A167 is set 2 Quick stop active 1 = Fast stop active.
to parameter. Corresponds to E48 = 7
Observation via A300 3 - 4 Active axis Display of the active axis
1 - 7 Reserved No function in multi axis mode.
Bit 4 bit 3 Axis

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Bit Description Comment E201 status word 2 version 0

00 1
Status word with additional signals.
01 2
Bit Description Comment
10 3
11 4 0 operational state Corresponds to E79[0]
5 Axis in E84 is active 1 operational state Corresponds to E79[1]

2 operational state Corresponds to E79[2]
6 Local mode is active I188
7 Handshake bit Bit 7 in E200 is copied 3 Brake is set All brakes used.
from bit 7 in A180 with Corresponds to F08[0].
each cycle of the device 4 Brake is released All brakes used.
controller Corresponds to F09[0].
If bit 7 in A180 is toggled 5 ref value ready Corresponds to I97
by the higher-level PLC, 6 Jog active Corresponds to I188
this can be detected by
7 Positive limit switch in effect Corresponds to I805
E200, a terminated
communication cycle 8 Negative limit switch in effect Corresponds to I806
(send data, evaluate, 9 In reference Corresponds to I86
return). From firmware version
6.0-E.
• Element 1:
10 - Reserved No function
Bit Description Comment
15
0 Switch on disable Corresponds to E48 = 1.
For the cause of the
switch on disable see
E47 and E49
1 Warning Corresponds to E81 = 2
2 Message Corresponds to E81 = 1
3 Remote service acknowledgement Corresponds to A170
4 Limit active Corresponds to A926
5-7 Reserved No function

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9.2.2 Device state machine according to CiA 402

The illustration below shows the device states and possible changes in state in
accordance with CiA 402.

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The table below shows the conditions for changes in the state machine.

0 Device start-up > self test Control board power supply turned on.
1 Self test > switch on disable Self test completed without errors
AND initialization complete.
2 Switch on disable > ready to switch on Enable active
AND DC link charged
AND command Shutdown
AND safety technology deactivated
AND IGB motion bus inactive OR (IGB motion bus active AND (IGB state = 3:IGB motion bus OR IGB exception
mode active OR Local mode active)).
3 Ready to switch on > switched on Enable active
AND command Switch On
4 Switched on > operation enabled Enable active
AND command Enable operation
5 Operation enabled > switched on Enable active
AND command Disable operation
6 Switched on > ready to switch on Enable active
AND command Shutdown
7 Ready to switch on > switch on disable Enable inactive
OR DC link not charged
OR command Quick stop
OR command Disable voltage
OR safety technology active
OR (IGB motion bus active AND IGB state not equal to 3:IGB motion bus AND IGB exception mode inactive AND
local mode inactive)
8 Operation enabled > ready to switch on Shutdown command

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Manual SD6

9 Operation enabled > switch on disable Enable inactive
10 Switched on > switch on disable Enable inactive
OR DC link not charged
OR command Quick stop
OR (IGB motion bus active AND IGB state not equal to 3:IGB motion bus AND IGB exception mode inactive AND
local mode inactive)
11 Operation enabled > quick stop Command Quick stop
OR (Enable inactive AND Quick stop signal with enable off signal active)
12 Quick stop > switch on disable Quick stop complete
OR DC link below 130 V
13 All states > fault response active Fault detected
14 Fault response active > fault Fault response complete
15 Fault > switch on disable Command Fault reset (positive edge)

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The device state machine must receive specific commands for changes of
Manufacturer-specific Designation according to CiA 402
state. The commands are given as a bit combination in the control word in
designation
accordance with CiA402 (parameter A515 Control word). The table below
shows the states of the bits in A515 and how they are combined for commands Self test Not ready to switch on
(bits marked with X are irrelevant). Switch on disable Switch on disabled
Ready to switch on Ready to switch on
Bit of the control word (A515 control word) Switched on Switched on
Bit 7 Bit 3 Bit 2 Bit 1 Bit 0 Operation enabled Operation enabled
Command
Fault Enable Quick Enable Switch Fault Fault
reset operation stop voltage on Fault reaction active Fault reaction active
Shutdown 0 X 1 1 0 Quick stop active Quick stop active
Switch on 0 0 1 1 1
Disable voltage 0 X X 0 X
E48 device control state version 0
Quick stop 0 X 0 1 X
State of device controller.
Disable operation 0 0 1 1 1
The state machine of the device controller enables the drive function and
Enable operation 0 1 1 1 1
power stage or disables them.
Pos. of
Fault reset X X X X
edge
The standard device state machine has the same states as in the device state
machine according to CANopen device profile CiA 402.
The table below lists manufacturer-specific designations and the designations
according to CiA.

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E47 switch on inhibit reason version 1 6: quick stop CiA 402 only:
The cause of the switch on disable state of the device state machine. 3, 7) is Quick stop.
The display change every 1.5 seconds if there are multiple causes at the same
7: control word CiA 402 only:
time.
0: inactive 3, 7) is not Shutdown.
1: Enable The following rules apply, depending on the E47 is available for evaluation by a human observer. E49 is available for
relevant device state machine: evaluation by a control unit.
• CiA 402: 
X1.Enable is inactive ("Low"); 
X1.Enable must always be active. E49 switch on inhibit reason version 1
• STOBER device state machine: The cause of the "switch on disable" state. Each bit codes a cause.
active.  Bit Description Comment
X1 Enable must be Low  0 Enable The following rules apply, depending on the
(protection against automatic restart). relevant device state machine:
2: Network/ DC link • There is no/not sufficient network voltage • CiA 402: 
• A38 DC power-input is not active. X1.Enable is inactive ("Low"); 
3: Axis • No axis is active or X1.Enable must always be active.
• axis switchover is running. • STOBER device state machine:
4: IGB-motionbus The IGB motion bus is projected, but: A34 auto-start is inactive and X1.Enable is
• A124 IGB exception state is not activated active. 
X1 Enable must be Low 
or
• A155 IGB-state is not equal to 3 or (protection against automatic restart).
• The IGB motion bus is not synchronized 1 Network/DC link • There is no/not sufficient network voltage
(see A182 IGB motion bus conditions). • A38 DC power-input is not active.
5: STO active The STO safety function is active  2 Axis • No axis is active or
(Safe Torque Off). • axis switchover is running.

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Bit Description Comment 9.2.2.1 Controlword and Statusword

3 Motion bus The IGB motion bus is projected, but: A515 control word version 1
• A124 IGB exception state is not activated or
Control word.
• A155 IGB-state is not equal to 3 or
• The IGB motion bus is not synchronized (see Bit Description Comment
A182 IGB motion bus conditions). 0 Switch on
4 STO The STO safety function is active  1 Enable voltage
(Safe Torque Off). 2 Quick stop 1 = No quick stop
5 Quick stop CiA 402 only: requested
The command (control word A515, bit 0, 1, 2, 3, 3 Enable operation
7) is Quick stop. 4 - 5 Operation mode specific Depends on the active
operating mode A542
6 Control word CiA 402 only:
See table of operating
The command (control word A515, bit 0, 1, 2, 3,
mode depends bits
7) is not Shutdown.
6 Operation mode specific No function
7 Reserved — 7 Fault reset
8 Optional No function
9 Operation mode specific No function
E80 operating condition version 1
10 Reserved Reserved
Display of the current operating state according to the operating display. Useful 11 Manufacturer specific Axis selector bit 0
for fieldbus queries. If A63 is set to parameter
12 Manufacturer specific Axis selector bit 1
If A64 is set to parameter
13 Manufacturer specific Axis disable
If A65 is set to parameter

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Bit Description Comment Bit Description Comment

14 Manufacturer specific Brake control 2 Operation enabled
1 = Release override 3 Fault
with internal brake 4 Voltage enabled
control if F06 is set to
5 Quick stop 1 = No quick stop active
internal and F92 is set to
6 Switch on disabled
parameter.
7 Warning
1 = Release brake with
8 Manufacturer specific 1 = Message
external brake control if
9 Remote
F06 set to external.
15 Manufacturer specific No function 10 Target reached
11 Internal limit active
Description of operating mode dependent bits
12 - Operation mode specific Depends on the active
Bit Operating mode Comment 13 operating mode A542
4 Homing mode 1 = Start referencing See table of operating
mode depends bits
4 Interpolated position 1 = Activation of
14 - Manufacturer specific PLL A298 bit 0
interpolation
15 PLL A298 bit 1
4 Jog 1 = Jog in positive
direction Description of operating mode dependent bits
5 Jog 1 = Jog in negative Bit Operating mode Comment

direction 12 Homing mode 1 = Reference reached
Corresponds to object index 6040hex subindex 0hex control word in accordance 12 Interpolated position mode 1 = Interpolation active
with CiA 402. 12 Cyclic synchronous position mode 1 = Drive follows
12 Cyclic synchronous velocity mode 1 = Drive follows
12 Cyclic synchronous torque mode 1 = Drive follows
A516 Statusword version 1
13 Homing mode 1 = Error during
Status word. referencing
Bit Description Comment 13 Cyclic synchronous position mode 1 = Lag error
0 Ready to switch on Corresponds to object index 6041hex subindex 0hex status word in accordance
1 Switched on with CiA 402.

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9.2.3 Enable 9.2.3.2 Device state machine according to CiA 402

Note the differences in the signal paths for the different device state machines. A43
9.2.3.1 STOBER device state machine Device

X1.4 controller,
A43 quick stop
In the device state machine according to CiA 402, the signal on terminal X1.4
X1.4 is relevant for the enable.
A60 You can parameterize a switch-off delay for the signal in parameter A43.
Device Note that the signal is logically linked with the commands of the state machine
1:High & controller,
in the device state machine (see section 9.2.2 Device state machine according
quick stop
2:Parameter A300 to CiA 402).
E19.1
3:BE1 9.2.3.3 Parameters
BE1
E19.2 4:BE1-inverted
1 A43 enable off delay version 0
5:BE2
BE2 Enable off delay to suppress short Low pulses for X1.Enable.
6:BE2-inverted
1 This function is necessary when connecting safety equipment if OSSD pulses
.
. are used for diagnostics.
.
NOTICE
The AND link from the signal to X1.4 and additional enable are relevant in the
Material damage!
STOBER device state machine.
The set delay time causes the response to switching off the enable to be
delayed by A43.
A switch-off delay can be parameterized for the binary signal to X1.4 in A43.
You can set the source of the additional enable in A60. You can select between  This time must be taken into consideration when calculating a stopping
the fixed signal value 1:High (active), the binary inputs and connection via distance.
fieldbus (2:Parameter). With a connection via fieldbus, bit A180.0 returns the
signal. A60 additional enable source version 0
Setting of the signal source for the additional enable signal.

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A180 device control byte version 0 Bit Description Comment

5 axis disable Deactivate all axes (no
Control byte.
motor switched on) if A65
Bit Description Comment is set to parameter.
0 additional enable Works in addition to Observation via A305.
terminal enable X1 if A60 6 Open the brake unconditionally Open brake override if
is set to parameter. F06 is set to parameter
Observation via A300. and F92 is set to internal.
1 Acknowledgement Acknowledgement of 7 Handshake bit Bit 7 in A180 is copied to
device faults if A61 is set bit 7 in E200 with each
to parameter. cycle of the device
Observation via A301. controller
2 /quick stop If A62 is set to If bit 7 in A180 is toggled
parameter. by the higher-level PLC,
Observation via A302. this can be detected by
E200, a terminated
3 - 4 axis selector With multi-axis
communication cycle
operation, the axis to be
activated is selected
return).
here if A63 and A64 are
set to parameter. A300 additional enable version 0
Observation via A303
and A304. Display of current value of the AdditEna signal (additional enable) on the
interface to the device controller (configuration, module 100107).
Bit 4 bit 3 Axis
The additional Enable signal works just like the Enable signal from terminal X1.
00 1
The two signals are ANDed. Therefore the power output stage of the drive
01 2 controller is only enabled if both signals are HIGH.
10 3
11 4 A306 X1.Enable version 0
The level of the Enable binary signal on the input of the device controller is
displayed.

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A307 X1.Enabled inverted version 0

9.2.4 Auto-start
The level of the X1.Enable binary signal is displayed inverted. WARNING!
Unexpected startup of motor!
A910 sysAdditionalEnableIn version 0 If auto-start is active, the drive controller can change immediately from device
state switchOnDis. to Operation enabled!
Additional enable signal of the axis to the device control unit. It is logically
ANDED with the enable signal (normally from binary input X1.enable) in the  Note the description of the STOBER device state machine.
device control unit.  Use auto-start only if this response is permissible, taking into consideration
the standards and regulations that apply to the system or machine.
Information
If DriveControlSuite sets up a connection to the drive controller, this
Auto-start can only be used with STOBER device state machine (see section
parameter is always read if Write parameters was specified as the
9.2.1 STOBER device state machine).
data direction in DriveControlSuite.
If auto-start A34 = 1:active, the drive controller changes from device state
switchOnDis. to readySwtchOn even if enable is active.
E19 binary inputs version 0
Terminal value of the binary inputs and of the enable. A34 auto-start version 0
Bit Description Comment Activation of auto-start for the STOBER device state machine.
0 Enable
1- Binary input 1 to binary input 13 WARNING!
13 Unexpected startup of motor!
14 - Reserved No function If auto-start is active, the drive controller can change immediately from device
15 state switchOnDis. to Operation enabled!
 Note the description of the STOBER device state machine.
 Use auto-start only if this response is permissible, taking into consideration
the standards and regulations that apply to the system or machine.

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9.2.5 Quick stop If the drive controller is unable to bring the motor to a standstill with ramp I17
in time A39 t-max. quick stop, the motor coasts down:
When a quick stop occurs, the drive controller brings the connected motor
quickly to a standstill. Note that a quick stop is always performed in speed
Resolution
control and without jerk limiting.
Quick stop end
Resolution n
Quick stop end
n
I17 2
1
A39 t
t=v/I17
t 1 Reference value
2 Actual course with coasting
Various signals are available to trigger a quick stop. Note the differences
between the STOBER device state machine (for signal path see section The Quick stop end is activated
9.2.5.1) and the device state machine according to CiA 402 (for signal path see
• for motors without a brake when the motor has reached a standstill.
section 9.2.5.2).
• for motors with a brake when the brake is set (F08 brake is closed).
When a quick stop is triggered, the device state machine switches to the quick
stop state. The motor is braked with the ramp set in I17 Quick stop
deceleration. Note that difference sources can write to I17. For example, in the
Controller Based Mode, A578 Quick stop deceleration is copied to I17.
During the quick stop the torque limit C08 quick stop torque limit is in effect.
Note that the torque set in C08 can be reduced if an operating limit of the drive
controller or motor is violated by C08. Other torque limit values such as C03
max-positive torque/C05 and max-negative torque are ignored. For a detailed
description of torque limits see section 13.6 Limit torque, force.

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9.2.5.1 STOBER device state machine 9.2.5.3 Parameters

A62 A44 enable quick-stop version 0
0:Low Response of the motor when enable is turned off.
1:High
2:Parameter
E19.1 A62 /quick stop source version 0
3:BE1
BE1 Setting of the source for the quick stop signal. The signal triggers a drive quick
1 stop. Note that the LOW active signal is evaluated, which means that a LOW
5:BE2 level triggers a quick stop.
BE2
6:BE2-inverted >1 Quick stop
1
.
. A302 /quick stop version 0
.
1
Fault quick stop Display of current value of the QuickStp signal (quick stop) on the interface to
Enable2 the device controller (configuration, module 100107).
The quick stop signal triggers a drive quick stop. I17 is the defined
1 if permissible for the relevant event and if activated in A29. Note also the deceleration, which in turn is the determining factor for the braking time (see
description of events, see section 16 also A39 and A45).
2 if activated in A44
9.2.5.2 Device state machine according to CiA 402 A578 Quick stop deceleration version 1
Quickstop command1 Quick stop deceleration.

Fault quick stop2 Corresponds to object index 6085hex subindex 0hex Quick stop deceleration in
>1 Quick stop
Enable3 accordance with CiA 402.
1 see section 9.2.2

2 if permissible for the relevant event and if activated in A29. Note also the A901 sysQuickstopOut version 0
description of events, see section 16 Quick stop output of the device control unit to the axis/axes. Indicates that the
3 if activated in A44 device control unit will force a quick stop that will be performed in speed
control. Reference value processing of the axis must support this quick stop
with a higher priority than axis reference value processing.

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A911 sysQuickstopIn version 0 9.2.6 Acknowledgement

Various mechanisms are available to reset a fault:
Quick stop acknowledgement of the axis to the device control unit.
• Switch the device off and back on
• Switch on the faultReset signal
E48 device control state version 0
• Press the ESC key on the operator panel
State of device controller.
• With a STOBER device state machine only: Switch enable off, on and off
The state machine of the device controller enables the drive function and
again
power stage or disables them.
Note that not every fault can be reset with enable or the acknowledgement
signal. Section 16 indicates how to reset for each event.
I17 Quickstop deceleration version 0 A fault cannot be reset if A00 save values is active or the cause of the fault is
Deceleration when quick stop is performed. I17 is not limited by I11 maximal still present.
acceleration. Parameter A61 defines the source for the fault reset signal. With 0:Low and
Overview of different acceleration displays: 1:High, a fault can only be acknowledged with the ESC key on the operator
panel or with an enable. If A61 = 3:BE1 ... 28:BE13-inverted, you can
rpm/s ° / s2 (degrees / rad / s2 ms / 3000 rpm rpm / ms acknowledge the fault with the selected binary input. If A61 = 2:Parameter the
s 2) signal comes from the control parameter of the corresponding device state
100 600 10,47 30000 0,1 machine:
1000 6000 104,72 3000 1,0 • STOBER device state machine: A180 Device Control Byte bit 1
• Device state machine according to CiA 402: A515 control word bit 7
3000 18000 314,16 1000 3,0
150000 900000 15708 20 150 A301 fault reset version 0
Display of current value of the FaultRes signal (fault reset) on the interface to
the device controller (configuration, module 100107).
The faultReset signal triggers a fault/fault reset. If the drive controller is in a
fault state, changing from LOW to HIGH will cause the fault to be
acknowledged if the cause of the fault is rectified. Acknowledgement is not
possible as long as A00 save values is active.
A912 sysFaultResetInput version 0
Fault acknowledgement of the axis to the device control unit.

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9.2.7 Operational state A67 user statusword version 0
E79 operational state version 0 The user status word allows the user to define his own status word.
You can adjust the sources for each bit in A66.
Auxiliary values for displaying the ready for operation message.
A67 is updated in real time (A150) in the drive controller.
Can be used for example for relay 1 F75 or for the status word A66/A67 defined
by the user.
9.3 Axis management
9.2.8 Display A drive controller can administer up to four axes, of which no more than one is
active. You can use the axes like parameter sets for a connected motor.
A66 user statusword sources version 0
Axis management
Sources for the bits of user status word A67.
• Element 0: Source for A67 bit 0
Axis 1 = parameter set 1
• Element 3: Source for A67 bit 3 Axis 2 = parameter set 2
• Element 5: Source for A67 bit 5 Axis 3 = parameter set 3
Axis 4 = parameter set 4 Motor 1
• Element 8: Source for A67 bit 8 no axis active
Information
The bit addressing can be used to specify the sources.

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9.3.1 Axes as parameter sets 9.3.2 Selecting axes

If you would like to use multiple axes as parameter sets, follow these steps: Information
Setting up axes as parameter sets Switching axes is only possible under the following conditions:
- Enable is switched off.
1. In your project in DriveControlSuite, right click on the entry for the drive - E48 device control state is not 5:fault.
controller that will use multiple axes. - No STO is active.
2. In the context menu select Show free axes.
 The free axes in addition to axis 1 appear below the drive controller. You can select an axis with signals axis selector bit 0 and axis selector bit 1.
3. Click on the free axis that will be used as an additional parameter set. The following binary-coded assignment applies:
4. Click on the Projecting button in the bottom part of the window. Axis Axis selector bit 0 Axis selector bit 1
 The projecting dialog for the axis appears. Axle 1 0 0
5. On the Properties tab, activate the Use axis .
Axle 2 1 0
6. Switch to the Application tab.
Axle 3 0 1
7. Select the application that will be used on this axis.
Axle 4 1 1
8. Confirm the projecting dialog with OK.
9. Repeat steps 3 to 8 if you want to use additional axes as parameter sets.
The ax.disable signal can be used to switch off all axes independently of the
 You are using multiple axes as parameter sets.
state of the axis selectors.
The descriptions of the applications show which parameters to use to achieve
Note that the same motor must be parameterized for all the axes.
these signals. You can view the status of axis management in parameters E84
and E200 bit 3 to bit 5.

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9.3.3 Parameters A303 axis selector 0 version 0
A41 axis-selector version 0 Display of current value of the AxSel0 signal (axis select0) on the interface to
Display of the selected axis.
There are 2 "Axis selector 0 / 1" signals that are used for binary coded selection
The selected axis does not have to be the same as the active axis.
of one of the max. 4 axes.
Information
A63 axis selector 0 source version 0
Axis switching is only possible if enable is turned off and E48
Setting of the source for the axis selector 0 signal. deviceCntrlState is not 5:fault.
There are 2 axis selector 0 / 1 signals that are used for binary coded selection
A304 axis selector 1 version 0
Axis switching is only possible if enable is turned off and E48 deviceCntrlState
is not 5:fault. Display of current value of the AxSel1 signal (axis select1) on the interface to
There are 2 "Axis selector 0 / 1" signals that are used for binary coded selection
A64 axis selector 1 source version 0
Setting of the source for the axis selector 1 signal.
Information
There are 2 axis selector 0 / 1 signals that are used for binary coded selection
Axis switching is only possible if enable is turned off and E48
deviceCntrlState is not 5:fault.
Axis switching is only possible if enable is turned off and E48 deviceCntrlState
is not 5:fault.
A305 axis disable version 0
A65 axis disable source version 0 Display of current value of the AxDis signal (axis disable) on the interface to the
Setting of the source for the axis Disable signal. device controller (configuration, module 100107).
The axis Disable signal deactivates all axes. The Axis Disable signal deactivates all axes.
Axis switching is only possible if enable is turned off and E48 deviceCntrlState Information
is not 5:fault. Axis switching is only possible if enable is turned off and E48
deviceCntrlState is not 5:fault.

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E84 active axis version 0 Bit Description Comment

7 Handshake bit Bit 7 in E200 is copied
Display of the current axis.
from bit 7 in A180 with
each cycle of the device
E200 device status byte version 0 controller
If bit 7 in A180 is toggled
Status byte.
by the higher-level PLC,
• Element 0:
this can be detected by
Bit Description Comment E200, a terminated
0 Enabled 1 = The drive is ready, no communication cycle
fault
Corresponds to E48 = 4 return).
1 Fault 1 = The drive has a fault • Element 1:

or a fault response is Bit Description Comment
active
0 Switch on disable Corresponds to E48 = 1.
For the cause of the
or 6
switch on disable see
2 Quick stop active 1 = Fast stop active. E47 and E49
1 Warning Corresponds to E81 = 2
3 - 4 Active axis Display of the active axis
2 Message Corresponds to E81 = 1
in multi axis mode.
3 Remote service acknowledgement Corresponds to A170
Bit 4 bit 3 Axis
4 Limit active Corresponds to A926
00 1
5 - 7 Reserved No function
01 2
10 3
11 4
5 Axis in E84 is active
6 Local mode is active I188

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Please note: If at least one of the keys is active while local mode is
9.4 Local mode
enabled and you simultaneously press one of the keys, the movement
In local mode you can move the drive with setup functions on or in an will be interrupted. If you release the keys, the movement will be
emergency mode. If you would like to use local mode, set A55 key hand continued. If you release the keys, the drive will stop.
function = 1:active on.
You can activate and control local mode with the keys on the drive controller keys
operator panel.
Detailed information about the drive controller operator panel can be found in
section 8.2.1.
Information
Please note:
If the drive is enabled, local mode cannot be activated.
Local mode and the jogging (tipping) function available in the
applications access the same functionality.
The drive can still be moved if an IGB motion bus was projected but
is not active.
You can activate local mode with the key and enable the drive in local mode
1 I13 tip acceleration
with the I/0 key. When the drive is enabled in local mode you can move the
2 I45 tip deceleration
drive with the arrow keys. The meaning of the arrow keys in local mode is as
3 I18 tip jerk
follows:
Key Meaning When you press the key, the drive accelerates with ramp I13 tip
Move in positive direction at the speed set in I12 acceleration and jerk limit I18 tip jerk to speed I12 tip speed. If you release the
Move in negative direction at the speed set in I12 key, the drive will brake with ramp I45 tip deceleration until it reaches a
complete stop.
Move in positive direction for the distance set in I14
If you press the key, the drive will accelerate to I12 tip speed. The same
Move in negative direction for the distance set in I14 applies to acceleration, deceleration and jerk.
If you press the keys at the same time, the drive brakes to a complete
stop:

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When you press the key, the drive moves in positive direction for distance
I14 tip step. If you press the key, the drive moves in the opposite, negative
direction for the same distance.
Note that during a tip step movement, the distance to be traversed to the
current reference position is calculated:
• If you press the key during a positive tip step movement, the initial
position and target position of the movement will be identical.
• If you press the key during a positive tip step movement, the drive will
traverse distance I14 twice.
keys
1 I12 tip speed

2 I13 tip acceleration, I45 tip deceleration, I18 tip jerk

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A55 key hand function version 0 I13 tip acceleration version 0
Activation or deactivation of the MANUAL key function on the operator panel. Acceleration in Jogging mode.
I13 is limited in the Controller Based Mode application by A604 and A605.
I26 Jogging mode version 0

I14 tip step version 0
Selection of control mode in which jogging is performed.
Step width that must be traversed if a rising edge is detected on the TipStep
Pos or TipStep Neg signal.
WARNING!
Personal injury and material damage due to falling loads.
I18 tip jerk version 0
In control mode I26 = 0: Velocity control lowers a gravity-loaded axis.
 With gravity-loaded axes use control mode I26 = 1: Position control. Jerk in Jogging mode.
I18 is limited by I16 .
0: speed control The drive controller performs the following

commands: I26 Jogging mode version 0
• TipPositive
Selection of control mode in which jogging is performed.
• TipNegative
1: position ctrl The drive controller performs the following
commands: WARNING!
• TipPositive Personal injury and material damage due to falling loads.
• TipNegative
In control mode I26 = 0: Velocity control lowers a gravity-loaded axis.
• TipStepPositive
• TipStepNegative  With gravity-loaded axes use control mode I26 = 1: Position control.
I45 tip deceleration version 0

I12 tip speed version 0
Deceleration in Jogging mode.
Speed in Jogging mode.
I45 is limited in the Controller Based Mode application by A604 and A605.
I12 is limited by I10.

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9.5 Energy management In control mode B20 = 64: SSM - vector control affects A36 the field weakening
mode. A limit value is derived from A36 . DC link voltages above this limit value
9.5.1 Power input are not taken into consideration in field weakening mode to prevent oscillations
in the motor current.
9.5.1.1 Parameterize power input
To ensure correct parameterization of the power input, edit the following
parameters: A38 DC power-input version 0
• A35 low voltage limit: Specify in this parameter the minimum voltage that In this parameter you can adjust whether the drive controller will be supplied
must be applied in the DC link during operation. exclusively with DC voltage via the DC link.
• A36 mains voltage: connected to X10, effective supply voltage.
• A38 DC power-input: Leave the default setting 0:inactive if the drive
Information
controller will be fed with power via the supply voltage connected to
Note also the section in the manual describing the DC link
terminal X10. If the drive controller will be supplied with power exclusively
connection.
via the DC link, set the parameter to 1:active.
Information
Note that to ensure correct functionality of the DC link, parameter
A38 DC power-input must be set to:
Group 1: A38 = 0:inactive
Group 2: A38 = 1:active
A35 low voltage limit version 0
Lower limit value for the voltage in the DC link.

If the DC link voltage is less than the set value while the drive controller is
enabled, event 46:low voltage with cause 1:low Voltage is triggered.
A36 mains voltage version 0
Connected to X10, effective supply voltage.

The charge relay is controlled to ensure low wear depending on the current DC
link voltage and A36.

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9.5.1.2 46:Low voltage

Triggering Level Response Counter
A problem with the mains voltage or DC link Parametrizable Parameterized fault response in A29: Z46
voltage was detected. level in U00: • A29 = 0:inactive
• Inactive The power board is switched off and the drive
• Message becomes torque-free/force-free. If the air override is
• Warning inactive, a possibly existing brake will be controlled to
• Fault close.
• A29 = 1:active
The drive is stopped with a quick stop. If the air
override is inactive, a possibly existing brake will be
controlled to close at the end of the quick stop.
Possible cause Test Measure Confirmable

The current DC link voltage E03 has Check whether the mains voltage Correct the undervoltage limit A35 if Yes
fallen below the undervoltage limit corresponds to the specification. necessary.
A35.

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9.5.1.3 Display
E33 Vi-max-memorized value version 0
Parameter E03 indicates the voltage applied in the DC link.
Parameter E18 indicates whether the charge relay is closed. When the power The DC link voltage is continuously monitored. The largest value measured is
input is turned on, the charge relay remains open initially (0:inactive). The saved here in non-volatile memory. This value can be reset with A37.
charge relay closes (1:active), when the DC link is charged.
E38 braking energy version 0

E03 DC-link-voltage version 0
The energy dissipated through the braking resistor (in watt-hours) is saved
DC link connection (peak value). here in non-volatile memory. This value can be reset with A37.
E18 charge relay version 0 9.5.2 Brake resistor

State of the internal charge relay. Active means that the relay contact is closed If the voltage in the DC link of the drive controller increases to impermissible
and the charge resistors are bypassed from the network to the DC link. When values, for example due to generative feedback from the motor into the drive
the supply voltage is turned on, the charge relay remains open initially. It closes controller, the drive controller switches to device state Fault with event 36:high
when the DC link is charged through the charge resistors. voltage. One solution to prevent this from happening is to convert the
superfluous energy in the DC link into heat with a brake resistor.
Information If you would like to make the superfluous energy available to other drives, you
Make certain the charge relay contacts are open (E18 = 0:inactive) should consider a DC link. For further information on the DC link see section 7
Connection.
before you turn on the power supply. Especially in a compound
system that includes a DC link, make certain that the load relays of Make the settings for a brake resistor in the following parameters:
all connected drive controller are open before the power supply is • A21 brake resistor R
turned on. • A22 brake resistor P
• A23 brake resistor thermal
E24 i2t-braking resistor version 0 Entering a value of 0 in A22 deactivates control of the brake chopper. Note that
the brake chopper continues working when most faults occur. The faults that
Level of the thermal brake resistor model (i2t model). 100 % is equivalent to full cause the brake chopper to be switched off are documented accordingly in
utilization. Braking resistance data is defined with A21 ... A23. Fault section 16 Diagnosis.
"42:tempBrakeRes" is triggered at over 100 %.

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A21 brake resistor R version 0
Resistance value of the braking resistor that is used.
A22 brake resistor P version 0
Output of the braking resistor that is used.
Information
If A22 = 0, the brake chopper is deactivated.
A23 brake resistor thermal version 0
Thermal time constant of the braking resistor.
The energy dissipated through the braking resistor (in watt-hours) is saved
here in non-volatile memory. This value can be reset with A37.
E41 i2t braking resistor peak value version 0
The maximum value of the thermal utilization of the braking resistor is saved in
non-volatile memory here. This value can be reset with A37.
Information
- This parameter does not specify the maximum value of E24.
- - E24 is initialized with 80 % when the device starts. By contrast
the parameter based on the model is 0 %.
- For a meaningful maximum value measurement, the braking
resistance when the device starts must be approximately at
ambient temperature.

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9.5.3 Energetic utilization

9.5.3.1 39:TempDev i2t
The i2t model for the drive controller is exceeding Parameterized Parameterized fault response in A29: Z39
the maximum allowable thermal utilization. level in U02: • A29 = 0:inactive
From firmware V 6.0-G: A27 • Inactive The power board is switched off and the drive
To rom firmware V 6.0-F: 100% • Message becomes torque-free/force-free. If the air override is
• Fault close.
• A29 = 1:active
If the event is triggered at a threshold of 100%, current
limiting is performed in the control modes with vector
control. Reducing the current can cause the fault quick
stop to no longer perform correctly.

Drive controller overloaded Check the load situation of your drive. • Correct the design of the drive. Yes
• Check the maintenance condition
of the drive (block, lubrication, etc.)
Cycle frequency too high (B24) Check the load situation of your drive under • Reduce B24.
consideration of the derating. • Use a drive with a suitable power
rating.

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9.5.3.2 42:TempBrakeRes
2
The i t model for the braking resistor exceeds Fault Parameterized fault response in A29: Z42
100% load. • A29 = 0:inactive
The power board is switched off and the drive
becomes torque-free/force-free. If the air override is
inactive, a possibly existing brake will be controlled to
close.
• A29 = 1:active
Up to firmware V 6.0-F the brake chopper is switched off.

The braking resistor may not be Check whether the load state of the braking Check the drive configuration. Consider a Yes
designed according to the resistor has caused overheating. DC link connection or the use of a braking
application. resistor with a larger power rating.

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Manual SD6
9.5.3.3 45:oTempMot. i2t

2
The i t model for the motor reaches 100 % load. Parameterized Parameterized fault response in A29: Z45
level in U10: • A29 = 0:inactive
• Fault close.
• A29 = 1:active

The motor is overloaded Check whether the operating conditions • Take measures to meet the Yes
have caused the motor to overheat (load requirements for the operating
state, surrounding temperature of the motor, conditions.
etc.). • Rectify any existing blockages.
• If necessary, correct the drive design.

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9.5.3.4 59:TempDev. i2t

2
The i t model calculated for the drive controller Fault Parameterized fault response in A29: Z59
exceeds 105% of thermal load. • A29 = 0:inactive
close.
• A29 = 1:active

Drive controller overloaded Check the load situation of your drive. • Reduce any existing loads (lubrications, Yes
blockages, etc.).
• Use a drive with a suitable power rating.
Cycle frequency too high Check the load situation of your drive under • Reduce B24.
consideration of the derating. • Use a drive with a suitable power rating.

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Manual SD6
9.5.3.5 Parameters
E22 i2t-drive controller version 0
B24 switching frequency version 2
Level of the thermal model (i2t model). Fault "39:Temp.Dev i2t" is triggered at
105 % of full utilization. When 100 % of the limit is reached the drive controller
B24 switching frequency version 2 triggers event "39:Temp.Dev i2t" with the level indicated in U02. The output
Clock frequency of the drive controller power board. current is limited to the permitted nominal device current for control modes
Increasing the clock frequency improves the control dynamics and reduces the ASM - vector control and SSM - vector control (B20 = 2 or 64).
amount of noise produced, but also leads to increased losses (derating of the
power stage R04, R26). E32 energy counter version 0
In some operating states the clock frequency is changed by the drive controller
itself. The currently active clock frequency is displayed in E151. Display of total energy given off in Wh.
Information E34 I-max-memorized value version 0

The factory setting of this parameter depends on B20. If a
The motor current is continuously monitored. The largest value measured is
synchronous servo motor or synchronous linear motor is used, the
saved here in non-volatile memory. This value can be reset with A37.
value 8:8kHz is entered in B24. If an asynchronous machine is
used, B24 has a value of 4:4kHz.
4: 4 kHz The energy dissipated through the braking resistor (in watt-hours) is saved
8: 8 kHz here in non-volatile memory. This value can be reset with A37.
16: 16 kHz
17: 4 + 8 kHz automatic
19: 4 + 8 + 16 kHz automatic
E20 drive controller utilization version 0
Shows the current utilization of the drive controller as a %. 100 % is equivalent

to the nominal power loss of the drive controller. Utilization is affected
especially by the output current (E00) and the PWM clock frequency (B24).

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9.5.4 Thermal can be found in section 16.27 57:Runtime usage. In this case set A150 to a
higher value.
The following display parameter provides you with further information:
The current utilization of the drive controller can be found in parameter E191
E25 drive controller temperature version 0 runtime usage. If the parameter has a value > 75 %, you should set A150 to a
higher value. Note that E191 starts at 0 % when you have changed A150.
• Element 0: Current temperature of the power board/ IGBT in °C.
• Element 1: Current temperature of the control board in °C.
A150 cycle time version 0
E35 Tmin-memorized value version 0 Cycle time of real-time configuration in the axis.
The usage of the real-time task can be checked in parameter E191 runtime
The lowest measured temperatures are saved in the elements of this usage. If the computing load is too heavy event 57:runtime usage is triggered.
parameter in non-volatile memory.
• Element 0: Temperature of the power board/IGBT
• Element 1: Temperature of the control board 9.7 Components
These values can be reset with A37.
The following parameters provide information about which components were
created in your project and which ones are actually present.
E36 Tmax-memorized value version 0
E50 drive controller version 0
The highest measured temperatures are saved in the elements of this
parameter in non-volatile memory. Display of the drive controller designation including SafetyModule and options,
• Element 0: Temperature of the power board/IGBT for example SD6A06TEX.
• Element 1: Temperature of the control board Corresponds to object index 1008hex subindex 0hex Manufacturer device name
These values can be reset with A37. in accordance with CiA 301.
E51 required drive controller version 0
Projected drive controller in DriveControlSuite (without options modules), for

example SD6A06.
9.6 Cycle time E52 drive controller information version 0

The application is processed with the cycle time set in A150. If the drive
controller is unable to process the application in the set time because utilization
is too high, fault 57: runtime load is triggered. A detailed description of the fault

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Information about the detected drive controller: The type of the option that is expected for operating the drive controller is
• Element 0: Type corresponds to the nameplate entered by the configuration wizard. If the configuration is transferred to
• Element 1: HW version corresponds to the nameplate another device via Paramodule, E55 can be compared with E56[0] to ensure
Corresponds to object index 1009hex subindex 0hex Manufacturer that all hardware resources are present. If this is not the case, fault "55:option"
hardware version in accordance with CiA 301. is triggered with E43 event cause=7:Incorrect or missing option.
• Element 2: Serial number corresponds to the nameplate
• Element 3: Firmware version
E56 optional board 1 information version 0
Corresponds to object index 100Ahex subindex 0hex Manufacturer software
version in accordance with CiA 301. Information about the detected upper option module (option module 1,
• Element 4: Firmware version in firmware download memory communication module):
• Element 5: Booter version • Element 0: Type corresponds to the nameplate
• Element 6: Production date in format YYWW • Element 1: HW version corresponds to the nameplate
• Element 2: Serial number corresponds to the nameplate
YY = Year
• Element 3: Firmware version
WW = week
If the option module has no microcontroller with firmware, this entry has no
• Element 7: Manufacturing location
function
• Element 4: Firmware version in firmware download memory
E53 required SafetyModule version 0 If the option module has no microcontroller with firmware, this entry has no
function
SafetyModule projected in DriveControlSuite, for example ST6A.
• Element 5: Booter version
E54 safety module information version 0 function
Information about the detected lower safety module: • Element 6: Advanced diagnostic information in format X / Y / Z
• Element 0: Type X = current error code (0=OK)
• Element 1: HW version Y = total number of tests /1000
• Element 2: Serial number Z = total number of errors.
• Element 7: Internal version number of the programmed logic
E55 required optional board 1 version 0 E57 required optional board 2 version 0

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The type of the option that is expected for operating the drive controller is Entered by the configuration wizard. If the configuration is transferred to
entered by the configuration wizard. If the configuration is transferred to another device via Paramodule, E59 can be compared with E60 to ensure that
another device via Paramodule, E57 can be compared with E58[0] to ensure all hardware resources are present. If this is not the case, fault 37:n-feedback
that all hardware resources are present. If this is not the case, fault 55:option is triggered (starting with V5.2: 37:encoder) with E43 event
is triggered with E43 event cause=7:Incorrect or missing option. cause=23:AX6000ref.
E58 optional board 2 information version 0 E61 ParaModul information version 0
Information about the detected lower option module (option module 2, terminal Information about the detected Paramodule:
module): • Element 0: Size of the Paramodul memory in kilobytes
• Element 0: Type corresponds to the nameplate A size of 0 kB means that no ParaModul was found or the size of the
• Element 1: HW version corresponds to the nameplate ParaModul is not supported.
• Element 2: Serial number corresponds to the nameplate • Element 1: Size of the free Paramodul memory in kilobytes.
• Element 3: Firmware version A size of 0 kB means that no ParaModul was found or the size of the
If the option module has no microcontroller with firmware, this entry has no ParaModul is not supported.
function • Element 2: Serial number
• Element 4: Firmware version in firmware download memory
function
• Element 5: Booter version
function.
• Element 6: Advanced diagnostic information in format X / Y / Z
X = current error code (0=OK)
Y = total number of tests /1000
Z = total number of errors.
• Element 7: Internal version number of the programmed logic

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9.8 Input and output signals Output Source interface

parameter
9.8.1 Binary inputs
Relay 1 F75 X1 (basic device)
The section below explains with the quick stop as an example how to link
BA1 F61 X101 (with XI6 only)
binary input signals with the application:
BA2 F62
A62
BA3 F63 X103A (with XI6 only)
0:Low
BA4 F64
1:High
BA5 F65
2:Parameter A302
E19.1 BA6 F66
3:BE1 Application
BE1 BA7 F67 X103B (with XI6 only)
1 BA8 F68
5:BE2
BE2 BA9 F69
6:BE2-inverted
1 BA10 F70
.
.
. The signals for relay 1 and binary outputs 3 to 10 are unchanged and are
The signal can be made available on various binary inputs or via fieldbus. The
directed to the interface. For binary output 1 and 2 you can parameterize a
user makes the selection with a selector, in this case A62. There is also a
switch-on and switch-off delay as well as an inversion according to the graphic
display parameter that shows the signal state (in this case A302).
below:
F80 F81
9.8.2 Binary outputs 1
BA1
(X101.16)
To be able to poll application status signals, the signals must be allocated to an F61
output. To do this enter the signal you would like to generate on a binary output
in the corresponding source parameter. The table below shows the assignment F82
of source parameters to binary outputs as well as the interface on which the F83 F84
binary output is present. 1
BA2
(X101.17)
F62
F85

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F61 BA1-source version 0 F65 BA5-source version 0
The value of the parameterized coordinate is generated on binary output 1 The value of the parameterized coordinate is generated on binary output 5
(X101.8). (X103.3).
Information
Note that if encoder simulation is being used via the binary outputs, F66 BA6-source version 0
binary output BA1 is already being used. In this case no entry is
permitted in F61. The value of the parameterized coordinate is generated on binary output 6
(X103.4).
F62 BA2-source version 0

The value of the parameterized coordinate is generated on binary output 2
(X101.9).
(X103.5).
Information
Note that if encoder simulation is being used via the binary outputs,
binary output BA2 is already being used. In this case no entry is
permitted in F62. The value of the parameterized coordinate is generated on binary output 8
(X103.6).

(X103.1). The value of the parameterized coordinate is generated on binary output 9
(X103.7).

(X103.2). The value of the parameterized coordinate is generated on binary output 10
(X103.8).

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9.8.3 Analog inputs E110 AE1 version 0

9.8.3.1 AE1 Values of the analog input.
• Element 0: Terminal value of the analog input before filtering.
F13 AE1 ref low pass filter version 0
• Element 1: Filtered value of the analog input before calibration.
Tau for reference value smoothing for analog input 1. • Element 2: Calibrated value of the analog input.
F15 wire breakage sensing version 0 F110 Analog input 1 zero value version 0
Wire break monitoring for analog input. Zero value of the analog input.
Information
The wire break monitoring function is only possible in AE1 mode F111 Analog input 1 maximum positive value version 0
F116=2: 4 to 20mA.
Maximum positive value of the filtered analog input.
0: inactive
1: active
F112 Analog input 1 maximum negative value version 0
Maximum negative value of the filtered analog input.

F116 AE1-mode selector version 0
Operating mode of the analog input.

F113 Analog input 1 deadband value version 0
0: -10V to 10V
Deadband value of the analog input.
1: 0 to 20mA An internal precision resistor (shunt 500 ohms)
is integrated into X100.2. A bridge must be set
between X100.1 and X100.2. F114 Analog input 1 minimum % value version 0
2: 4 to 20mA An internal precision resistor (shunt 500 ohms) Minimum percentage value of the calibrated analog input.
is integrated into X100.2. A bridge must be set
between X100.1 and X100.2.
F115 Analog input 1 maximum % value version 0
Maximum percentage value of the calibrated analog input.

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9.8.3.2 AE2
Tau for reference value smoothing for analog input 2.
E111 AE2 version 0
Values of the analog input.

• Element 2: Calibrated value of the analog input.
F120 Analog input 2 zero value version 0
Zero value of the analog input.
F121 Analog input 2 maximum positive value version 0
F124 Analog input 2 minimum % value version 0
Minimum percentage value of the calibrated analog input.

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9.8.3.3 AE3
Tau for reference value smoothing for analog input 3.
E112 AE3 version 0
Values of the analog input.

• Element 2: Calibrated value of the analog input.
F130 Analog input 3 zero value version 0
Zero value of the analog input.
F131 Analog input 3 maximum positive value version 0
F134 Analog input 3 minimum % value version 0
Minimum percentage value of the calibrated analog input.

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9.8.4 Analog outputs

9.8.4.1 AA1
Analog output AA1
E13[2] E13[1] F47 AA1- E13[0]
AA1.relative AA1.scaled value upper limit AA1.terminal value
Low pass
Read value \abs\

amount AA1
of coordinate
Limit
F40 analog output 1

source F43 AA1- F45 AA1- F46 AA1-
gain offset lower limit
invalid value 10.0

1.0 F42 analog-output1- F44 analog output1
MUX act low pass filter absolute (Conversion % V)
valid value
Read value
of coordinate valid
F41 reference value

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E13[0] analog output 1 terminal value version 0 F44 analog output1 absolute version 0
Terminal value of analog output 1 on X100.6 - X100.8. Activation of formation of value for analog output 1.
E13[1] analog output 1 scaled value version 0 F45 analog output 1 offset version 0
Scaled value of analog output 1 before limiting and conversion from % to V. Offset of analog output 1.
E13[2] analog output 1 relative version 0 F46 analog output 1 lower limit version 0
Relative value of analog output 1 before filtering and formation of value. Lower limit value of analog output 1.
F40 analog output 1 source version 0 F47 analog output 1 upper limit version 0
Enter the coordinates of the parameter whose value will be exported to AA1 in Upper limit value of analog output 1.
F40. As source you can only enter parameters with data type REAL32.
F41 analog output 1 reference source version 0
Reference value for the source set in F40.
F42 analog-output1-act low pass filter version 0
Tau actual value of analog output 1.
F43 analog output 1 gain version 0
Factor of analog output 1.

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9.8.4.2 AA2
Analog output AA2
E14[2] E14[1] F57 AA2- E14[0]
AA2.relative AA2.scaled value upper limit AA2.terminal value
Low pass
Read value \abs\

amount AA2
of coordinate
Limit
F50 analog output 2

source F53 AA2- F55 AA2- F56 AA2-
gain offset lower limit
invalid value 10.0

1.0 F52 analog-output2- F54 analog output2
MUX act low pass filter absolute (Conversion % V)
valid value
Read value
of coordinate valid

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E14[0] analog output 2 terminal value version 0 F54 analog output2 absolute version 0
Terminal value of analog output 2 on X100.7 - X100.8. Formation of value for analog output 2.
E14[1] analog output 2 scaled value version 0 F55 analog output 2 offset version 0
Scaled value of analog output 2 before limiting and conversion from % to V. Offset of analog output 2.
E14[2] analog output 2 relative version 0 F56 analog output 2 lower limit version 0
Relative value of analog output 2 before filtering and formation of value. Lower limit value of analog output 2.
F50 analog output 2 source version 0 F57 analog output 2 upper limit version 0
Enter the coordinates of the parameter whose value will be exported to AA2 in Upper limit value of analog output 2.
F50. As source you can enter all parameters with data type REAL32.
F51 analog output 2 reference source version 0
Reference value for the source set in F50.
F52 analog-output2-act low pass filter version 0
Tau actual value of analog input 2.
F53 analog output 2 gain version 0
Factor of analog output 2.

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9.8.5 Position simulation H82 encoder simulation raw value version 0

H80 Shows the display generated by the encoder simulation. It is derived from the
0:inactive selected source position (with the parameterized transmission ratio H85 and
1:G104 following) and the offset from H81.
H82 65536 LSBs correspond to one simulated revolution.
2:virtual master
With 25-bit SSI simulation, bits 27..3 of H82 therefore correspond to the
3:Master encoder X20 and
position generated via SSI.
BE encoder
4:Position encoder With 13-bit SSI simulation, bits 15..3 correspond to the position generated via
H85 H81 SSI.
5:Motorencoder
With incremental encoder simulation the set number of lines per revolution
6:IGB
applies.
H86, if H80 = 5:motor encoder

H87, if H80 = 1:G104, 2:virtual master H85 simulation factor nominator version 0
or 3:master encoder
H88, if H80 = 4:position encoder Numerator H85 is divided depending on the selection in H80 by denominator
H86, H87 or H88. This makes it possible to calculate mathematically exact gear
ratios as fractions (gear drives, toothed belt drives).
H80 X120-encoder simulation source version 0
The parameter indicates which source is used for encoder simulation. The H86 simulation factor denominator version 0
result of encoder simulation can be observed in H82. For the simulated position The numerator H85 is divided by the denominator H86. This makes it possible
to be generated at an interface, the required form of simulation must be set in to calculate mathematically exact gear ratios as fractions (gear drives, toothed
the corresponding interface parameters. belt drives).
Information
H81 encoder simulation offset version 0 This parameter is only evaluated if the source parameterized in H80
is set to 5:Motor encoder.
The parameter specifies an offset for encoder simulation. This amount is added
to the value from the evaluation of the source parameterized in H80 . The sum
of the two values used for encoder simulation is displayed in H82. 65536 LSBs
correspond to one revolution (see H82).

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H87 simulation factor denominator version 0 9.9 Saving data with protection against power
failure
The numerator H85 is divided by the denominator H87. This makes it possible
to calculate mathematically exact gear ratios as fractions (gear drives, toothed If you have transferred data from DriveControlSuite to the drive controller or
belt drives). changed the parameter settings, the data in the drive controller must be saved.
Until the data has been saved, it is not protected for subsequent use against a
Information
power failure or if the power is turned off and back on.
This parameter is only evaluated if the source parameterized in H80
You can save data in the drive controller with action A00 save values. With the
is a master position (selections 1,2,3).
exception of the display parameters, all parameters and the configuration are
stored in the memory module.
H88 simulation factor denominator version 0

You can reach A00 save values
The numerator H85 is divided by the denominator H88. This makes it possible • with the Save key on the operator panel (an explanation of the keys can be
to calculate mathematically exact gear ratios as fractions (gear drives, toothed found in section 8.2.1.1 Setup)
belt drives).
• in the operator panel parameter menu (an explanation of the parameter
Information menu can be found in section 8.2.1.2 Menu structure and navigation)
This parameter is only evaluated if the selection 4:Position encoder • (if there is an active direct connection) in the DriveControlSuite parameter
is set in H80. lists (see also the DriveControlSuite manual. The ID of the manual can be
found in section 1.2 Further documentation)
9.8.6 Display
The following display parameter provides you with further information: Information
Do not switch off the power supply of the control board while the
E19 binary inputs version 0 save process is still active. If you do turn of the power supply, the
Terminal value of the binary inputs and of the enable. fault *ConfigStartERROR parameters lost or *Paramodul ERROR -
Read error will appear in the display next time the device is
Bit Description Comment restarted. A description of faults can be found in sections 16.54
0 Enable *ConfigStartERROR parameters lostand 16.51 *ParaModul
1- Binary input 1 to binary input 13 ERROR: file not found.
13 In this case the application must be transferred to the drive
14 - Reserved No function controller again.
15

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A green LED flashes quickly on the operator panel, indicating that an action is
being performed. The A00[1] element shows the progress of the action in the
parameter menu and in the parameter lists.
You can read the following results in the A00[2] element:
0: error free
10: write error
12: write error
For results 10 to 12, an error was detected while saving to the memory module.
If the results occur repeatedly, the memory module should be replaced.

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Manual SD6
10 Motor
10.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .209
10.2 Motor settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .209

10.2.1 Control modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
10.2.2 Parameterizing motor data . . . . . . . . . . . . . . . . . . . . . . . . . . . 211
10.2.2.1 Selecting a standard motor . . . . . . . . . . . . . . . . . . . 211
10.2.2.2 Activating an electronic rating plate . . . . . . . . . . . . . 212
10.2.2.3 Editing motor parameters .. . . . . . . . . . . . . . . . . . . . 212
10.2.2.3.1 Synchronous servo motor . . . . . . . . . . . 212
10.2.2.3.2 Synchronous linear motor . . . . . . . . . . . 214
10.2.2.3.3 Asynchronous motor . . . . . . . . . . . . . . . 217
10.2.3 Actions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222
10.2.3.1 Performing actions with enable . . . . . . . . . . . . . . . . 222
10.2.3.2 B40 Phase test .. . . . . . . . . . . . . . . . . . . . . . . . . . . . 222
10.2.3.3 B41 Autotuning .. . . . . . . . . . . . . . . . . . . . . . . . . . . . 224
10.2.3.4 B45 action autotune SLVC . . . . . . . . . . . . . . . . . . . . 225
10.3 Motor temperature sensor settings . . . . . . . . . . . . . . . . . . .227
10.4 Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .227

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10.1 Introduction
This section describes the settings you make for the motor, motor holding brake, motor temperature sensor and encoder.
10.2 Motor settings

10.2.1 Control modes
You can operate the following motors together with the specified control modes on the SD5 drive controller:
Motor type B20 control mode Encoder Other settings Characteristics

Without field weakening High dynamics, high accuracy, very
(B91 field weakening = constant speed, high overcurrent
0:inactive) protection
Synchronous Absolute value encoder
64:SSM - vector control With field weakening High dynamics, high accuracy, very
servo motor required
(B91 field weakening = 1:active) constant speed, high overcurrent
protection, greater speed range, but also
higher current requirement
Linear encoder and
Synchronous High dynamics, high overcurrent
70:SLM - vector control commutation —
linear motor protection
information required
2:ASM - vector control Encoder required High dynamics, high accuracy, very
— constant speed, high overcurrent
protection
3:ASM - Sensorless Dynamics, accuracy, constant speed,
—
vector control overcurrent protection
Very constant speed, accuracy
Asynchronous 1:ASM - V/f slip
Quadratic characteristic curve
motor compensated Very constant speed, accuracy, especially
No encoder required suitable for fan applications
1:quadratic)
Very constant speed
0:ASM - V/f control Quadratic characteristic curve
Very constant speed, especially suitable
for fan applications
1:quadratic)

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Manual SD6
Note that the settings described here are adequate for initial commissioning
B21 V/f-characteristic version 0
and for operation with most drives. If you would like to optimize your drive, find
a description in section 15 Optimize. Switching between linear and quadratic characteristic curve.
B20 control mode version 1 0: linear Characteristic voltage/frequency curve is

linear. Suitable for all applications.
Type of motor control.
The motor encoder is set in B26. 1: square Quadratic characteristic curve for use with
fans and pumps. The characteristic curve is
0: ASM - V/f-control For asynchronous motors without motor extended linearly starting at the nominal
encoder. frequency (B15).
There is no current or torque limiting in this
control mode.
It is not possible to turn on a motor that is B91 field weakening version 0
turning (seizing) in this control mode. Operate motor with or without field weakening.
1: ASM - V/f-slip compensated For asynchronous motors without motor
encoder.
2: ASM - vector control For asynchronous motors with motor encoder.
3: ASM - sensorless vector For asynchronous motors without motor
control encoder.
64: SSM - vector control For synchronous servo motors with motor
encoder.
70: SLM - vector control For synchronous linear motors with motor
encoder.

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10.2.2 Parameterizing motor data 10.2.2.1 Selecting a standard motor

You must specify motor data for correct control. There are several ways to do Requirements:
this: • You have created a project in DriveControlSuite.
• You can select a standard motor in DriveControlSuite. In this case the data
Selecting a standard motor
will automatically be entered in the correct parameters. A description of the
selection can be found in section 10.2.2.1. 1. In your project, click on the axis for which you would like to select a
• If you are using a synchronous servo motor with EnDat encoder that has standard motor.
been configured for operation on a STOBER drive controller, you can
2. Click on the Projecting button in the bottom part of the window
activate the electronic rating plate. In this case the drive controller will read
 The projecting dialog appears.
the motor data from the rating plate every time the device starts. Activation
of the electronic rating plate is described in section 10.2.2.2. 3. Select the Motor tab.
• If you would like to operate a motor from another manufacturer on the 4. Use the three picklists in the top part of the dialog to adjust the motor
STOBER drive controller, enter the motor data in the parameters manually. group to which the motor is assigned, for example STOBER standard
To see which parameters must be edited, see section 10.2.2.3. motor, synchronous motor (servo) and EZ motor.
 The corresponding motors are shown in the list near the bottom.
5. Check the check box in the first column to select the motor that will be
operated on this axis.
6. Confirm the projecting dialog with the OK button
 You have selected a standard motor. The motor data is entered in the
project.

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10.2.2.2 Activating an electronic rating plate 10.2.2.3 Editing motor parameters

Synchronous servo motors from STOBER are generally equipped with EnDat If you are operating a motor on the drive controller without and electronic rating
encoders that have a special parameter memory. If the motor is configured plate and it is not a STOBER motor, you must enter the motor data in the
appropriately when it is ordered, the motor data including data for any holding parameters (for example motors from other manufacturers and special
brake will be saved in this memory. motors). Which parameters you need to edit depends on the motor type.
If you have set B04 = 64:active, the drive controller will automatically read in all 10.2.2.3.1 Synchronous servo motor
data as soon as an electronic rating plate is detected.
If you have to enter the motor data for a synchronous servo motor, edit the
Then you have the option of making optimizations.
following B parameters. The E parameters show internally calculated values.
Every time the device is restarted after that, the drive controller checks whether B00 motor-type version 0
the motor, holding brake, motor temperature sensor or commutation have been
Shows the motor designation as text.
changed. If no changes were made, no data is read from the electronic rating
plate. Therefore the optimized data will not be overwritten.
B02 back EMF version 0
If the drive controller detects changes, the modified data will be read. The drive
EMC constant of the motor.
controller shows fault 81:motor allocation in the display. The cause indicates
Peak value of the induced voltage between two phases at 1000 rpm for
what changes were detected. You will receive addition feedback via parameter
synchronous servo motors and asynchronous motors or the peak value of the
B810.
induced voltage at 1m/s for synchronous linear motors.
If a root mean square (RMS) value is specified for third-party motors, the value
If you would like to read the electronic rating plate completely again, apply
must be multiplied by 1.41 before it is entered.
action B06.
B05 commutation-offset version 0
Offset of the encoder zero position relative to the motor.

Commutation offset for synchronous servo motors and asynchronous motors.

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Information B12 nominal motor current version 0

STOBER motors are set to B05 = 0 in the factory and tested.
Nominal current in A, as per rating plate.
Normally no change to parameter B05 is required. For STOBER
motors with absolute value encoder, the commutation offset is
written to the electronic rating plate in the factory and read by the B13 nominal motor speed version 0
drive controller at start-up. If B05 is changed, the overall offset is
considered equal to the rating plate offset + B05. Nominal speed in rpm for rotational motors, nominal speed in m/min for linear
drives, as per rating plate.
Linear commutation offset for synchronous linear motors with commutation via
Hall sensors and relative scale. If an absolute scale is used, commutation is set B17 T0/F0 (standstill) version 0
in B07.
Static torque M0 (rotational motor) or static force F0 (linear motor) as per rating
The commutation offset can be measured with action B40.
plate. Used as a reference value for torque/force and current limiting (C03 and
C05).
B10 motor-poles version 2
Number of poles of a synchronous servo motor or asynchronous motor. B52 stator inductance version 0
If the number of pole pairs is specified for third-party motors, the value must be
Inductance RU-V of the motor winding in mH. This value should only be
multiplied by 2 before it is entered.
parameterized for third-party motors. The value can be autotuned with action
Correlation between the number of poles, nominal speed nN in rpms and the
B41 autotuning.
nominal frequency fN in Hz of the motor: B10 = 2·(fN · 60/nN).
B53 stator winding resistance version 0

B11 nominal motor power version 0
Stator resistance RU-V of the motor winding in ohms. Processing with this
Nominal output in kW.
parameter is only possible for third-party motors. The value can be autotuned
If only the nominal torque MN is known instead of the nominal output, calculate
with action B41 autotuning.
B11 according to the following formulas:
• Rotational motor: B11 = MN · nN/9550 (MN = nominal torque in Nm, nN =
nominal speed in rpm) B62 motor inertia version 0
• Linear motor: B11 = FN · vN/60000 (FN = nominal force in N, vN = nominal
Moment of inertia J for synchronous servo motors and asynchronous motors
speed in m/min)
or mass of the slide for linear motors.

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B82 I-max version 0 E172 Iq-reference version 0
Maximum permitted motor current. (Internally) calculated torque generating reference current.
For synchronous servo motors of STOBER, the maximum permitted current Equivalent to the rated current for asynchronous motors and the standstill
before the motor is demagnetized. current for synchronous servo motors.
B83 v-max motor version 0 E940 emergency stop current version 0
Maximum permitted speed for the motor. Display of the current setpoint for the emergency braking that can be activated
with U30. This current is defined by the drive controller based on the motor
data. The resulting brake torque is motor-dependent.
E171 Id-reference version 0
Internally calculated magnetization reference current for asynchronous motors.

E941 Id-minimum version 0
 Level Axis Data type Signifi.  Enable  Unit Para
Display of the smallest value that can be requested as a reference value for
version R W type digits off type
E92 Id by control. The current reference value is displayed in E165 Id-ref.
V 6.0 4 6 Physical REAL32 No A Numb 10.2.2.3.2 Synchronous linear motor
er
If you have to enter the motor data for a synchronous linear motor, edit the
following B parameters. The E parameters show internally calculated values.
PDO- Scaling PKW1 PROFIBUS/ SDO CANopen/
capable PROFINET EtherCAT
B00 motor-type version 0
Factor NKS PNU Subindex Index Subindex
No 1 3 28ABhex 0000hex 28ABhex 0000hex Shows the motor designation as text.
Default PreRead PreWrite PostRead PostWrite B02 back EMF version 0

0 0 0 0 EMC constant of the motor.
Peak value of the induced voltage between two phases at 1000 rpm for
LSB Final value Scaling Hiding DepFlags synchronous servo motors and asynchronous motors or the peak value of the
induced voltage at 1m/s for synchronous linear motors.
0 0 0

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If a root mean square (RMS) value is specified for third-party motors, the value
B08 hall distance version 0
must be multiplied by 1.41 before it is entered.
Distance of Hall sensor signals in the sensor block.
B05 commutation-offset version 0 0: 120°
Offset of the encoder zero position relative to the motor. 1: 60°

Commutation offset for synchronous servo motors and asynchronous motors.
B09 commutation sensor version 0
Information
Use of a sensor for commutation.
STOBER motors are set to B05 = 0 in the factory and tested.
Normally no change to parameter B05 is required. For STOBER 0: inactive The Wake&Shake method for determining
motors with absolute value encoder, the commutation offset is commutation is used for relative scales.
written to the electronic rating plate in the factory and read by the 1: X120-encoder H120
drive controller at start-up. If B05 is changed, the overall offset is 2: BE1/2/3=Hall A/B/C Hall sensors with open-collector outputs
considered equal to the rating plate offset + B05. cannot be connected directly to the
communication modules of the drive
Linear commutation offset for synchronous linear motors with commutation via controller.
Hall sensors and relative scale. If an absolute scale is used, commutation is set Use the LA6 adapter box to connect Hall
in B07. sensors with single-ended outputs.
The commutation offset can be measured with action B40. 3: BE7/8/9=Hall A/B/C Hall sensors with open-collector outputs
cannot be connected directly to the
communication modules of the drive
B07 linear commutation offfset version 1
controller.
Linear commutation offset for commutation via relative scale. Use the LA6 adapter box to connect Hall
If Hall sensors with relative scale are used, the linear commutation offset is set sensors with single-ended outputs.
in B05.

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B11 nominal motor power version 0 B52 stator inductance version 0
Nominal output in kW. Inductance RU-V of the motor winding in mH. This value should only be
If only the nominal torque MN is known instead of the nominal output, calculate parameterized for third-party motors. The value can be autotuned with action
B11 according to the following formulas: B41 autotuning.
• Rotational motor: B11 = MN · nN/9550 (MN = nominal torque in Nm, nN =
nominal speed in rpm)
• Linear motor: B11 = FN · vN/60000 (FN = nominal force in N, vN = nominal
speed in m/min) Stator resistance RU-V of the motor winding in ohms. Processing with this
B12 nominal motor current version 0

B62 motor inertia version 0

B13 nominal motor speed version 0
Nominal speed in rpm for rotational motors, nominal speed in m/min for linear
B82 I-max version 0
Maximum permitted motor current.

B16 pole distance version 0
For synchronous servo motors of STOBER, the maximum permitted current
Distance from the magnets of a synchronous linear motor (SLM). before the motor is demagnetized.
B17 T0/F0 (standstill) version 0 B83 v-max motor version 0
Static torque M0 (rotational motor) or static force F0 (linear motor) as per rating Maximum permitted speed for the motor.
plate. Used as a reference value for torque/force and current limiting (C03 and
C05).

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E85 commutation version 0 PDO- Scaling PKW1 PROFIBUS/ SDO CANopen/

capable PROFINET EtherCAT
Status of commutation of the synchronous linear motor.
Factor NKS PNU Subindex Index Subindex
0: commutation unknown Commutation could not be determined based
No 1 3 28ABhex 0000hex 28ABhex 0000hex
on an absolute position or a Hall sensor.
Information
Default PreRead PreWrite PostRead PostWrite
The axis cannot be moved.
Conduct a phase test with B40. 0 0 0 0
1: approximate commutation Commutation is known via Hall sensor and
known B05. LSB Final value Scaling Hiding DepFlags
The axis can be moved. Performance may be 0 0 0
limited.
2: commutation OK Commutation is known via the absolute
E172 Iq-reference version 0
position and B07.
The axis can be moved. (Internally) calculated torque generating reference current.
Equivalent to the rated current for asynchronous motors and the standstill
current for synchronous servo motors.

E940 emergency stop current version 0
 Level Axis Data type Signifi.  Enable  Unit Para Display of the current setpoint for the emergency braking that can be activated
version R W type digits off type with U30. This current is defined by the drive controller based on the motor
V 6.0 4 6 Physical REAL32 No A Numb data. The resulting brake torque is motor-dependent.
er
E941 Id-minimum version 0
Display of the smallest value that can be requested as a reference value for
E92 Id by control. The current reference value is displayed in E165 Id-ref.
10.2.2.3.3 Asynchronous motor
If you have to enter the motor data for an asynchronous servo motor, edit the
following B parameters. The E parameters show internally calculated values

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B00 motor-type version 0 B14 nominal motor voltage version 0
Shows the motor designation as text. Nominal voltage as per rating plate. For asynchronous motors note circuit type
(Y/∆)! Therefore make certain that parameters B11 ... B15 match!

B15 nominal motor frequency version 0
Number of poles of a synchronous servo motor or asynchronous motor.
If the number of pole pairs is specified for third-party motors, the value must be Nominal frequency of the motor as per rating plate. Parameters B14 and B15
multiplied by 2 before it is entered. define the pitch of the V/f characteristic curve and thereby the characteristics
Correlation between the number of poles, nominal speed nN in rpms and the of the drive. The V/f characteristic curve determines the frequency (B15 f-
nominal frequency fN in Hz of the motor: B10 = 2·(fN · 60/nN). nominal) at which the motor is operated at nominal voltage (B14 V-nominal).
The voltage and frequency can be increased linearly beyond the nominal point.
The upper voltage limit is the supply voltage that is applied. STOBER system
B11 nominal motor power version 0
motors up to size 112 offer the option of star/delta operation. Delta operation at
Nominal output in kW. 400 V makes it possible to increase output by a factor of 1.73 with an extended
If only the nominal torque MN is known instead of the nominal output, calculate adjusting range and at a constant torque. The motor requires additional current
B11 according to the following formulas: in this connection variant. Make certain the following points are observed:
• Rotational motor: B11 = MN · nN/9550 (MN = nominal torque in Nm, nN = • The drive controller must be designed for the corresponding output (Pdelta
nominal speed in rpm) = 1.73 · Pstar).
• Linear motor: B11 = FN · vN/60000 (FN = nominal force in N, vN = nominal • B12 (I-nominal) is parameterized to the appropriate nominal motor current
speed in m/min) (Idelta = 1.73 · Istar).
B12 nominal motor current version 0 B18 related torque/force version 1
Nominal current in A, as per rating plate. Parameter B18 shows as percentages in each control mode the reference
value on the motor side for torque and force quantities as (B20) C03, C05, E65
and E66. B18 becomes negative when the axis polarity is inverted in I03.
For synchronous servo motors, B18 corresponds to M0 from B17. For
Nominal speed in rpm for rotational motors, nominal speed in m/min for linear asynchronous motors the nominal torque is calculated from the nominal speed
drives, as per rating plate. and the nominal output.

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B19 cos(phi) version 0

E07 n-post-ramp
cos φ as per rating plate. E91 n-motor or E15 n-motor-encoder (B48 too small)
E91 n-motor or E15 n-motor-encoder (B47 too large)
B46 observer feedback version 0
Feedback from the observer of the asynchronous machine. Affects the

accuracy of the speed approximation of the control mode 3:ASM - Sensorless
vector control. For values that are too large or too high, the stationary
difference between the reference and actual speed increases.
Information
mech. frequency
The amount of feedback is an option for reporting to the ASM
observer how exact the machine constants B54 leakage factor, B52
stator inductance and B53 stator winding resistance were
determined. The smaller the feedback selected, the more the ASM
observer depends on these constants.
B48 integral part of speed approximation version 0
Integral gain of speed approximation. Affects the dynamic properties of the

B47 proportional part of speed approximation version 0
motor. The larger B48 is, the faster the motor model can follow the actual
Proportional gain of speed approximation. Affects the dynamic properties of the speed.
motor (especially the stability and overshoot behavior of the speed) Notes on settings
Notes on settings The correct setting can be checked by means of the speed curve. If an encoder
The correct setting can be checked by means of the speed curve. If an encoder is present during commissioning, E15 n-motor encoder should be considered,
is present during commissioning, E15 should be considered as the actual otherwise E91. If the motor can not follow the set speed ramp despite
speed, otherwise E91. B47 should not be less than 1% of B48. If values are too sufficiently large torque limits, B48 must be increased. Values that are too large
small the drive may become instable and the resulting vibration will oscillate at lead to a fault 56:Overspeed
a mechanical frequency. By increasing B47, overshoots in the speed can be
dampened. Values that are too large lead to vibrations in the current and
speed.

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B52 stator inductance version 0

E07 n-post-ramp
E91 n-motor or E15 n-motor-encoder (B48 too small) Inductance RU-V of the motor winding in mH. This value should only be
E91 n-motor or E15 n-motor-encoder (B48 too large) parameterized for third-party motors. The value can be autotuned with action
B41 autotuning.
B54 leakage factor version 0
Leaked inductance as a part of overall inductance "Ls" of the motor.

The nominal motor output (B11) can be used to determine an approximate
value for B48. The approximate value is calculated according to the following Information
formula: B48 = a * B11 + b The default value is adequate for most motors and applications.
The coefficients a and b can be taken from the following table. Adjustments are only necessary in some circumstances when
connecting a third-party motor. In these cases the value can be
Nominal motor output a b autotuned with action B41 autotuning. However, this adjustment
Up to 0.55 kW -43262 31291 should not be performed until you have consulted with STOBER.
< 2.2 kW -767,2 2202,1
< 4 kW -46,356 683,49
B55 magnetic saturation coefficient version 0
< 7.5 kW -15,886 225,13
The parameter indicates the degree to which the motor is magnetically
< 9.2 kW -9,2799 163,09
saturated at the nominal point. The parameter is important for the control
Greater than 15 W -0,8864 34,159 accuracy of control modes 2:ASM - vector control and 3:ASM - Sensorless
vector control in the field weakening range.

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Information E172 Iq-reference version 0

The default value is adequate for most motors and applications.
Adjustments are only necessary in some circumstances when (Internally) calculated torque generating reference current.
connecting a third-party motor. In these cases the value can be Equivalent to the rated current for asynchronous motors and the standstill
autotuned with action B41 autotuning. However, this adjustment
should not be performed until you have consulted with STOBER.

B63 Mmax/Mnom version 0
Ratio of the tilting moment of the motor to the nominal torque.
B82 I-max version 0
Maximum permitted motor current.

For synchronous servo motors of STOBER, the maximum permitted current
before the motor is demagnetized.
B83 v-max motor version 0
Maximum permitted speed for the motor.

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10.2.3 Actions 10.2.3.2 B40 Phase test

The following actions provide support for you in making motor settings: WARNING!
• B40 phase test
Personal injury and material damage
• B41 autotuning
• B45 autotune SLVC-HP (only if B20 = 3:ASM - sensorless vector control) The motor shaft turns during this action.
 Make certain the motor is able to turn freely during the action!
Note that the drive controller must be enabled for these actions. Section  Make certain the components fastened to the motor are sufficiently secured
10.2.3.1 Performing actions with enabledescribes how to perform actions for against centrifugal forces (by feather keys, coupling elements, etc).
which the drive controller must be enabled.
B40 phase test version 1

10.2.3.1 Performing actions with enable
Only for synchronous servo motors and synchronous linear motors. The
Performing actions with enable
following functions are performed:
1. Change to the device state readySwtchOn. 1. Test of motor pole number (B10)
2. Test of the phase connection (phase reversal)
2. Set the first element of the action to a value of 1 (for example B40[0] = 1).
3. Measurement of the commutation offset (B05)
3. Enable the motor.
4. Sin/Cos amplitude calibration
 Element 1 shows the progress of the action (for example B40[1] = 33 You can start the action in B40[0], observe the progress in B40[1] and obtain
%). the result in B40[2].
4. Wait until element 1 shows a value of 100 % (for example B40[1] = 100 %).
5. Switch off enable.
B40[0] phase test start version 0
 Element 2 shows the result of the action (for example B40[2] = 0:error
free). To activate action B40 phasetest, set B40[0] = 1:active. The action may only be
used with synchronous servo motors. The following functions are performed:
Note that parameter values are determined specifically for these actions. You 1. Test of motor pole number (B10)
should therefore next perform action A00 save values so that the values will be 2. Test of the phase connection (phase reversal)
safely stored if the power fails or is turned off. 3. Measurement of the commutation offset (B05)

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WARNING! 3: illegal The action is not supported by the control

mode selected in B20.
Personal injury and material damage due to falling loads.
4: axis load The axis was not stopped immediately after
Starting the action will cause the motor brake to be vented. Since the motor is enable was activated.
not adequately powered by the action, it is unable to hold any loads (for
5: phase order The phase sequence is incorrect. Exchange
example in a lifting function).
two phase connections and start the action
 Use the action only for motor that are not under any load. again.
6: motor poles The number of poles detected differs from the
Information value in B10.
To start the action, change from Low level to High level of the
7: commutation offset The commutation offset did not match the
enable. If there is a brake present it will be released automatically.
value entered in B05. The correct values was
After the end of the action the enable must be aborted.
successfully written to B05.
0: inactive 8: test run The test run with the determined commutation
offset was not successful. Check the
1: active
parameterization of the motor, encoder and
speed controller.
B40[1] phase test process version 0 98: remove enable! Turn off the enable to end the action.
Progress of the phase test as a %.
B40[2] phase test result version 1
After action B40 phasetest is complete, the result can be queried here.
0: error free The action was performed with no errors.

1: aborted The enable was shut off by the user or
because of a fault before the action could be
completed.
2: timeout The enable was not activated within 30
seconds after starting the action.

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10.2.3.3 B41 Autotuning Information

WARNING! To start the action, change from Low level to High level of the
Personal injury and material damage After the end of the action the enable must be aborted.
The motor shaft turns during this action.
 Make certain the motor is able to turn freely during the action! 0: inactive
1: active
 Make certain the components fastened to the motor are sufficiently secured
against centrifugal forces (by feather keys, coupling elements, etc).
B41[1] autotuning process version 0
B41 autotuning version 0
Progress of autotuning the motor as a %.
The following functions are performed:
1. Measurement of the winding resistance (B53)
B41[2] autotuning result version 1
2. Measurement of the winding inductance (B52)
3. For ASM: Measurement of B54 leakage factor After action B41 autotuning is complete, the result can be queried here.
4. For ASM: Measurement of B55 saturation coefficient
0: error free The action was performed with no errors.
You can start the action in B41[0], observe the progress in B41[1] and obtain
1: aborted The enable was shut off by the user or
the result in B41[2].
because of a fault before the action could be
completed.
B41[0] autotuning start version 0 2: timeout The enable was not activated within 30
To activate action B41 autotuning, set B41[0] = 1:active. seconds after starting the action.
The following functions are performed: 3: illegal The action is not supported by the control
1. Measurement of the winding resistance (B53) mode selected in B20.
2. Measurement of the winding inductance (B52) 4: axis load The axis was not stopped immediately after
3. For ASM: Measurement of B54 leakage factor enable was activated.
4. For ASM: Measurement of B55 saturation coefficient 98: remove enable! Turn off the enable to end the action.
The cycle time is set to 32 ms internally during the action. The change takes
place when the action is activated.

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10.2.3.4 B45 action autotune SLVC

B45[0] autotune SLVC-HP start version 0
WARNING! To start action B45 autotune SLVC, set B45[0] = 1:active.
Risk of injury due to high speeds! The action determines the following parameters for control mode 3:ASM -
The action accelerates the motor up to twice its nominal speed. Sensorless vector control:
• B46 Feedback ASM Observer
 Make certain the components fastened to the motor are sufficiently secured
• B47 Proportional part of speed approximation
against centrifugal forces (by feather keys, coupling elements, etc).
• B48 Integral part of speed approximation
 Make sure that any mechanical systems (gear units, etc.) that are attached
can reach these speeds.
WARNING!
NOTICE Personal injury and material damage due to falling loads.
Unsuitable optimization results! Starting the action will cause the motor brake to be vented. Since the motor is
The results are falsified if the action is performed with a loaded motor. not adequately powered by the action, it is unable to hold any loads (for
example in a lifting function).
 If possible, only perform the action when the motor is not connected to a
mechanical system (gear units, etc.).  Use the action only for motor that are not under any load.
 If it is not possible to disconnect the mechanical system, make sure that the
load torque is not more than 10 % of the nominal torque. Information
To start the action, change from Low level to High level of the
B45 autotune SLVC-HP version 0
After the end of the action the enable must be aborted.
The action determines the following parameters for control mode 3: ASM -
Sensorless vector control: 0: inactive
• B46 Feedback ASM Observer 1: active
• B47 Proportional part of speed approximation
• B48 Integral part of speed approximation
B45[1] autotune SLVC-HP process version 0
When the action is complete you can read the new parameter values in B46 ...
B48. Progress of the action as a %.
You can start the action in B45[0], observe the progress in B45[1] and obtain

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B45[2] autotune SLVC-HP result version 1
After action B45 autotune SLVC is complete, the result can be queried here.
When the action is complete you can read the new parameter values in B46 ...
B48.
0: error free
1: aborted
2: timeout
3: illegal The action cannot be performed in the control
mode selected in B20 or else the maximum
speed set in I10 is less than the maximum
reference speed of the action (2 * B13).
4: axis load
98: remove enable! Turn off the enable to end the action.

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10.3 Motor temperature sensor settings E02 actual torque/force filtered version 0
Information Display of the current motor torque as a %. The reference value for
Please note that temperature sensor evaluation is always active in consideration on the load side is C09, for consideration on the motor side B18.
the drive controller. If operation without motor temperature sensor Smoothed for the device display. Access to the unsmoothed variable is
is permitted, the connections must be bridged on X2. If the possible through E90.
connections are not bridged when the drive controller is switched
on, a fault will be triggered.
E04 U-Motor version 0
In the B38 motor temperature sensor parameter, set whether you will evaluate Motor voltage (chained RMS value).
PTC drilling or a KTY 84-1xx.
In B39 maximum motor temperature, set the maximum permitted temperature E05 f1-Motor version 0
of the motor. If this is reached, the 41:TempMotorTMP fault is triggered.
The motor temperature measured by the KTY is displayed in E12 motor- Frequency of the voltage applied to the motor.
temperature.
E08 n-motor filtered version 1

10.4 Display
Filtered current motor speed.
The following display parameter provides you with further information: Corresponds to the filtered current motor speed E91 to show in a display.
E00 I-Motor version 0 Filtering is performed at 50ms for a current controller cycle time of 62.5us and
100ms for 125us.
Shows the current motor current as an amount in amps.
E09 motor position version 1

E01 P-Motor version 0
Position of the motor or motor encoder.
Display of the current effective output of the motor in kW. With absolute value encoders, the encoder position is continuously read and
entered in this parameter.
This position is available in all operating modes. E09 is simulated (not
precisely) for control modes without motor encoder. This parameter is
reinitialized each time after the axis starts up again, i.e. the position is not
retained.

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E21 motor util version 0 E92 I-d version 0
Shows the current utilization of the motor as a %. The reference quantity is the Magnetizing current in amps.
nominal power loss of the motor. It is derived from copper losses and speed-
dependent losses from magnetic reversal and friction. The nominal copper
E93 I-q version 0
losses are derived from the nominal motor current (B12) calculated with the
stator resistance (B53). Speed-dependent nominal losses are calculated from Torque generating current in amps.
the nominal motor speed (B13) and the coefficients of friction (B73 and B74).
The motor utilization that is displayed accordingly depends on the actual values
E98 Ud version 1
for motor current (E00) and motor speed (E91).
Voltage in d direction in V (linked peak voltage).
E23 i2t-motor version 0

E99 Uq version 1
Level of the thermal motor model (i2t model). 100 % is equivalent to full
utilization. The thermal model is based on the rating data entered under group Voltage in q direction in V (linked peak voltage).
B.. (motor), i.e. continuous operation (S1 operation). The response
parameterized in U10, U11 for the event"45:overtemp.motor i2t" is triggered at
over 100 %. E150 cos(phi) version 0
Current cos(phi).
E65 actual positive T-max version 0
Currently active positive torque/force limit. The reference value for E165 Id-ref version 0
consideration on the load side is C09, for consideration on the motor side B18. Reference value of the magnetization current.
E66 actual negative T-max version 0 E166 Iq-ref version 0

Currently active negative torque/force limit in reference to B18. The reference Reference value for the torque generating current as a A.
value for consideration on the load side is C09, for consideration on the motor
side B18.

11 Holding brake
Manual SD6
11 Holding brake 11.9.2 Single-axis operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245
11.9.3 Multi-axis operation .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 246

11.10 Brake grinding function .. . . . . . . . . . . . . . . . . . . . . . . . . . . . .246
11.1 Activating the brake control unit . . . . . . . . . . . . . . . . . . . . . .230
11.10.1 Single-axis operation .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247
11.2 Direct and indirect brake connection . . . . . . . . . . . . . . . . . .231 11.10.2 Multi-axis operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 248
11.3 Internal and external brake control . . . . . . . . . . . . . . . . . . .232
11.4 B20 = 64:SSM and 70:LSM - vector control . . . . . . . . . . .234
11.5 B20 = 2:ASM - vector control . . . . . . . . . . . . . . . . . . . . . . . .236
11.6 B20 = 3:ASM - sensorless vector control .. . . . . . . . . . . . .237
11.7 B20 = V/f control mode (0 or 1) .. . . . . . . . . . . . . . . . . . . . . .239
11.8 Brake management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .241

11.8.1 Single-axis operation .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241
11.8.2 Multi-axis operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242
11.9 Brake test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .243

11.9.1 Torque calculation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243
11.9.1.1 Synchronous servo motor . . . . . . . . . . . . . . . . . . . . 243
11.9.1.2 Asynchronous motor . . . . . . . . . . . . . . . . . . . . . . . . 244
11.9.1.3 Gravity-loaded axes . . . . . . . . . . . . . . . . . . . . . . . . . 245

11 Holding brake
Manual SD6
11.1 Activating the brake control unit 1: active The brake is controlled by the drive controller
You can activate the brake control unit in F00. when the release brake override F06 is
deactivated with internal brake control (CiA
If you are operating the motor in a regulated control mode and you want to save
the torque at the moment when the brake engages, set F00 = 1:active. In this 402 F92=0).
case the saved torque will be built up again before releasing the brakes. This • From firmware V 6.0-F: The torque/force
start F103 is determined at static standstill
can be used with gravity-loaded axes, for example.
If you are not using this process, set F00 = 2:do not save torque. In this case from the integral component of the speed
only the motor magnetization will be built up before the brake is released. control, retained through a power failure
and used for brake release together with
F00 brake version 0 the torque/force feed forward F102.
• Till firmware V 6.0-E: The holding torque/
Activates control and monitoring of the holding brake with the drive controller.
force is determined at the moment when
The additional brake parameters, the brake actions and the brake
the brake is applied and restored for
management can only be used when F00 is activated.
restart. If the enable is deactivated (A900
= 0), the saved torque is deleted.
0: inactive No brake is parameterized. The monitoring (see F93) of the brake
Control signals (enable and faults) are output available for the SD6 is evaluated.
at the terminal without taking into account 2: active, do not save torque/ The brake is controlled by the drive controller
release times and set times. force when the air override F06 with internal brake
The monitoring (see F93) of the brake control (CiA 402 F92=0) are deactivated.
available for the SD6 is not evaluated. • From firmware V 6.0-F: The torque/force
feed forward F102 is used for brake
release.
• From firmware V 6.0-E: The holding
torque/force is not restored.
The monitoring (see F93) of the brake
available for the SD6 is evaluated.

11 Holding brake
Manual SD6
11.2 Direct and indirect brake connection F04 t-brake release version 0
There are two ways you can connect the motor holding brake to the drive Release time of the connected holding brake.
controller: When enable is activated, starting of the axis and status signals is delayed
• Directly:  during the release time to prevent driving against a brake that has not been
The motor holding brake is connected directly to X5. completely released yet.
• Indirectly:  If the holding brake is indirectly connected via a contactor (F93), the total
The motor holding brake is connected to the drive controller via a release time trel=F04 + 1.2*F94.
BrakeExtenderModule BX6, a contactor, a solenoid valve, a power box, For STOBER motors the time should be selected so it is greater than t2 in the
etc. STOBER catalog by a factor of 1.3.
The differences in the connection are described in section 7 Connection.

Information
Indicate in F93[0] brake connection which connection is used for your brake.
This parameter is read from and written to the electronic nameplate
Note that the calculation will vary depending on the brake connection release
of a synchronous servo motor (SSM) with EnDat encoder if
time (trelease) and the engaging time (tengage).
nameplate B04 is active the first time the drive controller and motor
Direct connection are connected or when action B06 is started.
The following applies to a direct connection:
trelease = F04
F05 t-brake set version 0
tengage = F05
Set time of the connected holding brake.
Indirect connection
When enable is deactivated, the power stage still remains in control during the
The following applies for trelease and tengage:
set time to prevent a gravity-loaded axis from falling down.
t release = F04 + 1 2  F94 If the holding brake is indirectly connected via a contactor (F93), the total set
t engage = F05 + 1 2  F95 time tset=F05 + 1.2*F95.
For STÖBER motors the set time should be selected so it is greater than t1 in
the STÖBER catalog by a factor of 1.3.
Information
This parameter is read from and written to the electronic nameplate
of a synchronous servo motor (SSM) with EnDat encoder if
nameplate B04 is active the first time the drive controller and motor
are connected or when action B06 is started.

11 Holding brake
Manual SD6
F93 brake connection version 0 11.3 Internal and external brake control
In the CiA 402 Controller Based Mode (CBM) application, you have the option
Connection type of the brake.
to switch from an internal (automatic) to an external (controller) brake
0: direct The brake is connected directly X5. controller.
Monitoring of a short circuit, open load and
undervoltage of the brake controller takes F92 brake control version 2
place.
Brake controlled internally (Automatic) by the drive controller or externally by a
1: indirect with feedback The brake is connected via a contactor at X4.
control unit.
Monitoring of a short circuit and undervoltage
of the brake controller takes place. Instead of CAUTION!
open load monitoring, a NO contact of a
contactor connected to X6.1/2 is monitored. Unexpected machine response!
2: indirect without feedback The brake is connected via a contactor at X4. During external control the brake does not automatically engage after enable
Monitoring of a short circuit and undervoltage is turned off and when faults occur.
of the brake controller takes place.  Make certain there is a suitable process in the control unit. Take suitable
measures to ensure safety.
F94 contactor response time when brake is released version 0
Relationship between F06 and F92:
Switching time (release) of the contactor by which the connected brake is
switched. F06= F92= Brake controlled by
When enable is activated, starting of the axis and status signals is delayed BE Internal Internal automatic.
during the release time to prevent driving against a brake that has not been Release override via
completely released yet. terminal input.
Switching times F94 and F95 can be determined automatically with the action BE External External via terminal input.
if a feedback signal is present and connected. No release override.
Parameters Internal Internal automatic.
F95 contactor response time when brake is set version 0 Release override via
Switching time (set) of the contactor by which the connected brake is switched. parameter (CiA 402 A515 bit
When enable is deactivated, the power stage still remains in control during the 14).
set time to prevent a gravity-loaded axis from falling down. Parameters External External via parameter (CiA
Switching times F94 and F95 can be determined automatically with the action 402 A515 bit 14).
if a feedback signal is present and connected. No release override.

11 Holding brake
Manual SD6
F92[0] brake control brake control source version 1 1: external (plc) The drive controller assumes the following
function:
Brake controlled internally (Automatic) by the drive controller or externally by a • The brake status signals F08 and F09 are
control unit. operated.
CAUTION! A controller must assume the following
functions:
Unexpected machine response! • Application and release of the brake for
During external control the brake does not automatically engage after enable motion commands in good time.
is turned off and when faults occur. • Monitoring of the brake release time and
 Make certain there is a suitable process in the control unit. Take suitable brake set time
measures to ensure safety. • Determination and restoration of the
holding torque/force (A593, F102) when
releasing the brake.
0: internal (automatic) The drive controller assumes the following
• Check of the magnetization for
functions:
asynchronous motors before releasing the
• The brake is automatically released at the
brake.
correct time for movement commands.
• Brake release time and brake set time are
Interface to the motion core with F92[0] = 1:External(fault).
monitored and the brake status signals
F92[1] is written to CiA 402 from A515 bit 14.
F08 and F09 are operated.
• When the brake is set, no torque is
generated by motor control (power is not Information
supplied to the motor). Note that the time between two release processes of the brake
• With control types with vector control B20, must be at least 1 second. If this requirement is not complied with,
the holding torque/force is determined and the second release process will be delayed.
restored when the brake is released
(F103).
• Before the brake is released a test
determines whether sufficient flux has built
up to switch on enable.

11 Holding brake
Manual SD6
e
11.4 B20 = 64:SSM and 70:LSM - vector control
e
e
ak
ak
ak
br
br
br
e
e
ge
as
as
ga
le
le
Re
Re
En
F09 brake is open
F08 brake is closed
F04 t-brake release F05 t-brake set
Delay due to not

reaching the minimum
release-release time
t
1 sec
CAUTION!
Unexpected machine response!
During external control the brake does not automatically engage after enable
is turned off and when faults occur.
 Make certain there is a suitable process in the control unit. Take suitable
When calculating tclose and topen note section 11.2 Direct and indirect brake
measures to ensure safety.
connection.
Note also the following parameter descriptions for explanations of the function
Current setting of the brake control.
of the specified parameters.
E170 T-reference version 0
For control modes with torque specification only. Reference torque or reference
force currently required by the speed controller. The reference value for
consideration on the load side is C09, for consideration on the motor side B18.

11 Holding brake
Manual SD6
F08 brake is closed version 0 F09[0] brake is open all utilized brakes version 0
Display of the Brakes are set state. The parameter shows whether both brakes are released (after brake release
The state is calculated from the brake set time F05 and the activation of the time and if applicable feedback through the brake module). The axis is ready
brake. to move.
• Element 0: Both brakes are set.
• Element 1: Brake 1 is set.
F09[1] brake is open brake 1 version 0
The parameter shows whether brake 1 is released (after brake release time
and if applicable feedback through the brake module). The axis is ready to
F08[0] brake is closed all utilized brakes version 0
move.
F08[0] shows whether both brakes are set (after brake engaging time and if
applicable feedback through the brake module).
I42 wait time brake set version 0
The wait time, if any, which will delay setting the brake (J27, I410) after
F08[1] brake is closed brake 1 version 0
commands MC_MoveAbsolute, MC_MoveRelativ, MC_MoveAdditiv, MC_Stop
F08[1] shows whether brake 1 is set (after brake engaging time and if and MC_Halt, are processed. I42 is not relevant for any other commands.
applicable feedback through the brake module). I42 makes it possible to perform several commands one after the other without
the brake engaging in between.
F09 brake is open version 0
Display of the Brakes are released state.

The state is calculated from the brake release time F04 and the activation of
the brake.
• Element 0: Both brakes are released.
• Element 1: Brake 1 is released.

11 Holding brake
Manual SD6
11.5 B20 = 2:ASM - vector control B25 halt flux version 0
B25 determines whether the motor will continue to be powered with the brake
set for stop and quick stop. This is especially useful for positioning. After a stop
the motor remains fully powered for time B27. After this time has elapsed,
power is lowered to the level specified in B25. With a setting of 0 % and the
brake set (stop or quick stop) the motor is unpowered and flux is removed. This
offers the advantage of better thermal results for the motor because the motor
can cool off during the pause times. The disadvantage is the additional
magnetization time (rotor time constant, about 0.5 s). The time required is
determined by the drive controller and added to the brake release time F04.
B27 time halt-flux version 0
In the case of reduced halt flux B25, the full flux current will be maintained for
time B27 if the brake is set and the power board is active.
F08 brake is closed version 0

Display of the Brakes are set state.
connection.
The state is calculated from the brake set time F05 and the activation of the
Note also the following parameter descriptions for explanations of the function
brake.
• Element 0: Both brakes are set.

11 Holding brake
Manual SD6
F08[0] brake is closed all utilized brakes version 0 I42 wait time brake set version 0
F08[0] shows whether both brakes are set (after brake engaging time and if The wait time, if any, which will delay setting the brake (J27, I410) after
applicable feedback through the brake module). commands MC_MoveAbsolute, MC_MoveRelativ, MC_MoveAdditiv, MC_Stop
and MC_Halt, are processed. I42 is not relevant for any other commands.
I42 makes it possible to perform several commands one after the other without
the brake engaging in between.
F08[1] shows whether brake 1 is set (after brake engaging time and if
applicable feedback through the brake module). 11.6 B20 = 3:ASM - sensorless vector control

the brake.
F09[0] brake is open all utilized brakes version 0
The parameter shows whether both brakes are released (after brake release
time and if applicable feedback through the brake module). The axis is ready
to move.
The parameter shows whether brake 1 is released (after brake release time When calculating tclose and topen note section 11.2 Direct and indirect brake
and if applicable feedback through the brake module). The axis is ready to connection.
move. Note also the following parameter descriptions for explanations of the function

11 Holding brake
Manual SD6
B25 halt flux version 0 F03 brake set speed version 0
B25 determines whether the motor will continue to be powered with the brake In control modes ASM - V/f control, ASM - slip compensated and ASM -
set for stop and quick stop. This is especially useful for positioning. After a stop sensorless vector control (B20), the brake is already set if the speed falls below
the motor remains fully powered for time B27. After this time has elapsed, the motor-related velocity set in F03 during stopping.
power is lowered to the level specified in B25. With a setting of 0 % and the While the brake is set, a braking ramp is used which is calculated from the total
brake set (stop or quick stop) the motor is unpowered and flux is removed. This set time tset and F03.
offers the advantage of better thermal results for the motor because the motor If the holding brake is indirectly connected via a contactor (F93), the total set
can cool off during the pause times. The disadvantage is the additional time tset=F05 + 1.2*F95.
magnetization time (rotor time constant, about 0.5 s). The time required is
determined by the drive controller and added to the brake release time F04.
B27 time halt-flux version 0 Display of the Brakes are set state.
In the case of reduced halt flux B25, the full flux current will be maintained for brake.
time B27 if the brake is set and the power board is active. • Element 0: Both brakes are set.
E170 T-reference version 0 • Element 2: Brake 2 is set.
force currently required by the speed controller. The reference value for F08[0] brake is closed all utilized brakes version 0
consideration on the load side is C09, for consideration on the motor side B18. F08[0] shows whether both brakes are set (after brake engaging time and if
F02 brake release speed version 0
In control modes ASM - U/f control, ASM - slip compensated and ASM - F08[1] brake is closed brake 1 version 0
sensorless vector control (B20), the brake is released so it will be released F08[1] shows whether brake 1 is set (after brake engaging time and if
when the motor-related velocity in F02 is reached.
While the brake is released, an acceleration ramp is used which is calculated
from the total set time trel and F02.
If the holding brake is indirectly connected via a contactor (F93), the total
release time trel=F04 + 1.2*F94.

11 Holding brake
Manual SD6
F09 brake is open version 0 11.7 B20 = V/f control mode (0 or 1)

the brake.
The parameter shows whether both brakes are released (after brake release
to move.
connection.
F09[1] brake is open brake 1 version 0 Note also the following parameter descriptions for explanations of the function
The parameter shows whether brake 1 is released (after brake release time of the specified parameters.
and if applicable feedback through the brake module). The axis is ready to
move. E170 T-reference version 0
F02 brake release speed version 0
In control modes ASM - U/f control, ASM - slip compensated and ASM -
sensorless vector control (B20), the brake is released so it will be released
when the motor-related velocity in F02 is reached.
While the brake is released, an acceleration ramp is used which is calculated
from the total set time trel and F02.

11 Holding brake
Manual SD6
If the holding brake is indirectly connected via a contactor (F93), the total
release time trel=F04 + 1.2*F94.
F03 brake set speed version 0
the brake.
In control modes ASM - V/f control, ASM - slip compensated and ASM - • Element 0: Both brakes are released.
sensorless vector control (B20), the brake is already set if the speed falls below • Element 1: Brake 1 is released.
the motor-related velocity set in F03 during stopping. • Element 2: Brake 2 is released.
While the brake is set, a braking ramp is used which is calculated from the total
set time tset and F03.
If the holding brake is indirectly connected via a contactor (F93), the total set
time tset=F05 + 1.2*F95. The parameter shows whether both brakes are released (after brake release
to move.
Display of the Brakes are set state.

brake. The parameter shows whether brake 1 is released (after brake release time
• Element 0: Both brakes are set. and if applicable feedback through the brake module). The axis is ready to
• Element 1: Brake 1 is set. move.
F08[0] brake is closed all utilized brakes version 0
F08[0] shows whether both brakes are set (after brake engaging time and if
F08[1] shows whether brake 1 is set (after brake engaging time and if

11 Holding brake
Manual SD6
11.8 Brake management 11.8.1 Single-axis operation

Brake management monitors to ensure brake tests are performed regularly, Preconditions:
thereby controlling the functional capability of the brake. • You have now activated and parameterized the brake control unit.
The SD6 provides the following options for axis management:
• Single axis operation: An axis projected in DriveControlSuite is used for the Activating brake management
connected motor.
1. Set parameter B310 Brake management to 1:global.
• Multi-axis operation: Two, three or four axes projected in DriveControlSuite
are used for the connected motor. 2. In parameter B311 set the time after which the drive controller will
generate a message that a brake test is required. You can set maximum
1 year = 52 or 8760 hours of operating time.
The procedure for single axis operation is explained first. Then the special
features of multi-axis operation will be explained. 3. Transfer the parameters to the drive controller and save them.
4. Switch the drive controller off and back on again.
Brake management can be used provided the following conditions are met:  Brake management is activated after start-up.
• Self-activating brakes are used, which means they brake in a de-energized
state. Brake management works with the following state machine:
• The braking torque MBrake must be at least 1.3 times the maximum braking
torque.
• The drive has an encoder.
Note this information during projecting and during commissioning of the

machine.

11 Holding brake
Manual SD6
Initially the status is displayed in parameter E29 Warning: perform brake test
(1:brake test required). To avoid interrupting a production process, the fault is
No
only generated if there is no enable. The fault can be acknowledged to be able
brake test
necessary to perform the brake test and the brake grinding function. If the brake test has
not been successfully performed 5 minutes after acknowledgement, the fault
appears in the display again. A successful brake test in this status
Time in B311 Brake test automatically causes the system to return to the status No brake test required
expired successful and cycle B311 starts again.
If a brake test is not successful with status Brake test mandatory, you have the
successful
Brake test
Normal operation of the

Brake test drive controller is possible, option of grinding the brakes and thereby performing a brake test again. If that
required message 72 on the display brake test fails as well, the brake or the motor must be replaced. Brake
E29=1:brake test necessary management remains in status Brake test mandatory until a brake test has
been performed successfully after the brake or motor bas been replaced. The
Twice the time in B311 time elapsed since the last brake test is displayed in parameter E177 time
expired or brake fest failed passed since last brake test.
Operation of the drive 11.8.2 Multi-axis operation

controller is disabled.
Brake test
Fault 72 on the display. Only In multi-axis operation you can use multiple axes for a motor connected to the
is
brake test and brake grinding drive controller. In this case, make the same settings as in single axis operation
mandatory
function are possible.
to activate brake management. Be certain that you make the settings in the
E29=1:brake test necessary
parameters of axis 1.
The time B311 of brake management starts to run as soon as it is activated.

When the time has elapsed a transition to the brake test state is required. The
status appears in the display with the message 72:brake test. If you perform a
brake test successfully in this status, brake management changes back to the
status No brake test required. Cycle B311 starts again.
If time B311 elapses in status Brake test required without a brake test being
performed or if the brake test was not successful, the status changes to Brake
test mandatory. The status appears in the display with the fault 72:Brake test.

11 Holding brake
Manual SD6
11.9 Brake test Information

The brake test checks whether the brake can still apply the required holding Note that the brake test is defined for a STOBER drive (geared
torque. motor with brake). Always make certain the technical requirements
First the encoder is tested with the brake open. The brake then engages and a for a third-party system have been clarified before using
test torque that can be parameterized is applied to the drive in each permitted
direction of rotation. If the drive detects movement, the brake could not apply Information
the required countertorque and the test has failed. The parameterizable test If you would like to perform the action and brake management
torques can be entered in parameters B304[0] max-positive torque for B300
considers a brake test mandatory (fault 72), the fault must be
and B305[0] max negative torque for B300. acknowledged before the action starts. Once you have
Finally the encoder is tested again. acknowledged the malfunction, you can continue with the perform
brake test instruction.
WARNING!
Danger of personal injury and material damage due to unexpected drive 11.9.1 Torque calculation
movements!
Information
The brake is released after the start of the brake test. If a brake is faulty, Note that the motor torque is limited to the values in C03 max
movements of the drive axis could occur. During the encoder test the motor positive torque and C05 max negative torque. If higher values are
turns at approximately 60 rpm with a maximum of 45° in both directions of entered in B304[0] and B305[0], it will not be possible to reach
rotation. them. Check in E65 actual positive T-max und E66 actual negative
 Make certain that no damage could be caused by the movement. T-max whether other torque limits are still active.
 Take special precautionary measures, especially in the case of gravity
loaded axes. 11.9.1.1 Synchronous servo motor
 If the drive should not turn in one direction of rotation, restrict that direction Calculate the torques that must be entered in B304[0] and B305[0] for the
of rotation in B306. brake test according to the following instructions:
The following values will be required:
The brake test can be used provided the following conditions are met: • MBstat static holding torque of the brake.
The drive is operated with a motor encoder in one of the control modes B20 = • M0 static torque
64:SSM vector control or B20 = 2:ASM vector control. • I0 static current
• IN nominal current of the drive controller

11 Holding brake
Manual SD6
In the first step calculate the ratio of torques VM as a percentage: 11.9.1.2 Asynchronous motor
M Bstat Calculate the torques that must be entered in B304[0] and B305[0] for the
V M = -----------------  100
M0 brake test according to the following instructions:
The following values will be required:
If VM > 200 %, restrict VM = 200 %. • MB holding torque of the brake

• MN nominal torque of the motor
In the next step, determine the current associated with MBstat: • MK/MN ratio of tilting torque to nominal torque
I 0Bstat = I 0  V M • IN nominal current of the drive controller
• E171 Id,nom
Compare I0Bstat with IN of the drive controller: • E172 Iq,nom

1. If I0Bstat ≤ 2 * IN: 
B304[0] = VM, B305[0] = -VM Note that you can only obtain the correct values from E171 and E172 in the
2. If I0Bstat > 2 * IN:  following manner: Perform complete projecting for the motor, transfer the
VM2 = 100 * 2 * IN/I0; B304[0] = VM2, B305[0] = -VM2 project to the drive controller, save the project and then read the values from
E171 and E172 in online mode.
Example
• MBstat = 10 Nm In the first step calculate the ratio of torques VM as a percentage:
• M0 = 6.6 Nm MB
• I0 = 4.43 A V M = --------  100%
M0
• IN = 6 A
If VM > 200 %, restrict VM = 200 %.

10Nm If MK/MN < 2, restrict VM = MK/MN * 100 %.
V M = -------------------  100 = 151%
6 6Nm
In the next step, determine the current associated with MB:
I 0Bstat = 4 43A  151% = 6 69A
2 2
I 0B = E171 +  V M  E172 
I 0Bstat = 6 69A  2  I N = 12A
Result: B304[0] = 151 %, B305[0] = -151 %
Compare I0Bstat with IN of the drive controller:

11 Holding brake
Manual SD6
1. If I0B ≤ 1.8 * IN:  11.9.1.3 Gravity-loaded axes

B304[0] = VM, B305[0] = -VM Note that for gravity loaded axes, the torque to be applied by the motor for the
2. If I0B > 1.8 * IN:  direction of rotation in which loads are lowered is calculated as follows:
B304[0] = VM2, B305[0] = -VM2 where: MParameter = MBrake - MLoad
MParameter: torque to be entered in B304[0] or B305[0]
2 2
 1 8  I N  – E171 MBrake: Holding torque to be applied by the brake, calculated according to
V M2 = -------------------------------------------------
-
2 section11.9.1.1 or 11.9.1.2.
E172
MLoad: Load torque
Example
• MB = 10 Nm
• MN = 5.12 Nm 11.9.2 Single-axis operation
• MK/MN = 2.3 Requirements:
• IN = 2.3 A • Brake control is activated and parameterized.
• E171 Id,nom = 1.383 A • Enter the torque in B304[0] which the brake must maintain for the positive
• E172 Iq,nom = 1.581 A direction of rotation.
• Enter the torque in B305[0] which the brake must maintain for the negative
10Nm
V M = -----------------------  100 = 195% direction of rotation.
5 12Nm
• If the drive is only permitted to turn in one direction, restrict the direction of
2 2 rotation for the test in parameter B306.
I 0B =  1 383A  +  195%  1 581A  = 3 38A
• Enter the angle of rotation which the drive evaluates as a standstill in B307.
I 0B = 3 38A  1 8  I N = 4 14A Performing a brake test
1. Change to the device state readySwtchOn.

Result: B304[0] = 195 %, B305[0] = -195 % 2. Set parameter B300[0] brake test and start to 1:active.
3. Switch on the enable signal.
 The drive controller starts the brake test and the motor turns
4. Wait until parameter B300[1] shows a result of 100 % and parameter
B300[2] a result of 0:error free.
5. Switch off the enable signal.
 The brake test has been successfully completed.
If you have not reached the result yet, check B300[2]:

11 Holding brake
Manual SD6
permitted in B306, the movement in the positive direction is performed first.

B300[2] brake test result version 1
Note that this calculation is only valid if the brake is intact. If the tested brake
After the brake test action is complete, the result can be queried here. does not apply the required holding torque, the distance traversed cannot be
The drive controller keeps an internal brake test memory with the last 20 results calculated. In this case the drive controller switches off within < 10 ms. The
from B300[2] as well as the holding torques actually achieved in positive and motor coasts down.
negative direction. When the result is 0:error free these torques correspond to
the values parameterized in B304[x] and B305[x]. If the values retained in 11.9.3 Multi-axis operation
brake test memory are smaller, the brake test was not successful. Please note that axis 1 must be selected for the action when you use multi-axis
The maximum distance traversed during the brake test is about 45° in both operation.
directions. If one direction of rotation is restricted, the distance traversed is
about 2 × 45° in the permitted direction. A stopping distance depending on the
11.10 Brake grinding function
torque limit and mass moment of inertia is added in both cases. If a mechanical
system is connected, the transmission ratio of the gear must also be included When the brake grinding function is performed, the brake engages repeatedly
in the calculations. If both directions of rotation are permitted in B306, the for about 0.7 seconds and is then released for about 0.7 seconds while the
movement in the positive direction is performed first. Note that this calculation motor turns at about 20 rpm. This grinds off coatings that have accumulated
is only valid if the brake is intact. If the tested brake does not apply the required which could have a detrimental effect on the holding function. You can
holding torque, the distance traversed cannot be calculated. In this case the parameterize:
drive controller switches off within < 10 ms and closes a second brake if one is • how often the brake engages while turning in one direction (B308),
fitted. The set time and performance level of the second brake will therefore • how often the drive will turn in each direction (B309) and
have a significant effect on stopping the drive. If there is no second brake, the • whether one direction of rotation will be disabled (B306).
motor coasts down. The maximum distance traversed is B308 × 0.5 motor revolutions. If a
mechanical system is connected, the transmission ratio of the gear must also
The drive controller keeps an internal brake test memory with the last 20 results
be included in the calculations. If both directions of rotation are permitted in
from B300[2] as well as the holding torques actually achieved in positive and
B306, the movement in the positive direction is performed first.
negative direction. When the result is 0:error free these torques correspond to
the values parameterized in B304[0] and B305[0]. If the values retained in
brake test memory are smaller, the brake test was not successful.
The maximum distance traversed during the brake test is about 45° in both
directions on the motor side. If one direction of rotation is restricted, the
distance traversed is about 2 × 45° in the permitted direction. A stopping
distance depending on the torque limit and mass moment of inertia is added in
both cases. If a mechanical system is connected, the transmission ratio of the
gear must also be included in the calculations. If both directions of rotation are

11 Holding brake
Manual SD6
WARNING! 11.10.1 Single-axis operation

Danger due to movement of the drive. During the action, the motor Preconditions for using the brake grinding function:
rotates at approx. 20 Rpm and with the torque entered in C03 or C05. • Brake control is parameterized and activated.
• Enter how often the brake should engage while turning in one direction in
Ensure the following.
B308.
 Before the function starts, make sure the drive is in a position in which it is • Enter how often the drive should be ground in each direction in B309.
permissible for it to move at this speed and torque. • Specify whether one direction of rotation is disabled in B306.
 Restrict the direction of rotation in B306 if the drive is not permitted to rotate • The brake should be ground at its maximum holding torque. Make certain
in a particular direction. that the torque limit in the drive controller permits this. To do this check
 Check E62 and E66 to see whether other torque limits are also in effect. parameters E65 actual positive T-max and E66 actual negative T-max. Also
note section 13.6 Limit torque, force.
Information
Note that the brake grinding function is defined for a STOBER drive Proceed as follows:
(geared motor with brake). For example, it is not permitted to use Run the brake grinding function
the brake grinding function for brakes that are attached to the output
drive of the gear. Always make certain the technical requirements 1. Change to the device state readySwitchOn.
for a third-party system have been clarified before using. 2. Set parameter B301[0] brake 1 grind & start to 1:active.
3. Switch on the enable signal.
Information  The drive starts turning as specified by the parameters.
If you would like to perform the action and brake management 4. Wait until parameter B301[1] shows a result of 100 % and parameter
considers a brake test mandatory (fault 72), the fault must be B301[2] a result of 0:error free.
acknowledged before the action starts. Once you have 5. Switch off enable.
acknowledge the malfunction, you can continue with the brake  The brake grinding function has been successfully completed.
grinding function instruction.

11 Holding brake
Manual SD6
If you have not reached the result yet, check B301[2]:
B301[2] brake grind result version 1
After the brk 1 grind action is complete, the result can be queried here.
The drive controller keeps an internal memory with the operating times of the
last 40 grinding processes that were successfully completed. Parameter E176
counter grind actions counts all grinding processes regardless of the result.
The drive controller keeps an internal memory with the operating times of the
last 40 grinding processes that were successfully completed. Parameter E176
counts all grinding processes regardless of the result.
11.10.2 Multi-axis operation

Please note that axis 1 must be selected for the action when you use multi-axis
operation

12 Encoder
Manual SD6
12 Encoder
12.1 Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .250
12.2 Deactivating an encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . .250
12.3 Selecting an interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .251
12.4 Connection X4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .252
12.5 Connection X120 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .254
12.6 Connection X101 (binary input encoder) . . . . . . . . . . . . . .256
12.7 Connection X140 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .256
12.8 Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .257

12 Encoder
Manual SD6
This section describes the settings required for evaluating an encoder on the
G104
drive controller.
Note that the settings for simulating encoder signals (position simulation) are 0:inactive
described in section 9.8.5 Position simulation. 1:BE-encoder
G27
2:X4-encoder
12.1 Types 3:X140-encoder 1:G104
A number of different encoder types are used with drive controllers: 2:virtual master
4:X120-encoder
• Motor encoder 6:IGB
Master
• Position encoder position
calculation
• Master encoder
Note also that at present no master functionality can be used.

The motor encoder the encoder placed on the motor shaft in the axis model.
The signal of the motor encoder is used to regulate the motor. You can select
the interface to which the motor encoder is connected in B26. 12.2 Deactivating an encoder
The position encoder is an encoder placed on a downstream mechanical part Select B26 = 0:inactive if an asynchronous motor without speed feedback will
in the axis model. The signal of the position encoder is used for position control. be used (B20 control mode = 0:V/f control or 1:sensoress vector control). The
You can select the interface to which the position encoder is connected in I02. setting is not permitted if you would like to operate synchronous servo motors,
synchronous linear motors or asynchronous motors with vector control.
n1 n If you are not using a position encoder, set I02 = 0:motor encoder.
M
n2 x
ME GU PE Feed
Section 12.3 Selecting an interface explains which interfaces are available.

The various axis models are described in section 13.3 Scale axis.
The master encoder is a real encoder that returns the position of the master.
The drive controller is synchronized to the master position. You can select the
interface to which the motor encoder is connected in G104. Note that you must
parameterize G27 = 1:G104 for the signals of the master encoder to be used
for control.

12 Encoder
Manual SD6
12.3 Selecting an interface

The table below gives you a summary of which encoder signals can be evaluated on which interface. The header that belongs to the interface contains the setting
of B26 motor encoder and I02 position encoder. The cells indicate the setting with which you will parameterize encoder signals that will be evaluated on the interface.
Note that other settings must also be made for the encoder signals to be evaluated correctly. The settings are described in sections 12.4 Connection X4 to 12.6
Connection X101 (binary input encoder).
Encoder X4 X120a) X140b) X101c)

signals B26/I02 = 2:X4 encoder B26/I02 = 4:X120 encoder B26/I02 = 3:X140 encoder B26/I02 = 1:BE encoder
EnDat® 2.2 H00 = 64:EnDat — H140 = 70:EnDat —
H140 = 71:EnDat with sin/cos
EnDat® 2.1 H00 = 64:EnDat — —
channels
SSI H00 = 65:SSI master H120 = 67:SSI master — —
Resolver — — H140 = 66:Resolver —
Sin/cos — — H140 = 6:Sin/cos —
Hall sensor — H120 = 70:Hall sensor — —
Incremental HTL H00 = 3:Incremental encoder In — — H40 = 1:Incremental encoder In
H00 = 3:Incremental encoder In H120 = 4:Incremental encoder In H40 = 1:Incremental encoder In
Incremental TTL — b)
Stepper motor — — — H40 = 5:stepper motor

HTL
Stepper motor H120 = 5:stepper motor input
— — H40 = 5:stepper motor b)
TTL
a) Only with one of terminal modules XI6, RI6
b) Only with terminal module RI6
c) Only with one of terminal modules XI6, RI6, IO6

12 Encoder
Manual SD6
H00 X4-function version 0 12.4 Connection X4

You can simulate or evaluate the following encoders on X4:
Function of encoder interface X4 (motor encoder).
• EnDat encoder
H40 BE-encoder version 0
• SSI encoder
Function of encoder evaluation on BE3 (X101.13), BE4 (X101.14) and BE5 For detailed information regarding the relevant encoder specification and
(X101.15). supply as well as the corresponding terminals, see 7.3.11 X4: Encoder.
0: inactive H00 X4-function version 0
1: incremental encoder in • BE3: Zero track
Function of encoder interface X4 (motor encoder).
• BE4: Chan. A+
• BE5: Chan. B+ 0: inactive
2: stepmotor In • BE4: Frequency+ (increments) 3: incremental encoder in Only for asynchronous motors.
• BE5: Sign+ (direction) 64: EnDat
65: SSI master
H120 X120-Function version 1
Function of the X120 connector on the Extended RI6 I/O terminal module (X16 H01 X4 numerator version 0
or R16).
H01 and H02 together indicate a fraction that is used to convert the raw values
If an encoder simulation is parameterized, the source as well as the scaling can
of the encoder connected to X4 into mechanical quantities.
be set in H80 and following.
The unit of the mechanical target quantity is revolutions for rotational encoders
and mm for linear encoders.
H140 X140-function version 0
Function of the X140 connector on the RI6 I/O terminal module. H02 X4 denominator version 0
Information H01 and H02 together indicate a fraction that is used to convert the raw values
Note that a change to H140 may result in a rescaling of position of the encoder into mechanical quantities.
values (in positioning applications). Scaling may last for several The unit is lines (before four levels of evaluation) for incremental encoders and
hours. LSBs for SSI encoders. For SSI encoders with 13 bits per revolution, enter 213
= 8192 LSBs, for example.

12 Encoder
Manual SD6
Element 2
H03 encoder type version 1
Element 2 is the output current measured on X4.
Indicates whether the encoder connected to X4 is a rotational or translational
measuring system. This affects the unit of measure of H01 and determines
H10 X4-SSI data bits version 0
whether the encoder will be located before or after the feed in the axis model.
The parameter indicates the number of data bits transferred via SSI. The
meaning of the bits can be specified with parameters H01 and H02. Typically
H05 X4-SSI-code version 0
there are 13 bits per revolution for rotational SSI encoders. This corresponds
Coding type of the angle by the SSI encoder. to H02 = 8192 LSBs and H01 = 10,000 revolutions.
H06 SSI clock frequency version 0 H11 X4 double transmission version 0
Adjusts the clock frequency of the serial transfer for querying the SSI encoder. Switches off double transfer for SSI encoder. When double transfer is activated
A higher clock frequency allows for better control because the position is the angle is queried twice in a row with a continuous clock to achieve greater
transferred faster and can therefore be queried more frequently overall. data security. If the encoder does not support double transfer, double transfer
However, not all SSI encoders support the high clock frequencies. must be turned off with this parameter. If double transfer is turned off, the drive
controller will no longer generate a second query.
H09 X4 info version 0 Information

If the hardware that is used allows it, double transfer should not be
Shows a description of the encoder found on X4. deactivated.
Element 0
For EnDat® 2.2 this is the designation of the encoder.
For EnDat® 2.1 the string is formatted as follows: "ED 2.1 <number of bits>
<number of multi-turns>MT"
"SSI" is displayed for SSI encoders and "Incremental enc." for incremental
encoders.
Element 1
Element 1 is the output voltage measured on X4. It varies according to the
length and cross-section of the encoder cable as well as the encoder power
consumption. If the sense signal is used, the voltage is controlled so that the 5
V match exactly at the location of the encoder (in the motor).

12 Encoder
Manual SD6
12.5 Connection X120 H121 X120 numerator version 0

Encoder connection X120 is an integral part of terminal modules XI6 and RI6.  H121 and H122 together indicate a fraction that is used to convert the raw
You can simulate or evaluate the following encoders on X120: values of the encoder connected to X120 into mechanical quantities.
• SSI encoder The unit of the mechanical target quantity is revolutions for rotational encoders
• incremental encoder (TTL) and mm for linear encoders.
• Hall sensors via LA6 adapter box for commutation of a synchronous linear
motor H122 X120 denominator version 0
For detailed information regarding the relevant encoder specification and
supply as well as the corresponding terminals, see 7.4.7 X120. H121 and H122 together indicate a fraction that is used to convert the raw
values of the encoder connected to X120 into mechanical quantities.
H120 X120-Function version 1 The unit is lines (before four levels of evaluation) for incremental encoders and
LSBs for SSI encoders. For SSI encoders with 13 bits per revolution, enter 213
Function of the X120 connector on the Extended RI6 I/O terminal module (X16
= 8192 LSBs, for example.
or R16).
If an encoder simulation is parameterized, the source as well as the scaling can
be set in H80 and following. H123 encoder type version 0
0: inactive The parameter indicates whether the encoder connected to X120 is a rotational
4: incremental encoder in or translational measuring system. This affects the unit of measure of H121 and
5: stepmotor In where the encoder is located in the axis model in relation to the feed.
67: SSI master
70: Hall sensor H124 N-track monitoring version 0
80: incremental encoder
If there is an incremental encoder without zero track at X120, the cable
simulation
monitoring for the zero track can be switched off at this point.
81: stepmotor Simulation
82: SSI simulation
H125 X120-SSI-Code version 0
Coding type of the angle through the SSI encoder and for SSI simulation.

12 Encoder
Manual SD6
H126 X120-SSI-data bits version 0 H129 X120-Info version 0
Adjusts the number of data bits that will be transferred via SSI. The parameter shows a description of the functionality found on X120.
In an SSI evaluation the value of the bits is adjusted by H121 and H122.
In SSI simulation there is a fixed value relative to H82. From a total of 24 or 25
H130 X120-encoder simulation line count version 0
bits, 12 bits correspond to the highest value of whole encoder revolutions
(multi-turns). After that 12 or 13 bits can be coded within a revolution. With a Number of lines of encoder simulation on X120. The lines/revolutions refer to
setting for 13 bits, all 13 bits code the angle within one revolution (single-turn). revolutions from H85.
H127 SSI clock frequency version 0 H132 SSI-timeout version 0
The parameter adjusts the clock frequency of the serial transfer for querying The parameter activates timeout monitoring during SSI simulation on X120.
the SSI encoder. A higher clock frequency allows for better control because the Timeout monitoring triggers fault 58 with cause 2 if no position has be queried
position is transferred faster and can therefore be queried more frequently for more than 5 ms.
overall. However, not all SSI encoders support the high clock frequencies. If timeout monitoring is deactivated, the higher-level control unit must ensure
that the SSI transfer runs without errors and at the correct clock frequency. This
monitoring will then be shut off in the drive!
H128 X120 double transmission version 0
If the SSI simulation is part of an SSI motion bus (for example synchronous
The parameter switches off double transfer for SSI encoder. When double motion, cam disk), monitoring must remain turned on. Otherwise the operating
transfer is activated the angle is queried twice in a row with a continuous clock safety of the SSI motion bus and with it the application can no longer be
to achieve greater data security. If the encoder does not support double ensured.
transfer, double transfer must be turned off with this parameter. If double If the simulation is ready for operation after the drive controller starts up, even
transfer is turned off, the drive controller will no longer generate a second with timeout activated it will take about 5 seconds until monitoring starts. This
query. leaves a somewhat longer start-up time for the device being evaluated (control
unit or other drive controller) before the fault is triggered.
Information
If the hardware that is used allows it, double transfer should not be
deactivated.

12 Encoder
Manual SD6
12.6 Connection X101 (binary input encoder) H43 encoder type version 0
Encoder connection X101 is an integral part of terminal module XI6. 
The parameter indicates whether the encoder connected to X101 is a rotational
You can simulate or evaluate the following encoders on X101:
or translational measuring system. This affects the unit of measure of H41 and
• Incremental encoder where the encoder is located in the axis model in relation to the feed.
• Stepper motor encoder
For detailed information regarding the relevant encoder specification and 12.7 Connection X140
supply as well as the corresponding terminals, see 7.4.2 X101.
Encoder connection X140 is an integral part of terminal module RI6. 
You can evaluate the following encoders on X140:
H40 BE-encoder version 0 • Encoder EnDat digital
Function of encoder evaluation on BE3 (X101.13), BE4 (X101.14) and BE5 • Encoder EnDat Sin/Cos
(X101.15). • Sin/cos encoder
For detailed information regarding the relevant resolver or encoder
0: inactive
specification, the encoder supply as well as the corresponding terminals, see
1: incremental encoder in • BE3: Zero track
7.4.8 X140.
• BE4: Chan. A+
• BE5: Chan. B+
2: stepmotor In • BE4: Frequency+ (increments) H140 X140-function version 3
• BE5: Sign+ (direction)
Function of the X140 connector on the RI6 I/O terminal module.
Information
H41 BE numerator version 0 Note that a change to H140 may result in a rescaling of position
H41 and H42 together indicate a fraction that is used to convert the raw values values (in positioning applications). Scaling may last for several
of the encoder connected to X101 into mechanical quantities. hours.
The unit of the mechanical target quantity is revolutions for rotational encoders
0: inactive
6: Sine cosine
66: resolver
H42 BE denominator version 0 70: EnDat
H41 and H42 together indicate a fraction that is used to convert the raw values 71: EnDat with sine and
of the encoder connected to X101 into mechanical quantities. cosine

12 Encoder
Manual SD6
H141 X140 numerator version 1 H149 X140-Info version 1
H141 and H142 together indicate a fraction that is used to convert the raw The parameter shows a description of the functionality found on X140.
values of the encoder connected to X140 into mechanical quantities.
The unit of the mechanical target quantity is revolutions for rotational encoders 12.8 Display
If the device determines while it is starting up that an SSI encoder is
parameterized on an interface, it waits in device state self test until an SSI
H142 X140 denominator version 2 encoder is detected on the interface. While the device is waiting for the SSI
encoder, one of the following displays appears depending on the SSI interface:
H141 and H142 together indicate a fraction that is used to convert the raw
values of the encoder connected to X140 into mechanical quantities. Content of display Meaning
The unit of the mechanical target quantity is revolutions for rotational encoders Waiting for X120-SSI This display appears if an SSI encoder is
and mm for linear encoders. encoder expected on X120 and the drive controller is the
SSI master (setting H120=67:SSI master). The
H143 encoder type version 0 SSI master sends the encoder the request to
transfer positions.
The parameter indicates whether the encoder connected to X140 is a rotational
Waiting for X120-SSI This display appears if an SSI encoder is
or translational measuring system. This affects the unit of measure of H141 and
slave expected on X120 and the drive controller is an
where the encoder is located in the axis model in relation to the feed.
SSI slave. (setting H120=68:SSI slave). An SSI
0: rotational slave receives the same signal as the master, but
1: translational it does not send any requests to the encoder.
Waiting for X4-SSI This display appears if an SSI encoder is
encoder expected on X4 and the drive controller is the SSI
H148 X140-resolver poles version 0
master (setting H00=65:SSI master).
Motor poles of the resolver on X140. If no encoder is detected within the wait time of several seconds, the drive
Information controller switches to the next device state. If the encoder is required for
Only if an RI6 is used: Incremental encoder simulation on X120 position control, fault 37 is triggered with cause 17:X120 wire break.
generates a number of lines that is increased by the factor H148/2
compared to the number of lines parameterized in H123.

12 Encoder
Manual SD6
The following display parameter provides you with further information:

H902 EnDat information version 0
H900, H901 and H902 show internally supplied information about an EnDat®
H900, H901 and H902 show internally supplied information about an EnDat® encoder connected to X4.
encoder connected to X4. For the exact meaning of the data, refer to the Encoder manufacturer's
For the exact meaning of the data, refer to the Encoder manufacturer's documentation.
documentation.
Parameter Element Description
Parameter Element Description H900 0..3 oper.cond.
H900 0..3 oper.cond.
4..47 Measuring device manufacturer's parameter
48..63 Operating parameter 48..63 Operating parameter
64..127 Measuring device manufacturer's parameter for 64..127 Measuring device manufacturer's parameter for
EnDat® 2.2 EnDat® 2.2
H901 0..511 OEM parameter H901 0..511 OEM parameter
H902 0..511 Measuring device manufacturer's correction values H902 0..511 Measuring device manufacturer's correction values
H900, H901 and H902 show internally supplied information about an EnDat®
encoder connected to X4.
For the exact meaning of the data, refer to the Encoder manufacturer's
documentation.
Parameter Element Description

H900 0..3 oper.cond.
48..63 Operating parameter
64..127 Measuring device manufacturer's parameter for
EnDat® 2.2
H901 0..511 OEM parameter
H902 0..511 Measuring device manufacturer's correction values

13 Mechanical drive model
Manual SD6

13.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .260

13.1.1 Rotary drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260
13.1.2 Translational drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261
13.2 Define axis model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .262
13.3 Scale axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .262
13.4 Limit position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .262
13.5 Limit speed, acceleration, jerk . . . . . . . . . . . . . . . . . . . . . . .262
13.6 Limit torque, force . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .263

Manual SD6
13.1 Introduction
To be able to put your real drive train in combination with one or more SD6 drive
controllers, you must map your complete mechanical environment in the
DriveControlSuite commissioning software, i.e. record as part of a project. First
you configure your motor settings, activate and parameterize your brake
controller and define the encoder that you use. When you have performed
these steps, configure the setup of your drive in the DriveControlSuite in this
order: For endless rotary drives with encoders, the following constellations can be
1. Define axis model configured:
2. Scale axis • Rotary motor encoder (ME) = position encoder
3. Configure range of motion • Rotary motor encoder (ME) and external rotary position encoder (PE)
4. Limit speed, acceleration and jerk • External rotary position encoder (PE) without motor encoder
5. Define torque and force.
Limited rotary movement
13.1.1 Rotary drives The schematic diagram shows a limited rotary drive using the example of a
motor (M), a gear unit (GU) and an indicator. The use of encoders is optional.
If you work with rotary drives, the following described versions are available.
Information
Note that configurations without motor encoders can only be used
for asynchronous motors.
Endless rotary movement

The schematic diagram shows an endless rotary drive using the example of a
motor (M), a gear unit (GU) and a rotary table. The use of encoders is optional. For limited rotary drives with encoders, the following constellations can be
configured:
• Rotary motor encoder (ME) = position encoder
• Rotary motor encoder (ME) and external rotary position encoder (PE)
• External rotary position encoder (PE) without motor encoder

Manual SD6
13.1.2 Translational drives

If you work with translational drives, the following described versions are
available.
Information
Note that configurations without motor encoders can only be used
for asynchronous motors.
For limited translational drives with encoders, the following constellations can
Endless translational movement
be configured:
The schematic diagram shows an endless translational drive using the
example of a motor (M), a gear unit (GU), a feed and a conveyor belt. The use
of encoders is optional. • Rotary motor encoder (ME) and external rotary position encoder (PE)
• Rotary motor encoder (ME) and external translational position encoder
(PE)
• External translational position encoder (PE) without motor encoder
Linear motors
The schematic diagram shows a limited translational drive using the example
of a linear motor with encoder.
For endless translational drives with encoders, the following constellations can
be configured:
• Rotary motor encoder (ME) and external rotary position encoder (PE)
• Rotary motor encoder (ME) and external translational position encoder
(PE)
• External translational position encoder (PE) without motor encoder For linear motors, the following encoder constellations can be configured:
• Translational motor encoder (ME) = position encoder
Limited translational movement
• Translational motor encoder (ME) and external translational position
The schematic diagram shows a limited translational drive using the example
encoder (PE)
of a motor (M), a gear unit (GU), a feed and a tool slide. The use of encoders
is optional.

Manual SD6
13.2 Define axis model STOBER Drive Based

• C15, C16
Define your axis by • C18, C17
• configuring the range of motion (endless or limited), • I08, I07
• defining the axis type (rotational or translational) and specifying • I06, I09
• which encoder you use (no encoder, motor- and/or Position encoder). • I03
• I01
The following parameters are important for the definition of the axis model:
• I05 13.4 Limit position
• B26
If necessary limit the position of your axis using a software or hardware limit
• I02
switch and as a result secure the range of motion.
• I00
The following parameters are – depending on the application that the software
is based on – important for position limiting.
13.3 Scale axis
You can scale an axis by configuring the overall transmission between the CiA 402 Controller Based Mode
motor and drive as well as information about the user units. • I00
• A570[1], A570[0]
is based on – important for axis scaling. • I101, I102
CiA 402 Controller Based Mode STOBER Drive Based

• A584[0], A584[1] • I00
• I50, I51
• A585[1], A585[0]
• I06, I09 • I101, I102
• A571
• A568 13.5 Limit speed, acceleration, jerk
If necessary limit the maximum permitted speed as well as the acceleration and
jerk.
is based on – important for limiting speed, acceleration and jerk.

Manual SD6
CiA 402 Controller Based Mode

• I10
• A604, A605
• I16
• A578
STOBER Drive Based

• I10
• I11
• I16
• I17
13.6 Limit torque, force

If necessary limit the maximum permitted torque/force.
is based on – important for torque/force limiting.
CiA 402 Controller Based Mode

• C03, C05
• C08
• A559
STOBER Drive Based

• C03, C05
• C08

14 Communication
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14 Communication 14.4.2 Settings for a LAN connection . . . . . . . . . . . . . . . . . . . . . . . . 278
14.4.3 Settings for an internet connection . . . . . . . . . . . . . . . . . . . . . 279

14.4.3.1 Internet settings for DriveControlSuite . . . . . . . . . . . 279
14.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .265 14.4.4 Security .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 280
14.2 Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .265 14.4.5 Activation of remote maintenance . . . . . . . . . . . . . . . . . . . . . 280
14.2.1 Basics of IGB communication . . . . . . . . . . . . . . . . . . . . . . . . 266 14.4.6 Establishment of a connection . . . . . . . . . . . . . . . . . . . . . . . . 281
14.2.2 Diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 268 14.4.7 Deactivation of remote maintenance . . . . . . . . . . . . . . . . . . . 282
14.2.2.1 IGB network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 268 14.4.8 Monitoring remote maintenance . . . . . . . . . . . . . . . . . . . . . . . 283
14.2.2.2 Drive controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 269 14.4.9 Diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 284
14.4.10 Terms and conditions for maintenance of the 6th

14.3 Direct connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .270 STOBER generation of drive controllers . . . . . . . . . . . . . . . . . 290
14.3.1 Prerequisites . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 270
14.3.2 Setting up a connection automatically . . . . . . . . . . . . . . . . . . 270
14.3.2.1 Prerequisites . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 270
14.3.2.2 Setting up a direct connection automatically . . . . . . 271
14.3.3 Setting up a connection manually . . . . . . . . . . . . . . . . . . . . . 272
14.3.3.1 IP address and subnet mask . . . . . . . . . . . . . . . . . . 272
14.3.3.2 Adjusting the IP address of the drive controller .

. . . . . 273
14.3.3.3 Setting up a direct connection manually . . . . . . . . . 274
14.4 Remote maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .276

14.4.1 System administration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277

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Manual SD6
14.1 Introduction 14.2 Components

The Integrated Bus (IGB) offers the following functions: The following figure shows the components used to carry out remote
• Direct connection maintenance. The teleserver that establishes the connection is described in
• IGB-Motionbus 14.4.
• Remote maintenance
The IGB can only be set up with drive controllers of the SD6 device family.
Information
Note that IGB motion bus functionality is in preparation.
Information
Remember that an IGB network can never be accessed by remote
maintenance and direct connection (PC) at the same time.
The illustration below shows the layout when a direct connection has been set
up to the computer.

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Manual SD6
14.2.1 Basics of IGB communication

Information
The following requirements apply

• Communication with remote maintenance and without a proxy server uses
the HTTP protocol via port 80 and TCP/IP port 37915. For remote
maintenance with a proxy server the HTTP protocol uses the proxy port.
• Communication with a direct connection must be possible with TCP/IP and
UDP/IP via ports 37915 and 37916.
You can also set up communication to a controller via the fieldbus in parallel to
the IGB. Observe the fieldbus documentation for this (see section 1.2 Further You may be asked to share this port by the personal firewall. Share these ports
documentation). in your firewall for the following programs:
• for DriveControlSuite (default installation directory: C:/Windows/
Information Programme/STOEBER ANTRIEBSTECHNIK/DriveControlSuite (V6.0)/
Remember that when a fieldbus and the IGB-Motion bus are used bin/DS6A.exe)
at the same time, the fieldbus communication cannot be • for the communication service SATMICLSVC.exe in:
synchronized on the controller. – Windows 32 bit: C:/Windows/System
– Windows 64 bit: C:/Windows/SysWOW64
To do this, contact your network administrator.
The IGB network must meet the following conditions:

• A maximum of 32 SD6s may be connected in one network.
• All drive controllers involved in the IGB network must be directly connected
with each other. No other components such as hubs and switches are
permitted between them in the circuit.
• The overall resulting layout must be a line topology.

14 Communication
Manual SD6
• The X3 A interfaces may only be connected with X3 B interfaces of other

drive controllers and vice versa.
• Suitable cables must be used. STOBER provides ready-made cables for
the layout of the Integrated Bus. These cables must be used to ensure
proper functionality. Also note section 4.9 Communication modules.
• The maximum overall extent of the IGB network is 100 m.
• The IGB does not require an explicit master and the extensive
configuration 
typically required for Ethernet is eliminated.

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Manual SD6
PC or the internet are connected to a free outer socket. The IGB network is set 14.2.2 Diagnosis
up automatically when you turn on at least one drive controller. The following
conditions apply when integrating additional drive controllers into the network: 14.2.2.1 IGB network
• You have connected these drive controllers to the IGB network.
A153 IGB actual node number version 0
• The drive controllers in the network must be receiving a 24 vdc power
Number of subscribers currently logged in on the IGB.
supply
• 0 or 1: No other subscribers are currently connected with this drive
controller via IGB.
To start the integration, the 24 vdc power supply of the drive controller in the
• 2..32: The number that is displayed corresponds to the number of drive
network must be turned on. When the 24 vdc power supply is turned on, the
controllers found in the IGB network.
IGB network is restructured and up to 32 connected drive controllers will be
integrated.
A155 IGB-state version 0
Information IGB status of the drive controller.
MAC address range of the STOBER hardware:00:11:39:00:00:00 -
00:11:39:FF:FF:FF 0: IGB booting The IGB boots up.
The connected drive controllers declare
themselves in the IGB network and are
Information synchronized.
Remember that sockets X3 A and X3 B are not electrically
1: single Currently no IGB network is set up with other
connected. If you turn off a device in an IGB network or disconnect
drive controllers.
an IGB cable, two partial networks are created to the left and right
Possible causes:
of this device or the disconnected cable.
• The drive controller has not found any
other drive controllers with which an IGB
network can be set up
• An already existing connection to other
drive controllers via IGB has been
disconnected

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Manual SD6
2: IGB running Several drive controllers have set up an IGB 14.2.2.2 Drive controller
network.
A152 IGB position version 0
The IGB motion bus is not used or cannot be
used. Current position of the drive controller in the IGB network.
Possible causes:
0: single The drive controller is not connected with any
• The IGB motion bus has not been
other IGB subscribers.
activated in all subscribers A119.
• The IGB address A120 has not been 1: IGB-internal The two RJ45 sockets are connected with
unambiguously set in all subscribers. other drive controllers.
• The IGB nominal number A121 has not Additional IGB subscribers are connected on
been correctly parameterized in all both sides of the drive controller.
subscribers. 2: gateway-X3A The drive controller is located on the outer left
3: IGB-motionbus The IGB motion bus has been successfully set end of the IGB.
up. No valid drive controller is connected to its X3
Turning on additional drive controllers has no A socket.
effect on the existing IGB motion bus n this 3: gateway-X3B The drive controller is located on the outer
status. right end of the IGB.
4: IGB-Motionbus Error Status A155 = 3:IGB Motionbus was already No valid drive controller is connected to its
reached once and was left due to an error. X3B socket or more than 32 drive controllers
Possible causes: were connected to each other. In this case the
• An IGB cable was pulled IGB will be logically complete after the 32nd
• There is a massive EMC fault present drive controller and that status will be
• The synchronicity of the drive controllers displayed.
among each other has been violated
A154 Port state version 2
State of the Ethernet port.

• Element 0: Interface X3A
• Element 1: Interface X3B
• Element 2: No function

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Manual SD6
0: error The state of the socket is not known. 14.3 Direct connection
1: co connection The socket is not connected with the other A direct connection means the direct connection of a computer with
devices. DriveControlSuite to an SD6 or an IGB network in the same subnet for the
2: 10 MBit/s There is a connection to a subscriber at a purpose of commissioning, diagnostics or maintenance.
transmission rate of 10 Mbit/s with full-duplex There are two ways to set up a direct connection:
capable communication. The subscriber is not • You can use the automatic connection setup, see section 14.3.2 Setting up
an SD6. a connection automatically.
3: 100 MBit/s There is a connection to a subscriber at a • You can make the connection manually, see section 14.3.3 Setting up a
transmission rate of 100 Mbit/s. connection manually.
Communication with this subscriber is not full-
duplex capable and the subscriber is not an
14.3.1 Prerequisites
SD6. Note the following rule for the direct connection:
4: link OK There is a connection to a subscriber at a • The socket of the gateway device and the computer's network connection
transmission rate of 100 Mbit/s with full-duplex must have IP addresses on the same subnet.
capable communication.
14.3.2 Setting up a connection automatically
A156 IGB number bootups version 0 14.3.2.1 Prerequisites
Number of times IGB has been booted up since the last time the power supply The following rule applies when setting up a direct connection automatically:
voltage was turned on. • Parameter A166[x] = 1:standard must be set in the drive controller or .
A166 IP-address-delivery version 1
Address reference of the IP addresses and subnetwork masks of the Ethernet

ports.
• Element 0: Interface X3A
• Element 1: Interface X3B

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Information Setting up a direct connection automatically

A change to the parameter will not take effect until
- the value is saved with action A00[0] and the drive controller is 1. In your project in DriveControlSuite, select the module with which you
turned off and back on again would like to set up a direct connection.
- or the physical connection is terminated. 2. In the bottom part of the project window click the Make connection button.
 The Make connection dialog for the module opens:
0: manual The drive controller is using exclusively
assignments from A164[x] and A165[x].
The active values are displayed in parameter
A157[x] and A158[x].
1: standard The drive controller uses the assignments
from the DHCP server or DriveControlSuite.
If no assignment is received by the DHCP
server or DriveControlSuite within 3 minutes
after connection to the network, assigned
values from A164[x] and A165[x] are used.
The active values are displayed in parameters
A157[x], A158[x], A160[x] and A161[x].
2: only DHCP The drive controller uses exclusively
assignments from the DHCP server.
A157[x], A158[x], A160[x] and A161[x].
14.3.2.2 Setting up a direct connection automatically

The dialog shows all the gateway devices that are connected with the
The following requirements must be met to set up a direct connection
network.
automatically:
• The computer and gateway device or the IGB network must be connected 3. Select the gateway device with which you would like to set up a direct
via a network. connection. If a green or yellow dot appears in the IP address column for
• The drive controller must be turned on. this device, a connection can be set up automatically. If a red dot appears,
• You have created a project in DriveControlSuite. it is not possible to set up the connection.

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Manual SD6
If you would like to repeat the data exchange from steps 4 to 6, mark the
4. Click the OK button.
module in the project window and press the Assignment button near the
 The Assignment dialog appears:
bottom. This is possible when a connection is set up.
14.3.3 Setting up a connection manually

Information
To coordinate the IP addresses of the gateway device and the
computer, you have the option of changing the IP address of either
the computer or the gateway device. However, since you generally
need administrator rights to change the IP address of the computer,
we recommend changing the IP address of the gateway device.
Information
Please note that the device has two RJ45 sockets (X3A and X3B).
Since one socket must be access concretely for a direct connection,
the related parameters are created as array parameters. Element 0
contains the settings for socket X3A and element 1 for socket X3B.
Make the settings described in this section appropriately for the
socket with which you will connect the gateway device with the
computer.
The dialog shows all the drive controllers that are connected with the
computer via the gateway device. 14.3.3.1 IP address and subnet mask
5. In this dialog you define how the computer will exchange data with the IGB An IP address is divided into a network section and a device section by the
network. In the example shown here, the main drive from the project is subnet mask. The subnet mask can be represented in binary format, for
sent to the drive controller with serial number 7000043. The drive example, as a series of numbers with the left side consisting only of the number
controller with serial number 7000048 is a new drive controller created in 1 and the right side consisting only of the number 0.
the project. 1111 1111.1111 1000.0000 0000.0000 0000 = 255.248.0.0
6. Click the Start button. The section of the subnet mask with the number 1 shows which part of the IP
 Data is exchanged. address indicates the address of the subnet (the network section). The other
 The direct connection is set up and data is exchanged. part with the number 0 shows the part of the IP address that represents the
address of the device in the subnet (device section).

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Manual SD6
The following example illustrates how to calculate the IP address.

4. Check whether either 0:manual or 1:standard is entered in A166[x]. Note
The IP address 128.206.17.177 with subnet mask 255.240.0.0 is entered for
in this case as well that A166[0] applies to X3A, while A166[1] applies to
the network interface of the computer:
X3B.
Subnet mask:1111 1111.1111 0000.0000 0000.0000 0000
5. If A166[x] is not set to 0:manual or 1:standard, correct the setting.
The 12 numbers on the left of the IP address indicate the address of the subnet
6. Save your settings with A00 Save values.
and must be identical in the IP address of the device. The 20 number of the IP
address on the right indicate the address of the computer in the subnet. This  You have adjusted the IP address of the drive controller.
section must be different in the IP address of the device.
IP address: 1000 0000.1100 1110.0001 0001.1011 0001 A164 Manual IP address version 1
Manual IP addresses of the Ethernet port.

Network section, must be Device section, must be • Element 0: Interface X3A
identical in the device and different in the device and PC • Element 1: Interface X3B
PC • Element 2: No function
The manual IP addresses are used by the drive controller if A166[x]=0: manual
A possible IP address for the device could therefore be:
or if A166[x]=1: Standard (if no IP address is assigned by DriveControlSuite or
1000 0000.1100 1111.0001 0001.1011 0001 = 128.207.17.177
the DHCP server).
14.3.3.2 Adjusting the IP address of the drive controller Information
Follow these steps to adjust the IP address of the drive controller to the IP A change to the parameter will not take effect until
address of the computer: - the value is saved with action A00[0] and the drive controller is
turned off and back on again
Adjusting the IP address of the drive controller
- or the physical connection is terminated.
1. Determine the IP address and subnet mask of the computer, for example
from the control panel of your computer.
A166 IP-address-delivery version 1
2. Determine an IP address that is in the same subnet as the PC's IP
address. Address reference of the IP addresses and subnetwork masks of the Ethernet
3. Use the operator panel of the gateway device to enter that address in ports.
parameter A164[x]. Use A164[0] if the direct connection is via X3A. Use • Element 0: Interface X3A
A164[1] if you are connecting the PC via X3B. • Element 1: Interface X3B

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Information Setting up a direct connection manually

A change to the parameter will not take effect until
- the value is saved with action A00[0] and the drive controller is 1. In your project in DriveControlSuite, select the module with which you
turned off and back on again would like to set up a direct connection.
- or the physical connection is terminated. 2. In the bottom part of the project window click the Make connection button.
 The Make connection dialog for the module opens:
0: manual The drive controller is using exclusively
assignments from A164[x] and A165[x].
The active values are displayed in parameter
A157[x] and A158[x].
1: standard The drive controller uses the assignments
from the DHCP server or DriveControlSuite.
If no assignment is received by the DHCP
server or DriveControlSuite within 3 minutes
after connection to the network, assigned
values from A164[x] and A165[x] are used.
A157[x], A158[x], A160[x] and A161[x].
2: only DHCP The drive controller uses exclusively
assignments from the DHCP server.
A157[x], A158[x], A160[x] and A161[x].
14.3.3.3 Setting up a direct connection manually

The following requirements must be met to set up a direct connection manually:
• The computer and gateway device or the IGB network must be connected The dialog shows all the gateway devices that are connected with the
via a network. network.
• The drive controller must be turned on. 3. In the bottom part of the dialog, activate the Enter IP address manually
• You have created a project in DriveControlSuite. check box.
 A field appears in the dialog where you can enter the address of the
drive controller.

14 Communication
Manual SD6
If you would like to repeat the data exchange from steps 4 to 7, mark the
4. Enter the IP address of the gateway device.
module in the project window and press the Assignment button near the
5. Click the OK button.
bottom. This is possible when a direct connection is set up.
 The Assignment dialog appears:
The dialog shows all the drive controllers that are connected with the
computer via the gateway device.
6. In this dialog you define how the computer will exchange data with the IGB
network. In the example shown here, the main drive from the project is
sent to the drive controller with serial number 7000043. The drive
controller with serial number 7000048 is a new drive controller created in
the project.
7. Click the Start button.
 Data is exchanged.
 The direct connection is set up and data is exchanged.

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Manual SD6
14.4 Remote maintenance At least two people are always involved in remote maintenance:
• The service employee who performs the remote maintenance. For
Information example, this can be a service employee of STOBER or the machine
On the usage of remote maintenance it is imperative you observe manufacturer.
our maintenance conditions in chapter 14.4.10. • The machine technician initiates and concludes the remote maintenance
and ensures that persons are safe at all times. This can be a qualified
employee of the machine manufacturer or the user
Each indirect connection from the start-up computer via a local network,
intranet or the internet with a drive controller or an IGB network counts for The screen below shows the components involved in remote maintenance via
remote maintenance. You can perform all the functions that are possible via a the internet:
direct connection with remote maintenance. These are:
• Diagnostic functions
• Changing parameters
• Programming/configuration and
• Live firmware update
WARNING!
Changing the parameters may change the properties of a machine during
and after remote maintenance.
The person responsible for the machine must
 Keep people away from the hazardous areas of the machine during remote
maintenance.
 After remote maintenance is finished, ensure that the behavior of the
machine is correct.
 The machine may not be released until after this has taken place. Make
sure this sequence is organizationally safeguarded.
Information
The screen below shows the components involved in remote maintenance via
the local network:

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Manual SD6
14.4.1 System administration

Information
Networks can be structured very differently. Therefore STOBER is
unable to provide universally applicable instructions that cover
every case. Because of this, you should discuss the content of the
following section with your responsible network administrator so
that you can achieve an optimum connection. Note that this applies
not only to the drive controller, but also to connecting the
engineering software!
Information
Make the settings derived from this section on the drive controller in
the IGB network on which the connection to the internet is set up.
This drive controller is the gateway device to the network! Note that
the connection can only be made on an RJ45 socket. Therefore
some of the parameters listed below are designed as arrays. This
The teleserver makes the connection between the drive controller and the
is identified in the description by the suffix .x in the parameter
service technician's computer. The teleserver is operated for the internet
coordinate. Element 0 applies to X3A (for example A166.0), while
connection by STOBER. Care is taken to ensure that the teleserver always
element 1 applies to X3B (for example A166.1). Make the settings
operates at the latest state of the art in terms of internet security.
derived from this section only for the socket that is the gateway to
the network!
These values are set in the Network and Remote Maintenance assistant which
will now be described. Since the settings for an Internet connection differ from
the settings for a LAN connection, they will be distinguished between in the
next few sections.

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14.4.2 Settings for a LAN connection The FQDN (Fully Qualified Domain Name) is the complete name of a
computer. Note that you must specify the FQDN of the computer on which the
To be able to establish a connection via the local network, the LAN Teleserver
LAN teleserver is operating in the drive controller (see Fig. 12 16) and in
must be installed on a computer which is connected with the local network.
DriveControlSuite when setting up a LAN connection.
Proceed as shown below:
Note also that the LAN teleserver should be installed on a high performance
Operating the LAN Teleserver computer with a high level of availability.
1. Start the POSITool-Teleserver.exe file on the computer on which the LAN The Settings for LAN connection shows which settings must be performed for
Teleserver is to be installed. which network structure.
 The following dialog screen appears:
A176 = 1:LAN
Is there a
Yes DHCP server No
in the
network?
Gateway socket: Gateway socket:

A166[x] = 1:Standard or A166[x] = 0:Set manually
2:Set DHCP only. Enter valid IP address and
subnet mask of the gateway
socket in A164[x] and A165[x].
Does the
Yes DHCP server No
transmit the DNS-
IP address?
Ist there an
Yes active DNS server No
in the network?
Enter IP address of the DNS

server manually in A179.
2. Make a note of the FQDN (Fully Qualified Domain Name).
 You are now running the Teleserver on the local network. Enter IP address or FQDN of the Enter IP address of the computer on
computer on which the LAN which the LAN teleserver is installed
teleserver is installed in A177. in A177.

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14.4.3 Settings for an internet connection Note also the following information for the internet connection:
• If possible, bypass the proxy server. This will increase the performance of
A176 = 0:Internet
remote maintenance. To do this, contact your responsible network
administrator.
Is there a
Yes DHCP server in No
• If a proxy server is being used, it should be set so that it supports persistent
the network?
HTTP connections. This will increase the performance of remote
maintenance. To do this, contact your responsible network administrator.
Gateway socket: Gateway socket:
A166[x] = 1:Standard or A166[x] = 0:Set manually
2:Set DHCP only. Enter valid IP address and 14.4.3.1 Internet settings for DriveControlSuite
subnet mask of the gateway
socket in A164[x] and A165[x]. Note that you may have to make settings for DriveControlSuite as well for the
internet connection. It is assumed that the computer with which remote
Is an
Yes active DNS No maintenance will be performed is integrated into the local network. If there is a
server in the
network? proxy server, you must enter the proxy settings in the dialog. You can reach the
dialog via the Make connection dialog on the Internet connection tab.
Does the
Yes DHCP server No
transmit the DNS-
IP address?
Enter IP address of the
DNS server manually
in A179.
Is there a
Is there a Yes proxy server on No
Yes proxy server No the network?
in the network?
Remote maintenance
is not possible!
Enter IP address or Enter proxy port in Enter IP address or

FQDN of the proxy A172 = 0. FQDN of the proxy
server in A171. Enter IP address of the server in A171.
standard gateway in
A175.
Enter proxy port in A172, user name in

A173, proxy password in A174.

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14.4.4 Security 14.4.5 Activation of remote maintenance

Here, Security means protection against the unauthorized manipulation of data Information
It is also possible to change safety-relevant parameters of a drive controller via As the person responsible for the machine, ensure (e.g., by
remote maintenance. To ensure that this does not happen without telephone) that the device is accessed for remote maintenance by
authorization or accidentally, the following security mechanisms are installed: an authorized person.
• A remote maintenance process can only be started locally on the machine. Do not allow a request to exist for an unnecessarily long period of
• The service technician who is performing remote maintenance must know time.
the serial number of the drive controller that will be maintained.
The following preconditions must be met before remote maintenance can be
• If the Session ID option is selected (parameter A168 remote service with
activated:
session-ID), the temporarily valid session ID must be given to the service
1. The drive controller is connected with the local network, intranet or internet.
technician by the person responsible for the machine. It appears in the
2. The drive controller has the valid information needed to be able to
display when remote maintenance is activated or in parameter A151.
communicate via the local network, intranet or internet (see section 14.4.1
System administration).
These first three mechanisms practically exclude the possibility of
3. You have indicated the signal in parameter A167 remote service source by
unauthorized access. There does remain a residual risk of unauthorized
which remote maintenance can be started, for example a binary signal to
access, for example by a former employee intent on sabotage. In some
binary input BE1.
circumstances such a person could with great effort set up a connection before
4. You have indicated in the drive controller that is the gateway to the network,
the service technician did, if he knew the time when this would occur.
in parameter A168 remote service with session-ID whether remote
maintenance will be secured by a session ID.
You would know that such unauthorized access was occurring because:
5. The service technician has a computer that is connected with the local
• the remote maintenance LED would be continuously lit and network, intranet or internet and the DriveControlSuite software is installed
• the connection request of the authorized service technician would fail. on it.
Using a session ID involves more effort, but it excludes this last possibility.
An outgoing connection on the machine is always created by the local request.
That request always connects with the teleserver. No other connection is
possible. It is also not possible to set up an internet connection to the SD6 if
the connection was not requested on the SD6.

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Manual SD6
Proceed as follows: 14.4.6 Establishment of a connection

Activate remote maintenance
Setting up a connection
1. The person responsible for the machine turns on the signal parameterized
1. The service technician starts DriveControlSuite.
in A167 for the drive controllers that will participate in remote
2. The service technician creates a new project or opens an existing project.
maintenance.
3. The service technician selects the module in the project and clicks the
 The drive controllers declare themselves. The LEDs on sockets X3A Make connection button near the bottom of the project window.
and X3B flash very rapidly.
 The Make connection dialog appears.
 When the connection to the teleserver is set up, the blue LEDs for 4. In the dialog the service technician switches to the Internet connection or
sockets X3A and X3B flash regularly. The drive controller shows its LAN connection tab, depending on the specific application.
serial number in the display. 5. The service technician specifies the serial number and if applicable the
 If A168 = 1:with session ID is set in the gateway device, the session session ID.
ID is displayed in addition to the serial number. 6. If a LAN connection is being set up: The service technician clicks the LAN
 The person responsible for the machine has activated remote teleserver settings button.
maintenance. He sends a message to the service technician and tells him  A dialog for entering the DNS designation or the IP address of the
the serial number of a device in the IGB network and if applicable the teleserver appears.
session ID. 7. If a LAN connection is being set up: The service technician enters the DNS
designation or the IP address of the teleserver and confirms the dialog
The session ID provides additional security for remote maintenance. with OK.
If parameter A168 is set in the gateway device so that the session ID will be 8. If an internet connection is being set up: The service technician clicks the
prompted for remote maintenance, the service technician can only make the Proxy settings button.
connection to the drive controller by specifying the session ID.  A dialog for making the necessary proxy entries appears.
9. If an internet connection is being set up: The service technician makes the
If the blue LED does not flash even though remote maintenance is activated, necessary entries for the proxy server and confirms the dialog with OK.
you can see the cause in parameter A178. 10. In the Make connection dialog the service technician clicks the OK button.
 The entire IGB network is displayed in DriveControlSuite. The drive
controllers that are not shared for remote maintenance are identified by a
red prohibition sign. In the drive controllers shared for remote
maintenance you can 
- read data from the drive controllers or
- initiate sending of data to the drive controllers or 
- perform a live firmware update.

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Manual SD6
Note the following points when remote maintenance is active: 14.4.7 Deactivation of remote maintenance
• At least one drive controller must be shared for remote maintenance in the
IGB network to be able to maintain the internet connection properly. You NOTICE
can share or block drive controllers in the IGB network for remote Long timeout times on the teleserver!
maintenance at any time with an active internet connection. This is done
Do not deactivate remote maintenance by turning the device off and on again
with the signal defined in A167 remote service start.
because this will result in long timeout times on the teleserver.
• If you download a new configuration via remote maintenance, set the
 Use one of the following methods to deactivate remote maintenance.
parameters related to remote maintenance so they are identical to the
previous configuration to prevent the connection from being disconnected
Information
prematurely because it is parameterized incorrectly. This is especially
Deactivate remote maintenance immediately after the job is
important for parameter A167 remote service start in which the signal for
finished. Do not let a request exist for an unnecessarily long period
starting remote maintenance is defined.
of time.
• If you perform a live firmware update by remote maintenance and then
restart the drive controller immediately, the remote maintenance
The following events can be deactivated by remote maintenance:
connection will be terminated.
• The person responsible for the machine turns off the signal defined in A167
for all drive controllers in the IGB network (Low level).
• The service technician ends remote maintenance in DriveControlSuite.
• The Internet connection is interrupted, for example by a timeout. In all
cases a session-ID becomes invalid if one was assigned. The blue LED is
turned off. To set up a new connection, the process in section 14.4.5
Activation of remote maintenance must be performed again.
When deactivating remote maintenance, note parameter A178. A numeric

value in this parameter indicates why the deactivation occurred and whether it
was error-free.
Note also when ending remote maintenance in DriveControlSuite that before

activating remote maintenance again, the signal defined in A167 must first be
switched to Low level. The next change to High level will activate remote
maintenance again.

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Manual SD6
14.4.8 Monitoring remote maintenance You can also obtain the Netviewer subscriber program at no cost from the
homepage www.stoeber.de. The service technician has the consultant
The person responsible for the machine has the option of monitoring remote
program that is used to start a session. If you want to monitor remote
maintenance. This means that the person responsible for the machine will see
maintenance, tell the service technician at the beginning of remote
on the screen which settings the service technician makes in the engineering
maintenance.
software.
The person responsible for the machine requires the free subscriber program
from Netviewer to do this. The screen below shows the components involved:

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Manual SD6
14.4.9 Diagnosis A178 error remote service version 0
A169 remote service advance version 0 The parameter indicates the state of remote maintenance with a hexadecimal
numeric value (length: 32 bits). Each of the four bytes encodes a diagnostic
0: no remote service desired Remote maintenance is not desired value.
Blue LED: Off
1: connecting to teleserver The connection to the teleserver is being
00 00 00 00 hex
established.
Blue LED: Repeatedly lights up very quickly
2: wait for DriveControlSuite The device is waiting for the connection to The Exit code The error value
specifies why indicates the error
connection DriveControlSuite
remote maintenance within the error
Blue LED: Steady flashing was exited. category.
3: remote service active The connection is completely set up and
remote maintenance can be performed.
The status value The error category
Blue LED: Continuously lit
specifies the stands for a group
Progress setting up the connection for remote maintenance. status of remote of errors.
The parameter returns the same information as the blue LED on the front of the maintenance.
device.
The Exit Code shows the following causes for terminating remote
maintenance:
A170 remote service acknowledge version 0
Exit Code Description
State of the blue LED.
00hex No remote maintenance is started. This is the initial value after
Bit Description the drive controller is turned on.
0 0: LED on 01hex The active gateway was changed.
1: LED off
02hex Remote maintenance was terminated properly.
1-7 No function
03hex A remote maintenance request was not detected in the IGB
You can use this parameter to represent the state of the blue LED on an network for any drive controller. Remote maintenance was
external signal lamp. therefore terminated.

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Manual SD6
The status value indicates the status of remote maintenance:

Exit Code Description
04hex A remote maintenance request was not detected in the IGB Status Description
network for any drive controller. Remote maintenance was value
therefore terminated. 00hex No remote maintenance is started. This is the initial value after
05hex A remote maintenance request was not detected in the IGB the drive controller is turned on.
network for any drive controller. Remote maintenance was 01hex The DNS resolver was started.
therefore terminated.
02hex The process of setting up the connection to the teleserver has
06hex Remote maintenance was terminated by DriveControlSuite. been started.
07hex Remote maintenance was terminated due to an error. The error 03hex The process of setting up the connection to the teleserver again
can be determined by the error category and the error value. has been started.
08hex Before the remote maintenance connection had been set up, a 04hex The HTTP connection process has been started.
direct connection was started. The direct connection has priority.
05hex An unknown HTTP event was received.
Therefore the remote maintenance was terminated.
06hex An attempt was made to contact the teleserver again.
09hex Remote maintenance could not be properly terminated and was
07hex A timeout occurred during the attempt to contact the teleserver.
therefore interrupted.
08hex The teleserver has declined the connection.
0Ahex The serial number of the active gateway could not be
determined. Therefore remote maintenance was terminated. 09hex Unable to reach the host.
0Bhex The status of the active gateway could not be determined. 0Ahex An error occurred in the HTTP connection.
Therefore remote maintenance was terminated. 0Bhex An error occurred in the HTTP connection.
0Chex The serial number of the active gateway could not be 0Chex An error occurred in the HTTP connection.
determined. Therefore remote maintenance was terminated. 0Dhex An error occurred in the HTTP connection.
0Dhex The status of the active gateway could not be determined. 0Ehex An error occurred in the HTTP connection.
Therefore remote maintenance was terminated.
0Fhex An error occurred in the HTTP connection.
0Ehex The status of the active gateway could not be determined.
10hex An error occurred in the HTTP connection.
Therefore remote maintenance was terminated.
11hex An error occurred in the HTTP connection.
0Fhex The active gateway has changed. Therefore remote
maintenance was terminated. 12hex Waiting until DriveControlSuite has been connected with the
teleserver.
10hex An error was detected while searching for the active gateway.
Therefore remote maintenance was terminated. 13hex The connection to the teleserver was terminated properly.

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Manual SD6
The following errors can occur in error category 01 hex:

Status Description
value Error Description
14hex A timeout occurred while setting up the HTTP connection. value
15hex The connection to the teleserver was terminated properly by 00hex Reserved
DriveControlSuite. 01hex A TCP/IP error occurred while sending or receiving.
16hex The connection to the teleserver is being closed. 02hex A TCP/IP error occurred while sending or receiving.
17hex DriveControlSuite has been connected with the teleserver.
18hex The HTTP connection has been started. The cause of this error may be a faulty TCP/IP connection. Check the
19hex The underlying TCP/IP connection was interrupted. The connection and the network settings. A firewall may also be preventing the
connection is being set up again. TCP/IP connection. Check (with DriveControlSuite, for example) whether the
teleserver can be reached.
The error category stands for a group of errors:
Error category Description
Error Description
00hex No remote maintenance is active or no error has occurred.
value
01hex A socket error was detected (problems in applying the
00hex Reserved
TCP/IP connection).
01hex Internal error 1
02hex A firmware error was detected (internal firmware error).
02hex Not enough free memory is available.
03hex An HTTP error was detected (problems on the HTTP
03hex An internal handle is invalid.
communication level).
04hex An error occurred while running the HTTP application.
04hex A TCP/IP error was detected (problems on the TCP/IP
communication level). 05hex An internal parameter is invalid.
05hex An error was detected in the teleserver client application. 06hex An internal parameter is invalid.
06hex A DNS error was detected (problems with the DNS 07hex An internal parameter is invalid.
resolver). 08hex Not enough free memory is available.
07hex A proxy error was detected (problems with the proxy 09hex Not enough free memory is available.
settings). 0Ahex Not enough free memory is available.
The Error value specifies the error in an error category. The error values are 0Bhex Internal access was denied.
specified for each error category in the following.
0Chex Internal access was denied.
In error category 00 hex, the error value is always 00 hex.

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Manual SD6
Error Description Error Description Cause no.

value value
0Dhex Internal access was denied. 00hex Reserved –
0Ehex An error occurred while sending data. 01hex An error occurred while connecting with the
1
0Fhex An error occurred while sending data. teleserver.
02hex The teleserver will is declining the connection. 2
10hex An error occurred while receiving data.
03hex An error occurred while again setting up a TCP/
11hex An error occurred while receiving data. 1
IP connection to the teleserver.
12hex An unknown HTTP status code was detected. 04hex An error occurred while again setting up a TCP/
1
13hex An error occurred while terminating remote maintenance. IP connection to the teleserver.
05hex A timeout occurred while setting up a TCP/IP
1
These errors have a wide variety of causes. First start the drive controller again connection to the teleserver.
and check the network settings of the drive controller and company network. If 06hex The teleserver will is declining the connection. 2
you are unable to rectify the error in this way, please contact STOBER. 07hex The drive controller is unable to reach the IP
3
The following errors can occur in error category 03 hex: address of the teleserver.
08hex The drive controller is connected with the
Error Description 4
teleserver.
value
09hex An error occurred while connecting with the
00hex Reserved 1
teleserver.
01hex A timeout occurred : The teleserver did not respond. 0Ahex An error occurred while connecting with the
1
02hex The HTTP status code is reporting an HTTP error. teleserver.
0Bhex An error occurred while connecting with the
1
The cause of this error may be that the HTTP response of the teleserver is not teleserver.
reaching the drive controller. Check the connection and the network settings. 0Chex The IP address of the teleserver is invalid. 3
A firewall may be blocking reception. Check the settings of the firewall as well. 0Dhex The IP address of the teleserver is invalid. 3
No generally applicable causes can be given for error categories 04 hex and  0Ehex The IP address of the teleserver is invalid. 3
05 hex. The errors are error identified by a cause number. 0Fhex An internal error was detected. 5
The descriptions of the causes are appended based on the description of 10hex The IP address of the teleserver is invalid. 3
errors in category 05 hex.

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Manual SD6
Error Description Cause no. Error Description Cause no.

value value
00hex Reserved – 11hex An error occurred in the flow control between

6
the teleserver and drive controller.
01hex An error occurred in the flow control between
6 12hex An error occurred in the flow control between
the teleserver and drive controller. 6
02hex An internal error occurred. 5
04hex A CRC error was detected in the HTTP
7 15hex An internal error occurred. 5
response from the teleserver.
05hex An invalid HTTP state was detected while
8 Descriptions of causes
receiving data.
06hex An invalid HTTP state was detected while Cause no. Description
8
receiving data. 1 The attempt to set up the TCP/IP connection to the teleserver
07hex The teleserver has terminated remote failed.
9
maintenance. Check all the network settings and the firewall.
08hex The teleserver is declining the serial number. 10 2 The drive controller attempted to connect with the teleserver
09hex The teleserver is declining the serial number. 10 PC. However, the specified PC actively declined the attempt
to make a connection.
0Ahex An internal error occurred. 5
Check whether the teleserver (LAN) was correctly installed
0Bhex An internal error occurred. 5 and is running. For example you can use DriveControlSuite
0Chex The drive controller is waiting for the connection to check the connection with the teleserver.
11
to DriveControlSuite. 3 The drive controller is unable to reach the IP address of the
0Dhex An internal error occurred. 5 teleserver with the current network settings (IP address and
0Ehex An error occurred in the flow control between subnet mask).
6 Check the IP addresses of the drive controller and teleserver.
4 An attempt was made to set up a TCP/IP connection to the
0Fhex A CRC error was detected in the HTTP
7 teleserver, but the connection is already in place.
response from the teleserver.
Terminate remote maintenance properly and start remote
maintenance again.

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Manual SD6
One possible cause of the errors may be that an attempt to resolve the name
Cause no. Description
of the teleserver host name into the corresponding IP address failed. Check the
5 An internal error was detected.
settings of the name server. It may be necessary to share the name server for
Please contact STOBER.
requests from the SD6 first.
6 An error was detected in the flow control between the
teleserver and drive controller.
Check all the network connections. Error Description
7 A CRC check of received data failed. value
Check all the network connections. Check especially the 00hex Reserved
Ethernet connection and for EMC interference.
01hex The proxy authorization is invalid.
8 The teleserver is reporting an invalid HTTP state.
This may be due to incorrect proxy parameterization in the drive controller.
Check all the network connections. Check the settings of the
Check the proxy settings in the drive controller.
proxy server.
Two examples of the display in A178 are shown below:
9 The teleserver has terminated remote maintenance.
Remote maintenance may also have been interrupted by Example 1
DriveControlSuite. Start remote maintenance again.
10 The teleserver is terminating remote maintenance because 07 04 04 02 hex
one or all of the serial numbers of the subscribing drive
controllers are invalid.
Wait 10 minutes and start remote maintenance again. If this 07hex: Remote 02hex: An error occurred
attempt also fails, please contact STOBER. maintenance while connection to
11 DriveControlSuite has not been connected with the was exited due the Teleserver was
to an error. being established.
teleserver yet. Make the connection.
04hex: Disconnection 04hex: A TCP/IP
Error Description of the HTTP error was determined.
value connection was
00hex Reserved started.
01hex A general DNS error was detected.
02hex A timeout occurred : The DNS server is not responding.

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Manual SD6
14.4.10 Terms and conditions for maintenance of the within two (2) weeks. In case of doubt, the content of the order
6th STOBER generation of drive controllers confirmation by the supplier shall be binding for the Contract unless
the Customer has contradicted the content of the order confirmation
without delay.
Version: 06/2013
1. Scope of application 2.2. All notices of termination, setting of deadlines and reminders by the
Customer shall require the written form for their validity. Contractual
1.1. The present maintenance terms shall apply exclusively to all
guarantees and undertakings, in particular those going beyond the
contractual relationships under which STÖBER
scope of these General Terms and Conditions, shall require the
ANTRIEBSTECHNIK GmbH & Co. KG (hereinafter referred to as
express and written confirmation of the supplier. 
supplier) carries out maintenance services on the SD6 drive
Deadlines and dates for fulfillment are not fixed dates unless they
controller for other companies, legal entities under public law or
have been expressly declared as fixed dates by the supplier in
special funds under public law (hereinafter referred to as
writing. If the Customer sets deadlines or periods of grace for
"Customer"). Contradictory and supplementary terms of the
fulfillment or subsequent fulfillment or for remedying a situation,
Customer shall not – other than with the prior written consent of
these deadlines or periods must be reasonable, at least 5 working
Stöber Antriebstechnik – form part of the Contract, even if the
days. Should the fruitless expiry of a deadline or grace period result
supplier should undertake a contract or carry out services without
in the dissolution of the contractual relationship or a reduction in the
expressly contradicting such terms.
price to be paid, this must be expressly threatened by the Customer
1.2. These General Terms and Conditions cover the maintenance
at the time of setting the deadline or grace period. The above
services for the SD6 drive controller offered by the supplier, such as
declarations shall require the written form for their validity.
the provision of standardized software updates, remote maintenance
of the drive controllers by remote access, telephone support and
maintenance services on site.
3. Payment
1.3. Furthermore, the Terms of Sale and Delivery of the supplier shall
3.1. The payment shall be dictated by the order confirmation. Should the
apply accordingly, whereby the maintenance terms shall take priority
in the event of contradictions between the two documents. Parties agree on payment according to outlay, the outlay shall be
shown in the invoice or in a separate annex to the invoice. Should the
Customer not contradict the evidenced outlay in writing within two (2)
weeks, the Customer shall bear the burden of proof for the
2. Conclusion of Contract, Written Form, Time of Performance incorrectness of the outlay. Additional services requested by the
2.1. Quotations by the supplier are subject to confirmation and not binding Customer shall be invoiced on the basis of the supplier's price list. In
unless they have been expressly declared as a binding quotation. the absence of any other written agreement, the prices in the latest
Orders from the Customer may be made informally by e-mail, telefax
or telephone. The supplier can accept the orders from the Customer

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Manual SD6
price list of the supplier shall apply, according to which services are decompilation. Furthermore, modifications to and editing of the
invoiced according to person-days and hours plus the expenses software (modification, reverse engineering, decoding, translation,
incurred. etc.) shall require the prior written authorization of the supplier.
3.2. In the event of an unjustified notification of defects, the supplier can 4.3. If the software was supplied to the Customer electronically, any
invoice the Customer for the time taken for the troubleshooting on the passing on of the software by the Customer to third parties – whether
basis of the current price list, in particular if the Customer reports a or not against payment – shall not be permitted without the prior
fault that cannot be demonstrable or reproducible, or if the fault is not written authorization of the supplier.
attributable to the supplier. 4.4. The supplier grants the rights of use to the software initially only
revocably subject to a condition precedent of complete remuneration
or payment and can, in the event of a delay in payment and after
4. Rights to Software fruitless expiry of a reasonable grace period, revoke the granting of
the rights of use to the extent to which no remuneration or payment
4.1. All intellectual property rights to the software supplied to the
has been received.
Customer and to the work results, including the documentation (e.g.
copyrights, trademark rights, technical property rights), in the
relationship with the Customer shall be due to the supplier, even if
and insofar as the work results are obtained on the basis of the 5. Updates
specifications from or in cooperation with the Customer. The supplier The supplier shall send updates to the Customer electronically or shall offer
grants the Customer a simple, non-exclusive right of use to the the update for downloading on the company's website. A physical data
software supplied. The Customer shall only be entitled to use the medium, the source code and the installation on the Customer's premises
software for its own purposes in conjunction with the SD6 drive are not owed. The updates can contain additional functions, whereby the
controller. Customer shall have no claim to the implementation of specific functions
4.2. The Customer may make the requisite number of backup copies of within the scope of the updates. The supplier shall thus decide alone on the
the software, all of which, however, must bear the supplier copyright type, scope and frequency of updates for the software of the supplier. In all
mark and subsequently be kept safely. The Customer may decompile other points, the provisions of § 4 shall apply analogously.
the software and parts thereof (such as interface information) only
within the limitation of § 69e German Copyright Act (UrhG) and only
when this intention is notified to the supplier in writing with a 6. Testing of Supplied Software
reasonable period of notice for provision of the necessary
Before use in production, the software supplied must be adequately tested
information. Information on the source code shall thereby be subject
by the Customer. The contractual software and the documentation supplied
to the strictest confidentiality, irrespective of whether it was provided
must be examined immediately on receipt and any faults discovered
by the supplier or a third party or became known during the course of
reported in detail in writing. § 377 German Commercial Code (HGB) shall

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Manual SD6
apply. If no such immediate notice is given, the service shall be regarded drive controller or, if the session ID method is selected, the
as having been approved, except in cases of non-recognizable faults. corresponding temporarily valid session ID by telephone and then
Should such a fault be discovered later, notice of the fault must be given also validate the number to the remote access server.
immediately on discovery of this fault, otherwise the service shall be 8.2. Before the maintenance process, the Customer must ensure the
regarded as having been approved also with regard to this fault. If the safety of persons and equipment by clearing and cordoning off the
supplier has fraudulently concealed the fault, the supplier may not claim a whole turning and slewing circle or danger zone of the machine axes
failure to notify or delayed notification of the fault by the Customer. controlled by the drive controller. The maintenance and the safety
precautions must be carried out and monitored on the Customer's
side by a technician familiar with and trained in the operation of the
7. Customer Hotline drive controller, in particular with the SD6 manual and these
7.1. The supplier shall provide a 24 h customer hotline for the Customer. maintenance terms. The supplier assumes no liability for any
The supplier receives fault reports and orders via this hotline and damage resulting from the failure to observe these safety
passes them on to the responsible service technicians. The hotline precautions.
serves furthermore to support the Customer through telephone 8.3. The maintenance process will be started by the supplier only when
advice on remedying faults, avoiding faults and working around after establishing the remote access, a telephone connection to the
faults. A fault elimination guarantee and reaction or recovery times Customer exists and adequate safety precautions are verified by the
are neither assured nor owed. Customer. After the corresponding notification, the telephone
7.2. Further maintenance and support services (e.g. on site) shall only be conversation will be recorded by the supplier. The technician must
provided on the basis of a separate order and shall be invoiced state his first name and family name, and verify the establishment
according to time on the basis of the supplier price list valid at the and maintaining of the personal and equipment safety.
time of the placement of the order. 8.4. The telephone conversation will be stored by the supplier for
documentation purposes. The recording will not be used by third
parties. The Customer must therefore obtain the consent of his
employee for the recording and storage.
8. Remote maintenance
8.5. Before the end of the maintenance process, the Customer must first
8.1. If the Customer places an order with STÖBER ANTRIEBSTECHNIK
deactivate the remote maintenance and establish the safety of the
for the remote maintenance of the drive controller, a date for the
machine by means of a test run. Only after a succcessful test run is
maintenance will be agreed with the Customer. The remote access is
the maintenance process concluded so that the Customer can then
effected via an Internet connection set up by the Customer in
allow access to the danger zone of the machine again.
accordance with the SD6 manual of the remote access server. For
this the Customer must inform the supplier of the serial number of the

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Manual SD6
8.6. The remote maintenance by remote access is linked to IT security 9.5. The whole cooperation of the Customer shall be at no expense to
measures, such as the session ID method, the use of which is STÖBER ANTRIEBSTECHNIK.
decided upon exclusively by the Customer. The supplier is
responsible only for its own observance of the IT security measures 10. Defects in Quality and Title of the Software
offered and selected by the Customer. The Customer decides also on
The Terms of Sale and Delivery of the supplier shall apply to all defects in
the selection of the connection of the drive controller to the remote
quality and title. If, after providing a service, the supplier supplies the
access server of the supplier and bears the sole responsibility for its
Customer with a new software version to remedy defects in quality and title,
establishment, maintenance and security.
the Customer shall accept this new software version in order to maintain
the warranty rights, insofar as the acceptance is not unreasonable.
9. Other Cooperation Obligations of the Customer

9.1. The Customer shall report malfunctions, errors and damage without
delay. The report must furthermore describe the symptoms of the 11. Acceptance
fault so precisely that the supplier is able to support the Customer in
11.1. For all services suitable for acceptance testing and for all services for
the purposeful remedying of the fault.
which acceptance testing has been agreed, the supplier may
9.2. The Customer shall bear the responsibility for a regular data backup demand a written declaration of acceptance from the Customer or the
and the IT security in accordance with the state-of-the-art. The countersigning of an acceptance protocol immediately after a
supplier may assume that all data with which employees of the successfully completed acceptance test. Individual services that can
supplier come into contact have been previously backed up be used independently of one another shall be accepted separately.
elsewhere by the Customer.
11.2. If no formal acceptance testing is carried out pursuant to 11.1, the
9.3. The warranty of quality and liability do not cover faults or damage Customer shall inspect the results of the work within one month and
resulting from the use of the software in a hardware and software either declare the acceptance or notify STÖBER
environment that does not meet the technical requirements. ANTRIEBSTECHNIK in detail and in writing of any faults discovered.
9.4. Further cooperation obligations of the Customer result from the The unqualified use of the work results in production shall be deemed
individual order and from the general obligation to maintain safety to be an acceptance.
and the duty to take due care. The risk of damage in the event of
infringements of the cooperation obligation must be borne by the
12. Final Provisions
Customer. The supplier shall not be responsible for monitoring
12.1. The whole business relationship between the supplier and the
whether the Customer complies with the cooperation obligations.
Customer shall be subject to the law of the Federal Republic of
Germany, to the exclusion of the UN Sales Convention and the
provisions of private international law. Place of fulfillment and venue

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Manual SD6
for all disputes arising out of and/or in conjunction with this Contract
shall the registered offices of the supplier. In the event of legal
disputes, the supplier can also opt to take action at the Customer's
general venue.
12.2. The Customer warrants to have established all necessary
preconditions in order that the supplier can carry out the agreed
services without infringement of the provision of data protection law.
12.3. Amendments and supplements to the contracts between the supplier
and the Customer must be made in written form for their validity. A
notification in text form (e.g. e-mail) shall also be sufficient to meet
the written form requirement unless the receiving party insists on
notification in written form.
12.4. Should any of the above provisions be or become invalid or
unenforceable, this shall not affect the validity or enforceability of the
other provisions. The Contract parties shall make efforts to replace
the invalid or unenforceable provision with a valid and enforceable
provision coming as close as possible to the business intention of the
original invalid or unforceable provision.

15 Optimize
Manual SD6
15 Optimize 15.1.3.2 Speed controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . 327
15.1.3.3 Control mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331

15.1.3.4 Current controller . . . . . . . . . . . . . . . . . . . . . . . . . . . 336
15.1 Control cascade . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .296 15.1.4 B20 = 1:ASM - U/f-slip compensated . . . . . . . . . . . . . . . . . . 338
15.1.1 B20 = 64:SSM and 70:LSM - vector control . . . . . . . . . . . . . . 297 15.1.4.1 Position controller . . . . . . . . . . . . . . . . . . . . . . . . . . . 338
15.1.1.1 Position controller .. . . . . . . . . . . . . . . . . . . . . . . . . . 297 15.1.4.2 Control mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 341
15.1.1.2 Speed controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . 300 15.1.4.2.1 B21 = 0: linear . . . . . . . . . . . . . . . . . . . . 341
15.1.1.3 Control mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 303 15.1.4.2.2 B21 = 1: square . . . . . . . . . . . . . . . . . . . 346
15.1.1.3.1 Operation without field  15.1.5 B20 = 0:ASM - V/f-control . . . . . . . . . . . . . . . . . . . . . . . . . . . 351

weakening . . . . . . . . . . . . . . . . . . . . . . . 303
15.1.5.1 Position controller . . . . . . . . . . . . . . . . . . . . . . . . . . . 351
15.1.1.3.2 Operation with field weakening . . . . . . . 305
15.1.5.2 Control mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 354
15.1.5.2.1 B21 = 0: linear . . . . . . . . . . . . . . . . . . . . 354
15.1.1.4.1 B59 = 0: Inactive . . . . . . . . . . . . . . . . . . 308
15.1.5.2.2 B21 = 1: square . . . . . . . . . . . . . . . . . . . 357
15.1.1.4.2 B59 = 1: active . . . . . . . . . . . . . . . . . . . . 310
15.1.6 Actions with enable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 360
15.1.2 B20 = 2:ASM - vector control . . . . . . . . . . . . . . . . . . . . . . . . 312
15.1.6.1 Execute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 360
15.1.2.1 Position controller .. . . . . . . . . . . . . . . . . . . . . . . . . . 312
15.1.6.2 B42 Optimize current controller . . . . . . . . . . . . . . . . 360
15.1.2.2 Speed controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . 315
15.1.6.3 B49 optimize current controller standstill . . . . . . . . . 361
15.1.2.3 Control mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 318
15.2 The ratio of the displayable position to the
measurable position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .361
15.1.3 B20 = 3:ASM - sensorless vector control . . . . . . . . . . . . . . . 324
15.1.3.1 Position controller .. . . . . . . . . . . . . . . . . . . . . . . . . . 324

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15.1 Control cascade

The control cascade generates the appropriate control of the motor for a
required movement.
The structure of the control cascade depends on the control mode set in B20.
You can find this structure in the sections that follow.
When optimizing the control cascade, note the following points

• The display of the control cascade follows the signal curve: From position
controller to current controller. However, optimization should be in the
opposite order: From current controller to position controller.
• Before optimization, especially for third-party motors, perform action B41
autotuning (see section 10.2.3.3).
• Before manual current controller optimization perform actions B42 optimize
current controller(see section 15.1.6.2) and B49 optimize current controller
standstill (see section 15.1.6.3).

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15.1.1 B20 = 64:SSM and 70:LSM - vector control

15.1.1.1 Position controller
Not for motion commands without position control

(MOVE_SPEED and MOVE_TORQUE)
I80
Deadband P controller Limit Low pass

I84
x-ref from profile
E07
generator
I23 I20 -I10 I10 C33
E161
v-ref from profile
generator
I25

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C33 lowpass reference speed version 0 I20 Kv-factor (proportional gain position control) version 0
Reference value smoothing. C33 should be increased in response to reference Position controller gain (P-response only). The Kv factor is also referred to as
value noise, vibrating mechanics or large extraneous weights. the speed gain.
Occasionally it is also indicated with a unit of measure [m/min/mm]. This is
equivalent to exactly 0.06 · I20.
E07 ref speed for v controller version 0
Display of the current speed reference value (RV) in user units based on the
I23 deadband position control version 0
profile generator and the v-RV low pass. The total of the position controller
output and speedFeedFwd (=speed controller reference value) is displayed in Dead zone of the position controller. Useful for avoiding idle oscillations
Position operating mode. E06 shows the same value in reference to the motor resulting from friction or reversal, especially if an external position encoder is
shaft. used.
Note that I23 deadband must be less than positioning window I22. Otherwise
E161 v-rmpg version 0
the drive will not reach its target position.
The speed reference value at the output of the profile generator. With position
control corresponds to the speed feed forward.
I25 speed feedforward version 0
Velocity feed forward of the position controller.

I10 maximal speed version 0
The calculated velocity profile is switched to the output of the position
Maximum velocity as a limit for controller.
• CiA 402 Homing mode: A587
• CiA 402 Jogging mode: I12 Speed feed forward relieves the load on the position controller, thereby
reducing the following error.
Information
The limit is set without event 54:following error occurring.
When I25 = 100 %, the drive moves at a constant speed without a stationary
following error, but it does tend to overshoot at the target position. Because of
Triggering limit for event 56:Overspeed: this, I25 in most application is in the range of 60 ... 95 %.
I10 x 1.111 > measured velocity. In addition to reducing I25, overshooting in the target position can also
The measured velocity is equivalent to I88. alleviated by increasing C32 (time constant I-part).
From firmware 6.0-B: If the motor and position encoder are separated, I88 and
E91 x I240[1] are checked.

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I80 current position version 0
Display of the actual position (without backlash compensation).
I84 following error version 0
Display of the current position deviation.

If the following distance I84 is above the permitted maximum I21 or A546 in the
case of CiA, the drive triggers fault 54 following Error if the corresponding level
is set in U22.

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15.1.1.2 Speed controller

PI controller Limit Low pass
C37
M/F-ref for
E07
control mode
C31 C32 E65 E66 C36

Low pass
100 % - C37
E15
C34

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C31 proportional gain v-control version 0 Encoder type Single-turn resolution C34
(in bits) (recommendations)
Proportional gain of the speed controller. With C31 = 100 % and a speed
ECN 1113 13 2,0
deviation of 32 rpm, the static torque/force returns M0/F0 as a reference value
to the current or torque/force controller. EQN 1125 13 2,0
EQN 1324-2048 13 2,0
ECI 1118 18 1,8
C32 integral time v-ctrl version 0
EQI 1130 18 1,8
Time constant of the I-part in the speed controller. A small integral action time
ECI 1319 19 1,8
results in a high integration speed, thereby increasing the static rigidity of the
drive. A small integral action time can lead to overshoots in dynamic processes EQI 1329 17 1,8
in the target position. In this case C32 should be increased. When C32 is < 1 EQI 1331 19 1,8
ms the I controller is deactivated. ECI 119 19 0,6
ECN 1123 23 0,4
With C31 = 100 % and a speed deviation of 32 rpm after an integral action time
of C32 the I-part of the speed controller returns the nominal motor torque/force EQN 1135 23 0,4
as a reference value for the current or torque/force controller. ECN 1325 25 0,3
EQN 1337 25 0,3
C34 actual motor speed low pass version 0 ECI 1118-G2 18 0,6
EBI 1135 18 1,8
Smoothing time constant for the measured motor speed.
Resolver 16 1,8
C34 affects how smoothly the motor runs and also the dynamics that can be Incremental encoder  12 2,0
achieved with the drive. As a general rule, the motor runs more smoothly and (1024 incr./ revolution)
dynamic decrease as C34 increases in value. In principle C34 should be set as Incremental encoder  13 1,4
high as necessary to ensure the motor will run as smoothly as desired. The (2048 incr. / revolution)
minimum value of C34 depends primarily on the accuracy of the encoder that Incremental encoder 14 0,8
is used. (4096 incr. / revolution)
The following table contains an approximate value for C34 for all STOBER
standard motors. This value may have to be adjusted down in some
circumstances depending on how smoothly the motor needs to run.

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C36 reference torque/force low pass version 0 E65 actual positive T-max version 0
Smoothing time constant in ms for the torque/force value on the output of the Currently active positive torque/force limit. The reference value for
speed controller. Used to suppress vibrations and resonances. The effect of consideration on the load side is C09, for consideration on the motor side B18.
torque/force smoothing can be metered with C37.
E66 actual negative T-max version 0

C37 reference torque filter version 0
Currently active negative torque/force limit in reference to B18. The reference
The torque/force value is formed at the output of the speed controller from two value for consideration on the load side is C09, for consideration on the motor
components. The ratio of these components can be adjusted with C37: side B18.
• Direct output of PI speed controller (component corresponds to 100 % -
C37).
• Smoothed output of PI speed controller (component corresponds to C37).
For maximum dynamics set C37 = 0 %. This will eliminate any effect from the
reference value low pass with time constant C36. C37 can be increased up to
100 % to dampen vibrations.
E15 v-motor-encoder version 0
The speed determined from the motor encoder specified in B26. If the control
mode in B20 does not require an encoder and none is parameterized in B26,
the speed from the motor model will be displayed.
output and speedFeedFwd (=speed controller reference value) is displayed in
Position operating mode. E06 shows the same value in reference to the motor
shaft.

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15.1.1.3 Control mode E05 f1-Motor version 0

15.1.1.3.1 Operation without field weakening
Frequency of the voltage applied to the motor.
E170
M/F-ref for
speed controller E166
E91 E172
The speed determined from the motor encoder specified in B26. If the control
E15 n f E05 mode in B20 does not require an encoder and none is parameterized in B26,
the speed from the motor model will be displayed.
B10
Maximum Maximum
permitted current permitted torque E90 actual torque/ force version 0
E172 Display of the current torque or force as a percentage. Unsmoothed, in contrast

to E02. The reference value for consideration on the load side is C09, for
0 E165 consideration on the motor side B18.
E91 v-motor version 0

E93 E90
Display of the current motor speed. Unsmoothed, in contrast to E08. If the drive
E172 is operated without feedback, this speed is determined by calculations using
the motor model (the actual motor speed may differ in this case from the
calculated speed).
Number of poles of a synchronous servo motor or asynchronous motor. E93 I-q version 0
If the number of pole pairs is specified for third-party motors, the value must be
multiplied by 2 before it is entered. Torque generating current in amps.
E165 Id-ref version 0
Reference value of the magnetization current.

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E166 Iq-ref version 0
Reference value for the torque generating current as a A.
E172 Iq-nominal version 0
(Internally) calculated torque generating nominal current.

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15.1.1.3.2 Operation with field weakening

Limit
E170
M/F-ref for
E172
E65 E66
Limit
E03 Field weakening

control E165
E04
B92
0 Maximum
Current limit
permitted torque
Maximum
permitted current
E91
E15 n f E05
B10
E93 E90
E172

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B10 motor-poles version 0 E15 v-motor-encoder version 0
Number of poles of a synchronous servo motor or asynchronous motor. The speed determined from the motor encoder specified in B26. If the control
If the number of pole pairs is specified for third-party motors, the value must be mode in B20 does not require an encoder and none is parameterized in B26,
multiplied by 2 before it is entered. the speed from the motor model will be displayed.
Currently active positive torque/force limit. The reference value for

B92 voltage limit field weakening version 0
Entry point into field weakening.
The set value affects the dynamic properties of the drive.
Setting instructions:
• The smaller the value the better the dynamic properties. Currently active negative torque/force limit in reference to B18. The reference
• The larger the value the lower the power consumption at a given working value for consideration on the load side is C09, for consideration on the motor
point. side B18.
E03 DC-link-voltage version 0 E90 actual torque/ force version 0
DC link connection (peak value). Display of the current torque or force as a percentage. Unsmoothed, in contrast
consideration on the motor side B18.
Motor voltage (chained RMS value).

Display of the current motor speed. Unsmoothed, in contrast to E08. If the drive
E05 f1-Motor version 0
is operated without feedback, this speed is determined by calculations using
Frequency of the voltage applied to the motor. the motor model (the actual motor speed may differ in this case from the
calculated speed).

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E93 I-q version 0
Torque generating current in amps.
E172 Iq-nominal version 0
(Internally) calculated torque generating nominal current.

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15.1.1.4 Current controller Information

15.1.1.4.1 B59 = 0: Inactive The factory setting of this parameter depends on B20. When
PID controller 64:SSM - vector control is selected, a value of 8:8kHz is entered
E98 in B24. If an asynchronous machine is used (ASM - V/f-control,
ASM - V/f-slip compensated, ASM - sensorless vector control or
E165
ASM - vector control), a value of 4:4kHz is assigned to B24.
E92
Information
B64 B65 B68
Note that if B20 = 64:SSM - vector control then you should set
B24 = 8:8kHz for better controller performance.
PWM M
B64 integral time torque/force controller version 0
Action time of the current controller for the torque/ force-generating part in ms.
PID controller
A setting below 0.3 ms will result in an integral gain of 0 (equivalent to an infinite
E99 action time).
E166
E93 B65 proportional gain torque/force controller version 0
B66 B67 B68 Proportional gain of the torque/ force controller.

B24
B66 integral time Id version 0

Action time of the current controller for the flow generating part in ms. A setting
Changing the clock frequency affects the amount of noise produced by the below 0.3 ms will result in an integral gain of 0 (equivalent to an infinite action
drive. However, increasing the clock frequency results in increased losses. time).
Because of this, the admissible nominal motor current (B12) must be reduced
at increased clock frequency. In some operating states the clock frequency is
changed by the drive controller itself. The currently active clock frequency is B67 proportional gain flux version 0
displayed in E151. Proportional gain of the flow controller.

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B68 kd-iq version 0
D-part of the torque controller.
E92 I-d version 0
Magnetizing current in amps.
E93 I-q version 0
E98 Ud version 1
E99 Uq version 1
Voltage in q direction in V (linked peak voltage).

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15.1.1.4.2 B59 = 1: active Information

PID controller The factory setting of this parameter depends on B20. When
E98 64:SSM - vector control is selected, a value of 8:8kHz is entered
in B24. If an asynchronous machine is used (ASM - V/f-control,
E165
ASM - V/f-slip compensated, ASM - sensorless vector control or
E92 ASM - vector control), a value of 4:4kHz is assigned to B24.
B64 B65 B68

Information
Note that if B20 = 64:SSM - vector control then you should set
Track
E00 gains PWM M B24 = 8:8kHz for better controller performance.
B60 B60 saturation coefficient current controller version 0

PID controller
The characteristic saturation curve of the motor is described by these two
E99
coefficients. The coefficients are determined by actions B41 autotuning, B42
E166 optimize current controller and B49 optimize current controller standstill.
E93
B64 integral time torque/force controller version 0
B66 B67 B68 B24
B24 switching frequency version 0 action time).
Changing the clock frequency affects the amount of noise produced by the
drive. However, increasing the clock frequency results in increased losses. B65 proportional gain torque/force controller version 0
Because of this, the admissible nominal motor current (B12) must be reduced
Proportional gain of the torque/ force controller.
at increased clock frequency. In some operating states the clock frequency is
changed by the drive controller itself. The currently active clock frequency is
displayed in E151.

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B66 integral time Id version 0 E99 Uq version 1
Action time of the current controller for the flow generating part in ms. A setting Voltage in q direction in V (linked peak voltage).
below 0.3 ms will result in an integral gain of 0 (equivalent to an infinite action
time).

B67 proportional gain flux version 0
Proportional gain of the flow controller.


B68 kd-iq version 0
E00 I-Motor version 0
Shows the current motor current as an amount in amps.
E92 I-d version 0
E93 I-q version 0
E98 Ud version 1

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15.1.2 B20 = 2:ASM - vector control


I80

I84
x-ref from profile
E07
generator
I23 I20 -I10 I10 C33
E161
v-ref from profile
generator
I25

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C33 lowpass reference speed version 0 Information

I10 multiplied by 1.111 is equivalent to the triggering limit for event
Reference value smoothing. C33 should be increased in response to reference
56:Overspeed.
value noise, vibrating mechanics or large extraneous weights.
I20 Kv-factor (proportional gain position control) version 0

Position controller gain (P-response only). The Kv factor is also referred to as
the speed gain.
shaft.
E161 v-rmpg version 0 Dead zone of the position controller.

Useful for preventing idle oscillations resulting from friction or reversal,
especially if an external position encoder is used.
Information
I23 deadband must be less than the positioning window I22,
otherwise the drive will not reach its target position.
Maximum speed as a limit for calculating reference value with the motion core.

Information
The limit is set without event 54:following error occurring. Velocity feed forward of the position controller.
controller.
The restriction does not apply with cyclically synchronous reference values Speed feed forward relieves the load on the position controller, thereby
assigned in Controller Based mode. reducing the following error.
this, I25 in most application is in the range of 60 ... 95 %.

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In addition to reducing I25, overshooting in the target position can also

alleviated by increasing C32 (time constant I-part).
Display of the current position deviation. 

If the following distance I84 is above the permitted maximum I21, the drive
triggers fault 54 following Error if the corresponding level is set in U22.

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PI controller Limit Low pass
C37
M/F-ref for
E07
control mode
C31 C32 E65 E66 C36

Low pass
100 % - C37
E15
C34
Proportional gain of the speed controller.

C31 proportional gain v-control version 0

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With C31 = 100% and a speed deviation of 32 rpm for asynchronous motors
Encoder designation Encoder evaluation Approximate value
and synchronous servo motors, the P part of the speed controller returns the
of C34 [ms]
stall torque M0 as a reference value to the current or torque controller.
With C31 = 100% and a speed deviation of 3.2 m/min for synchronous linear ECN 1113, EQN 1125 EnDat 2.1 0,8 - 1,2
motors, the P part of the speed controller returns the static force F0 as a EQN 1325 EnDat 2.1 0,8 - 1,2
reference value to the current or force controller. ECI 1118, EQI 1130 EnDat 2.1 1,4 - 1,8
ECI 1319, EQI 1329, EnDat 2.1 1,2 - 1,8
C32 integral time v-ctrl version 0 EQI1331
ECI 1119, EQI 1131 EnDat 2.2 0,4 - 0,6
results in a high integration speed, thereby increasing the static rigidity of the ECI 119, EBI 135 EnDat 2.2 0,4 - 0,6
drive. A small integral action time can lead to overshoots in dynamic processes ECN 1123, EQN 1135 EnDat 2.2 0,1 - 0,4
in the target position. In this case C32 should be increased. When C32 is < 1 ECN 1325, EQN 1337 EnDat 2.2 0,0 - 0,2
ms the I controller is deactivated.
ECI 1118-G2, EBI 1135 EnDat 2.2 0,4 - 0,6
EQN 1125 EnDat SinCos 512 0,4 - 0,8
of C32 the I-part of the speed controller returns the nominal motor torque/force
as a reference value for the current or torque/force controller. EQN 1325 EnDat SinCos 2048 0,2 - 0,8
SKS36, SKM36 Hiperface SinCos 128 0,6 - 1,0
C34 actual motor speed low pass version 0 Resolver (2-pole) Similar 1,4 - 2,0
Incremental 1024 HTL/TTL 2,0
Filter time constant for the current motor encoder speed E15.
C34 affects how smoothly the motor runs and the dynamics that can be
achieved with the drive. As C34 increases, the motor runs more quietly and
dynamics decrease. The minimum value of C34 depends primarily on the
accuracy of the encoder that is used. The table below contains approximate
C36 reference torque/force low pass version 0
values for C34.
Smoothing time constant in ms for the torque/force value on the output of the
speed controller. Used to suppress vibrations and resonances. The effect of
torque/force smoothing can be metered with C37.

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C37 reference torque filter version 0 E65 actual positive T-max version 0
The torque/force value is formed at the output of the speed controller from two Currently active positive torque/force limit. The reference value for
components. The ratio of these components can be adjusted with C37: consideration on the load side is C09, for consideration on the motor side B18.
• Direct output of PI speed controller (component corresponds to 100 % -
C37).
• Smoothed output of PI speed controller (component corresponds to C37).
For maximum dynamics set C37 = 0 %. This will eliminate any effect from the Currently active negative torque/force limit in reference to B18. The reference
reference value low pass with time constant C36. C37 can be increased up to value for consideration on the load side is C09, for consideration on the motor
100 % to dampen vibrations. side B18.
shaft.
Current motor encoder speed.

The speed determined from the motor encoder specified in B26 and filtered
with the motor encoder speed low pass C34.
If the control mode in B20 does not require an encoder and no encoder is
parameterized in B26, the speed calculated from the motor model will be
displayed.

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15.1.2.3 Control mode

E170
M/F-ref for
Slip E172
calculation
B13 B15 B63

Slip frequency
E91
E15 n f E05
/f-
B10 characteristic

Efficiency Reference flux
controller Magnetization
f control E165
B69
B15 B55 C39
E03
Field control
E04
Characteristic
flux curve
B92
E92 Actual flux
B55 Maximum
permitted torque
E93 Current limit
Maximum E90
permitted current

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B10 motor-poles version 0 B55 magnetic saturation coefficient version 0
Number of poles of a synchronous servo motor or asynchronous motor. The parameter indicates the degree to which the motor is magnetically
If the number of pole pairs is specified for third-party motors, the value must be saturated at the nominal point. The parameter is important for the control
multiplied by 2 before it is entered. accuracy of control modes 2:ASM - vector control and 3:ASM - Sensorless
Correlation between the number of poles, nominal speed nN in rpms and the vector control in the field weakening range.
Information
B13 nominal motor speed version 0 The default value is adequate for most motors and applications.
Adjustments are only necessary in some circumstances when
Nominal speed in rpm for rotational motors, nominal speed in m/min for linear
connecting a third-party motor. In these cases the value can be
should not be performed until you have consulted with STOBER.
Nominal frequency of the motor as per rating plate. Parameters B14 and B15 B63 Mmax/Mnom version 0
define the pitch of the V/f characteristic curve and thereby the characteristics
of the drive. The V/f characteristic curve determines the frequency (B15 f-
nominal) at which the motor is operated at nominal voltage (B14 V-nominal).
The voltage and frequency can be increased linearly beyond the nominal point. B69 minimum magnetization partial load version 0
Control modes B20 = 2:ASM - vector control and 3:ASM - sensorless vector
control have an efficiency controller. It attempts to operate the motor at its
400 V makes it possible to increase output by a factor of 1.73 with an extended
energetically optimal point. The output variable of this controller is the
adjusting range and at a constant torque. The motor requires additional current
reference flux, which is controlled by the current in direction d (E92: Id). The
in this connection variant. Make certain the following points are observed:
parameter B69 Minimum magnetization part load is the lower limit for the
• The drive controller must be designed for the corresponding output (Pdelta
= 1.73 · Pstar). nominal magnetization in the part-load range. In the field-weakening range,
smaller fluxes can also occur than those set in B69.
• B12 (I-nominal) is parameterized to the appropriate nominal motor current
(Idelta = 1.73 · Istar). Information
The larger B69 is set, the larger is the possible dynamics. 100% means
maximum dynamics and minimum efficiency.

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With small values for B69 it may be necessary to adjust C31 proportional gain
n-control as the motor otherwise tends to vibrate.
B92 voltage limit field weakening version 0
Entry point into field weakening. If the control mode in B20 does not require an encoder and no encoder is
The set value affects the dynamic properties of the drive. parameterized in B26, the speed calculated from the motor model will be
Setting instructions: displayed.
• The smaller the value the better the dynamic properties.
• The larger the value the lower the power consumption at a given working
E90 actual torque/ force version 0
point.
Display of the current torque or force as a percentage. Unsmoothed, in contrast
C39 derating speed controller version 0
consideration on the motor side B18.
You can use this parameter to adjust the derating of the speed controller field
weakening range.
Current motor speed.

E03 DC-link-voltage version 0
Corresponds to the current motor encoder speed E15 when a B26 motor
DC link connection (peak value). encoder is used. If the drive is operated without an encoder, this speed can be
determined computationally using the motor model.

E92 I-d version 0

E93 I-q version 0

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(Internally) calculated torque generating reference current.


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PID controller The factory setting of this parameter depends on B20. If a
E98 synchronous servo motor or synchronous linear motor is used, the
E165
E92
4: 4 kHz
B64 B65 B68 8: 8 kHz
16: 16 kHz
PWM M 17: 4 + 8 kHz automatic
PID controller
E99 B64 integral time torque/force controller version 0
E166
E93
action time).
B66 B67 B68 B24
B65 proportional gain torque/force controller version 0

Proportional gain of the torque/ force controller.
Clock frequency of the drive controller power board.
Increasing the clock frequency improves the control dynamics and reduces the
power stage R04, R26). Action time of the current controller for the flow generating part in ms. A setting
In some operating states the clock frequency is changed by the drive controller below 0.3 ms will result in an integral gain of 0 (equivalent to an infinite action
itself. The currently active clock frequency is displayed in E151. time).

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B68 kd-iq version 0
E92 I-d version 0
E93 I-q version 0
E98 Ud version 1
E99 Uq version 1

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15.1.3 B20 = 3:ASM - sensorless vector control


I80

I84
x-ref from profile
E07
generator
I23 I20 -I10 I10 C33
E161
v-ref from profile
generator
I25

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C33 lowpass reference speed version 0 I20 Kv-factor (proportional gain position control) version 0
Reference value smoothing. C33 should be increased in response to reference Position controller gain (P-response only). The Kv factor is also referred to as
value noise, vibrating mechanics or large extraneous weights. the speed gain.
output and speedFeedFwd (=speed controller reference value) is displayed in Dead zone of the position controller.
Position operating mode. E06 shows the same value in reference to the motor Useful for preventing idle oscillations resulting from friction or reversal,
shaft. especially if an external position encoder is used.
E161 v-rmpg version 0 Information

The speed reference value at the output of the profile generator. With position otherwise the drive will not reach its target position.

Maximum speed as a limit for calculating reference value with the motion core.
Information controller.
The limit is set without event 54:following error occurring. Speed feed forward relieves the load on the position controller, thereby
The restriction does not apply with cyclically synchronous reference values following error, but it does tend to overshoot at the target position. Because of
assigned in Controller Based mode. this, I25 in most application is in the range of 60 ... 95 %.
Information alleviated by increasing C32 (time constant I-part).
56:Overspeed.

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E06
>=
B15 5%
PI
controller
E07
E91
C31 C32 Limit Low pass
TRUE C37
M/F-ref for
Derating control mode
speed controller FALSE
B15 C39 E65 E66 C36
Controlled 100 % - C37

torque assignment
B62 C21 C30

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The total torque consists of an acceleration torque and C21 together. The
acceleration torque is calculated from the mass moment of inertia of the overall
Nominal frequency of the motor as per rating plate. Parameters B14 and B15 system and the acceleration. C21 is not included in the braking torque, which
define the pitch of the V/f characteristic curve and thereby the characteristics is calculated from the braking ramp only.
of the drive. The V/f characteristic curve determines the frequency (B15 f- The effects of C21 can be seen in the E166 Iq-ref. If the load torque that is
nominal) at which the motor is operated at nominal voltage (B14 V-nominal). actually applied is considerably less than C21, jerks may occur during startup
The voltage and frequency can be increased linearly beyond the nominal point. as well as large stationary deviations in speed. If C21 is considerably less than
The upper voltage limit is the supply voltage that is applied. STOBER system the load torque, the motor cannot accelerate.
adjusting range and at a constant torque. The motor requires additional current E166 Iq-ref
• The drive controller must be designed for the corresponding output (Pdelta acceleration
torque
= 1.73 · Pstar).
C21
(Idelta = 1.73 · Istar). brake torque

acceleration constant travel brake
C30 J-Last / J-Motor version 0

C21 start-up torque version 0
Ratio of the mass moment of inertia of the load to the motor. C30 is included in
Specify the constant load torque for slow speeds (<5% of B13 Nominal speed) the calculation of acceleration and braking torques in the low speed range (< 5
in C21 in control mode B20 = 3:ASM - Sensorless vector control. C21 has no % of nominal speed).
meaning for higher speeds. (friction, force of gravity for vertical axes, etc.). The
reference quantity for C21 is B18 related torque. The torque specified in C21
always refers to the motor shaft.
Mmotor C21
n2
M load
n1

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C31 proportional gain v-control version 0 C37 reference torque filter version 0
Proportional gain of the speed controller. The torque/force value is formed at the output of the speed controller from two
With C31 = 100% and a speed deviation of 32 rpm for asynchronous motors components. The ratio of these components can be adjusted with C37:
and synchronous servo motors, the P part of the speed controller returns the • Direct output of PI speed controller (component corresponds to 100 % -
stall torque M0 as a reference value to the current or torque controller. C37).
With C31 = 100% and a speed deviation of 3.2 m/min for synchronous linear • Smoothed output of PI speed controller (component corresponds to C37).
motors, the P part of the speed controller returns the static force F0 as a For maximum dynamics set C37 = 0 %. This will eliminate any effect from the
reference value to the current or force controller. reference value low pass with time constant C36. C37 can be increased up to
100 % to dampen vibrations.
C32 integral time v-ctrl version 0

C39 derating speed controller version 0
results in a high integration speed, thereby increasing the static rigidity of the You can use this parameter to adjust the derating of the speed controller field
drive. A small integral action time can lead to overshoots in dynamic processes weakening range.
in the target position. In this case C32 should be increased. When C32 is < 1
ms the I controller is deactivated.
E06 v-reference motor version 0
of C32 the I-part of the speed controller returns the nominal motor torque/force Display of the current speed reference value in reference to the motor shaft.
as a reference value for the current or torque/force controller.

C36 reference torque/force low pass version 0
Smoothing time constant in ms for the torque/force value on the output of the profile generator and the v-RV low pass. The total of the position controller
speed controller. Used to suppress vibrations and resonances. The effect of output and speedFeedFwd (=speed controller reference value) is displayed in
torque/force smoothing can be metered with C37. Position operating mode. E06 shows the same value in reference to the motor
shaft.

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Currently active negative torque/force limit in reference to B18. The reference

side B18.

encoder is used. If the drive is operated without an encoder, this speed can be

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E170
M/F-ref for
Slip E172
calculation
B13 B15 B63

Slip frequency
E91
E15 n f E05
/f-
B10 characteristic

Efficiency Reference flux
controller Magnetization
f control E165
B69
B15 B55 C39
E03
Field control
E04
Characteristic
flux curve
B92
E92 Actual flux
B55 Maximum
permitted torque
E93 Current limit
Maximum E90
permitted current

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Activate the encoderless SVLC-HP control mode for AC motors with B20 =
3:SLVC-HP. E07 n-post-ramp
Areas of application for the SLVC-HP are drives with E91 n-motor or E15 n-motor-encoder (B48 too small)
E91 n-motor or E15 n-motor-encoder (B48 too large)
• high accelerations,
• changing loads and
• large loads when the motor starts up.
The parameters B46, B47 and B48 are optimized during commissioning of the
SLVC-HP control mode. You can perform this automatically with the action
Optimize B45 SLVC-HP (s. section 10.2.3.4 B45 action autotune SLVC).
If action B45 can not be performed, note the following description for a manual
setting.
The quality of control of the SLVC-HP control mode also depends on how exact
the values B52 stator inductance, B53 stator resistance and B54 leakage factor
are. For external motors, you can use the action B41 to optimize these
Set B47 Proportional Gain SLVC-HP
parameters (s. section 10.2.3.3 B41 Autotuning).
This parameter affects the dynamic properties of the motor (especially the
Set B48 Integral Gain SLVC-HP stability and overshoot behavior of the speed).
This parameter affects the dynamic properties of the motor. The larger B48 is, The correct setting can be checked by means of the speed curve. If an encoder
the faster the motor model can follow the actual speed. is present during commissioning, E15 should be considered as the actual
The correct setting can be checked by means of the speed curve. If an encoder speed, otherwise E91. B47 should not be smaller than 1 % of B48. The drive
is present during commissioning, E15 n-motor encoder should be considered, can become unstable for values that are too small. The resulting vibration
otherwise E91. oscillates at the mechanical frequency. By increasing B47, overshoots in the
If the motor can not follow the set speed ramp despite sufficiently large torque speed can be dampened. Values that are too large lead to vibrations in the
limits, B48 must be increased. Values that are too large lead to the fault current and speed.
56:Overspeed.

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E07 n-post-ramp
E91 n-motor or E15 n-motor-encoder (B48 too small) Nominal speed in rpm for rotational motors, nominal speed in m/min for linear
E91 n-motor or E15 n-motor-encoder (B47 too large) drives, as per rating plate.
Nominal frequency of the motor as per rating plate. Parameters B14 and B15
of the drive. The V/f characteristic curve determines the frequency (B15 f-
nominal) at which the motor is operated at nominal voltage (B14 V-nominal).
mech. frequency
The voltage and frequency can be increased linearly beyond the nominal point.
Set B46 Feedback ASM Observer adjusting range and at a constant torque. The motor requires additional current
This parameter affects the accuracy of the SLVC-HP. For values that are too in this connection variant. Make certain the following points are observed:
large or too high, the stationary difference between the reference and actual • The drive controller must be designed for the corresponding output (Pdelta
speed increases. The amount of feedback is an option to be reported to the = 1.73 · Pstar).
ASM observer how exact the machine constants B54 leakage factor, B52
stator inductance and B53 stator resistance were determined The smaller the
(Idelta = 1.73 · Istar).
feedback selected, the more the ASM observer depends on these constants.
B10 motor-poles version 0 B55 magnetic saturation coefficient version 0
Number of poles of a synchronous servo motor or asynchronous motor. The parameter indicates the degree to which the motor is magnetically
If the number of pole pairs is specified for third-party motors, the value must be saturated at the nominal point. The parameter is important for the control
multiplied by 2 before it is entered. accuracy of control modes 2:ASM - vector control and 3:ASM - Sensorless
Correlation between the number of poles, nominal speed nN in rpms and the vector control in the field weakening range.

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Information B92 voltage limit field weakening version 0

The default value is adequate for most motors and applications.
Adjustments are only necessary in some circumstances when Entry point into field weakening.
connecting a third-party motor. In these cases the value can be The set value affects the dynamic properties of the drive.
Setting instructions:
should not be performed until you have consulted with STOBER. • The smaller the value the better the dynamic properties.
• The larger the value the lower the power consumption at a given working
point.
B63 Mmax/Mnom version 0
Ratio of the tilting moment of the motor to the nominal torque. C39 derating speed controller version 0
You can use this parameter to adjust the derating of the speed controller field
B69 minimum magnetization partial load version 0 weakening range.
Control modes B20 = 2:ASM - vector control and 3:ASM - sensorless vector
control have an efficiency controller. It attempts to operate the motor at its E03 DC-link-voltage version 0
energetically optimal point. The output variable of this controller is the
DC link connection (peak value).
reference flux, which is controlled by the current in direction d (E92: Id). The
parameter B69 Minimum magnetization part load is the lower limit for the
nominal magnetization in the part-load range. In the field-weakening range, E04 U-Motor version 0
smaller fluxes can also occur than those set in B69.
Information
The larger B69 is set, the larger is the possible dynamics. 100% means
maximum dynamics and minimum efficiency. E05 f1-Motor version 0
With small values for B69 it may be necessary to adjust C31 proportional gain
n-control as the motor otherwise tends to vibrate. Frequency of the voltage applied to the motor.


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If the control mode in B20 does not require an encoder and no encoder is
parameterized in B26, the speed calculated from the motor model will be
displayed. Reference value for the torque generating current as a A.
E90 actual torque/ force version 0 E170 T-reference version 0
Display of the current torque or force as a percentage. Unsmoothed, in contrast For control modes with torque specification only. Reference torque or reference
to E02. The reference value for consideration on the load side is C09, for force currently required by the speed controller. The reference value for
consideration on the motor side B18. consideration on the load side is C09, for consideration on the motor side B18.
E91 v-motor version 1 E172 Iq-reference version 0
Current motor speed. (Internally) calculated torque generating reference current.

Corresponds to the current motor encoder speed E15 when a B26 motor Equivalent to the rated current for asynchronous motors and the standstill
encoder is used. If the drive is operated without an encoder, this speed can be current for synchronous servo motors.
E92 I-d version 0
E93 I-q version 0

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PID controller The factory setting of this parameter depends on B20. If a
E98 synchronous servo motor or synchronous linear motor is used, the
E165
E92
4: 4 kHz
B64 B65 B68 8: 8 kHz
16: 16 kHz
PWM M 17: 4 + 8 kHz automatic
PID controller
E99 B64 integral time torque/force controller version 0
E166
E93
action time).
B66 B67 B68 B24
B65 proportional gain torque/force controller version 0

B24 switching frequency version 2 Proportional gain of the torque/ force controller.
power stage R04, R26). Action time of the current controller for the flow generating part in ms. A setting
In some operating states the clock frequency is changed by the drive controller below 0.3 ms will result in an integral gain of 0 (equivalent to an infinite action
itself. The currently active clock frequency is displayed in E151. time).

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B68 kd-iq version 0
E92 I-d version 0
E93 I-q version 0
E98 Ud version 1
E99 Uq version 1

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15.1.4 B20 = 1:ASM - U/f-slip compensated


I80

I84
x-ref from profile
E07
generator
I23 I20 -I10 I10 C33
E161
v-ref from profile
generator
I25

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Manual SD6

56:Overspeed.

the speed gain.
shaft.

Information
Maximum speed as a limit for calculating reference value with the motion core. otherwise the drive will not reach its target position.
Information I25 speed feedforward version 0

The restriction does not apply with cyclically synchronous reference values controller.
assigned in Controller Based mode. Speed feed forward relieves the load on the position controller, thereby

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15 Optimize
Manual SD6

15.1.4.2.1 B21 = 0: linear
B53
E98
B23
V/f-
B12 characteristic Limit
E91 E05 U E99
PWM M
E07 n f
f
Maximum Maximum
permitted current permitted torque B10
B14 B15 B22 -A36 A36
Characteristic
flux curve
Actual flux Integrator
E165 B24
Speed reduction
from torque limiting E09
B55
E92 Torque Torque Slip frequency

E93 calculation limit E90
E65 E66
E166
E170
Low pass
E172
Vibration
damping
B31
B32
Slip
calculation
B13 B15 B63

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A36 mains voltage version 0 B15 nominal motor frequency version 0
Connected to X10, effective supply voltage. Nominal frequency of the motor as per rating plate. Parameters B14 and B15
The charge relay is controlled to ensure low wear depending on the current DC define the pitch of the V/f characteristic curve and thereby the characteristics
link voltage and A36. of the drive. The V/f characteristic curve determines the frequency (B15 f-
In control mode B20 = 64: SSM - vector control affects A36 the field weakening nominal) at which the motor is operated at nominal voltage (B14 V-nominal).
mode. A limit value is derived from A36 . DC link voltages above this limit value The voltage and frequency can be increased linearly beyond the nominal point.
are not taken into consideration in field weakening mode to prevent oscillations The upper voltage limit is the supply voltage that is applied. STOBER system
in the motor current. motors up to size 112 offer the option of star/delta operation. Delta operation at
Number of poles of a synchronous servo motor or asynchronous motor. • The drive controller must be designed for the corresponding output (Pdelta
If the number of pole pairs is specified for third-party motors, the value must be = 1.73 · Pstar).
multiplied by 2 before it is entered. • B12 (I-nominal) is parameterized to the appropriate nominal motor current
Correlation between the number of poles, nominal speed nN in rpms and the (Idelta = 1.73 · Istar).
B22 V/f-factor version 0

Correction factor for the pitch of the V/f characteristic curve. The pitch with V/
Nominal current in A, as per rating plate. f-factor = 100 % is determined by V-nominal (B14) and f-nominal (B15).
B13 nominal motor speed version 0 B23 V/f boost version 0
Nominal speed in rpm for rotational motors, nominal speed in m/min for linear Boost refers to an increase in voltage in the lower speed range, which makes
drives, as per rating plate. a greater starting torque available. A boost of 100 % means the nominal motor
current will flow at 0 Hz. To determine the required boost voltage, the stator
resistance of the motor must be known.
B14 nominal motor voltage version 0
You must therefore always perform B41 autotuning for motors without an
Nominal voltage as per rating plate. For asynchronous motors note circuit type electronic rating plate.
(Y/∆)! Therefore make certain that parameters B11 ... B15 match! For STOBER standard motors, the stator resistance of the motor is defined
when the motor is selected.

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B24 switching frequency version 2 B32 SLVC-dynamics version 0
Clock frequency of the drive controller power board. The reaction rate of the control mode 1:ASM - V/f slip compensated to changes
Increasing the clock frequency improves the control dynamics and reduces the in load can be adjusted with B32. The smaller B32 is, the greater the dynamics
amount of noise produced, but also leads to increased losses (derating of the of the drive.
power stage R04, R26).
itself. The currently active clock frequency is displayed in E151.
Information parameter is only possible for third-party motors. The value can be autotuned
The factory setting of this parameter depends on B20. If a with action B41 autotuning.
value 8:8kHz is entered in B24. If an asynchronous machine is B63 Mmax/Mnom version 0
4: 4 kHz
8: 8 kHz E05 f1-Motor version 0
16: 16 kHz
19: 4 + 8 + 16 kHz automatic E07 ref speed for v controller version 0
B31 oscillation damping version 0 profile generator and the v-RV low pass. The total of the position controller
Large motors may be subject to resonant vibrations at idle. Increasing Position operating mode. E06 shows the same value in reference to the motor
parameter B31 has the effect of dampening these vibrations if B20 = 1:ASM - shaft.
V/f-slip compensated. Values in the range of 60 ... 100 % are suitable for
problematic drives.

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E09 motor position version 0 E91 v-motor version 1
Position of the motor or motor encoder. Current motor speed.

With absolute value encoders, the encoder position is continuously read and Corresponds to the current motor encoder speed E15 when a B26 motor
entered in this parameter. encoder is used. If the drive is operated without an encoder, this speed can be
This position is available in all operating modes. E09 is simulated (not determined computationally using the motor model.
E92 I-d version 0
retained.

E93 I-q version 0
consideration on the load side is C09, for consideration on the motor side B18. Torque generating current in amps.
E66 actual negative T-max version 0 E98 Ud version 1
Currently active negative torque/force limit in reference to B18. The reference Voltage in d direction in V (linked peak voltage).
side B18.
E99 Uq version 1


consideration on the motor side B18. Reference value of the magnetization current.

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15.1.4.2.2 B21 = 1: square

B53
E98
B23
V/f-
B12 characteristic Limit
E91 E05 U E99
PWM M
E07 n f
f
Maximum Maximum
permitted current permitted torque B10
B14 B15 B22 -A36 A36
Characteristic
flux curve
Actual flux Integrator
E165 B24
Speed reduction
from torque limiting E09
B55
E92 Torque Torque Slip frequency

E93 calculation limit E90
E65 E66
E166
E170
Low pass
E172
Vibration
damping
B31
B32
Slip
calculation
B13 B15 B63

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A36 mains voltage version 0 B15 nominal motor frequency version 0
Connected to X10, effective supply voltage. Nominal frequency of the motor as per rating plate. Parameters B14 and B15
The charge relay is controlled to ensure low wear depending on the current DC define the pitch of the V/f characteristic curve and thereby the characteristics
link voltage and A36. of the drive. The V/f characteristic curve determines the frequency (B15 f-
In control mode B20 = 64: SSM - vector control affects A36 the field weakening nominal) at which the motor is operated at nominal voltage (B14 V-nominal).
mode. A limit value is derived from A36 . DC link voltages above this limit value The voltage and frequency can be increased linearly beyond the nominal point.
are not taken into consideration in field weakening mode to prevent oscillations The upper voltage limit is the supply voltage that is applied. STOBER system
in the motor current. motors up to size 112 offer the option of star/delta operation. Delta operation at
Number of poles of a synchronous servo motor or asynchronous motor. • The drive controller must be designed for the corresponding output (Pdelta
If the number of pole pairs is specified for third-party motors, the value must be = 1.73 · Pstar).
multiplied by 2 before it is entered. • B12 (I-nominal) is parameterized to the appropriate nominal motor current
Correlation between the number of poles, nominal speed nN in rpms and the (Idelta = 1.73 · Istar).

Correction factor for the pitch of the V/f characteristic curve. The pitch with V/
Nominal current in A, as per rating plate. f-factor = 100 % is determined by V-nominal (B14) and f-nominal (B15).
B13 nominal motor speed version 0 B23 V/f boost version 0
Nominal speed in rpm for rotational motors, nominal speed in m/min for linear Boost refers to an increase in voltage in the lower speed range, which makes
drives, as per rating plate. a greater starting torque available. A boost of 100 % means the nominal motor
Nominal voltage as per rating plate. For asynchronous motors note circuit type electronic rating plate.
(Y/∆)! Therefore make certain that parameters B11 ... B15 match! For STOBER standard motors, the stator resistance of the motor is defined

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B24 switching frequency version 2 B32 SLVC-dynamics version 0
Clock frequency of the drive controller power board. The reaction rate of the control mode 1:ASM - V/f slip compensated to changes
Increasing the clock frequency improves the control dynamics and reduces the in load can be adjusted with B32. The smaller B32 is, the greater the dynamics
amount of noise produced, but also leads to increased losses (derating of the of the drive.
Information parameter is only possible for third-party motors. The value can be autotuned
The factory setting of this parameter depends on B20. If a with action B41 autotuning.
value 8:8kHz is entered in B24. If an asynchronous machine is B63 Mmax/Mnom version 0
4: 4 kHz
8: 8 kHz E05 f1-Motor version 0
16: 16 kHz
19: 4 + 8 + 16 kHz automatic E07 ref speed for v controller version 0
B31 oscillation damping version 0 profile generator and the v-RV low pass. The total of the position controller
Large motors may be subject to resonant vibrations at idle. Increasing Position operating mode. E06 shows the same value in reference to the motor
parameter B31 has the effect of dampening these vibrations if B20 = 1:ASM - shaft.
V/f-slip compensated. Values in the range of 60 ... 100 % are suitable for
problematic drives.

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E09 motor position version 0 E91 v-motor version 1
Position of the motor or motor encoder. Current motor speed.

With absolute value encoders, the encoder position is continuously read and Corresponds to the current motor encoder speed E15 when a B26 motor
entered in this parameter. encoder is used. If the drive is operated without an encoder, this speed can be
This position is available in all operating modes. E09 is simulated (not determined computationally using the motor model.
E92 I-d version 0
retained.

E93 I-q version 0
consideration on the load side is C09, for consideration on the motor side B18. Torque generating current in amps.
E66 actual negative T-max version 0 E98 Ud version 1
Currently active negative torque/force limit in reference to B18. The reference Voltage in d direction in V (linked peak voltage).
side B18.
E99 Uq version 1


consideration on the motor side B18. Reference value of the magnetization current.

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15.1.5 B20 = 0:ASM - V/f-control


I80

I84
x-ref from profile
E07
generator
I23 I20 -I10 I10 C33
E161
v-ref from profile
generator
I25

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Manual SD6

56:Overspeed.

the speed gain.
shaft.

Information
Maximum speed as a limit for calculating reference value with the motion core. otherwise the drive will not reach its target position.
Information I25 speed feedforward version 0

The restriction does not apply with cyclically synchronous reference values controller.
assigned in Controller Based mode. Speed feed forward relieves the load on the position controller, thereby

15 Optimize
Manual SD6



15 Optimize
Manual SD6

15.1.5.2.1 B21 = 0: linear
B53 Number of poles of a synchronous servo motor or asynchronous motor.
E98 If the number of pole pairs is specified for third-party motors, the value must be
B23 multiplied by 2 before it is entered.
V/f-
B12 characteristic Limit nominal frequency fN in Hz of the motor: B10 = 2·(fN · 60/nN).
E91 E05 U E99 PWM M
E07 n f B12 nominal motor current version 0
f Nominal current in A, as per rating plate.
B10
B14 B15 B22 -A36 A36
B24
Integrator Nominal voltage as per rating plate. For asynchronous motors note circuit type
(Y/∆)! Therefore make certain that parameters B11 ... B15 match!
E09
A36 mains voltage version 0 of the drive. The V/f characteristic curve determines the frequency (B15 f-
Connected to X10, effective supply voltage. nominal) at which the motor is operated at nominal voltage (B14 V-nominal).
The charge relay is controlled to ensure low wear depending on the current DC The voltage and frequency can be increased linearly beyond the nominal point.
link voltage and A36. The upper voltage limit is the supply voltage that is applied. STOBER system
In control mode B20 = 64: SSM - vector control affects A36 the field weakening motors up to size 112 offer the option of star/delta operation. Delta operation at
mode. A limit value is derived from A36 . DC link voltages above this limit value 400 V makes it possible to increase output by a factor of 1.73 with an extended
are not taken into consideration in field weakening mode to prevent oscillations adjusting range and at a constant torque. The motor requires additional current
in the motor current. in this connection variant. Make certain the following points are observed:

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Information
= 1.73 · Pstar).
Correction factor for the pitch of the V/f characteristic curve. The pitch with V/ 4: 4 kHz
f-factor = 100 % is determined by V-nominal (B14) and f-nominal (B15). 8: 8 kHz
16: 16 kHz
B23 V/f boost version 0 17: 4 + 8 kHz automatic
Boost refers to an increase in voltage in the lower speed range, which makes
a greater starting torque available. A boost of 100 % means the nominal motor
resistance of the motor must be known. B53 stator winding resistance version 0
electronic rating plate. Stator resistance RU-V of the motor winding in ohms. Processing with this
For STOBER standard motors, the stator resistance of the motor is defined parameter is only possible for third-party motors. The value can be autotuned
when the motor is selected. with action B41 autotuning.

amount of noise produced, but also leads to increased losses (derating of the E07 ref speed for v controller version 0
shaft.

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E09 motor position version 0

With absolute value encoders, the encoder position is continuously read and
retained.

E98 Ud version 1
E99 Uq version 1

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15.1.5.2.2 B21 = 1: square

B53
E98
Number of poles of a synchronous servo motor or asynchronous motor.
B23 If the number of pole pairs is specified for third-party motors, the value must be
V/f- multiplied by 2 before it is entered.
B12 characteristic Limit Correlation between the number of poles, nominal speed nN in rpms and the
E91 E05 U E99 PWM M nominal frequency fN in Hz of the motor: B10 = 2·(fN · 60/nN).
E07 n f
f B12 nominal motor current version 0

B14 B15 B22 -A36 A36
B24 B14 nominal motor voltage version 0

Integrator
Nominal voltage as per rating plate. For asynchronous motors note circuit type
E09 (Y/∆)! Therefore make certain that parameters B11 ... B15 match!
A36 mains voltage version 0 define the pitch of the V/f characteristic curve and thereby the characteristics
Connected to X10, effective supply voltage. of the drive. The V/f characteristic curve determines the frequency (B15 f-
The charge relay is controlled to ensure low wear depending on the current DC nominal) at which the motor is operated at nominal voltage (B14 V-nominal).
link voltage and A36. The voltage and frequency can be increased linearly beyond the nominal point.
In control mode B20 = 64: SSM - vector control affects A36 the field weakening The upper voltage limit is the supply voltage that is applied. STOBER system
mode. A limit value is derived from A36 . DC link voltages above this limit value motors up to size 112 offer the option of star/delta operation. Delta operation at
are not taken into consideration in field weakening mode to prevent oscillations 400 V makes it possible to increase output by a factor of 1.73 with an extended
in the motor current. adjusting range and at a constant torque. The motor requires additional current

15 Optimize
Manual SD6
Information
= 1.73 · Pstar).
Correction factor for the pitch of the V/f characteristic curve. The pitch with V/ B53 stator winding resistance version 0
f-factor = 100 % is determined by V-nominal (B14) and f-nominal (B15).
B23 V/f boost version 0 with action B41 autotuning.
Boost refers to an increase in voltage in the lower speed range, which makes
a greater starting torque available. A boost of 100 % means the nominal motor E05 f1-Motor version 0
electronic rating plate. E07 ref speed for v controller version 0
For STOBER standard motors, the stator resistance of the motor is defined
B24 switching frequency version 0 Position operating mode. E06 shows the same value in reference to the motor
shaft.
amount of noise produced, but also leads to increased losses (derating of the E09 motor position version 0
With absolute value encoders, the encoder position is continuously read and

15 Optimize
Manual SD6

retained.

E98 Ud version 1
E99 Uq version 1

15 Optimize
Manual SD6
15.1.6 Actions with enable 15.1.6.2 B42 Optimize current controller

The following actions provide support for you in making motor settings: WARNING!
• B40 phase test
Personal injury and material damage!
• B41 autotuning
• B45 autotune SLVC-HP (only if B20 = 3:ASM - sensorless vector control) The motor is turning at about 2000 rpm during this action. Coupling elements
connected to the motor shaft, for example feather key, or downstream loads
Note that the drive controller must be enabled for these actions. Section may cause damage if there are persons in the range of motion or if the
15.1.6.1 Executedescribes how to perform actions for which the drive controller mechanical system is not designed for this speed.
must be enabled.  Make certain that operation at this speed is permitted for the motor and
downstream loads!
15.1.6.1 Execute
 Secure coupling elements such as feather keys!
Performing actions with enable  Make certain no persons are injured by the motor movement and
downstream loads, for example by cordoning off a suitable area.
1. Change to the device state readySwtchOn.
2. Set the first element of the action to a value of 1 (for example B40[0] = 1).
NOTICE
3. Enable the motor.
 Element 1 shows the progress of the action (for example B40[1] = 33 Danger due to delayed shut-down.
%).  If you have enable the action via local operation, the action can only be
4. Wait until element 1 shows a value of 100 % (for example B40[1] = 100 %). interrupted with a very long delay by deactivating the enable!
5. Switch off enable.
 Element 2 shows the result of the action (for example B40[2] = 0:error
If you start action B42, the parameters of the current controller will be
free).
redetermined (B64 to B68).
Note that parameter values are determined specifically for these actions. You Information
should therefore next perform action A00 save values so that the values will be Clicking noises can be heard at regular intervals during this action.
safely stored if the power fails or is turned off. The action lasts for about 20 minutes.
• Enable must be inactive if you activate the action

• If you have started the action with B42[0] = 1:active, you must activate the
enable.
• When the action is complete, the enable must be deactivated again.

15 Optimize
Manual SD6
Then you can read the measured values in B64 to B68.

B49[2] optimize current controller (standstill) result version 1
If a quick stop request occurs during the action, the drive is stopped
immediately. After action B49 optimize current controller (standstill) is complete, the result
The cycle time is set to 32 ms internally for the duration of the action. can be queried here.
You can read the following results in the third element (B42.2):
0: error free: The action was performed and completed without errors. 15.2 The ratio of the displayable position to the
1: aborted: The action was interrupted by switching off the enable. measurable position
I160 position resolution version 0
15.1.6.3 B49 optimize current controller standstill
The settings of the axis model yield the smallest position step that can be
B49 optimize current controller (standstill) version 0 represented (for example 0.0001 mm). I160 shows how many measurement
steps the encoder that is used has in the smallest position step that can be
The action redetermines the parameters for current controller gain (B53, B64
represented. This makes it possible to determine the expected control
... B68). In contrast to action B42 optimize current controller the motor does not
performance.
turn during the action.
You can start the action in B49[0], observe the progress in B49[1] and obtain I160 > 1:
Typical for applications without cyclic real-time assignment of reference values
When the action is complete you can read the new values in B53 as well as by a higher-level control unit.
B64 ... B68. If the encoder resolution is greater than 1 per position step, there will be no
position control problems due to quantization. However, the encoder resolution
cannot be fully utilized if a reference value is assigned or with position display.
B49[0] optimize current controller (standstill) start version 0 If a higher-level control unit is used with cyclic assignment of reference value,
this can lead to losses in performance. Position control in the drive controller
To start action B49 current controller optimization, set B49[0] = 1:active. The
always uses the full encoder resolution regardless of the position steps that can
action determines the parameters for current controller optimization again
be displayed in user units.
(B53, B64 ... B68). In contrast to action B42 current controller optimization the
motor does not turn during the action. I160 = 1:
For applications with cyclic real-time assignment of reference values by a
higher-level control unit.
B49[1] optimize current controller (standstill) process version 0 If the settings recommended for the control unit connection are used, the result
Progress of current controller optimization as a %. will be a quantization of 1 per position step. Then the encoder resolution will be
passed along to the control unit.

15 Optimize
Manual SD6
I160 < 1:
These setting are not recommended, but can be used with restrictions. If the
encoder resolution is less than 1 per position step, there may be position
control problems due to quantization, since not every position that can be
displayed can be approached. Check whether you can do without some
decimal places or if the application requires a better encoder. If position control
is used in the drive controller, the deadband and position window must be at
least as large as quantization.

16 Diagnosis
Manual SD6
16 Diagnosis
16.1 31:Short/ground .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .367
16.2 32:Short/gr.int .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .367
16.3 33:Overcurrent .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .368
16.4 34:Hardw.fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .369
16.5 35:Watchdog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .370
16.6 36:High voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .371
16.7 37:Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .372
16.8 38:TempDev.sens . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .376
16.9 39:TempDev i2t . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .377
16.10 40:Invalid data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .378
16.11 41:Temp.MotorTMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .379
16.12 42:TempBrakeRes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .380
16.13 43: AE1 wire break .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .381
16.14 44:External fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .382
16.15 45:oTempMot. i2t . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .383

16 Diagnosis
Manual SD6
16.16 46:Low voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .384
16.17 47:TorqueLimit .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .385
16.18 48:Brake release monitoring . . . . . . . . . . . . . . . . . . . . . . . .386
16.19 49:brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .387
16.20 50:Safety function .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .388
16.21 51:Virtual master limit switch . . . . . . . . . . . . . . . . . . . . . . .389
16.22 52:Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .390
16.23 53: Limit switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .393
16.24 54:following Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .395
16.25 55:Option module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .396
16.26 56:Overspeed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .397
16.27 57:Runtime usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .398
16.28 58:Encoder simulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . .399
16.29 59:TempDev. i2t . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .400
16.30 60-67:Application events 0-7 . . . . . . . . . . . . . . . . . . . . . . .401
16.31 68: External fault .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .402
16.32 69:Motor connect. .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .403

16 Diagnosis
Manual SD6
16.33 70:Param.consist . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .404
16.34 71:Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .406
16.35 72:Brake test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .407
16.36 73:Ax2braketest . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .408
16.37 74:Ax3braketest . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .409
16.38 75:Ax4braketest . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .410
16.39 76:position encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .411
16.40 77:Master encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .415
16.41 78:position limit cyclic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .419
16.42 79:Motor/position monitor . . . . . . . . . . . . . . . . . . . . . . . . . .420
16.43 80:illegal action . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .421
16.44 81:motor allocation .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .422
16.45 82:Hall sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .424
16.46 83:Failure of one/all mains phases . . . . . . . . . . . . . . . . . .425
16.47 84:Drop in network with power stage active .. . . . . . . . .426
16.48 85:Excessive jump in reference value . . . . . . . . . . . . . . .427
16.49 #<Placeholder> . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .428

16 Diagnosis
Manual SD6
16.50 *ParaModul ERROR:update firmware! . . . . . . . . . . . . . .428
16.51 *ParaModul ERROR: file not found .. . . . . . . . . . . . . . . . .429
16.52 *ParaModul ERROR: Checksum error .. . . . . . . . . . . . . .429
16.53 *ParaModul ERROR: ksb write error . . . . . . . . . . . . . . . .430
16.54 *ConfigStartERROR parameters lost . . . . . . . . . . . . . . . .430
16.55 *ConfigStartERROR remanents lost . . . . . . . . . . . . . . . . .431
16.56 *ConfigStartERROR unknown block .. . . . . . . . . . . . . . . .431
16.57 *ConfigStartERROR unknown string . . . . . . . . . . . . . . . .432
16.58 *ConfigStartERROR unknown scale .. . . . . . . . . . . . . . . .432
16.59 *ConfigStartERROR unknown limit . . . . . . . . . . . . . . . . . .433
16.60 *ConfigStartERROR unknown post-wr .. . . . . . . . . . . . . .433
16.61*ConfigStartERROR unknown pre-rd . . . . . . . . . . . . . . . . .434
16.62 *ConfigStartERROR unknown hiding . . . . . . . . . . . . . . . .434
16.63 no configuration paramodul error .. . . . . . . . . . . . . . . . . . .435
16.64 no configuration start error .. . . . . . . . . . . . . . . . . . . . . . . . .435
16.65 configuration stopped . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .436
16.66 HW defective FirmwareStartErr . . . . . . . . . . . . . . . . . . . . .436

16 Diagnosis
Manual SD6
16.1 31:Short/ground
The hardware short-circuit switch-off is active. The Fault The power board is switched off and the drive becomes Z31
output current is too high. If there is no supply torque-free/force-free. If the air override is inactive, a
voltage when starting the device, the cause may possibly existing brake will be controlled to close.
be a device-internal short circuit/ground fault. The brake chopper cuts out.

Interwinding fault Check the motor. Replace the motor. Yes
Fault in motor cable Check the cable Replace the cable.
Connection fault Check the connection, e.g. whether V or W Correct the connection.
is connected to PE at X20 U.
Device-internal short circuit/ground Check whether the fault only occurs when Please contact our Service department.
fault enabling the inverter.
16.2 32:Short/gr.int
An internal test is performed when the controller Fault This fault only occurs with the power board switched off. Z32
part power supply is switched on. An existing The power board remains switched off and the drive is
short-circuit causes a malfunction. A requirement torque-free/force-free. If the air override is inactive, a
for triggering this event is for the supply voltage to possibly existing brake will be controlled to close.
already be present when starting the device.

There is an internal device fault. — Please contact our Service department. Yes

16 Diagnosis
Manual SD6
16.3 33:Overcurrent
The total motor current exceeds the permitted Fault The power board is switched off and the drive becomes Z33
maximum value. torque-free/force-free unless emergency braking U30
(A29) is parameterized (from firmware V 6.0-F). If the air
controlled to close.

Acceleration times too short. Extend the ramps. Apply this setting for operation. Yes
Incorrectly set torque limits in the C03 Set smaller values in C03 and C05. Apply this setting for operation.
and C05 parameters.

16 Diagnosis
Manual SD6
16.4 34:Hardw.fault
There is a hardware fault. Fault The power board is switched off and the drive becomes Z34
torque-free/force-free. If the air override is inactive, a
possibly existing brake will be controlled to close.
Cause Description Measure Confirmable

1:FPGA Fault when loading the FPGA
2:NOV-ST Faulty power stage memory (FERAM)
3:NOV-LT Faulty control board memory (EEPROM)
6:NOV-SM Faulty safety module memory (EEPROM)
7:CurrentMeas The current offset measurement for the
device start-up indicates a deviation that is Please contact our Service department. No
too large.
8: Internal power supply +15 V Voltage too low
9: Internal power supply +15 V Voltage too high
10: Internal power supply -15 V Voltage too low
11: Internal power supply -15 V Voltage too high
12:Timer ST Unable to reset the FPGA timer or timer Replace the device. No
does not start up.
13:Opt1 Adr/Databus The test of the address/databus for option 1 • Uninstall and reinstall the option. No
returned errors. • Replace the option.
14: Opt1 signal line The test of the CAN/Interrupt/Wait line for • Uninstall and reinstall the option. No
option 1 returned errors. • Replace the option.
15: opt1 clk fault The test of the clock signal for option 1 • Uninstall and reinstall the option. No
16: opt1 voltage The test of the required power supply • Uninstall and reinstall the option. No
voltage for option 1 returned errors. • Replace the option.

16 Diagnosis
Manual SD6

17: opt1 databus The test of the databus for option 1 returned • Uninstall and reinstall the option. No
errors. • Replace the option.
18:Opt2 Adr/Databus The test of the address/databus for option 2 • Uninstall and reinstall the option. No
19: Opt2 signal line The test of the CAN/Interrupt/Wait line for • Uninstall and reinstall the option. No
option 2 returned errors. • Replace the option.
20: opt2 clk fault The test of the clock signal for option 2 • Uninstall and reinstall the option. No
21: opt2 voltage The test of the required power supply • Uninstall and reinstall the option. No
voltage for option 2 returned errors. • Replace the option.
22: opt2 databus The test of the databus for option 2 returned • Uninstall and reinstall the option. No
errors. • Replace the option.
16.5 35:Watchdog
The watchdog of the microprocessor is activated. Fault The power board is switched off and the drive becomes Z35
torque-free/force-free. A possibly existing brake will be
controlled to close.
While the runtime system of the drive controller is
restarted, the brake chopper is switched off and the brake
air override has no function.

1:Core 0 The microprocessor is used to capacity or • Set a higher cycle time in the A150
2:Core 1 faulty. parameter. Yes
• Wire according to EMC regulations.

16 Diagnosis
Manual SD6
16.6 36:High voltage

The voltage in the intermediate circuit exceeds the Fault The power board is switched off and the drive becomes Z36
permitted maximum (DC link voltage display in torque-free/force-free. If the air override is inactive, a
E03). possibly existing brake will be controlled to close.

Supply voltage too high Check whether the supply voltage exceeds Take measures to adjust the supply voltage. Yes
the permitted input voltage.
No braking resistor connected Check the wiring. Connect a braking resistor.
Brake chopper is deactivated Check whether A22 = 0 is set. Enter the values of the braking resistor in
the A21, A22 and A23 parameters.
Braking resistor too small or too large • Check whether A21 does not reach the Connect a suitable braking resistor.
permitted value.
• Check whether the resistance is suitable
to dissipate the power losses arising.
Braking ramps to steep Observe the DC link voltage during a • Extend the braking ramps.
braking procedure, e.g. using a Scope • Connect a suitable braking resistor.
trace. • Check the application of the DC link
connection.
Brake chopper is faulty Observe the DC link voltage in the Scope. If Please contact our Service department.
it increases to the overvoltage limit without
hindrance, the brake chopper is faulty.

16 Diagnosis
Manual SD6
16.7 37:Encoder
Error due to encoder Fault The power board is switched off and the drive becomes Z37
torque-free/force-free unless emergency braking U30
(A29) is parameterized. If the air override is inactive, a
If the encoder is parameterized as a position encoder,
reference I86 is deleted and the axis must be
rereferenced after the acknowledgement.
If the encoder is not connected when switching on the
control part power supply, the encoder supply is switched
off. Acknowledgement is then only possible by switching
the drive controller off and on.

1:Para<>Encoder Parameterization is not suitable for the Check the setting of the H00 parameter. Yes
connected encoder.
2:maximum speed B297 exceeded • Check the connection and shielding of Yes
the encoder cable.
• Reduce the electromagnetic
interference.
• Check the parameterization of B297.
• Please contact our Service department.
6:X4-EnDatfound An EnDat encoder was detected at X4 Check the setting of the H00 parameter. Yes
although a different encoder was
parameterized.
7:AX6/IncEnc A wire break in the A-channel was discover Check the encoder cable of the incremental Yes
on X4 with an incremental encoder. encoder.

16 Diagnosis
Manual SD6

8:X4-noEnc.found No encoder was found at X4 or a wire break • Correct the connection of the encoder. Yes
was detected at the EnDat/SSI encoder. • Check the encoder cable.
• Correct the power supply of the
encoder.
• Check the setting of the H00 parameter.
10:X4 chan. A/Clk Wire break track A/Clock • Check the encoder cable and replace if Yes
11:X4-chan. B/Dat Wire break track B/Data necessary. Yes
12:X4-channel 0 Wire break channel 0 Yes
13:X4-EnDatAlarm Alarm bit of EnDat encoder present. • Replace the motor. No
14:X4-EnDatCRC Errors accumulate during data transfer. • Check the connection and shielding of Yes
the encoder cable.
interference.
15:X4 double transmission Different positions are frequently • Check the connection and shielding of Yes
determined at X4 during double the encoder cable.
transmission. • Reduce the electromagnetic
interference.
16:X4-Busy Encoder has not responded for too long. • Check the encoder cable. Yes
• Check whether a suitable encoder is
connected.
17:Battery low (EBI) The AES accessory battery is weak. • Replace the battery. Follow the Yes
instructions in the AES operating
manual.

16 Diagnosis
Manual SD6

18:Battery empty (EBI) The AES accessory battery is empty. • Replace the battery. Follow the Yes
manual.
20:resol.carrier The resolver could not be calibrated or • Check the encoder cable. No
optimized. • Check whether the specification of the
21:X140-undervolt. Incorrect transfer factor resolver matches the specifications of
STOBER.
22:X140-Overvltg
24:resol.failure Wire break • Check the encoder cable. Yes
30:X120-Wire break A wire break was detected at X120. • Check the connected cable (encoder or Yes
SSI connection).
• Check the power supply of the SSI
encoder or the source that simulates the
SSI signals.
• Make sure that the settings of the SSI
master are matched to the SSI encoder
or the source that simulates the SSI
signals.
35:X120-double transmission Different positions are frequently • Check the encoder cable. No
determined at X120 during double • Please contact our Service department.
transmission.
36:X120-Busy Encoder has not responded for too long; for • Replace the option board that the Yes
SSI-slave: No telegram for 5 ms with drive encoder is connected to.
enabled. • Replace the drive controller.
38:X120-Timeout No cycle signal was detected from the SSI • Check the connected cable. Yes
master. • Check the power supply of the SSI
master.

16 Diagnosis
Manual SD6

40:X140-wire break A wire break from one or more tracks was • Check the encoder cable. Yes
detected. • Please contact our Service department.
43:X140EnDatAlar The EnDat encoder at X140 reports an • Switch the drive controller off and back Yes
alarm. on again.
• The encoder is faulty. Please contact
our service department.
44:X140EnDatCRC Errors accumulate during data transfer. The • Make sure that the correct encoder type Yes
encoder is not available. is connected.
• Check the connection and shielding of
the encoder cable.
interference.

16 Diagnosis
Manual SD6
16.8 38:TempDev.sens
The temperature measured by the device sensor Fault Parameterized fault response in A29: Z38
exceeds the permitted maximum value R05 or has • A29 = 0:inactive
fallen below the permitted minimum value R25. The power board is switched off and the drive
The permitted temperatures are saved in the becomes torque-free/force-free. If the air override is
power stage of the drive controller. inactive, a possibly existing brake will be controlled to
close.
• A29 = 1:active

The ambient/control cabinet Check the surrounding temperature of the Take suitable measures to match the Yes
temperatures are too high or too low. drive controller. surrounding temperature to the operating
conditions of the drive controller.
Fan faulty Switch on the control part power supply and Please contact our Service department.
check whether the fan(s) start up.

16 Diagnosis
Manual SD6
16.9 39:TempDev i2t

The i2t model for the drive controller is exceeding Parameterized Parameterized fault response in A29: Z39
the maximum allowable thermal utilization. level in U02: • A29 = 0:inactive
From firmware V 6.0-G: A27 • Inactive The power board is switched off and the drive
To rom firmware V 6.0-F: 100% • Message becomes torque-free/force-free. If the air override is
• Fault close.
• A29 = 1:active
If the event is triggered at a threshold of 100%, current
limiting is performed in the control modes with vector
control. Reducing the current can cause the fault quick
stop to no longer perform correctly.

Drive controller overloaded Check the load situation of your drive. • Correct the design of the drive. Yes
• Check the maintenance condition of the
drive (block, lubrication, etc.)
Cycle frequency too high (B24) Check the load situation of your drive under • Reduce B24.

16 Diagnosis
Manual SD6
16.10 40:Invalid data

A data error was detected when initializing the Fault The power board remains switched off and the drive is Z40
non-volatile memory. torque-free/force-free. If the air override is inactive, a

1:Error Low level write/read error or timeout. The drive controller must be sent in for No
2:blockMiss Unknown data block repair. Please contact our Service
department.
3:dataSecurity Block has no data security.
4:CheckSum Block has a check sum error.
5:R/O Block is r/o.
6:readErr Start-up phase: Block read error
7:blockMiss Block not found
8:Serial number Serial number is incorrect/invalid.
32:el. nameplate No nameplate data available • For STOBER standard motor: Please Yes
contact our Service department.
• For motor from other manufacturers: Set
B06 to 1:arbitrary setting and manually
enter the motor data.
33:el.typeLim Nameplate parameter cannot be entered • Check the configuration of the drive
(limit value or existence). controller and motor.

16 Diagnosis
Manual SD6
16.11 41:Temp.MotorTMS
Motor temperature sensor reports Parameterized Parameterized fault response in A29: Z41
overtemperature (connection clamp X2). level in U15: • A29 = 0:inactive
• Warning The power board is switched off and the drive
• Fault becomes torque-free/force-free. If the air override is
close.
• A29 = 1:active

The motor temperature sensor is not Check whether the motor temperature Connect the cable properly. Yes
connected. sensor is connected to X2 and whether the
wiring is OK.
The motor is overloaded. Check whether the operating conditions • Check and, if necessary, correct the
have caused the motor to overheat (load drive design.
state, surrounding temperature of the motor, • Check whether a blockage caused
etc.). overheating.

16 Diagnosis
Manual SD6
16.12 42:TempBrakeRes
2
The i t model for the braking resistor exceeds Fault Parameterized fault response in A29: Z42
100% load. • A29 = 0:inactive
close.
• A29 = 1:active
Up to firmware V 6.0-F the brake chopper is switched off.

The braking resistor may not be Check whether the load state of the braking Check the drive configuration. Consider a Yes
designed according to the resistor has caused overheating. DC link connection or the use of a braking
application. resistor with a larger power rating.

16 Diagnosis
Manual SD6
16.13 43: AE1 wire break

Wire break monitoring of analog input 1 in Fault Parameterized fault response in A29: Z43
operation mode F116 = 2: 4 to 20mA is reporting a • A29 = 0:inactive
broken wire. The power board is switched off and the drive
close.
• A29 = 1:active

There is a broken wire. Check whether AE1+, AE1- and AE1 Shunt Connect the cables properly. Yes
are connected and whether the wiring is in
proper condition.

16 Diagnosis
Manual SD6
16.14 44:External fault

Application-specific or by free programming option Fault Parameterized fault response in A29: Z44
• A29 = 0:inactive
close.
• A29 = 1:active

Application-specific or based on free — — Yes
programming option; can be
separately programmed for each
axis.

16 Diagnosis
Manual SD6
16.15 45:oTempMot. i2t

2
The i t model for the motor reaches 100 % load. Parameterized Parameterized fault response in A29: Z45
• Fault close.
• A29 = 1:active

The motor is overloaded Check whether the operating conditions • Take measures to meet the Yes
have caused the motor to overheat (load requirements for the operating
state, surrounding temperature of the motor, conditions.
etc.). • Rectify any existing blockages.
• If necessary, correct the drive design.

16 Diagnosis
Manual SD6
16.16 46:Low voltage

A problem with the mains voltage or DC link Parametrizable Parameterized fault response in A29: Z46
voltage was detected. level in U00: • A29 = 0:inactive
• Fault close.
• A29 = 1:active

The current DC link voltage E03 has Check whether the mains voltage Correct the undervoltage limit A35 if Yes
fallen below the undervoltage limit corresponds to the specification. necessary.
A35.

16 Diagnosis
Manual SD6
16.17 47:TorqueLimit
The maximum torque permitted for static operation Parameterized Parameterized fault response in A29: Z47
is exceeded in the control types of servo control, level in U20: • A29 = 0:inactive
vector control or sensorless vector control. • Inactive The power board is switched off and the drive
• Fault close.
• A29 = 1:active

Incorrect parameterization Check whether the torque moments in E62 Correct the setting of the parameters in C03, Yes
and E66 correspond with your projection. C05, A559 or I435 and I436.
Drive overloaded Check the load situation of your drive. Rectify any existing blockages.

16 Diagnosis
Manual SD6
16.18 48:Brake release monitoring

If release fan monitoring is parameterized, the Parameterized Parameterized fault response in A29: Z48
control state of the brake and the status of the level in U26: • A29 = 0:inactive
parameterized binary input will not match. • Inactive The power board is switched off and the drive
• Fault inactive, a possibly existing brake will be controlled to
close.
• A29 = 1:active

Release monitoring is not correctly • Check the brake release connection on • Connect release monitoring correctly. Yes
connected or not correctly the parameterized binary input. • Coordinate the parameterization with
parameterized. • Check the parameter F10. the connection.
Release monitoring is not adjusted. — Make an adjustment to release monitoring.
If you are using a servo stop brake module,
please contact our Service department.

16 Diagnosis
Manual SD6
16.19 49:brake
The event is triggered by monitoring mechanisms Fault Parameterized fault response in A29: Z49
of the brake output. • A29 = 0:inactive
close.
• A29 = 1:active

1:Brake undervoltage The 24 vdc power supply of the brake • Check the 24 vdc power supply Yes
module has a problem. connection.
• Check the voltage.
2:Brake1: no feedback Feedback is not connected or is connected • Check the setting of F93.
incorrectly. • Correct the feedback connection.
3:Brake1: short circuit A short circuit was detected at X5. • Check the connections at X5.
• Observe the maximum permitted output
current on X5.
4:Brake1: Open Load No brake was detected at X5 (open load) or • Check whether a brake is connected to
the cable is broken. X5.
• Check the cable.
• If you connected the brake indirectly,
check the setting of F93.

16 Diagnosis
Manual SD6
16.20 50:Safety function

The drive controller has determined Fault The power board is switched off and the drive becomes Z50
inconsistencies when monitoring the safety torque-free/force-free. If the air override is inactive, a
module. Note that the test is set up functionally and possibly existing brake will be controlled to close.
not in terms of safety.

1:inconsistent request (single STO was requested for more than 500 ms • Check the wiring. Yes
channel) on one channel only. • Please contact our Service department.
2:SafetyModul incorrect The expected safety module (E53) does not • Project the installed safety module in the No
match the safety module that was detected drive controller.
(E54[0]). • Use a drive controller with the projected
safety module.

16 Diagnosis
Manual SD6
16.21 51:Virtual master limit switch

The position of the virtual master is outside of the Parameterized Parameterized fault response in A29: Z51
parameterized limits. level in U24: • A29 = 0:inactive
• Fault close.
• A29 = 1:active

1:SW limit switch positive The virtual master has left the range of • Move back in the opposite direction from Yes
motion beyond the positive limit switch. the limit switch into the travel range.
2:SW limit switch negative The virtual master has left the range of • Check the position of the software limit
motion beyond the negative limit switch. switches in G146 and G147.
Note that if limit switches are crossed, after
acknowledgement you must jog back into
the permitted range with the drive.
3:Computing limit The computing limit has been reached. • Reduce G46 decimal digits.
• Do not perform MC_MoveAdditive too
many times in a row without stopping in
between

16 Diagnosis
Manual SD6
16.22 52:Communication
Communication malfunction Fault Parameterized fault response in A29: Z52
close.
• A29 = 1:active

1:CAN LifeGuard The device detects the Life-Guarding event Check the CANOpen master. Yes
(master no longer sends any Remote
Transmit Request).
2:CAN Sync Error Sync message was not received within the • Make sure that the A201 parameter is Yes
timeout period that is calculated from the correctly set.
A201 Cycle Period Timeout as follows: • Make sure that the master sends the
• A201 ≤ 20 ms:  sync message reliably.
Timeout period = A201 * 4,
• 20 ms < A201 ≤ 200 ms: 
Timeout period = A201 * 3,
• else: Timeout period = A201 * 2
3:CAN Bus Off The CAN controller in the drive controller • Make sure that the CAN baud rate was Yes
has switched off due to critical and repeated correctly set.
CAN bit timing errors. The CAN controller is • Check the wiring.
restarted after a waiting time of 2 s and • Check the bit timing of other CAN
acknowledgement of the malfunction. subscribers.

16 Diagnosis
Manual SD6

4:PZD-Timeout Failure of the cyclic database connection • Check the PLC (RUN switch, set cycle Yes
(PROFIBUS master or PROFINET IO time).
Controller no longer sending or problem • Check the wiring.
with the electrical connection).
6:EtherCAT PDO-Ti The drive controller did not receive process • Make sure that the A252.x, A253.x, Yes
data in the time period that was A256, A257.x, A258, A259.x, A260,
parameterized in A258. A261.x, A262.x, A263.x, A264.x,
A265.x, A266 and A267.x parameters
are correctly set.
• Make sure that the timeout value
parameterized in A258 matches the
A150 cycle time (of the drive controller)
and the cycle time of the controller or
EtherCAT masters that were selected.
• Check the wiring.
• Check the EtherCat state of the drive
controller and the controller or EtherCAT
master.
• Check whether CoE emergency
messages are present in the controller
or the EtherCAT master.
7:EtherCAT-DcSYN If the drive controller is synchronized to • Check the controller. Yes
EtherCAT by means of the Distributed • Make sure that the wiring is in
Clock, the "SYNC 0" synchronization signal accordance with electromagnetic
is checked by a watchdog. If this SYNC 0 interference regulations.
signal remains for a certain time (that cannot • Replace EC6.
be parameterized), this cause is triggered. • Please contact our Service department.
This cause can only be triggered for
EtherCAT with synchronization by the
Distributed Clock.

16 Diagnosis
Manual SD6

8:IGB µC failure The microcontroller for the IGB • Check the wiring for EM-compliant Yes
communication has failed. design.
• The drive controller must be sent in for
repair. Please contact our Service
department.
9:IGB Lost Frame IGB motion bus: The subscriber has • Make sure that all drive controllers in the Yes
detected a loss of at least 2 consecutive IGB network are switched on.
data frames (double error). This cause can • Make sure that all connection cables are
only occur when the IGB state = plugged in.
3:Motionbus and the motor is powered.
10:IGB P. LostFr IGB motion bus: A different subscriber has Yes
detected a double error and reported this via
A163. As a result, this drive controller is also
faulty with this cause. This cause can only
occur when the IGB state = 3:Motionbus
and the motor is powered.
11:IGB Sync Erro The synchronization within the drive • Start the configuration in the drive Yes
controller is faulty as the configuration was controller.
stopped by the commissioning software. • If the result occurs with this cause for a
This cause can only occur when the IGB running configuration, the drive
state = 3:Motionbus and the motor is controller must be sent in for repair.
powered. Please contact our Service department
12:IGB ConfigTim An IGB Motionbus consumer block or Adjust the run-time sequence of the blocks, Yes
producer block in the graphical transfer the changed configuration to the
programming was called up at the wrong drive controller and save it there. Restart the
time. The block was called up too early or drive controller.
closed too late. This cause can only occur
when the IGB state = 3:Motionbus and the
motor is powered.

16 Diagnosis
Manual SD6

13:IGBPartnerSyn There is a synchronization malfunction for Check the drive controller that displays Yes
another subscriber in the IGB network (see event 52 with cause 11.
cause 11). This subscriber reported its fault
via A163. As a result, this drive controller is
also faulty with cause 13. This cause can
only occur when the IGB state =
3:Motionbus and the motor is powered.
16.23 53: Limit switch

The drive has reached one of the hardware limit Fault Parameterized fault response in A29: Z53
switches (except in jog mode or during • A29 = 0:inactive
referencing) or if a cyclic position is assigned the The power board is switched off and the drive
drive has reached the SW limit switches. becomes torque-free/force-free. If the air override is
close.
• A29 = 1:active

16 Diagnosis
Manual SD6

1:HW limit switch positive The drive has reached the positive • Move back in the opposite direction from Yes
hardware limit switch. the limit switch into the travel range.
2:HW limit switch negative The drive has reached the negative • Check the connection of the hardware
hardware limit switch. limit switches.
• Check the parameterization of the signal
source in I101 and I102.
3:SW limit switch positive The drive has reached the positive software • Move back in the opposite direction from Yes
limit switch. the limit switch into the travel range.
4:SW limit switch negative The drive has reached the negative • Check the position of the software limit
software limit switch. switches in I50 and I51.
5:Computing limit The computing limit has been reached. • Reduce I06 decimal digits position. Yes
• Do not perform MC_MoveAdditive too
many times in a row without stopping in
between

16 Diagnosis
Manual SD6
16.24 54:following Error

The difference between the actual and target Parameterized Parameterized fault response in A29: Z54
position exceeds the parameterized maximum level in U22: • A29 = 0:inactive
allowable following error. • Inactive The power board is switched off and the drive
• Fault close.
• A29 = 1:active

The control deviation of the position is • Check whether there is a mechanical • Rectify mechanical blockages. Yes
greater than the parameterized blockage, for example in the mechanical • If there is a holding brake: Check
maximum allowable following error. system or because a brake is not parameterization in F00 and the
released. following parameters.
• For vertical axes with hydraulic or
pneumatic weight compensation: Check
whether there is sufficient pressure
available.
• Check the following error parameters
A546, A547 and I21.
• Check control parameters C03, C05,
C31, C32, I20 and I25

16 Diagnosis
Manual SD6
16.25 55:Option module

Error when operating with option module. Fault Parameterized fault response in A29: Z55
close.
• A29 = 1:active

1:incorrectOption1 Incorrect or missing communication module • Install the projected communication Yes
(compare E54/E58 with E68/E69) module.
• Adjust the projection.
2:EC6failure EC6 was detected, installed and failed. • Uninstall and reinstall ED6. Yes
• Replace EC6.
3:CA6failure CA6 was detected, installed and failed. • Uninstall and reinstall CA6. Yes
• Replace CA6.
7:incorrectOption2 Incorrect or missing terminal module • Install the projected terminal module. Yes
(compare E54/E58 with E68/E69) • Adjust the projection.
10:XI6failure X16 was detected, installed and failed. • Uninstall and reinstall X16. Yes
• Adjust the projection.
12:24Vfailure A failure of the 24 vdc power supply of XI6 Check and, if necessary, correct the 24 vdc Yes
was detected. power supply of X16.

16 Diagnosis
Manual SD6
16.26 56:Overspeed
The measured velocity I88 is greater than I10 x Fault The power board is switched off and the drive becomes Z56
1.111. torque-free/force-free unless emergency braking U30
From firmware 6.0-B: If the motor and position (A29) is parameterized. If the air override is inactive, a
encoder are two different encoders, I88 and E91 x possibly existing brake will be controlled to close.
I240[1] are checked.

Incorrect parameterization of the Check the parameterization of the encoder, If necessary, correct the parameters Yes
encoder e.g. the line number of the incremental
encoders.
Following error too large Use a Scope trace to check whether the Correct the parameters (ramps, torque
measured velocity is greater than I10 at the limits, etc.).
time of the error.
Motor overshoots Use a Scope recording to check the value in Optimize the parameterization of the speed
E16 is greater than E06 at the time of the controller (C31, C32).
error.
Incorrect commutation offset for the Perform the B40 phase test action. The B40 phase testaction must be in
encoder of a servo motor accordance with specifications.
Encoder faulty Check whether a speed that clearly differs The motor must be sent in for repair. Please
from zero is displayed in E91 during a motor contact our Service department.
standstill.

16 Diagnosis
Manual SD6
16.27 57:Runtime usage

The cycle time of a real-time task was exceeded. Fault Parameterized fault response in A29: Z57
close.
• A29 = 1:active

2:RT2 Cycle time of real time task 2 exceeded (1 Please contact our Service department. Yes
ms).
3:RT3 Cycle time of real time task 3 exceeded Set a higher, slower cycle time in A150.
(technology task).
4:RT4 Cycle time of real time task 4 exceeded (32
ms).
5:RT5 Cycle time of real time task 5 exceeded (256
ms)

16 Diagnosis
Manual SD6
16.28 58:Encoder simulation

An error was discovered in encoder simulation. Fault Parameterized fault response in A29: Z58
close.
• A29 = 1:active

1:Maximum speed The maximum speed of simulation has been Check the parameterization of encoder Yes
reached. simulation.
3:X120-Wire break channel A/Clock A wire break was detected at interface • Check the wiring.
X120. • Check the setting in H120.
4:X120-Wire break chan. B/Data A wire break was detected at interface • Check the wiring.
5: X120-Wire break chan. 0 A wire break was detected at interface • Check the wiring.

16 Diagnosis
Manual SD6
16.29 59:TempDev. i2t

2
The i t model calculated for the drive controller Fault Parameterized fault response in A29: Z59
exceeds 105% of thermal load. • A29 = 0:inactive
close.
• A29 = 1:active

Drive controller overloaded Check the load situation of your drive. • Reduce any existing loads (lubrications, Yes
blockages, etc.).
• Use a drive with a suitable power rating.
Cycle frequency too high Check the load situation of your drive under • Reduce B24.

16 Diagnosis
Manual SD6
16.30 60-67:Application events 0-7

Application-specific or based on free programming Parameterized Parameterized fault response in A29: Z60 to Z67
option; can be separately programmed for each level in U100, • A29 = 0:inactive
axis: U110, etc to The power board is switched off and the drive
• Message/warning: Evaluation occurs in 256 U170: becomes torque-free/force-free. If the air override is
ms cycle. • Inactive inactive, a possibly existing brake will be controlled to
• Fault: Evaluation occurs in parameterized • Message close.
cycle time (A150). • Warning • A29 = 1:active
• Fault The drive is stopped with a quick stop. If the air

Application-specific or based on free — — Yes
programming option; can be
separately programmed for each
axis.

16 Diagnosis
Manual SD6
16.31 68: External fault

Application-specific or by free programming Fault Parameterized fault response in A29: Z68
option; should be used for application events that • A29 = 0:inactive
may only be parameterized on the fault level. The power board is switched off and the drive
close.
• A29 = 1:active

Application-specific or by free — — Yes
programming option

16 Diagnosis
Manual SD6
16.32 69:Motor connect.

Motor connection error Parameterized Parameterized fault response in A29: Z69
• Fault becomes torque-free/force-free. If the air override is
close.
• A29 = 1:active

1:motorNotDiscon The contactor did not open during the axis Replace the contactor. Yes
change. This cause can only be determined
when at least two phases stick and the
intermediate circuit E03 is loaded.
2:no motor Possibly no motor connected or the line to Check the connection of the motor.
the motor is interrupted.

16 Diagnosis
Manual SD6
16.33 70:Param.consist
There is inconsistent parameterization when Fault The power board remains switched off and the drive is Z70
enable is activated. torque-free/force-free. If the air override is inactive, a

1:Encoder type The B20 control type is set to Servo or Correct the parameterization. Yes
Vector Control but no corresponding
encoder is selected (B26, H.. parameter).
2:X120-direction X120 is used as the source in a parameter Correct the parameterization.
but is parameterized in H120 as a drain (or
vice-versa).
3:B12<->B20 B20 control type is not set to the servo but Correct the parameterization. Yes
the rated motor current (B12) exceeds the 4
kHz rated current (R24) of the device by
more than 1.5x.
4:B10<->H31 The set motor pole number (B10) and the Correct the parameterization. Yes
resolver pole number (H31) do not match.
5:neg. slip When using the control types U/f, SLVC or Correct the parameterization. Yes
Vector Control (B20): Control type set to
"ASM": The values for the rated motor
speed (B13), rated motor frequency (B15)
and motor pole number (B10) result in a
negative slippage.
6:Torque limit When using the values entered in C03 or Correct the parameterization. Yes
C05, the maximum current of the drive
controller is exceeded. Enter lower torque
limits.

16 Diagnosis
Manual SD6

7:B26:SSI-Slave SSI slave must not be used as a motor Correct the parameterization. Yes
encoder (synchronization problems).
8:I10>B83 I10 must not be greater than B83. Correct the parameterization. Yes

16 Diagnosis
Manual SD6
16.34 71:Firmware
A firmware error was detected. Fault Causes 1 and 2: The power board remains switched off Z71
and the drive is torque-free/force-free. If a brake is fitted
it is activated to engage if air override is inactive.
Cause 3: Parameterized fault response in A29:
close.
• A29 = 1:active

1:FW defective An active firmware error was detected or Reload the firmware with the No
faulty firmware was detected in the firmware DriveControlSuite commissioning software
download memory. in the drive controller. Also note the Service
section.
2:Activate FW! The firmware was loaded into the drive Activate the firmware and perform a device
controller but not yet activated. restart. Also note the Service section.
3:CRC error A firmware error was detected. Switch off the 24 vdc power supply and
switch it on again. If the error occurs
repeatedly, contact our service department.

16 Diagnosis
Manual SD6
16.35 72:Brake test

The time set in B311 timeout for brake test B300 Causes 1 and 2: The power board remains switched off and the drive is Z72
has elapsed while brake management is active Fault torque-free/force-free. If the air override is inactive, a
without the B300 brake test action having been Cause 3: possibly existing brake will be controlled to close.
performed. If B310 = 2: axis-specific is set, the Message
event only applies to axis 1. If a setting other than
B310 is active, the event applies to all axes.

1:B311Timeout The time entered in B311 Timeout for brake Perform the B300 brake test action. Yes
test B300 has elapsed twice without the For a duration
B300 Brake test action having been of 5 minutes,
performed. to be able to
2:brakeDefective When performing the brake test action, the • Perform the brake grinding function and perform action
holding torque entered in B304 or B305 then the brake test. B300 brake
could not be applied or the encoder test run • The motor must be sent in for repair. test.
included in the brake test was completed Please contact our Service department.
with errors.
3:Brake test required The time entered in B311 Timeout for brake Perform the B300 brake test action.
test B300 has elapsed once without the
B300 brake test action having been
performed.

16 Diagnosis
Manual SD6
16.36 73:Ax2braketest
event only applies to axis 2.

with errors.
performed.

16 Diagnosis
Manual SD6

with errors.
performed.

16 Diagnosis
Manual SD6

with errors.
performed.

16 Diagnosis
Manual SD6
16.39 76:position encoder

Error by position encoder Fault The power board is switched off and the drive becomes Z76
torque-free/force-free. If the air override is inactive, a
Reference I86 is deleted and the axis must be
rereferenced after acknowledgement.
control part power supply, the encoder supply is
permanently switched off. Acknowledgement is then only
possible by switching the drive controller off and on.

connected encoder.
2:maximum speed I297 exceeded • Check the connection and shielding of Yes
the encoder cable.
interference.
• Check the parameterization of I297.
parameterized.

16 Diagnosis
Manual SD6

encoder.
the encoder cable.
interference.
interference.
connected.
17:Battery low (EBI) The AES accessory battery is weak. • Replace the battery. Follow the Yes
manual.

16 Diagnosis
Manual SD6

18:Battery empty (EBI) The AES accessory battery is empty. • Replace the battery. Follow the Yes
manual.
STOBER.
22:X140-Overvltg
SSI connection).
SSI signals.
signals.
transmission.
36:X120-Busy Encoder has not responded for too long. • Replace the option board that the Yes
encoder is connected to.
• Replace the drive controller.
master.

16 Diagnosis
Manual SD6

alarm. on again.
the encoder cable.
interference.

16 Diagnosis
Manual SD6
16.40 77:Master encoder

Error by master encoder Fault Parameterized fault response in A29: Z77
close.
• A29 = 1:active
Reference G89 is deleted and the axis must be
rereferenced after acknowledgement.
control part power supply, the encoder supply is
permanently switched off. Acknowledgement is then only
possible by switching the drive controller off and on.

connected encoder.
2:maximum speed G297 exceeded • Check the connection and shielding of Yes
the encoder cable.
interference.
• Check the parameterization of G297.

16 Diagnosis
Manual SD6

parameterized.
encoder.
the encoder cable.
interference.
interference.
connected.

16 Diagnosis
Manual SD6

STOBER.
22:X140-Overvltg
SSI connection).
SSI signals.
signals.
transmission.
36:X120-Busy Encoder has not responded for too long; for • Replace the option board that the Yes
SSI-slave: No telegram for 5 ms for enabled encoder is connected to.
drive. • Replace the drive controller.
master.

16 Diagnosis
Manual SD6

alarm. on again.
the encoder cable.
interference.

16 Diagnosis
Manual SD6
16.41 78:position limit cyclic

Error by cyclic position assignment Fault Parameterized fault response in A29: Z78
close.
• A29 = 1:active

1:illegal direction A position reference value is assigned in an • Only with an endless range of motion: Yes
illegal direction or outside the software Check I04.
limits. • Check the software limit switch.
• Check the control program.
2:Position reference value outside of A position reference value is assigned • Check A568[1] or I01. Yes
circular length outside the circular length. • Check the control program.
3:Maximum extrapolation time The maximum extrapolation time has been • Check I423. Yes
exceeded exceeded. • Check the control setting, especially the
cycle time and synchronization.

16 Diagnosis
Manual SD6
16.42 79:Motor/position monitor

The plausibility check between the values of the Parameterized Parameterized fault response in A29: Z79
motor encoder and position encoder has returned level in U28: • A29 = 0:inactive
errors. • Inactive The power board is switched off and the drive
• Fault inactive, a possibly existing brake will be controlled to
close.
• A29 = 1:active

There is mechanical damage. Check the mechanics between the motor Rectify any damage that may be present. Yes
encoder and position encoder.
EMC problems Check the connection and shielding of the Rectify any faulty connections or shieldings
electrical connections of the motor encoder you discover.
and position encoder.
Parameterization does not match Check parameterization in I290 and the Adjust the parameterization.
following parameters.

16 Diagnosis
Manual SD6
16.43 80:illegal action

The event is triggered if an action that is started is Fault The power board is switched off and the drive becomes Z80
not permitted. torque-free/force-free. If the air override is inactive, a

1:illegal The selected control mode does not support Check the control mode. Yes
the action.
2:brake For actions that require the brake to open, Remove the axis load and start the action Yes
the position is monitored for 1 second after again.
the start of the action to detect a possible
axis load. If an axis load is detected, the
event with its cause is displayed.

16 Diagnosis
Manual SD6
16.44 81:motor allocation

The event is triggered if any motor other than the Fault The power board remains switched off and the drive is Z81
projected one is detected when the electronic torque-free/force-free. IIf the air override is inactive, a
nameplate is mapped. possibly existing brake will be controlled to close.
Depending on the cause, the required parameter values
are read from the electronic nameplate.

1:Modified motor type The connected motor type does not match Perform A00 save values. Yes
the saved motor type (for example EZ402
instead of EZ401).
32:Modified motor The connected motor does not match the Perform A00 save values. Yes
saved motor, for example it has a different
serial number.
33: different motor & brake The connected motor and its brake do not Perform A00 save values. Yes
match the saved motor and the saved
brake.
34: different motor & temperature The connected motor and its temperature Perform A00 save values. Yes
sensor sensor do not match the saved motor and
the temperature sensor.
35: different motor & brake & The connected motor, its brake and its Perform A00 save values. Yes
temperature sensor temperature sensor do not match the saved
motor brake and the temperature sensor.
64: different commutation The commutation of the connected motor Perform A00 save values. Yes
does not match the saved commutation.
65:Modified commutation and brake The commutation of the connected motor Perform A00 save values. Yes
and the brake do not match the saved
commutation and the saved brake.

16 Diagnosis
Manual SD6

66:Modified commutation and The commutation of the connected motor Perform A00 save values. Yes
temperature sensor and the temperature sensor do not match
the saved commutation and the saved
temperature sensor.
67:Modified commutation and brake The commutation of the connected motor, Perform A00 save values. Yes
and temperature sensor brake and the temperature sensor do not
match the saved commutation, saved brake
and saved temperature sensor.
129:Modified brake The brake of the connected motor does not Perform A00 save values. Yes
match the saved brake.
130:Modified temperature sensor The temperature sensor of the connected Perform A00 save values. Yes
motor does not match the saved
temperature sensor.
131:Modified brake and temperature The brake and temperature sensor of the Perform A00 save values. Yes
sensor connected motor do not match the saved
brake and the saved temperature sensor.

16 Diagnosis
Manual SD6
16.45 82:Hall sensor

Error by Hall sensor. Fault The power board is switched off and the drive becomes Z82

1: invalid sample The current levels of the three Hall sensors • Check the wiring for a wire break. Yes
do not match any sector (only 6 of the 8 • Check the setting of parameter B08 for
possible samples can be assigned to a an incorrectly selected Hall distance.
sector).
2: invalid sequence The evaluation resulted in a direct switch
between two non-adjacent sectors.
3: Signal edge missing The axis has moved more than 1.2 times the • Check the setting of parameter B16 for
length of a Hall sector without one of the Hall an incorrectly selected pole distance.
signals having changed. • Check the encoder settings for an
incorrectly parameterized length setting.

16 Diagnosis
Manual SD6
16.46 83:Failure of one/all mains phases

A problem was discovered with the supply voltage. Warning with 10 s Parameterized fault response in A29: Z83
warning time • A29 = 0:inactive
close.
• A29 = 1:active

Failure of one/all mains phases The mains monitoring has detected that a Check the line fuse and wiring. Yes
phase is missing when the power stage is
switched on.

16 Diagnosis
Manual SD6
16.47 84:Drop in network with power stage active

A problem was discovered with the supply voltage. Fault The power board is switched off and the drive becomes Z84

Drop in network If the mains monitoring detects that the Check whether the mains voltage Yes
mains is missing, the load relay is corresponds to the specification or whether
immediately switched off. Normal operation there is a power failure.
is maintained. If the mains return of the
power board is still switched on, a fault is
triggered after 0.5 s.

16 Diagnosis
Manual SD6
16.48 85:Excessive jump in reference value

If reference value monitoring C100 is active, the Fault Parameterized fault response in A29: Z85
assigned reference values require an acceleration • A29 = 0:inactive
that the motor is unable to maintain while keeping The power board is switched off and the drive
to the maximum output current of the drive becomes torque-free/force-free. If the air override is
controller power stage I2maxLT (R04*R26) – even in inactive, a possibly existing brake will be controlled to
idle (from firmware V 6.0-E). close.
• A29 = 1:active

1: Position Position reference values require an Configure the reference values so that the Yes
acceleration that cannot be performed. maximum permitted acceleration E64 can
2: Speed Speed reference values require an be performed.
acceleration that cannot be performed.

16 Diagnosis
Manual SD6
16.49 #<Placeholder>
Resolution Level Response
A program run error was found in the Fault The power stage is switched off, the drive is free of torque/force. A
microprocessor. possibly existing brake will be controlled to close. The brake chopper is
turned off.
The microprocessor is stopped and all device functions are inoperable.

Error in code memory (bit dumped, Reestablish the operating conditions at the • Reload the application in the drive No
permanent). time of the error and check whether the error controller and save it.
occurs again. • Perform a firmware upgrade.
EMC error Check the wiring for EMC-compliant design. Wire according to EMC regulations.
16.50 *ParaModul ERROR:update firmware!

Triggering Level Response
The versions of configuration and firmware do not — The configuration does not start.
match. The power stage remains switched off, the drive is free of torque/force. A
possibly existing brake will be controlled to close. The brake chopper is
turned off.

Old firmware version — Apply a suitable configuration or firmware. No

16 Diagnosis
Manual SD6
16.51 *ParaModul ERROR: file not found

The Paramodule file can not be read. — The configuration does not start.
The power stage remains switched off, the drive is free of torque/force. A
turned off.

May have been switched off during — • Apply a suitable configuration via No
the A00 action. DriveControlSuite and then save it (A00)
• Attach a suitable Paramodule.
Faulty or unformatted Paramodule — Replace the Paramodule. No
16.52 *ParaModul ERROR: Checksum error

A checksum error was detected when loading from — The configuration does not start.
the Paramodule. The power stage remains switched off, the drive is free of torque/force. A
turned off.

Memory bit dumped. — Apply a suitable configuration via No
DriveControlSuite and then save it (A00).

16 Diagnosis
Manual SD6
16.53 *ParaModul ERROR: ksb write error

An error was detected when writing the — The configuration does not start.
configuration in the configuration memory. The power stage remains switched off, the drive is free of torque/force. If
there is a brake present it will be released automatically. The brake
chopper is turned off.
Possible cause Test Measure Can be

acknowledge
d
Faulty flash memory. — Replace the Paramodule. No
The configuration is too large for the • Apply a suitable configuration via
configuration memory. DriveControlSuite and then save it
(A00).
• Replace the Paramodule.
16.54 *ConfigStartERROR parameters lost

No parameter values are saved in the — The configuration does not start.
Paramodule. The power stage remains switched off, the drive is free of torque/force. A
possibly existing brake will be controlled to close The brake chopper is
turned off.

The control part was switched off — • Apply a suitable configuration via No
while A00 was active. DriveControlSuite and then save it
(A00).

16 Diagnosis
Manual SD6
16.55 *ConfigStartERROR remanents lost

No flag values are saved. — The configuration does not start.
turned off.

The A00 Save values action was not — • Apply a suitable configuration via No
performed. DriveControlSuite and then save it
(A00).
16.56 *ConfigStartERROR unknown block

turned off.

The configuration saved in the — Apply a suitable configuration or firmware No
Paramodule originates from a newer via DriveControlSuite.
firmware that recognises more
system blocks.

16 Diagnosis
Manual SD6
16.57 *ConfigStartERROR unknown string

turned off.

firmware that recognises more texts
(e.g. name of the system standard
block parameters).
16.58 *ConfigStartERROR unknown scale

turned off.

firmware that recognizes more
system scaling functions.

16 Diagnosis
Manual SD6
16.59 *ConfigStartERROR unknown limit

turned off.

firmware that recognizes more limit
value functions.
16.60 *ConfigStartERROR unknown post-wr

turned off.

firmware that recognises more
PostWrite functions.

16 Diagnosis
Manual SD6
16.61 *ConfigStartERROR unknown pre-rd

turned off.

firmware that recognises more Pre-
read functions (mapping of firmware
parameters to configuration
parameters).
16.62 *ConfigStartERROR unknown hiding

turned off.

firmware that knows more hide
functions (hide parameters that
should be visible depending on other
parameters).

16 Diagnosis
Manual SD6
16.63 no configuration paramodul error

An error is found by the Paramodule during start- — The configuration does not start. Alternating to the event display,
up. STOBER.
turned off.

Note the causes in section 16.50 — Note the measures in sections 16.50 No
*ParaModul ERROR:update *ParaModul ERROR:update firmware! to
firmware! to 16.53 *ParaModul 16.54 *ConfigStartERROR parameters lost.
ERROR: ksb write error.
16.64 no configuration start error

There was an error when starting the — The configuration does not start. Alternating to the event display,
configuration. STOBER.
turned off.

Note the causes in section 16.54 — Note the measures in sections 16.54 No
*ConfigStartERROR parameters lost *ConfigStartERROR parameters lost to
to 16.62 *ConfigStartERROR 16.61 *ConfigStartERROR unknown pre-rd.
unknown hiding.

16 Diagnosis
Manual SD6
16.65 configuration stopped

The current configuration was stopped. — The configuration does not start. Alternating to the event display,
STOBER.
turned off.

The transfer of a new configuration by — Apply a configuration with the No
the DriveControlSuite was DriveControllSuite or switch the drive
interrupted. controller off and on again so that the
previous configuration can be loaded from
the Paramodule.
16.66 HW defective FirmwareStartErr

A firmware error was detected. — The configuration does not start.
turned off.
Possible cause Description Measure Confirmable

The active firmware as well as the — A "normal" firmware download is not No
firmware in the download memory are possible. Please contact our Service
faulty. department.

Notes

Global presence
STOBER subsidiaries
Technical offices  Austria France Singapore

STÖBER ANTRIEBSTECHNIK STÖBER S.a.r.l. STOBER Singapore
for advice and marketing in Germany
GmbH 131, Chemin du Bac à Traille 50 Tagore Lane
Hauptstraße 41a Les Portes du Rhône #05-06B Entrepreneur Centre
Global presence 4663 Laakirchen 69300 Caluire et Cuire Singapore 787494
for advice and marketing in about 25 Fon +43 7613 7600-0 Fon +33 4 78989180  Fon +65 65112912
countries Fax +43 7613 7600-2525 Fax +33 4 78985901 Fax +65 65112969
E-Mail: office@stoeber.at E-Mail: mail@stober.fr E-Mail: info@stober.sg 
Service network  www.stoeber.at www.stober.fr www.stober.sg
Germany
Switzerland USA Italy
STÖBER SCHWEIZ AG STOBER DRIVES INC. STÖBER TRASMISSIONI S. r. l.
1781 Downing Drive Via Italo Calvino, 7 Palazzina D
Service network  Rugghölzli 2
5453 Remetschwil Maysville, KY 41056 20017 Rho (MI)
international Fon +41 56 496 96 50 Fon +1 606 7595090  Fon +39 02 93909-570
Fax +41 56 496 96 55 Fax +1 606 7595045 Fax +39 02 93909-325
E-Mail: info@stoeber.ch E-Mail: sales@stober.com E-Mail: info@stoeber.it
www.stoeber.ch www.stober.com www.stoeber.it
Great Britain China Japan

STOBER DRIVES Ltd. STOBER CHINA STOBER Japan
Centrix House German Centre Beijing P.O. Box 113-002, 6 chome
Upper Keys Business Village Unit 2010, Landmark Tower 2, 15-8, Hon-komagome
Keys Park Road 8 North Dongsanhuan Road Bunkyo-ku
Hednesford, Cannock Chaoyang District Tokyo
STAFFORDSHIRE WS12 2HA 100004 Beijing Fon +81 3 5395-6788
Fon +44 1543 458 858 Fon +86 10 65907391 Fax +81 3 5395-6799
Fax +44 1543 448 688 Fax +86 10 65907393  E-Mail: mail@stober.co.jp
E-Mail: mail@stober.co.uk E-Mail: info@stoeber.cn www.stober.co.jp
www.stober.co.uk www.stoeber.cn

STÖBER ANTRIEBSTECHNIK GmbH & Co. KG
Technische Änderungen vorbehalten Kieselbronner Str. 12

Errors and changes excepted 75177 PFORZHEIM
ID 442426.04 GERMANY
Tel. +49 7231 582-0
Fax +49 7231 582-1000
E-Mail: mail@stoeber.de
www.stober.com
442426.04
24h Service Hotline +49 180 5 786 323

SD6 Stober Servoregelaar Handleiding en

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SD6

2 Safety information, UL-compliant use . . . . . . . . . . . . . . . . . . .10

3 Components of the drive system .. . . . . . . . . . . . . . . . . . . . . . .15

4 Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .27

5 Transportation and storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . .71

8 Basic properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .145

9 Drive controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .155

11 Holding brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .229

13 Mechanical drive model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .259

ID 442426.04 WE KEEP THINGS MOVING 2

1.1 About this manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4

1.2 Further documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5

1.3 Further support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5

1.4 Directives and norms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5

1.5 Abbreviations, formula symbols and indices . . . . . . . . . . . . . .6

1.6 Symbols, identifiers, marks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8

ID 442426.04 WE KEEP THINGS MOVING 3

ID 442426.04 WE KEEP THINGS MOVING 4

1.2 Further documentation 1.3 Further support

ID 442426.04 WE KEEP THINGS MOVING 5

1.5 Abbreviations, formula symbols and Abbreviations

ID 442426.04 WE KEEP THINGS MOVING 6

Formula Unit Explanation I2max A Maximum output current

ID 442426.04 WE KEEP THINGS MOVING 7

R V Voltage 1.6 Symbols, identifiers, marks

U1CU V Input voltage of the drive controller control board EN 61558-2-20

ID 442426.04 WE KEEP THINGS MOVING 8

HIWIN The HIWIN logo is a registered trademark of HIWIN

Microsoft, Microsoft, Windows, Windows XP and the Windows logo

PROFIBUS, The PROFIBUS/PROFINET logo is a registered

ID 442426.04 WE KEEP THINGS MOVING 9

2 Safety information, UL-compliant use

2.1 Operation in accordance with its intended use . . . . . . . . . . .11

2.2 Component part of the product . . . . . . . . . . . . . . . . . . . . . . . . .11

2.3 Risk assessment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11

2.4 Qualified personnel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11

2.5 Working on the machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12

2.6 Disposal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12

2.7 Presentation of notes on safety . . . . . . . . . . . . . . . . . . . . . . . . .12

2.8 UL-compliant use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13

ID 442426.04 WE KEEP THINGS MOVING 10

ID 442426.04 WE KEEP THINGS MOVING 11

2.5 Working on the machine 2.7 Presentation of notes on safety

ID 442426.04 WE KEEP THINGS MOVING 12

2.8 UL-compliant use Motor protection

Power supply and motor overload protection Motor temperature sensor

ID 442426.04 WE KEEP THINGS MOVING 13

Branch circuit protection

ID 442426.04 WE KEEP THINGS MOVING 14

3 Components of the drive system 3.4.7 EMC shroud .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

3.4.8 Encoder adapter box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

3.1.1 Nameplate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 3.4.11 Product CD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

3.1.2 Type designation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

3.2 Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18

3.2.2 Synchronous linear motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

3.3 Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .19

3.4 Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .19

3.4.2 Terminal modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

3.4.4 DC link connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

3.4.5 Braking Resistors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

ID 442426.04 WE KEEP THINGS MOVING 15

3.1 Drive controller Designation Value in the Meaning

ID 442426.04 WE KEEP THINGS MOVING 16