SD328B Stepper Motor Drive Product Manual V2.03, 07.2010

SD328B Stepper motor drive Product manual V2.03, 07.2010

0198441113706, V2.03, 07.2010 www.schneider-electric.com Important information SD328B

Important information

This manual is part of the product. Carefully read this manual and observe all instructions. Keep this manual for future reference. Hand this manual and all other pertinent product documentation over to all users of the product. Carefully read and observe all safety instructions and the chapter "Be- fore you begin - safety information".

Some products are not available in all countries. For information on the availability of products, please consult the cata- log. Subject to technical modifications without notice. All details provided are technical data which do not constitute warranted qualities. Most of the product designations are registered trademarks of their re- spective owners, even if this is not explicitly indicated. 0198441113706, V2.03, 07.2010 2 Stepper motor drive 0198441113706, V2.03, 07.2010 D2BTable contents of SD328B Stepper motor drive Table ofcontents ehia aa...... 25 ...... Technical Data 3 19 Before . you . . . . begin -safety information. 2 11 ...... Introduction 1 .. an itr 31 ...... filter Mains 31 Fan ...... 30 Safety . . . . . function STO . 3.4.6 29 ...... Signals 3.4.5 29 . . . . 24Vdc controller supplyvoltage 3.4.4 28 ...... Power stage 3.4.3 28 ...... Data Electrical 3.4.2 27 ...... Dimensions. 3.4.1 3.4 27 ...... data Mechanical 26 ...... Degree of protection 3.3.1 3.3 25 ...... Ambient conditions 25 3.2.1 ...... Certifications 3.2 3.1 24 ...... Standards and terminology 24 ...... safety Functional 2.7 23 . . . . . DC bus voltage measurement. 2.6 21 ...... Basic information. 2.5 20 ...... Hazard categories 2.4 19 . Intended . use . . . . . 2.3 19 . . . . . Qualification of personnel 2.2 2.1 17 for . functionalsafety. . certificate TÜV . . 16 . Declaration . . ofconformity. . . 1.8 15 . . . Documentation and literature references 1.7 14 . . Type ...... code 1.6 13 . . . . . Components and interfaces 1.5 12 ...... Scope ofsupply. 1.4 11 ...... Device overview 1.3 11 About this . manual ...... 1.2 1.1 9 . . . . . Writing conventions and symbols. 3 ...... Table of contents 2 ...... Important information. 3 Table of contents SD328B

3.5 Technical data accessories...... 33 3.5.1 Reference value adapter RVA ...... 33 3.5.2 Cables ...... 34 3.6 Conditions for UL 508C ...... 34

4 Basics ...... 35 4.1 Functional safety...... 35

5 Engineering...... 37 5.1 Safety function STO ("Safe Torque Off")...... 37 5.1.1 Definitions ...... 37 5.1.2 Function ...... 37 5.1.3 Requirements for using the safety function ...... 38 5.1.4 Application examples STO...... 40 5.2 Monitoring functions ...... 41

6 Installation...... 43 6.1 Electromagnetic compatibility, EMC ...... 43 6.1.1 Operation in an IT mains ...... 47 6.2 Mechanical installation ...... 48 6.2.1 Mounting the device...... 49 6.2.2 Mounting a mains filter...... 52 6.3 Electrical installation ...... 53 6.3.1 Overview of procedure...... 55 6.3.2 Overview of all connections ...... 56 6.3.3 Connection of motor phases ...... 58 6.3.4 DC bus connection...... 60 6.3.5 Mains supply connection ...... 61 6.3.6 Connection of rotation monitoring (CN2) ...... 64 6.3.7 Connection of holding brake and controller supply voltage (CN3)...... 67 6.3.8 Connecting the fan...... 69 6.3.9 Connecting the encoder signals A, B, I (CN5) . . . . . 70 6.3.10 Connecting PULSE (CN5) ...... 72 6.3.11 Connection Profibus DP (CN1) ...... 75 6.3.12 Connecting the digital inputs/outputs (CN1) ...... 77 6.3.13 Connecting a PC or a remote terminal (CN4) . . . . . 79 6.3.14 Reference Value Adapter...... 81 6.4 Checking installation...... 84

7 Commissioning...... 85 7.1 Overview...... 87 7.2 Commissioning tools ...... 88 7.2.1 Overview ...... 88 7.2.2 HMI: Human-Machine Interface ...... 89 7.2.3 Lexium CT commissioning software ...... 94 0198441113706, V2.03, 07.2010 4 Stepper motor drive 0198441113706, V2.03, 07.2010 D2BTable contents of SD328B Stepper motor drive xmls...... 177 ...... Examples 9 109 ...... Operation 8 . iigSO...... 178 ...... STO Wiring 177 ...... Wiring 9.2 9.1 174 . . . . . default Restoring values 173 . . . . Reversal ofdirectionrotation 171 ...... Brake function. 8.6.11 170 ...... Speed window 8.6.10 167 ...... Fast positioncapture 8.6.9 166 ...... Halt 8.6.8 165 ...... Quick Stop 8.6.7 162 ...... profile Motion 8.6.6 159 ...... Scaling 8.6.5 152 ...... functions Monitoring 8.6.4 151 . . . . Setting themotorphasecurrent 8.6.3 151 ...... Functions. 8.6.2 137 Operating . . . mode Homing. 8.6.1 . . 135 . . . . Operating mode ProfileVelocity 8.6 132 . . . . Operating mode ProfilePosition 8.5.5 126 . . . . Operating mode Electronicgear. 8.5.4 123 ...... Operating mode Jog 8.5.3 123 ...... Operating modes. 8.5.2 122 . . . . Changing the operating8.5.1 mode 121 . . . . . the operating mode Starting 8.5 120 . . . andchanging operating modes Starting 8.4.2 118 . . . . . Changing operating8.4.1 states 115 . . . . Indicating the operating states 8.4 111 ...... State diagram 8.3.3 111 ...... Operating states 8.3.2 110 Via hardware . . 8.3.1 input . signals . . 110 ...... Via commissioningsoftware 8.3 110 ...... Via fieldbus 8.2.4 109 ...... Via HMI. 8.2.3 109 ...... Access control. 8.2.2 8.2.1 109 . . Overview . . . ofoperating modes 8.2 8.1 107 . . . . themotionbehavior Optimizing 107 ...... Checking thefan. 107 Checking thedirectionofmovement. . . . 7.3.9 106 Testing . . . . thesafety functionSTO 7.3.8 7.3.7 Testing the signalsof 7.3.6 103 ...... inputs/outputs Digital Setting basicparameters a 7.3.5 100 . . . . Operating state (statediagram) 7.3.4 96 ...... "First Setup" 7.3.3 95 . Commissioning . . procedure. . . 7.3.2 7.3.1 7.3 ilbsdvcs 105 ...... fieldbus devices limit switches signalsof dlmtvle ...... 101 . . . nd limitvalues 5 Table of contents SD328B

10 Diagnostics and troubleshooting ...... 179 10.1 Service ...... 179 10.2 Error responses and error classes ...... 179 10.3 Error indication ...... 180 10.3.1 State diagram...... 180 10.3.2 Error indication at the HMI ...... 182 10.3.3 Error indication using the commissioning software 183 10.3.4 Error indication via the fieldbus ...... 183 10.4 Troubleshooting ...... 186 10.4.1 Troubleshooting problems ...... 186 10.4.2 Troubleshooting of errors sorted by error bit . . . . . 187 10.5 Table of error numbers ...... 189

11 Parameters ...... 199 11.1 Representation of the parameters ...... 199 11.1.1 Explanation of the parameter representation. . . . . 200 11.2 List of all parameters ...... 202

12 Accessories and spare parts ...... 227 12.1 Optional accessories ...... 227 12.2 Motor cables ...... 227 12.3 Encoder cables...... 227 12.4 RS422: Pulse/direction and A/B ...... 228 12.5 Mains filter ...... 228 12.6 Mains reactors ...... 228 12.7 Mounting material ...... 228

13 Service, maintenance and disposal ...... 229 13.1 Service address ...... 229 13.2 Maintenance ...... 229 13.2.1 Lifetime STO safety function ...... 229 13.3 Replacing devices...... 230 13.4 Changing the motor ...... 231 13.5 Shipping, storage, disposal...... 231

14 Extract ...... 233 14.1 Extract for installation ...... 233 14.2 Extract for commissioning...... 235 14.2.1 HMI menu structure ...... 236 14.2.2 "First Setup" (FSU) via HMI ...... 237 14.2.3 Jog ...... 238 14.2.4 Duplicating existing device settings ...... 239 0198441113706, V2.03, 07.2010 6 Stepper motor drive 0198441113706, V2.03, 07.2010 D2BTable contents of SD328B Stepper motor drive 6Idx 245 ...... Index. 16 241 ...... Glossary. 15 52TrsadAbeitos 243 Terms . . . . . andAbbreviations. 242 ...... Conductor cross section 15.2 242 Temperature ...... 242 ...... ofinertia Moment 15.1.9 242 Torque.15.1.8 ...... 242 ...... Rotation 15.1.7 241 Power . 15.1.6 ...... 241 . Force. . 15.1.5 ...... 241 ...... Mass 15.1.4 241 ...... Length. 15.1.3 15.1.2 241 . . . . . Units and conversion tables 15.1.1 15.1 7 Table of contents SD328B 0198441113706, V2.03, 07.2010 8 Stepper motor drive 0198441113706, V2.03, 07.2010 D2BWritingconventions symbols and SD328B Stepper motor drive Writing conventions andsymbols Making work easier Bulleted lists Bulleted Parameters Work steps Work SI units ample ample for name, parameter the ex- with shown are textIn parameters sections, information on making work easier. Sections highlightedthis way provide supplementary Information onmaking easier work ishighlighted bysymbol: this Item 3ofbulletedlist • Item 2ofbulletedlist • Item 1ofbulletedlist • leted listsare structuredas follows: The al items in bulleted listsaresorted specified sequence. Unless otherwise stated, the individual steps must be performed inthe work stephas been performed correctly. the that allows you verify to this indicated, is step work a to response a If iiu odco rs eto:15mm Minimum conductor cross section: 1.5 Example: behind thevalue; original they mayrounded. be SI units are the values.original Converted units are shown in brackets phabeticallyby parameter name. is explainedin the chapter Parameters. The al- parameteris sorted list is representedfollows: as If steps work must be performed consecutively, this sequence of steps ̈ ୵ ̈ ࡯ –Subitem–Subitem for for 2 2 Step 2 step work this to response Specific Step 1 for prerequisites Special thefollowing steps work POSdirOfRotat . The way parameters are represented in tables way . The are represented parameters phanumerically orby priority.Bul- 2 (AWG 14) 9 Writing conventions and symbols SD328B 0198441113706, V2.03, 07.2010 10 Stepper motor drive 0198441113706, V2.03, 07.2010 D2B1 Introduction Device overview 1.2 About thismanual 1.1 Introduction 1 SD328B Stepper motor drive Reference value supply Drive system Pulse/direction signals or A/B encoder signals for the operating • Position Profile Profibus fieldbus formodes Profile and operating • Reference values are providedvia: catedthe atfront of the device. An HMI (HMI, An HMI (HMI, or amotion controller, e.g. LMC. Reference values suppliedand monitored are normally by amaster PLC This drive is used to control a 3-phase stepper motor. iue11Device overview 1.1 Figure whetheryour product isastandard productcustomizeda or model. thetype code for this product.The type code can beusedidentify to This manual isvalid for allSD328Bst mode Electronic Gear. Velocity. H uman- M achine- I nterface)display with andkeysis lo- andard products. This chapter lists lists chapter This products. andard 11 1 Introduction SD328B

Rotation monitoring / motor If a stepper motor with integrated encoder is connected, the following monitoring functions can be activated: • Rotation monitoring: The calculated reference position and the actual position of the motor are compared. If a defined deviation is exceeded, a rotation monitoring error is signaled. • Cable monitoring: The encoder cable is monitored. If the encoder supply is interrupted, it is signaled that the encoder is not ready. • Motor temperature monitoring: The device shuts off if the motor temperature is too high. Holding brake output The device is equipped with an output for direct connection of a holding brake. Safety function The integrated safety function STO (IEC 61800-5-2) complies with Safety Integrity Level SIL2. The safety function allows for a category 0 stop as per IEC 60204-1 without external power contactors. It is not necessary to interrupt the supply voltage. This reduces the system costs and the response times.

1.3 Scope of supply

M5x12 2 1 3

Figure 1.2 Scope of supply

(1) SD32•• (2) Mounting screws (3) Shield terminal (4) EMC mounting plate (5) Fan (SD32••U68 only) 0198441113706, V2.03, 07.2010 12 Stepper motor drive 0198441113706, V2.03, 07.2010 D2B1 Introduction Components andinterfaces 1.4 SD328B Stepper motor drive 1 I/O signal connection(spring CN1 terminal) (1) interfaces Components and 1.3 Figure 5 10-pinsocketfor CN5 (5) RJ45 socketfor CN4 connection of brake holding and supply power 24V for CN3 Connection 12-pin female connector CN2 for motor encoder (4) (3) (2) (10) Fan (SD32 Fan EMC mounting plate Base for the EMCmountingplate (10) Screw terminals for connecting the motor (9) Screw terminals for connection of thesupply mains (8) (7) (6) (11) Heat sink Heat (11) Eight digitalinputs/outputs. The assignment dependson • viaProfibus fieldbus Control • Supply of of pulse/direction of A/B encoder signals in oper- • Remote terminal • PCcommissioning with software • the selected operating mode ating mode Electronic Gear Electronic mode ating 2 11 •• U68 only) 1 8 3 4 5 7 6 10 9 13 1 Introduction SD328B

1.5 Type code

SD3 28 B U25 S2

Product designation SD3 = Stepper motor drive 3-phase

Product type 28 = Stepper motor drive for fieldbus

Interfaces A = Fieldbus CANopen, fieldbus Modbus and analog input B = fieldbus Profibus

Maximum motor phase current U25 = 2.5A U68 = 6.8A

Power stage supply voltage S2 = 1~, 115Vac/230Vac (selectable)

The device type is shown on the nameplate and on the inside of the front plate. 0198441113706, V2.03, 07.2010 14 Stepper motor drive 0198441113706, V2.03, 07.2010 D2B1 Introduction Documentation andliteraturereferences 1.6 SD328B Stepper motor drive Source EPLANMacros Source manuals Further reading Further No recommendation forliterature available. • Recommended literature for reading further http://www.schneider-electric.com at: The latestversions the ofmanuals can bedownloaded from the Internet • • • The followingmanuals belongthis to product: http://www.schneider-electric.com at: Internet ble the for from download For easier engineering, macro files and product master data are availa- motors, includingcorrect inst Motor manual a fieldbus. Fieldbus manual missioning and alloperating modesfunctions. and Product manual , describes the technical characteristics of the of characteristics the technical describes , , describes the technical, describes data, installation, com- , description required to integrate the product into allationcommissioning. and 15 1 Introduction SD328B

1.7 Declaration of conformity

SCHNEIDER ELECTRIC MOTION DEUTSCHLAND GmbH & Co. KG Fehlt noch!! Breslauer Str. 7 D-77933 Lahr

EC DECLARATION OF CONFORMITY YEAR 2008

according to EC Directive Machinery 98/37/EC according to EC Directive EMC 2004/108/EC according to EC Directive Low Voltage 2006/95/EC

We declare that the products listed below meet the requirements of the mentioned EC Directives with respect to design, construction and version distributed by us. This declaration becomes invalid with any modification on the products not authorized by us.

Designation: Stepper motor drive

Type: SD328Axxxxxx, SD328Bxxxxxx

Product number: 00637111401xx, 00637111402xx

EN ISO 13849-1:2006, Performance Level "d" (category 3) Applied EN 61508:2002, SIL 2 harmonized EN 62061:2005, SILcl 2 standards, EN 61800-3:2004, second environment especially: EN 61800-5-1:2007

Applied UL 508C national standards Product documentation and technical specifications, especially:

Company stamp:

Date/ Signature: 10 July 2008

Name/ Department: Wolfgang Brandstätter/Development 0198441113706, V2.03, 07.2010 16 Stepper motor drive 0198441113706, V2.03, 07.2010 D2B1 Introduction for TÜV functionalsafety certificate 1.8 SD328B Stepper motor drive 17 1 Introduction SD328B 0198441113706, V2.03, 07.2010 18 Stepper motor drive 0198441113706, V2.03, 07.2010 . Intended use 2.2 Before 2 you begi Qualification ofpersonnel 2.1 Before you begin-safety information 2 SD328B Stepper motor drive tained only by qualified personnel. equipmentElectrical should be installed, operated, and main- serviced, sult inhazards. Any useother than the use explicitly isprohibited permitted and can re- ardous locations,Ex areas). be operatedThe productmust NEVER only genuine and spare accessories parts. Operate the product only with the specified cables and accessories.Use tem(for example, machine design). ensure the safety of persons bymeans of the design of this entire sys- Since the product is used as a component inan entire system, you must measures must be implemented. of the planned application. Based on the results, the appropriate safety to usingPrior the product,you must perform assessment arisk inview data. regulations and directives, the specified requirements and the technical The product may only be used in compliance with all applicable safety in the cabinet. control The product may onlyused be installedconnection with apermanently instructions. these to according use dustrial productThis is adrivefor 3-phasestepper motorsand intended for in- when performing such work. applicable standards, directives, and accident prevention regulations an on All personsworking used. is product the inwhich system entire tings and by the mechanical, electrical and electronic equipment of the hazards that may be caused by using the product, by changing the set- potential detect able foresee be to and and experience and knowledge ards involved. These persons musthave sufficient technical training, persons must havereceived safetytraining to recognize and avoid haz- these Inaddition, this product. with on and to work authorized are tion thecontents ofthis manual product and allother documenta- pertinent trained appropriately persons Only d with the product must theproduct befullyfamiliard with withall who arefamiliar wit inexplosiveatmospheres (haz- n -safety information h and understand 19 2 Before you begin - safety information SD328B

2.3 Hazard categories

Safety instructions to the user are highlighted by safety alert symbols in the manual. In addition, labels with symbols and/or instructions are at- tached to the product that alert you to potential hazards. Depending on the seriousness of the hazard, the safety instructions are divided into 4 hazard categories.

@ DANGER

DANGER indicates an imminently hazardous situation, which, if not avoided, will result in death or serious injury.

@ WARNING

WARNING indicates a potentially hazardous situation, which, if not avoided, can result in death, serious injury, or equipment damage.

@ CAUTION

CAUTION indicates a potentially hazardous situation, which, if not avoided, can result in injury or equipment damage.

CAUTION

CAUTION used without the safety alert symbol, is used to address practices not related to personal injury (e.g. can result in equipment damage). 0198441113706, V2.03, 07.2010 20 Stepper motor drive 0198441113706, V2.03, 07.2010 SD328B 2 Before 2 you begi Basic information 2.4 SD328B Stepper motor drive injury. Failure to follow these instructions will result in death or serious Installand closeallcovers beforeapplying voltage. • Before performingon work the drivesystem: • across the DCbus or Do the notterminals DCbus short capaci- • AC voltage can couple voltage to unused conductors in the motor • The motor generates voltage when the shaft is rotated. toPrior • Do not touch unshieldedvoltage with components or terminals • Many components of the product, including circuit theprinted • system integrator The • • Only appropriately trained pers appropriately Only • HAZARD SHOCK,ELECTRIC OF ARC EXPLOSIONOR FLASH – Lock allpower switchestheopen in position. – NOT a"DO Place power labelonall ON" switches. TURN – power,all Disconnect including external control power that – tors. cable. cable. Insulate bothof ends unused conductors inthe motor to preventshaft rotation. performing any type of onwork the drive system, block the motor present. tools. insulated cally board, operate with mains voltage. Donot touch. Only use electri- applicable regulationsrespect with to grounding of allequipment. other all as well as requirements code electrical national and maintenance must be performed by qualifiedpersonnel. and with this drive system. Installation, adjustment, repairand recognize and avoid hazards involvedare authorized to on work product documentation and whohave receivedsafety training to understand thecontents ofmanual this all and other pertinent age. DC busnotan LED is indicator of the absence of DCbusvolt- otg esrmn"advrf h otg s<4 V 42 voltagemeasurement" verify and the voltage is< bus"DC chapter bus per as DC voltage the on the Measure minutes 15 Wait may bepresent. to allow the DC bus capacitors to discharge. @ is responsibleis forwith alllocal compliance DANGER ons who arefamiliarons who and with n -safety information dc . The . The 21 2 Before you begin - safety information SD328B

@ WARNING MOTOR WITHOUT BRAKING EFFECT If power outage and faults cause the power stage to be switched off, the motor is no longer stopped by the brake and may increase its speed even more until it reaches a mechanical stop. • Verify the mechanical situation. • If necessary, use a cushioned mechanical stop or a suitable holding brake. Failure to follow these instructions can result in death, serious injury or equipment damage.

@ WARNING UNEXPECTED MOVEMENT Drives may perform unexpected movements because of incorrect wiring, incorrect settings, incorrect data or other errors. Interference (EMC) may cause unpredictable responses in the system. • Carefully install the wiring in accordance with the EMC requirements. • Switch off the voltage at the inputs STO_A (PWRR_A) and STO_B (PWRR_B) to avoid an unexpected restart of the motor before switching on and configuring the product. • Do not operate the product with unknown settings or data. • Perform a comprehensive commissioning test. Failure to follow these instructions can result in death or serious injury. 0198441113706, V2.03, 07.2010 22 Stepper motor drive 0198441113706, V2.03, 07.2010 . DC bus voltage measurement 2.5 Before 2 you begi SD328B Stepper motor drive The DC bus LED is not an indicator of the absence of DCbus voltage. ̈ ̈ ̈ ̈ sensing devicefor Procedure: measuring. rated Vdc.properly a Use voltage- busThe DC voltage can exceed800 Disconnect allon workpower the product. starting toprior ForAdditionalUSA: information,refer 1.1 (latestNEMA ICS to edition), Safety 1) injury. Failure to follow these instructions will result in death or serious the Observe accident prevention regulationslocal and safety • • Only appropriately trained pers appropriately Only • HAZARD SHOCK,ELECTRIC OF ARC EXPLOSIONOR FLASH injury. Failure to follow these thor- and individually be must product the of implementation Each • System control paths may inclu • Separate or redundantcontrol pathsmust beprovidedfor critical • designer The of any controlscheme must consider the potential • LOSS OF CONTROL Speed Drive Systems. Guide forSelection, Installationfor and Construction Operation ofAdjustable- and to NEMA ICS 7.1 (latest edition), Safety Standards for Construction and Guidelines forthe Application, Installation, and Maintenanceof Solid State Control product. local representative.Schneider Electric Do not repairoperate or the Ifbus theDC capacitors donot discharge properly, contact your V 42 that the voltage< is Measurebus the DC voltagebetween the DCbusverify to terminals discharge. to bus capacitors DC allowthe to minutes Wait15 allpower.Disconnect beginsafety - information" may perform the measurement. understand the safety instructions in the chapter "Before you guidelines. sion delaysor failures the link. of eration must be given to the implication of unanticipated transmis- ice. oughly tested for proper operation beforebeing placed into serv- functions. STOP,overtravel restart. stop, and poweroutage EMERGENCY are functions failure. control ofcritical Examples provide ameansachieve to safe a state and after during apath functions, critical forand, certain paths control failure of modes 1) instructions can result indeath orserious @ @ dc WARNING DANGER . ons who arefamiliarons who and with de communicationlinks. Consid- n -safety information 23 2 Before you begin - safety information SD328B

2.6 Functional safety

Using the safety functions integrated in this product requires careful planning. For more information see chapter5.1 "Safety function STO ("Safe Torque Off")" on page 37.

2.7 Standards and terminology

Technical terms, terminology and the corresponding descriptions in this manual are intended to use the terms or definitions of the pertinent standards. In the area of drive systems, this includes, but is not limited to, terms such as "safety function", "safe state", "fault", "fault reset", "failure", "error", "error message", "warning", "warning message", etc. Among others, these standards include: • IEC 61800 series: "Adjustable speed electrical power drive systems" • IEC 61800-7 series: "Adjustable speed electrical power drive systems - Part 7-1: Generic interface and use of profiles for power drive systems - Interface definition" • IEC 61158 series: "Industrial communication networks - Fieldbus specifications" • IEC 61784 series: "Industrial communication networks - Profiles" • IEC 61508 series: "Functional safety of electrical/electronic/programmable electronic safety-related systems" Also see the glossary at the end of this manual. 0198441113706, V2.03, 07.2010 24 Stepper motor drive 0198441113706, V2.03, 07.2010 . Ambient conditions 3 Technical Data 3.2 Certifications 3.1 Technical Data 3 SD328B Stepper motor drive Ambient conditions transportation conditions Ambient Ambient temperature during Certified safetyCertified function Installation altitude Installation Relative humidity Pollution degree and storage operation The installation altitudeis defined asheight abovesea level. The followingrelative humidity operation: ispermissible during serve the pertinent instructions inthe chapter instructions Installation.serve the pertinent pends on the distance between the devices and the required power. Ob- The maximum permissible ambienttemperature operation during de- fied limits. dust. The maximum vibration and shock load mustwithin bethespeci- The environment and during transport storage must and free from be dry ntlainattd [m] mm sides >50 cover atthe film,with afreespace ent temperature 40°C,of without amax.ambi- altitude at Installation altitude Installation 2 ing) Relative (non-condens- humidity Pollution degree 508C, note the information pro- ...+70 -25 If the product is to be used in compliance with UL 2) icing No 1) [°C] temperatureOperating Temperature 2011-06-22 E153659 File Validity 61800-5-2) Safety function STO SAS-1741/08 "Safe Torque Off" (IEC • Assigned number productThishas the following safety certified function: UL TÜV Nord by Certified Product certifications: cessories. mechanical and electrical properties This chapter contains information onthe ambient conditions and on the ie ncatr36"odtosfrU 508C". vided in chapter 3.6 "Conditions for UL )2) 1) [°C] 0 ... +50 0... [°C] [m] 60721-3-3 perIEC As [%] of the product family and the ac- ≤ ≤ 5 ... 85(class3K3) 1000 2000 25 3 Technical Data SD328B

Vibration and shock Vibration, sinusoidal As per IEC 60068-2-6 1.5 mm (from 3 Hz ... 13 Hz) 10 m/s2 (from 13 Hz ... 150 Hz) Shock, semi-sinusoidal As per IEC 60068-2-27 150 m/s2 (for 11 ms)

3.2.1 Degree of protection

The product has degree of protection IP20. The top of the housing has degree of protection IP40 if the cover film covering the top of the housing is not removed. It may be necessary to remove the cover film for reasons of ambient temperature or mounting distances, see chapter 6.2.1 "Mounting the device", page 49. Degree of protection if STO is used You must ensure that conductive substances cannot get into the product (pollution degree 2). If you use the safety function and conductive substances get into the product, the safety function may become inoperative. 0198441113706, V2.03, 07.2010 26 Stepper motor drive 0198441113706, V2.03, 07.2010 D2B3 Technical Data Dimensions 3.3.1 Mechanical data 3.3 SD328B Stepper motor drive as[g . 1.2 18.5 5 121.5 60 140 1.1 18.5 Convection [kg] [mm] 145 5 77.5 72 [mm] [mm] 121.5 Width ofadapterplate [mm] 2) m/s >1 60 1) [mm] 140 mounting rail DIN [mm] 145 Typecooling of [mm] 72 Mass [mm] K J H G c b a SD32 Dimensions 3.1 Figure •• . 2S U68S2 U25S2 ... c

b 2) 2xØ5 M4 1) == G 77.5 Fan a 2) H K J 27 3 Technical Data SD328B

3.4 Electrical Data

The products are intended for industrial use and may only be operated with a permanently installed connection.

3.4.1 Power stage

Electrical data SD32••... U25S2 U68S2 Nominal voltage (switchable) [V] 115/230 (1~) 115/230 (1~) Input current (115V/230V) [A] 4/3 7/5 Maximum motor phase current [A] 2.5 6.8 Maximum speed of rotation of [min-1] 3000 3000 motor Nominal power (115V/230V) [W] 180/270 280/420 (power output of device)

Maximum voltage to ground [Vac]300 300 Maximum permissible short circuit [kA] 0.5 0.5 current of the supply mains Power loss [W] ≤26 ≤65 Fuse to be connected upstream 1) [A] 10 10 1) Fuses: Class CC or J as per UL 248-4, alternatively circuit breakers with C characteristic.

Mains voltage: Range and tolerance Mains voltage 115 V [Vac] 100-15 % ... 120+10 % Mains voltage 230 V [Vac] 200-15% ... 240+10 % frequency [Hz] 50-5 % ... 60+5 %

transient overvoltages overvoltage category III

Inrush current and leakage current Inrush current [A] <60 Leakage current at a motor cable [mA] <30 1) length of <10 m and a design as per "IEC 60990 figure number 3" 1) Measured on mains with grounded neutral point, without external mains filter. If residual current devices are used, note that a 30 mA residual current device can trigger at values as low as 15 mA. In addition, there is a high-frequency leakage current which is not considered in the measurement. Residual current device respond differently to this.

Input current and impedance of The input current depends on the impedance of the supply mains. This mains supply is indicated by a possible short-circuit current. If the mains supply has a higher short-circuit current, use upstream mains reactors. Suitable mains reactors can be found in chapter 12 "Accessories and spare parts". Approved motors Approved motor families: BRS3, ExRDM, VRDM3 Approved motor voltage: 230Vac / 325Vdc Further information on approved motors can be found in the product cat- alog. 0198441113706, V2.03, 07.2010 28 Stepper motor drive 0198441113706, V2.03, 07.2010 .. Signals 3.4.3 3 Technical Data 24V 3.4.2 SD328B Stepper motor drive 24V controllersupplyvoltage dc 24V output signals controller supply voltage 24V input signals Spring terminals Spring Accuracy E 61131-2 (PELV standard power supply unit): IEC Thecontroller 24V voltage supply mustmeet the requirements of have terminals The spring the following properties eiulrpl % <5 [%] ripple Residual Debounce time Debounce uptvlae[V] outputs Maximum switching other current (o voltage reduction) [V] +BRAKE_OUT Maximum switching current load mA Voltage dropat 50 Output voltage The capturedposition motor less is accurate acceleration the during phaseand 2) Except 1) 10 [mA] time Debounce (typical) current Input (U 1 Logic (U 0 Logic 0V from galvanicallyisolated not are inputs/outputs The protected. circuit %) +20 %/ (-15 24 reverse against polarity,protected are short- inputs are Signal outputs [V] Without load on outputs 1) current Input voltageInput Mechanical conditions must be considered. 1) length Stripping with wireferrule Maximum connecti wireferrule without Maximum connecti [mm Minimum conductor cross section aiu urn od[]2 [A] Maximum currentload E 61131-2,1 type IEC When configured as"Source", the levelsof thewith inputs comply h 4 uptsgascml ihIC61131-2. The 24V output signals comply with IEC the deceleration phase. dc . STO_A CAP1 high low ) [V] -3 ... +5 -3... [V] ) 1) V +15... +30 [V] ) and and 1) CAP1 ( 1) PWRR_A on cross section on cross section CAP2 and and ), ), CAP2 2) STO_B ( PWRR_B [µs] 1 ... 10 1... [µs] [A] ° <0.44 [°] 1.25 ... 1.5 [ms] [mA] 1.5 [A] [mm [mm m]85..9.5 ... 8.5 [mm] 2 2 2 ), 0.75 (AWG 20) ] 1.5 (AWG 16) ] 0.14 (AWG 24) ] ≤ + accuracy+ ofencoder ≤ ≤ ≤ 0.2 1 30 50 CAP1 and CAP2 29 3 Technical Data SD328B

Pulse/direction, A/B input signals The pulse/direction and A/B signals conform to the RS422 interface specifications

Symmetrical Conforming to RS422 Resistance [kΩ]5 Pulse/direction frequency [kHz] ≤400 1) A/B frequency [kHz] ≤400 1) Device revision (see nameplate) RS <05: 200 kHz

Profibus signals The Profibus signals comply with the Profibus standard and are short- circuit protected. Encoder signals Output ENC+5V_OUT Supply voltage [V] 4.75 ... 5.25 Maximum output current [mA] 100 Sense-controlled, short-circuit protected, overload-protected

Inputs ENC_A, ENC_B and ENC_I Signal voltage As per RS422 Frequency [kHz] ≤400

3.4.4 Safety function STO

When configured as "Source", the levels of the inputs comply with IEC 61131-2, type 1

Logic 0 (Ulow) [V] -3 ... +5

Logic 1 (Uhigh) [V] +15 ... +30 Input current (typical) [mA] 10 Debounce time [ms] 1 ... 5 Detection of signal difference [s] <1 between STO_A (PWRR_A) and STO_B (PWRR_B) Response time (until shutdown of [ms] <10 power stage) Permitted test pulse width of [ms] <1 upstream devices 0198441113706, V2.03, 07.2010 30 Stepper motor drive 0198441113706, V2.03, 07.2010 Second environment, category C3 Operation Operation C3 environment,Second category First environment, C2 category First environment, C1 category 6180 IEC 61800-3:2001-02; EN Mains filter 3.4.6 Fan 3 Technical3.4.5 Data SD328B Stepper motor drive Datafor maintenanceand plan safety calculations Basics -,E. Description 0-3, Ed.2 Fan Diagnostic CoverageDiagnostic 13849-1) DC (ISO Failureto Dangerous Time Mean The EMCstandards distinguish various usecases: nu otg [V voltage Input deviceOnly SD32 type MTTF Performance Level 13849-1) PL (ISO ware Failure perHour Hard- ofDangerous Probability 61508) PFH (IEC 62061 IEC years 61508 20 IEC Safety level integrity Typesubsystem B Hardware Fault Tolerance 61508) HFT (IEC Safe Failure Fraction 61508) SFF (IEC 61508) Lifetime (IEC nu urn m]130 [mA] current Input plan and the safetycalculations: Use the following data of the STO safety function for your maintenance d (S 13849-1) (ISO Operation in residential areas inresidential Operation areas inresidential Operation •• U68 comes with afan. in industrial power networks distribution industrial in % 90 [%] 1h 2.331*10 [1/h] 66 [%] dc ]24 3788 years 3788 d (Category 3)d (Category SILCL2 SIL2 1 -9 31 3 Technical Data SD328B

Limit values This product meets the EMC requirements according to the standard IEC 61800-3, if the measures described in this manual are implemented during installation. If the selected composition is not designed for category C1, note the following:

@ WARNING HIGH-FREQUENCY INTERFERENCE In a residential environment this product may cause high-frequency interference that may require interference suppression. Failure to follow these instructions can result in death or serious injury.

Better values can be achieved depending on the device and the application and as well as the design, for example, in the case of installation in an enclosed control cabinet with at least 15db attenuation. The following limit values for conducted interference are met by EMC- compliant designs:

Devices without external mains filter C3 up to a motor cable length of 10 m Devices with external mains filter C2 up to a motor cable length of 20 m, C3 up to a motor cable length of 50 m

The system integrator and/or machine owner/operator is responsible for complying with the EMC directives. See chapter 12 "Accessories and spare parts" for order data on external mains filters. 0198441113706, V2.03, 07.2010 32 Stepper motor drive 0198441113706, V2.03, 07.2010 D2B3 Technical Data Reference value adapterRVA 3.5.1 Technical data accessories 3.5 SD328B Stepper motor drive Electrical data Electrical Dimensions aiu uptcret[A 300 [mA] protected, overload-protected short-circuit Sense-controlled, current Maximum output 5VSE encoder Output, ( current Input Supply voltage [V] 19.2 ...30 19.2 [V] 37 [mm] 135 [mm] ( 77 current Input [mm] Supply voltage Input rail.DIN Installation on Depth Width Height Adapter", page 81. Fordescription a of the RVA,see chapter 6.3.14"Reference Value 5VSE 5VSE 0 mA) 300 noload) [V] 4.75 ... 5.25 ... 4.75 [V] 150 [mA] m]50 [mA] 33 3 Technical Data SD328B

3.5.2 Cables

Overview of required cables

Max. cable length in. conductor As per PELV Shielded, Twisted pair [m] cross section both ends [mm2] grounded Motor cables (see chapter 12.2 10/50 1) 4*1.5 (AWG 14) X "Motor cables") Mains supply − 0.75 (AWG 18) Encoder cables (see chapter 12.3 100 10*0.25 and 2*0.5 XXX "Encoder cables") (AWG 22 and 18) Controller supply voltage − 0.75 (AWG 18) X 1) Length depends on the required limit values for conducted interference, see chapter 3.4.6 "Mains filter".

Motor cable and encoder cable The motor cables and encoder cables are suitable for drag chain applications; they are available in various lengths. See page 227 for the ver- sions available as accessories.

Motor cables Style 20234 Encoder cable Style 20963

Permissible voltage motor cable [Vac] 600 (UL and CSA) Temperature range [°C] -40 ... +90 (permanently installed) -20 ... +80 (moving) Minimum bending radius 4 x diameter (permanently installed) 7.5 x diameter (moving) Cable jacket Oil-resistant PUR Shielding Shield braiding Coverage of shielding [%] ≥85

Table 3.1 Data of the motor cable and encoder cable available as accessories

3.6 Conditions for UL 508C

If the product is used to comply with UL 508C, the following conditions must also be met: Ambient temperature during operation Surrounding air temperature [°C] 0 ... +40

Wiring Use at least 60/75 °C copper conductors. PELV power supply Use only power supply units that are approved for overvoltage category III. Short-circuit current rating Short-circuit current rating [kA] 5 0198441113706, V2.03, 07.2010 34 Stepper motor drive 0198441113706, V2.03, 07.2010 SD328B 4 Basics 4 Functional safety 4.1 4BasicsSD328B Stepper motor drive PFH, Probabilityofadangerous PFH, SIL, Safety Integrity Level SafetySIL, Integrity hardware failure per hour E 61508 standard IEC 1 demand orcontinuous demand athigh 2 PFH 3 4 SIL standard. valuethetotal PFH must not exceed the maximumvalue specifiedthe in safety system. The individual PFH values of a function chain are added; ingthe onSIL, must the PFH not exceed values certain forthe entire mannerand the safety function cannotbe correctly executed. Depend- This istheprobabilityperhourthat of PFH (probability implementedforures co evalua to to aprobabilityassessment the required SIL. Allcomponents of a safety function must be subjected levelsous forof measures avoiding vari- requires standard 61508 ToIEC the safety the function, maintain must cover. is to beconsidered asasafety func relevant the chain level. whether decide function to integrity isused This forbasisa serves as analysis theand required risk determining safety functions.SIL1is the lowest level and SIL4is the highestlevel. A hazard 61508defines4 safety integrity levels(SIL) forsafety The standard IEC levelswith comparable risk bedeveloped can basis.on this and components that can be used invarious applications for safety tasks requirements of thesafety specific tor) isconsideredunit.afunction This as chain mustmeet the ample, fromsensor a through the logical processing unitsthe to actua- function. Instead of a single component, an entire function chain (for ex- grammable electronic safety-related systems" covers the safety-related safety electrical/electronic/pro- of "Functional 61508 IEC standard The 61508 WorkingIEC with from th tential arising The levelof the requirements results from and the the risk hazardpo- Usually,the safety engineering requirementsdepend on the application. by greatly integrated simplified safetyare functions. grated. and Engineering installationcomplex of automation solutions inte- more and have but more recently past the become in separated Automation and safety engineering are two areas that werecompletely ≥ ≥ ≥ ≥ 10 10 10 10 -6 -7 -8 -9 ... <10 ... <10 ... <10 ... <10 a dangerous failure perhour)for a safety system. e specific application. ntrolling faults. the Thisassessmentdetermines -5 -6 -7 -8 and controlling faul a safety fails system ina hazardous integrity levelintegrity asawhole. Systems tionand whichhazard potential it te the effectiveness ofthemeas- ts,on depending 35 4 Basics SD328B

HFT and SFF Depending on the SIL for the safety system, the IEC 61508 standard requires a specific hardware fault tolerance HFT in connection with a specific proportion of safe failures SFF (safe failure fraction). The hardware fault tolerance is the ability of a system to execute the required safety function in spite of the presence of one or more hardware faults. The SFF of a system is defined as the ratio of the rate of safe failures to the total failure rate of the system. According to IEC 61508, the maximum achievable SIL of a system is partly determined by the hardware fault tolerance HFT and the safe failure fraction SFF of the system. IEC 61508 distinguishes two types of subsystems (type A subsystem, type B subsystem). These types are specified on the basis of criteria which the standard defines for the safety-relevant components.

SFF HFT type A subsystem HFT type B subsystem 012 012 < 60% SIL1 SIL2 SIL3 --- SIL1 SIL2 60% ... <90% SIL2 SIL3 SIL4 SIL1 SIL2 SIL3 90% ... < 99% SIL3 SIL4 SIL4 SIL2 SIL3 SIL4 ≥99% SIL3 SIL4 SIL4 SIL3 SIL4 SIL4

Fault avoidance measures Systematic errors in the specifications, in the hardware and the software, usage faults and maintenance faults of the safety system must be avoided to the maximum degree possible. To meet these requirements, IEC 61508 specifies a number of measures for fault avoidance that must be implemented depending on the required SIL. These measures for fault avoidance must cover the entire life cycle of the safety system, i.e. from design to decommissioning of the system. 0198441113706, V2.03, 07.2010 36 Stepper motor drive 0198441113706, V2.03, 07.2010 .. Function 5.1.2 Engineering 5 Definitions 5.1.1 Safety functionSTO ("Safe Torque Off") 5.1 Engineering 5 SD328B Stepper motor drive aeyfnto T IC61800-5- Safety function STO (IEC aeoy1so IC60204-1) stop (IEC 1 Category 60204-1) stop (IEC 0 Category Function principle "Power Removal" 2) error message can only be reset by reset only be can switching product. message off the error one of the two inputs isswitched off or if the time offset is too great. This The power stage isdisabled and an error message is generated if only set". possible is after A restart resettingthe error message with a"Fault Re- motorcan nolonger generate torque and coasts down withoutbraking. The powerstageis disabledan and error message isgenerated. The The switchingmustprocess simultaneous be for both inputs (offset<1s). nels. always are there that so separate two must be chan- twoinputs the of The STO safety function2via istriggered redundant inputs. The circuits stops. 1 category implement possibleto Withadditional, an approved EMERGENCY STOPmodule, is also it 0stops. 60204-1) for category plement an "EMERGENCY STOP" (IEC The STO safety functionintegrated into the productbe canto used im- 61508 standard. See pagefor 35 informationonthe using IEC phase. design inthe is vital This chapter contains information on the application of the product that thestop. Powernot is until interrupted the stop isachieved. Controlled stop with power available to the machine actuators to achieve an uncontrolled stop). Stopping by immediateremoval ofpower to the machine actuators (i.e. Removal". STOThe ("Safe safety Torque function "Powerknown as also is Off") formonitoring standstill. safely. voltage. the supply is no There tointerrupt Itis necessary not The safety function STO ("Safe Torque Off") shuts off the motor torque 37 5 Engineering SD328B

5.1.3 Requirements for using the safety function

@ DANGER ELECTRIC SHOCK CAUSED BY INCORRECT USE The safety function STO ("Safe Torque Off") does not cause electric isolation. The DC bus voltage is still present. • Turn off the mains voltage using an appropriate switch to achieve a voltage-free condition. Failure to follow these instructions will result in death or serious injury.

@ WARNING LOSS OF SAFETY FUNCTION Incorrect usage may cause a hazard due to the loss of the safety function. • Observe the requirements for using the safety function. Failure to follow these instructions can result in death or serious injury.

Category 0 stop During a category 0 stop, the motor coasts down in an uncontrolled way. If access to the machine coasting down involves a hazard (results of the hazard and risk analysis), you must take appropriate measures. Category 1 stop A controlled stop must be triggered with a category 1 stop. The controlled standstill is not monitored by the drive system. In the case of power outage or an error, a controlled stop is impossible. Final shutoff of the motor is achieved by switching off the two inputs of the STO safety function. The shutoff is usually controlled by a standard EMERGENCY STOP module with a safe time delay. Behavior of holding brake Triggering the STO safety function means that the delay time for motors with holding brake is not effective. The motor cannot generate holding torque to bridge the time to application of the holding brake. Especially in the case of vertical axes it is important to verify whether additional measures are required to avoid lowering of the load. Vertical axes, external forces If external forces act on the motor (vertical axis) and an unwanted movement, for example caused by gravity, could cause a hazard, the motor must not be operated without additional measures for fall protection. Unintended restart Note that a master controller must not trigger an unintended restart after restoration of power (e.g. after a power outage). Degree of protection if STO is used You must ensure that conductive substances cannot get into the product (pollution degree 2). If you use the safety function and conductive substances get into the product, the safety function may become inoperative. 0198441113706, V2.03, 07.2010 38 Stepper motor drive 0198441113706, V2.03, 07.2010 SD328B 5 Engineering 5 SD328B Stepper motor drive Datafor maintenanceand plan Protected cable installation Protected Hazard and risk analysis and Hazard risk safety calculations Diagnostic CoverageDiagnostic 13849-1) DC (ISO Failureto Dangerous Time Mean MTTF Performance Level 13849-1) PL (ISO ware Failure perHour Hard- ofDangerous Probability 61508) PFH (IEC 62061 IEC years 61508 20 IEC Safety level integrity Typesubsystem B Hardware Fault Tolerance 61508) HFT (IEC Safe Failure Fraction 61508) SFF (IEC 61508) Lifetime (IEC Use aseparately grounded shield.Ifthere are other wires inthe • Use ashielded cable. The groundedshield isdesigned to dissipate • Use separate cables for two signals. Any additional wires in these • Protected cable insta safety functionno longer is operative. damaged. If the two signals are connected to external voltage, the STO STO safety voltage may to external function if acable connected is be In thecase ofunprotected an cable installation, the twoof signals the stream devices, protectedcable installation required. is twosignalsthe of STOsafety function and iftheyare not detected by up- circuitsc circuitsorcross If short quired.results Thethe hazard of analysis and have risk priority. ing applicationexamples. Additional safety components may be re- The type of circuit resulting from the analysis may differ from the follow- plication of the STO safety function. ap- the in account takeninto be must results The system. entire the of As asystem manufacturer youmust conduct ahazard analysis and risk plan and the safetycalculations: Use the following data of the STO safety function for your maintenance grounded, separate shield. by wires a these from isolated be must cable,signals two the way.this in fuse the trip to and damages of case the voltage in external the cablesvolt may only carry d (S 13849-1) (ISO llation possibilities: ages according to PELV. to according ages % 90 [%] 1h 2.331*10 [1/h] 66 [%] an be expected inconnection with the 3788 years 3788 d (Category 3)d (Category SILCL2 SIL2 1 -9 39 5 Engineering SD328B

5.1.4 Application examples STO

Example of category 0 stop Application without EMERGENCY STOP module, category 0 stop.

24V 24V

ENABLE SPS/ CNC

FAULT RESET M 3~ EMERGENCY STOP STO_A (PWRR_A) STO_B (PWRR_B)

Figure 5.1 Example of category 0 stop

Please note: • When the EMERGENCY STOP switch is tripped, this initiates a category 0 stop Example of category 1 stop Application with EMERGENCY STOP module, category 1 stop.

24V24V 24V 24V 24V

Preventa ENABLE SPS/CNC XPS-AV FAULT RESET Y+ Y64 M Y74 HALT 3~ Y84 Delayed 37 38 STO_A (PWRR_A) 47 48 STO_B (PWRR_B) 57 58 Undelayed EMERGENCY 03 04 STOP 13 14 23 24 S31 S11 S21 S12 S22 S13 S32 S14 A1 A2

Figure 5.2 Example of category 1 stop

Please note: • A "Halt" is initiated without a delay via the HALT input. • The inputs STO_A (PWRR_A) and STO_B (PWRR_B) must be switched off with a time delay. The delay is set at the EMERGENCY STOP safety module. If the motor has not yet stopped when the delay time has elapsed, it coasts down in an uncontrolled way (uncontrolled stop). • The specified minimum current and the permissible maximum current of the relay must be observed for the relay outputs of the EMERGENCY STOP module. 0198441113706, V2.03, 07.2010 40 Stepper motor drive 0198441113706, V2.03, 07.2010 SD328B 5 Engineering 5 the device Monitors for overtemperature between and motorphase between and motorphase circuit Monitors for short if becomesinoperativeresponse the Error link Monitors for oftravelrange permissible Task for Monitors overvo fault ground / circuit Short (optiona Rotation monitoring Overtemperature undervoltage Overvoltage and Limit switch signals Data link Monitoring Monitoring functions 5.2 SD328B Stepper motor drive )Monitors the motor movement l) toring functions", page 152. page functions", toring Fordescription a of thefunctions, monitoring see chapter 8.6.2"Moni- ground and phase motor The followingmonitoring functions are available: ing functions may notused be to protectpersons. and involved reduce the risks ain system misoperation.These monitor- The monitoring functions inthe product canhelp to guard the system ltage and undervoltage of the supply voltage supply of the undervoltage ltage and and the motor temperature motor the and 41 5 Engineering SD328B 0198441113706, V2.03, 07.2010 42 Stepper motor drive 0198441113706, V2.03, 07.2010 D2B6 Installation Electromagnetic compatibility, EMC 6.1 Installation 6 SD328B Stepper motor drive EMC scope of supply and supply of scope EMC Control cabinetdesign accessories Limit values Install powerInstall controlcomponents and circuits). varistors,diodes, RC (forassembliessuppressors arc or example, valvessolenoid withinterference suppression Fit switching devices such M esrsObjective mm greater10 than with ground straps or cables with a cross section andEMCplate thecontrolcabinet, door Ground remove parts, surfaces. from paint metal contact surface large of connect plates, areas mounting or Use EMCplate galvanized orchrome-plated measures EMC you should know beforethe installation. starting The chaptercontains Engineering basic informationthat See page 227 for information pre-assembled cables. relief. strain a as used be to designed not are number of shield clamps depends on the device type. The shield clamps The deviceis shipped with SKshield clamps and anEMCplate.The lowing: fol-the note C1, for is designed not category composition selected If the installation. during 61800-3, if the measures described in this manual are implemented IEC This product meets the EMC requirements according to the standard injury. Failure to follow these interference that may requireinterference suppression. this environment residential a In HIGH-FREQUENCY INTERFERENCE or equipment damage. injury serious indeath, result can Failurefollow to instructions these Verify compliancethe withEMC requirements. • inaccordance Installthewithwiring the EMCrequirements. • device. of unexpected responses cause can interference Signal SIGNAL ANDDEVICE INTERFERENCE 2 (W 6). (AWG as contactors, relays or instructions can result indeath orserious @ @ WARNING WARNING product may cause high-frequency separately. Reduces mutual Reduces interfer- separately. ence Reduces emissions. ence mutualReduces interfer- duesurface to contact. Improves conductivity 43 6 Installation SD328B

Shielding EMC measures Objective Connect large surface areas of cable shields, use Reduces emissions. cable clamps and ground straps Use cable clamps to connect a large surface area of Reduces emissions. the shields of all shielded cables to the mounting plate at the control cabinet entry. Ground shields of digital signal wires at both ends Reduces interference by connecting them to a large surface or via con- affecting the signal ductive connector housings. wires, reduces emissions Ground the shields of analog signal wires directly at Reduces ground loops the device (signal input); insulate the shield at the due to low-frequency other cable end or ground it via a capacitor (for interference. example, 10 nF). Use only shielded motor cables with copper braid Diverts interference cur- and a coverage of at least 85%, ground a large sur- rents in a controlled way, face area of the shield at both ends. reduces emissions

Cable installation EMC measures Objective Do not route fieldbus cables and signal wires in a Reduces mutual interfer- single cable duct together with lines with DC and AC ence voltages of more than 60 V. (Fieldbus cables, signal lines and analog lines may be in the same cable duct) Recommendation: Use separate cable ducts at least 20 cm apart. Keep cables as short as possible. Do not install Reduces capacitive and unnecessary cable loops, use short cables from the inductive interference. central grounding point in the control cabinet to the external ground connection. Use equipotential bonding conductors in systems Reduces current in the with cable shield, reduces - wide-area installations emissions. - different voltage supplies - networking across several buildings Use equipotential bonding conductors with fine Diverts high-frequency wires interference currents. If motor and machine are not conductively con- Reduces emissions, nected, for example by an insulated flange or a con- increases immunity. nection without surface contact, ground the motor with a ground wire (> 10 mm2) or a ground strap.

Use twisted pair for 24 Vdc signals. Reduces interference affecting the signal cables, reduces emissions.

Power supply EMC measures Objective Operate product on mains with grounded neutral Enables effectiveness of point (mains filter is not effective in IT mains). mains filter. Protective circuit if there is a risk of overvoltage. Reduces the risk of damage caused by overvoltage. 0198441113706, V2.03, 07.2010 44 Stepper motor drive 0198441113706, V2.03, 07.2010 D2B6 Installation SD328B Stepper motor drive Equipotential bonding conductors bonding Equipotential Additional measuresfor EMC Motor and encoder cables improvement •16mmcan beused: sections cross ductor following the shown that has con- experience Practical flowing. current The equipotential bonding conductormust rated be forthemaximum cable shields. shields. Useequipotential bonding conductors to reduce currents on the Potential differencesresult in can following measures: achieved be can the results with better application, the on Depending An EMC-compliant design isrequired to meet the specified limit values. •20mm and implementmeasures below. the EMC described pre-assembledonly cables cables or that comply with the specifications Motorandof EMC. encoder cablesterms inUse especially are critical M esrsObjective Improveslimit EMC the Reduces mains harmon- interference of radiated dBdamping 15 with cabinet control closed a e.g.design, in EMC-compliant Particularly filters mains external Upstream reactors Upstream mains measures EMC Objective If acablehas tobecut forthe installation, itbe hasto connected withshield con- 1) them. cutting Route themotor cable encoder cable and without tors. conduc- bonding For equipotential lines, use long between themotor cablecable. signal and plates shielding cableuse or signal cmfromthe 20 Route themotor cable at cables.encoder Do not switchinginstall cables elements in motor or measures EMC nections andametal housing at thepoint the of cut. fmr hn20m 200 than more of m length of 200 2 2 (W 4) for equipotential bonding conductorslengtha with (AWG 4) for equipotentialbonding conductors upa to (AWG 1) a distanceofat least excessive cableon the currents Reduces emission. values. Improveslimit EMC the values. life.service ics, product prolongs cable shield. Reduces current in the ence mutualReduces interfer- Reduces interference. 45 6 Installation SD328B

Control cabinet Mains filter (optional)

Central grounding point Machine

PE L1 N

Motor (ground to machine)

Encoder

Motor

Fieldbus Signals

Figure 6.1 EMC measures1

1. Number of shield clamps depends on the device type. 0198441113706, V2.03, 07.2010 46 Stepper motor drive 0198441113706, V2.03, 07.2010 D2B6 Installation Operation inanITmains 6.1.1 SD328B Stepper motor drive 2 Y-capacitorsthe of internal filter deactivated (IT mains) capacitors Y of the internal filteroperative (standard) (2) (1) Operation anITmains in 6.2 Figure tions and standards. measures required for compliance with allapplicable directives, regula- egories, see chapter 3.4.6 "Mains filter", page 31). You must take all the specifications for radiated interference are no longer met (specified cat- Ifthe groundconnections of the Ycapacitorsare disconnected, the via theY capacitors must remaineffective! In thecase of allother mains except for IT mains, theground connection Ycapacitors). (deactivate the pacitors integrated mains filters, disconnect the ground connection of the Y ca- an error rectwiring, issignaled, you can, inthe caseproducts of with ble for non-linear loads (e.g. type Gerin XM200). Merlin If, in spite of cor- impedance. If you isolation use permanent monitoring, it must be suita- ITAn mains hasaneutralconductor that isisolated or groundedhighvia 1 2 PE 47 6 Installation SD328B

6.2 Mechanical installation

@ DANGER ELECTRIC SHOCK CAUSED BY FOREIGN OBJECTS OR DAMAGE Conductive foreign objects in the product or serious damage may cause parasitic voltage. • Do not use damaged products. • Keep foreign objects such as chips, screws or wire clippings from getting into the product. • Do not use products that contain foreign objects. Failure to follow these instructions will result in death or serious injury.

@ WARNING LOSS OF SAFETY FUNCTION CAUSED BY FOREIGN OBJECTS Conductive foreign objects, dust or liquids may cause the STO safety function to become inoperative. • Do not use the STO safety function unless you have protected the system against contamination by conductive substances. Failure to follow these instructions can result in death or serious injury.

@ CAUTION HOT SURFACES The heat sink at the product may heat up to over 100°C (212°F) during operation. • Avoid contact with the hot heat sink. • Do not allow flammable or heat-sensitive parts in the immediate vicinity. • Consider the measures for heat dissipation described. Failure to follow these instructions can result in injury or equipment damage. 0198441113706, V2.03, 07.2010 48 Stepper motor drive 0198441113706, V2.03, 07.2010 4) By 2.2 % per °Cper above By 2.2 % (by40 °C °F 1.22 above %per 104 °F) 4) Recommendation: Remove cover film afterinstallation 3) Distancein front the of device: 10mm(0.39 in.), above: 50mm(1.97in.), below:200mm (7.87in.) 2) Maximum operatingtemperature foruse asperUL:+40°C max. (104°F) 1) to 122°F) (104°F +50°C to +40°C 104°F) (32°F to 0°Cto+40°C Temperature 6 Installation Mounting thedevice 6.2.1 SD328B Stepper motor drive Mounting distances,ventilation 1) (d <1.97 in.) d <50mm Distance (d >1.97 in.) d >50mm (d <1.97 in.) d <50mm (d >1.97 in.) d >50mm Control cabinet 2) current continuous and current nominal Reduce None Reduce nominal current and and continuous current nominal Reduce d> 10mm None None None None without Measures cover film 4) iue63Mounting distancesand air circulation Figure6.3 When planning installationdistances, consider the dimensionsof a • limits are If exceeded thethermal operation, during the drive • The heated airflow from other devicescomponents and must not • Do not mount the deviceon flammable materials. • Do not mount the deviceclose to heat sources. • Adhere to the minimum installationdistances for requiredcooling. • Mount the device position ( vertical ain • following: When selecting the position of the device in the control cabinet, note the cabinet. heat generated by all devices and components operated in the control The ventilation of the control cabinetmust besufficientto remove the the EMC requirements. components installed canbe permanently and wired incompliancewith The control cabinetmust have asufficientsize so that alldevices and mains filter, see alsonotes on52 page switches (overtemperature). off heat uptheair for used cooling the device. Avoid heat accumulations. device. the cooling d 3) current (d >0.39 in.) Operation impossible withcover Measures film d 4) ± 10°). This is required for10°). Thisis 49 6 Installation SD328B

At least 10mm of free space is required in front of the device. At least 50mm of free space is required above the device. The connecting cables are routed out of the housing at the bottom. At least 200mm of free space is required below the device to allow for cable installation without bends. Mounting the device For the dimensions of the mounting holes, see chapter 3.3.1 "Dimen- sions", page 27. ̈ Mount the device in a vertical position (±10°). This is required for cooling the device. ̈ Mount the EMC plate at the bottom of the device, see also Figure 6.1, or use alternative connection elements (busbars, shield clamps or similar).

Attaching a label with safety ̈ Select the label suitable for the target country. instructions Observe the safety regulations in the target country. ̈ Attach the label to the front of the device so that it is clearly visible.

Instead of mounting the device directly to the control cabinet mounting plate, you can use adapter plates for DIN rail mounting which are available as accessories, see chapter 3.3.1 "Dimensions". In this case mains filters cannot be mounted directly next to or behind the device. NOTE: Painted surfaces have an insulating effect. Before mounting the device to a painted mounting plate, remove all paint across a large area of the mounting points until the metal is completely bare. Mounting the fan Device type SD32••U68 comes with a fan. The fan must be mounted and connected. ̈ Mount the fan as shown in the illustration below. ̈ Mount the fan before carrying out the electrical installation of the product.

Figure 6.4 Mounting the fan 0198441113706, V2.03, 07.2010 50 Stepper motor drive 0198441113706, V2.03, 07.2010 D2B6 Installation SD328B Stepper motor drive Removingthe cover film ̈ Removing the cover film 6.5 Figure tions. The covermust film removed be ifrequired by condi- the thermal Remove thecover film only after co mpletion ofallinstallationwork. 51 6 Installation SD328B

6.2.2 Mounting a mains filter

For technical data of external mains filters, see page 31. Information on the electrical installation can be found in chapter 6.3.5 "Mains supply connection", page 61.

Figure 6.6 Mounting a mains filter

̈ Mount the mains filter at the rear or the left side of the device.

If the mains filter is mounted behind the device, the mains filter connections are no longer accessible after installation of the EMC plate.

If you use DIN rail mounting plates, the mains filter cannot be mounted directly next to or behind the device. 0198441113706, V2.03, 07.2010 52 Stepper motor drive 0198441113706, V2.03, 07.2010 D2B6 Installation Electrical installation 6.3 SD328B Stepper motor drive injury. Failure to follow these served. If aresidual current device (RCD) isused, conditions mustob- be GROUND CONDUCTOR THIS PRODUCT MAY CAUSEDIRECT injury. Failure to follow these instructions will result in death or serious Ground the cableat shields both ends; however,theshields are • cross The section of the protective ground conductor must com- • Do not useconduitsas protective ground conductors; usepro-a • thedrive Ground system • Insufficientgrounding causes the hazardelectric shocks. of SHOCKELECTRIC BYCAUSED INSUFFICIENTGROUNDING injury. Failure to follow these instructions will result in death or serious Do not useproducts that contain foreign objects. • Keep foreign objects such as chips, screws or wire clippings from • Do not usedamaged products. • voltage. parasitic cause Conductive foreign objects inthedamageproduct or may serious SHOCKELECTRIC BYCAUSED FOREIGN OBJECTS OR DAMAGE not protective groundconductors. ply with theapplicable standards. tectiveground conductorinside the conduit. gettinginto the product. instructions can result indeath orserious @ @ @ WARNING beforevoltage. applying DANGER DANGER CURRENTINTHE PROTECTIVE 53 6 Installation SD328B

Conditions for use of residual Where the installation regulations require upstream protection against current device direct or indirect contact by means of a residual current device (RCD) or a residual current monitor (RCM), a residual current device of "type A" can be used for a single-phase drive with connection between N and L. In all other cases, a "type B" RCD must be used. Note the following: • Filtering of high-frequency currents. • Delayed triggering to avoid triggering as a result of capacitance which may be present when the unit is switched on. 30 mA residual current devices rarely have a delay. Use residual current devices which are not sensitive to unintentional triggering, for example residual current devices with increased immunity. Use residual current devices that meet the following conditions: • For single-phase devices, type A: Residual current devices of series s.i (super-immunized, Schneider Electric). • For three-phase devices, type B: sensitive to all current types with approval for frequency inverters Suitability of the cables Cables must not be twisted, stretched, crushed or bent. Use only cables that comply with the cable specification. Consider the following in determining suitability of the cables: • Suitable for drag chain applications • Temperature range • Chemical resistance • Outdoor installation • Underground installation 0198441113706, V2.03, 07.2010 54 Stepper motor drive 0198441113706, V2.03, 07.2010 D2B6 Installation Overview ofprocedure 6.3.1 SD328B Stepper motor drive The controller power supply Chapter5.1"Safety function STO ("SafeTorque Off")", page 37 • for alloperating modes! .. Cnetn h a"69 72 79 Page 60 61 (CN4)" terminal a PC oraremote 6.3.13 "Connecting the digi 6.3.12 "Connecting Pr 6.3.11 "Connection 64 (CN5)" PULSE 6.3.10 "Connecting theencoder 6.3.9 "Connecting thefan" 6.3.8 "Connecting (CN3)" brake ofholding 6.3.7 "Connection (CN2)" monitoring ofrotation 6.3.6 "Connection connection" supply 6.3.5 "Mains bus6.3.4 "DC connection" of 6.3.3 "Connection Chapter ̈ ̈ ̈ ̈ ̈ Finally, lock the frontplate. Verify compliance withrequirements, the EMC pagesee 43. other cables. sequence the maydescribed, connection terminals be covered by theintable below. If you donot make the connections inthe Make allrequired connections according to the sequence as shown system. the of point grounding central the device to ofthe plate EMC the or connection the ground Connect Unlock thefront plate of the deviceand open thefront plate. chapter 5 "Engineering", page 37. Take into account the information on the basicsettings in described mtrpae"58 phases" motor fbsD C1"75 ofibus(CN1)" DP a nusotus(N) 77 (CN1)" tal inputs/outputs inl ,B C5"70 signals A, B, I (CN5)" +24VDC and controller supply voltage supply and controller ) must be connected ) must beconnected 67 55 6 Installation SD328B

6.3.2 Overview of all connections

Power connections

N/L2 L1 115V DC+ VS1 VS2 DC- U V W

N/L2 L1 230V DC+ VS1 VS2 DC- U V W

Figure 6.7 Power connections

Power connections Meaning PE Ground connection L1, N/L2 Mains connection DC+, DC- DC bus VS1, VS2 Setting the voltage range U, V, W Motor phases 0198441113706, V2.03, 07.2010 56 Stepper motor drive 0198441113706, V2.03, 07.2010 D2B6 Installation SD328B Stepper motor drive Signal connections 1Switchfor resistor fieldbus terminating A/B/I signals in encoder PULSE/DIR in, Depend on"First Setup" 1) PC, (RJ45) remoteterminal; S1 24VPELV supply voltage,controller pins41-44 CN5 brake Holding 40-41 pins connection, CN4 Encoder CN3 CN3 Profibus,21-24 pins CN2 CN1 switch Connection/ Overview connections of signal 6.8 Figure CN2 Digital inputs/outputs pins 31-39 Assignment 21 22 332 23 S1 435 24 CN4 31 CN1 OFF 338 33 34 40 1) 144 41 63 36 CN5 CN3 42 37 43 9 57 6 Installation SD328B

6.3.3 Connection of motor phases

@ DANGER ELECTRIC SHOCK High voltages at the motor connection may occur unexpectedly. • The motor generates voltage when the shaft is rotated. Prior to performing any type of work on the drive system, block the motor shaft to prevent rotation. • AC voltage can couple voltage to unused conductors in the motor cable. Insulate both ends of unused conductors in the motor cable. • The system integrator is responsible for compliance with all local and national electrical code requirements as well as all other applicable regulations with respect to grounding of all equipment. Supplement the motor cable grounding conductor with an additional protective ground conductor to the motor housing. Failure to follow these instructions will result in death or serious injury.

Cable specifications and terminal • Shielded cable • Shield grounded at both ends

Maximum cable length 1) [m] 10/50 Minimum conductor cross section [mm2]1.5 Maximum connection cross sec- [mm2]1.5 tion Tightening torque [Nm] 0.5 ... 0.6 (lb·in) (4.4 ... 5.3) 1) Depends on the required limit values for conducted interference, see chapter 3.4.6 "Mains filter".

• See chapter 3.5.2 "Cables" for additional information. ̈ Use pre-assembled cables (page 227) to reduce the risk of wiring errors. ̈ Use only the cables available as accessories, the use of other cables may destroy the product.

Approved motors Approved motor families: BRS3, ExRDM, VRDM3 Approved motor voltage: 230Vac / 325Vdc Further information on approved motors can be found in the product cat- alog. 0198441113706, V2.03, 07.2010 58 Stepper motor drive 0198441113706, V2.03, 07.2010 D2B6 Installation SD328B Stepper motor drive Assembling cables Monitoring measures", page 45. dimensions refer to acable arrangementshown as inthefigure "EMC Notethe dimensions specifiedassembling when cables. specified The • Short circuit to ground Short • circuit betweenthe Short motorphases • The motor phases are monitored for: capacity and vibration resistance. way thatitfullyfills Use fork-type cable lugs or wire ferrules. the conductor in such Insert a ̈ ̈ 75mm ̈ 130 mm (B) (A) Steps (1-3) for Figure 6.9 protective ground conductor has length A. B. The the three motor(3)Shorten phase wires (U,V, toW) length large-surface connection of thebraiding shield to the EMCplate. 20the mmof shieldbraiding mustnot beinsulated fortherequired with heat tubing, shrink tape or by other means. Note that approx. back braiding overshield the cableSlide the jacket(2) fasten and it to approx. 50mm. the(1) cableStrip jacket theshield(length braiding A)and shorten 3 2 1 GN/YE GN/YE BU BN BK the entire lengthofthefe assembling the motorcable NB BK BU BN A A B 50 rrule forrrule maximum current 20 59 6 Installation SD328B

Connecting the motor cable ̈ Note the EMC requirements for the motor cables, see page 45. ̈ Connect the motor phases and the protective ground conductor to terminals U, V, W and PE (ground). The connection assignments at the motor and device ends must match. ̈ Connect a large area of the cable shield to the EMC plate.

Wiring diagram

U V M W 3~

Figure 6.10 Wiring diagram motor

Connection Meaning Color 1) U Motor phase Brown (BN) V Motor phase Blue (BU) W Motor phase Black (BK) PE Protective ground conductor Green/yellow (GN/YE) 1) Color information relates to the cables available as accessories.

6.3.4 DC bus connection

CAUTION NON-APPROVED PARALLEL CONNECTION Operation with parallel connection via the DC bus may destroy the drives immediately or after a delay. • Do not connect the DC bus of several drives. Failure to follow these instructions can result in equipment damage. 0198441113706, V2.03, 07.2010 60 Stepper motor drive 0198441113706, V2.03, 07.2010 D2B6 Installation Mains supply connection 6.3.5 SD328B Stepper motor drive with installed apermanently connection. The products are intended forindustrial use andmay onlyoperated be age. Failure tofollow theseinstructions canresultequipment in dam- Before switchingon and configuring theproduct, verifythat it is • Incorrect mains voltage may destroythe product. MAINS VOLTAGEINCORRECT TO DESTRUCTION DUE or equipment damage. injury serious indeath, result can Failurefollow to instructions these Do not connect the productto apower supply inwhich the short- • in"Technical specified fuses external the Use data". • INSUFFICIENT PROTECTION AGAINST OVERCURRENTS mm 10 at with least aprotectiveconductor ground Use • mA. > 3.5 leakagecurrent drive hasanincreased system This SHOCKELECTRIC BYCAUSED INSUFFICIENTGROUNDING injury. Failure to follow these instructions will result in death or serious approved for thevoltage. mains approved in"Technicaldata". circuit capacity exceeds the current maximumshort-circuit equipment. other applicable regulationsrespect with to grounding of all all localand nationalcode requirements electrical as well asall conductorssupplyingthe power Verify terminals. compliance with or two protective ground conductors with the cross section of the @ @

CAUTION WARNING DANGER 2 (AWG 6) 61 6 Installation SD328B

Cable specifications and terminal Minimum conductor cross section [mm2] 0.75 (AWG 18) Maximum connection cross sec- [mm2] 1.5 (AWG 16) tion Tightening torque [Nm] 0.5 ... 0.6 (lb·in) (4.4 ... 5.3)

• See chapter 3.5.2 "Cables", page 34 for additional information. The wires must have a sufficiently large cross section so that the fuse at the mains connection can trip if required. Note the information in chapter 6.1.1 "Operation in an IT mains" when connecting the device to an IT mains. Verify the suitability of the cables, see page 54, and the EMC-compliant connection, see page 44. Assembling cables Use fork-type cable lugs or wire ferrules. Insert the conductor in such a way that it fully fills the entire length of the ferrule for maximum current capacity and vibration resistance. Wiring diagram The figure below shows the mains supply connection. The figure also shows the wiring of an optional external mains filter. NOTE: In three-phase systems, the neutral conductor N must be used instead of L2 in the majority of cases.

PE 1 2

L1 L1 R/L1 N/L2 N/L2 S/L2

Figure 6.11 Wiring diagram mains supply for single-phase device

(1) Mains filter (optional) (2) Product If neutral conductor N is used instead of L2, a fuse is only required with L1. 0198441113706, V2.03, 07.2010 62 Stepper motor drive 0198441113706, V2.03, 07.2010 D2B6 Installation SD328B Stepper motor drive Connecting mains supply Setting the voltage range • See page 34 fordesign. 34 page See aUL-compliant • Observethe EMC requirements. If necessary, usesurgearresters, • If you useanexternal mainsfilter, themains cable must beshielded • voltage range. correct the to device set be The must • Note thefollowing information: ̈ the voltage Setting range 6.12 Figure ̈ mains filtersandreactors, mains see page 52. filter and the deviceexceeds 200 mm. and grounded at both ends ifthe length between the external mains device, see chapter 6.3.2 "Overview of all connections". of your assignment terminal wires.the Note the mains Connect VS1 not to bridged VS2:(factory 230 V setting) VS2: toVS1 bridged 115 V Set the device to the correct voltagerange. 230V 115V DC+ DC+ VS1 VS1 VS2 VS2 DC- DC- N/L2 N/L2 U U L1 L1 V V W W 63 6 Installation SD328B

6.3.6 Connection of rotation monitoring (CN2)

Encoder The motor encoder is an incremental encoder integrated into the motor. It signals changes of the position of the motor shaft in the form of A/B/I signals. Cable specifications • Twisted pair • Shielded cable • Shield grounded at both ends

Maximum cable length [m] 100 Minimum conductor cross section [mm2] 10*0.25 + 2*0.5 (AWG 22)

• See chapter 3.5.2 "Cables", page 34 for additional information. 0198441113706, V2.03, 07.2010 64 Stepper motor drive 0198441113706, V2.03, 07.2010 D2B6 Installation SD328B Stepper motor drive 2 1 Assembling cables A . .. 33-0760808 oe Micro-Fit Molex 69008-0982 43030-0007 2.5 ..3.0 ̈ ̈ ̈ ̈ ̈ 15mm length [mm] Stripping 90mm 25mm (C) (B) (A) for Steps (1-5) assembling cablethe encoder 6.13 Figure ̈ ̈ (1) Strip the(1) cableStrip jacket, length A. below. cable,pre-assembled follow a use you procedure not If the do used. is plate EMC included the when applicable are ing bledcables. The dimensions forconnecting the shield to the hous- illustrationthe below5 in be must Use pre-assembled cables errors.reduce to of wiring the risk Step ground connection). point, the cable is fastened to the EMC plate with a clamp (shield to this at shown; position cable the at jacket the C length to Strip (5) forthe pinassignment. Plug contacts the crimp into the connector housing; see Figure 6.14 shield drain wire.Insulate the shieldbraiding with tube. heat shrink thecontacts (4) toCrimp the remaining wires and to the insulated Insulatethe shield drainwire with tube. heat shrink (3)Thewith wire the color blue/red isnotrequired and maycut. be drainis wire required connection. as (2)Slide the shieldbraiding backover the cable jacket.shield The 5 no. crimp contact Manufacturer's 3 tool Crimping carried outeven carried pre-assem- with B manufacturer Connector 4 C 43025-1200 type Connector 65 6 Installation SD328B

Connecting the motor encoder ̈ Verify that wiring, cables and connected interfaces meet the PELV requirements. ̈ Note the EMC requirements for the encoder cable, page 45; use equipotential bonding conductors for equipotential bonding. ̈ Connect the connector to CN2. ̈ Fasten the cable to the EMC plate and verify that the cable shield is connected to a large surface area.

Wiring diagram

SHLD 1 12 6 A 11 12 1110 9 8 7 5 8 CN2 ENCODER 2 9 6 514 3 2 4 3 A NC 10 NC

Figure 6.14 Wiring diagram rotation monitoring

Pin Signal Motor, pin Color 1) Pair Meaning I/O 12 ENC_A 1 White 1 Encoder signal channel A I 6 ENC_A 2 Brown 1 Encoder signal channel A, inverted I 11 ENC_B 3 Green 2 Encoder signal channel B I 5 ENC_B 4 Yellow 2 Encoder signal channel B, inverted I 10 ENC_0V_OUT 7 Blue 3 Reference potential to ENC+5V_OUT 2) O 2) 4 ENC+5V_OUT 8Red35Vdc supply for encoder, max. 100mA O 9 ENC_0V_SENSE 9 Black 4 Reference potential to ENC+5V_SENSE 2) I 3 ENC+5V_SENSE 10 Violet 4 SENSE line to ENC+5V_OUT 2) I 8 ENC_I 5 Gray 5 Encoder signal index pulse I 2 ENC_I 6 Pink 5 Encoder signal index pulse, inverted I 7 T_MOT 11 Gray/pink Temperature sensor PTC I 1 SHLD Shield drain wire 1) Color information relates to the cables available as accessories. 2) At the end of the motor cable (motor end), the signal wire ENC+5V_OUT must be connected to ENC+5V_SENSE and the signal wire ENC_0V_OUT must be connected to ENC_0V_SENSE. The LED "ENCODER lights up when the encoder supply is on." 0198441113706, V2.03, 07.2010 66 Stepper motor drive 0198441113706, V2.03, 07.2010 D2B6 Installation Connection ofholding 6.3.7 SD328B Stepper motor drive brakeandcontrolle The controller power supply for alloperating modes! age. Failure tofollow theseinstructions canresultequipment in dam- Switch the powerinput of the powerunit supplyinstead of the • Usepowera supply unit thatthe limitspeak valuethe of output • welding may result. means of switchingof contacts, damageto the contacts contact or limitation. current have not inrush an The connection for thecontroller supply voltage at the product does CONTACTS TO DAMAGE or equipment damage. injury serious indeath, result can Failurefollow to instructions these Do not connect the controller supply voltage or change its wiring • Verify correct connectionbefore switchingon. • Do not interrupt the negativeconnection between the powersup- • ageexcessively cancause voltages high at the signalconnections. Interruptions of the negative connection of the controller supply volt- DAMAGE TO SYSTEMCOMPONENTSANDLOSSOF CONTROL injury. Failure to follow these instructions will result in death or serious Connect thenegative output of the powerunit supply PE to • Usepowera supply unit that meets the PELV (Protective Extra • connections inthedrivesystem. The ELECTRIC SHOCK CAUSED BY INCORRECTPOWER SUPPLY UNIT output voltage. current to avalue permissiblefor the contact. voltagewhile thesupply is present. ply unit andwith load afuseswitch. or (ground). Low Voltage) requirements. +24VDC supply voltage isconnectedwith many exposed signal @ r supply voltage (CN3) @

CAUTION +24VDC WARNING DANGER ) must be connected ) must beconnected If the voltage isswitchedby on 67 6 Installation SD328B

Wiring diagram

40 4142 43 44

M CN3 3~

24V = 0V

~ +24V

Figure 6.15 Wiring diagram CN3

Pin Signal Meaning I/O 40 +BRAKE_OUT Holding brake connection O 41 0VDC Reference potential to +24VDC/+BRAKE_OUT 42 0VDC Reference potential to +24VDC 43 +24VDC Controller supply voltage 44 +24VDC Controller supply voltage

Cable specifications Minimum conductor cross section Controller supply voltage [mm2] 0.75 (AWG 18) Holding brake [mm2] 0.75 (AWG 18)

Connecting the controller supply ̈ Verify that wiring, cables and connected interfaces meet the PELV voltage requirements. ̈ Route the controller supply voltage from a power supply unit (PELV) to the device. ̈ Ground the negative output at the power supply unit. ̈ Note the maximum permissible terminal current when connecting several devices. ̈ Verify that the connector locks snap in properly at the housing.

Connecting the holding brake The holding brake can be connected directly. A holding brake controller is not required. ̈ Connect the holding brake directly. 0198441113706, V2.03, 07.2010 68 Stepper motor drive 0198441113706, V2.03, 07.2010 D2B6 Installation Connecting thefan 6.3.8 SD328B Stepper motor drive Connecting the supply ̈ ̈ diagram fan Wiring 6.16 Figure The connection isonly required in the caseof device type SD32 the fanthe connection. Routethe power supply cable froma power supply unit(PELV) to Verify that and wiring cablesmeet the PELV requirements.

0V +24V +24V •• 0V U68. 69 6 Installation SD328B

6.3.9 Connecting the encoder signals A, B, I (CN5)

Function In the operating mode Electronic Gear, reference values can be supplied at CN5 via external A/B signals and the index pulse (I).

+ - 1 A 0 1 B 0

..78 9 ... 1213 1415 14 13 ... 9 8.. 1 I 0

Figure 6.17 Time chart with A, B and index pulse signal, counting forwards and backwards

Cable specifications • Twisted pair • Shielded cable • Shield grounded at both ends

Maximum cable length [m] 100 Minimum conductor cross section [mm2] 0.25 (AWG 22)

̈ Use equipotential bonding conductors, see page 45. ̈ Use pre-assembled cables (page 227) to reduce the risk of wiring errors.

Connecting the encoder ̈ Connect the connector to CN5. If you do not use a pre-assembled cable, verify correct pin assignment. ̈ Make the appropriate settings during commissioning. See "First Setup", page 96. 0198441113706, V2.03, 07.2010 70 Stepper motor drive 0198441113706, V2.03, 07.2010 )Color information relates to the cables available as accessories. 1) 10 4 6 Installation 8 3 Color 7 2 6 Signal 1 Pin SD328B 5 9 Stepper motor drive nc Not assigned Not nc ACTIVE2_OUT ENC_I ENC_I ENC_B ENC_B ENC_A ENC_A SHLD POS_0V Wiring diagram Wiring Gray Channel index Channel pulse Gray B channel signal Encoder Green A channel signal Encoder White e Drive ready index Channel pulse, inverted Red Pink B, Channel inverted Yellow A,inverted Channel Brown leReference potential Blue A 1) CN5 Figure 6.18 Wiring diagram, toCN5 encoder Wiring 6.18 Figure Meaning Shield 06 10 51 9 4 A 8 3 7 2 SHLD 9 4 8 3 7 2 6 1 5 RS422 input signal input RS422 signal input RS422 signal input RS422 signal input RS422 I/O Open collector signal input RS422 signal input RS422 71 6 Installation SD328B

6.3.10 Connecting PULSE (CN5)

@ WARNING UNEXPECTED MOVEMENT Incorrect or interfered signals as reference values can cause unexpected movements. • Use shielded twisted-pair cables. • If possible, operate the interface with push-pull signals. • Do not use signals without push-pull in critical applications or in environments subject to interference. • Do not use signals without push-pull in the case of cable lengths of more than 3 m and limit the frequency to 50 kHz Failure to follow these instructions can result in death, serious injury or equipment damage.

@ WARNING DESTRUCTION OF THE PRODUCT AND LOSS OF CONTROL The inputs at this connection are only rated for 5V. Excessive voltage can cause immediate or later destruction of the product. • Verify correct wiring before switching on. Failure to follow these instructions can result in death, serious injury or equipment damage.

Function The device is suitable for reference values supplied by means of external direction signals (PULSE/DIR). These are required, for example, for the operating mode Electronic Gear. The signal interface is used for positioning the motor. Operating readiness and a possible errors are signaled. 0198441113706, V2.03, 07.2010 72 Stepper motor drive 0198441113706, V2.03, 07.2010 D2B6 Installation SD328B Stepper motor drive Signal input circuits ACTIVE2_OUT PULSE /DIR nal. The direction is bycontrolled the If there is error,no If there the output ness approx.ness 100 msafter thepower stageenabled. is The motor performs anangle step withthe edge rising of the Figure 6.20 Signal input circuits input Signal 6.20 Figure Function ACTIVE2_OUT Value The maximum frequency of Signal 1 Pin signal Pulse/direction 6.19 Figure 2 PULSE Open collector RS422 DIR PULSE DIR 0 1 0 1 is an open isan collector output and switchesV.0 to >2,5µs + >2,5µs PULSE ACTIVE2_OUT 0 -> 1 Motor step Motor 0 ->1 pnPositive ofrotation direction 0 /open and + >0,0µs DIR CN5 CN5 DIR signal. i 0 kHz. is200 indicate operating readi- >2,5µs +5V +5V 0 10k 10k 10k 10k 4.7k 4.7k - Ω Ω Ω Ω +5V +5V Ω Ω + + - - PULSE + sig- 73 6 Installation SD328B

Cable specifications • Twisted pair • Shielded cable • Shield grounded at both ends

Maximum cable length [m] 100 Minimum conductor cross section [mm2] 0.14 (AWG 24)

̈ Use equipotential bonding conductors, see page 45. ̈ Use pre-assembled cables (page 228) to reduce the risk of wiring errors.

Connecting PULSE ̈ Connect the connector to CN5. If you do not use a pre-assembled cable, verify correct pin assignment. ̈ Make the appropriate settings during commissioning. See "First Setup", page 96.

Wiring diagram

SHLD 5 A 1 6 109 8 7 6 2 7 3 514 3 2 8 4 CN5 9

Figure 6.21 Wiring diagram PULSE

Pin Signal Color 1) Meaning I/O 1 PULSE White Motor step "Pulse" RS422 input signal 6 PULSE Brown Motor step "Pulse", inverted RS422 input signal 2 DIR Green Direction of rotation "Dir" RS422 input signal 7 DIR Yellow Direction of rotation "Dir", inverted RS422 input signal 3 nc Gray Not assigned - 8 nc Pink Not assigned - 4 ACTIVE2_OUT Red Drive ready Open collector 9 POS_0V Blue Reference potential - 5 SHLD Shield 10 nc Not assigned 1) Color information relates to the cables available as accessories. 0198441113706, V2.03, 07.2010 74 Stepper motor drive 0198441113706, V2.03, 07.2010 D2B6 Installation ConnectionPr 6.3.11 SD328B Stepper motor drive Cable specificationsand terminal Function ofibus DP(CN1) ̈ ̈ ̈ Mechanical conditions must be accounted for 1) length Stripping with wireferrule Maximum connecti wireferrule without Maximum connecti [mm Minimum conductor cross section The maximumcable length dependsthe onbaud rate and the sig- • Grounding of the shieldboth at ends • Shielded cable • Twisted pairlines • number.order For additional information see the fieldbus manual, see page 227 for the uct detectsthe baud rate automatically. The baud rate must be the same for all devices inthe fieldbus; the prod- The addresscommissioning. isset during See "First Setup", page96. 126). to 3 dresses: the network. It receives a unique address between 1 and 126 (slave ad- Every network device must be configured beforeit canbe operated on sent to the masteracknowledgement. as is state processing and state operating as such information vice. Status The drive receivessystem dataand slave inaProfibus network. The PROFIBUSinterface DP allows youto network the product asa 20 100 100 100 200 400 1000 1200 1200 1200 1200 12000 6000 3000 1500 500 max. cable length [m] 187.5 93.75 45.45 19.2 9.6 Baud rate [Kbaud] requirements. Verify that cables wiring, and connected interfaces meet thePELV Use pre-assembled cables errors.reduce to of wiring the risk Use equipotential bonding conductors, seepage45. cable needs to be. nal propagation delay. The higher the baud rate, the bus the shorter 1) on cross section on cross section [mm [mm m]85..9.5 ... 8.5 [mm] commands from a master busmaster a from de- commands 2 2 2 0.75 (AWG 20) ] 1.5 (AWG 16) ] 0.34 (AWG 22) ] 75 6 Installation SD328B

Terminating resistor Both ends of the entire bus system must be terminated with a terminating resistor. The terminating resistor is already integrated and can be activated at the ends of the network line with a switch. The diagram below shows the integrated terminating resistor combina- tion.

RxD/TxD-P

RxD/TxD-N

DGND

Figure 6.22 Terminating resistor Profibus

̈ If the device is at the end of the network, slide the S1 switch for the terminating resistor to the left.

Wiring diagram

CN1

2122 23 24 3132 3334 35 3637 38 39 S1 OFF

Figure 6.23 Wiring diagram Profibus to CN1

Pin Signal Meaning Color I/O 21 RxD/TxD-N-In Profibus interface A1 Green RS485 level, I 22 RxD/TxD-P-In Profibus interface B1 Red RS485 level, I 23 RxD/TxD-N-Out Profibus interface A2 Green RS485 level, O 24 RxD/TxD-P-Out Profibus interface B2 Red RS485 level, O

Connecting Profibus ̈ Connect the Profibus input signal to CN1.21 and CN1.22. If the terminating resistor is not activated, the signals from CN1.21 to CN1.23 and the signals from CN1.22 to CN1.24 are bridged. This allows another fieldbus device to be connected directly to CN1.23 and CN1.24. If the terminating resistor is activated, no signals are available at CN1.23 and CN1.24. 0198441113706, V2.03, 07.2010 76 Stepper motor drive 0198441113706, V2.03, 07.2010 D2B6 Installation Connectingthedigita 6.3.12 SD328B Stepper motor drive Cable specificationsand terminal Minimum connection assignment l inputs/outputs(CN1) Information on the signals 38 37 Remarks 36 35 34 33 Signal Pin Maximum connection [mm Minimum conductor cross section crosssection conductor Maximum cable minimum at length It is imperative to connect the following the is imperativeIt connect signals. to TorqueOff")" and inchapter 3.4.4"Safety function STO". safety functionbe can found inchapter 5.1 "Safety function STO ("Safe •Useence values). ards (e.g.mechanical with collision injury or equipment damage. injury serious indeath, result can Failurefollow to instructions these injury. Failure to follow these safety for the function. using requirements the Observe • tion. Incorrectmay usage hazardacauseofto due the the safety loss func- OF SAFETYLOSS FUNCTION of use The LOSS OF CONTROL Before you use can • Verify the correctinstallation of • Verify thattheexternal sensors or switches are con- properly • mechanical stop to allowfor anadequate stopping distance. switches must be mountedpositiona in farenough away fromthe nected. STO_A HALT LIMP LIMN REF STO_B LIMP LIMP ( ( PWRR_B PWRR_A and and and LIMN rs eto [mm cross section ) ) LIMN LIMP instructions can result indeath orserious where possible. @ @ STO_A Only for fieldbus mode control Only for fieldbus mode control Only for fieldbus mode control managed byparameters. of managed means are not signals connection, Dual-channel can provide some protection against haz- against protection provide some can WARNING WARNING and and ( m 15 [m] PWRR_A LIMN thelimitswitches.limit The stop caused by caused stop refer- incorrect 2 2 1.5 (AWG 16) ] 0.14 (AWG 24) ] , youmust enable them. ) and STO_B ( PWRR_B ) of the 77 6 Installation SD328B

If the signals listed in the table are not used, they must be connected to +24VDC. LIMP, LIMN and REF can also be deactivated with the corresponding parameters. Connecting the digital inputs/ ̈ Wire the digital connections to CN1. outputs ̈ Connect the limit switch that limits the working range for positive direction of rotation to LIMP. ̈ Connect the limit switch that limits the working range for negative direction of rotation to LIMN. ̈ Ground both ends of the shield to a large surface area (low resistance).

Wiring diagram local control mode

CN1

2122 23 24 31 32 3334 35 3637 38 39

Figure 6.24 Wiring diagram, digital inputs/outputs

Pin Signal Meaning I/O 31 NO_FAULT_OUT Error output 24V, O 32 ACTIVE1_OUT 0: Motor without current 24V, O 1: Motor has current. 33 REF Reference switch signal 24V, I (factory setting: disable) 34 LIMN Limit switch signal negative 24V, I 34 CAP2 Fast position capture 24V, I channel 2 35 LIMP Limit switch signal positive 24V, I 35 CAP1 Fast position capture 24V, I channel 1 36 HALT Function "Halt" 24V, I 37 STO_B (PWRR_B) Safety function STO 24V, I 38 STO_A (PWRR_A) Safety function STO 24V, I 39 +24VDC Only for jumpering pin 37 - and 38 if STO safety function is not used 0198441113706, V2.03, 07.2010 78 Stepper motor drive 0198441113706, V2.03, 07.2010 D2B6 Installation ConnectingaPCor 6.3.13 SD328B Stepper motor drive Cable specificationsand terminal Function of the remote terminal remote the of Function Connecting aPC a remoteterminal(CN4) minal are identicalthose to the of HMI. a distance from the system. The functions and display of the remote ter- chapterAccessories, page 227.allowsThis the devicebe to operated at device, the with cable by RJ45 shipped CN4 the see to of means nected Thewith LCdisplay remoteterminal and keypadbe can directly con- device. Accessories, page 227. The voltage for the converter is supplied by the An RS485 to RS232 converter is required to connect a PC, see chapter Shield groundedat both ends • Twisted pair • Shielded cable • aiu al egh[]400 [m] Maximum connection [mm Minimum conductor cross section Maximum cable length age. Failure tofollow theseinstructions canresultequipment in dam- Neverconnect interface anEthernet directly to this product. • stroyed. pluggabit on Ethernet the PC, the interfacethe onPC may bede- If the interface connector on the product is directly connected to a Gi- PC TO DAMAGE rs eto [mm cross section

CAUTION 2 2 1.5 (AWG 16) ] 0.14 (AWG 24) ] 79 6 Installation SD328B

Wiring diagram

VW3A31101

ESC

ENT

stop reset RUN FWO REV A CN4

8 1 RS 485 A VW3A8106 RS 232

Figure 6.25 Wiring diagram PC or remote terminal

Pin Signal Meaning I/O 4 MOD_D1 Bidirectional transmit/receive signal RS485 level 5 MOD_D0 Bidirectional transmit/receive signal, inverted RS485 level 7 MOD+10V_OUT 10 V power supply, max. 150 mA O 8 MOD_0V Reference potential to MOD+10V_OUT O 0198441113706, V2.03, 07.2010 80 Stepper motor drive 0198441113706, V2.03, 07.2010 oncinC1. Switchsetting S1 Correspondi devicesConnected at CN1...CN5 6 Installation Connection CN1..5 Reference Value Adapter 6.3.14 SD328B Unconnected devices CN1..CN5 Corresponding switches Corresponding 1..5to "ON", signal devicesUnconnected CN1..CN5 Stepper motor drive Connecting the reference the valueConnecting Reference value adapterRVA CN8 24VDC 1 8 N CN5 CN6 15 CN adapter RVA 9 0VDC 9 8 1 CN7 13 25 15 S1 OFF 9 ACTIVE (CN1...CN5) 5VSE 4 TIVE CN1...CN5 lights.TIVE CN1...CN5 switchis set to off. If readiness issignaledby alldevices, the LEDAC- ready signal Switch S1 is used to set the evaluation the set to isused S1 the Switch of CN5. to CN1 to nected Up to 5devices that evaluate the suppliedreference signals can con- be CN7. CN6. An external encodersignal or signal anESIM canbe applied to tionsA masterCN9. controller(pulse/direction) be can connected to The RVA reference value adapteris suppliedwith 24Vat the connec- ( At theencoder, signal wire CN7/2 ( 1. Reference Value Adapter 6.26 Figure ̈ master controller.master a from signals pulse/direction possible Itisalso to send (ESIM). ulation The master can bean external encoder (A/B signals) or an encoder sim- the encoder. Correct po sponding devicesponding evaluated is also voltagealso the provides (5V, supply viaSENSElines monitored to 5devices using the RVA (ReferenceValue Adapter).adapterThis Reference signals ofmaster a device can be sent simultaneously to up SENSE+ requirements. Verify that cables wiring, and connected interfaces meet thePELV 1 8 CN1 15 9 ) andsignal wire CN7/3 ( ng switchesng 1..5to "OFF", signal ACTIVE2_OUT 1 8 CN2 15 9 wer supply is indicatedbywersupply "5VSE". LED an 1 8 CN3 is evaluated by device the assigned if the 15 POS_0V 9 5VDC_OUT ) to CN7/11 ( to ) 1 8 CN4 15 ACTIVE2_OUT 9 ACTIVE2_OUT ) must beconnected to CN7/10 ACTIVE2_OUT SENSE- 1 8 15 9 M3 issimulated ). of the corre- signal. The 1 ) for 81 6 Installation SD328B

The following table shows the connection assignment of CN1 - CN5:

Pin Signal Meaning I/O 1 PULSE_OUT / A_OUT / ESIM_A_OUT Pulse+, channel A, ESIM_A O 9 PULSE_OUT / A_OUT / ESIM_A_OUT Pulse-, channel A inverted, ESIM_A inverted O 2 DIR_OUT / B_OUT / ESIM_B_OUT Direction+, channel B, ESIM_B O 10 DIR_OUT / B_OUT / ESIM_B_OUT Direction-, channel B inverted, ESIM_B inverted O 3 ENABLE_OUT / I_OUT / ESIM_I_OUT ENABLE+, index pulse, ESIM_I O 11 ENABLE_OUT / I_OUT / ESIM_I_OUT ENABLE-, index pulse inverted, ESIM_I inverted O 8 ACTIVE_2 / READY Drive ready I 15 POS_0V Reference potential 4 - 7, 12 - 14 nc Not assigned

The following table shows the connection assignment of CN6:

Pin Signal Meaning I/O 1 PULSE / A / ESIM_A Pulse+, channel A, ESIM_A I 9 PULSE / A / ESIM_A Pulse-, channel A inverted, ESIM_A inverted I 2 DIR / B / ESIM_B Direction+, channel B, ESIM_B I 10 DIR / B / ESIM_B Direction-, channel B inverted, ESIM_B inverted I 3 ENABLE / I / ESIM_I ENABLE+, index pulse, ESIM_I I 11 ENABLE / I / ESIM_I ENABLE-, index pulse inverted, ESIM_I inverted I 8 ACTIVE2_OUT / READY_OUT Drive ready O 15 POS_0V Reference potential 4...7, 12...14 nc Not assigned

The following table shows the connection assignment of CN7:

Pin Signal Meaning I/O 1 A Channel A I 9 A Channel A inverted I 12 B Channel B I 5 B Channel B inverted I 13 I Index pulse I 6 I Index pulse, inverted I 10 SENSE+ Monitoring of motor encoder supply 1) I 11 SENSE- Reference potential for motor encoder monitoring 2) I 2 5VDC_OUT 5V motor encoder supply 1) O 3 POS_0V Reference potential to 5VDC_OUT 2) 4, 7, 8, 14, nc Not assigned 15

1) At the end of the encoder cable (motor end), the signal wire CN7.2 (5VDC_OUT) must be connected to 7.10 (SENSE+). 2) At the end of the encoder cable (motor end), the signal wire CN7.2 (POS_0V) must be connected to 7.10 (SENSE-). 0198441113706, V2.03, 07.2010 82 Stepper motor drive 0198441113706, V2.03, 07.2010 D2B6 Installation SD328B Stepper motor drive CN8 24VDC N CN5 CN6 CN 9 CN7 Pulse direction E S1 ACTIVE (CN1...CN5) 5VSE CN1 CN2 CN3 CN8 24VDC see chapterseeand spare parts". 12"Accessories Pre-assembledcables are available fortheReference Value Adapter, Figure 6.28 Wiring example: Pulse direction signals (at CN6) are sent to3 are (atCN6) example: signals direction Pulse Wiring Figure 6.28 example: to6 sent A/B/I(atCN7)are signals Encoder Wiring Figure 6.27 N CN5 CN6 CN CN4 9 CN7 S1 ACTIVE (CN1...CN5) 13 5VSE OFF CN1 devices. devices Reference two cascaded via Value Adapters 25 OFF

OFF CN2 4 CN8

ON 24VDC CN3 N CN5 CN6

ON CN 9 CN4 CN7 S1 ACTIVE (CN1...CN5) 5VSE CN1 CN2 CN3 CN4 83 6 Installation SD328B

6.4 Checking installation

Verify proper installation: ̈ Check the mechanical installation of the entire drive system:

• Does the installation meet the specified distance requirements? • Did you tighten all fastening screws with the specified torque? ̈ Check the electrical connections and the cabling:

• Did you connect all protective ground conductors? • Do all fuses have the correct rating; are the fuses of the specified type? • Did you connect both ends of all live cables or insulate them (no exposed cable ends)? • Did you properly connect and install all cables and connectors? • Are the mechanical locks of the connectors correct and effective? • Did you properly connect the signal wires? • Are the required shield connections EMC-compliant? • Did you take all measures for EMC compliance? ̈ Verify that all covers and seals of the control cabinet are properly installed to meet the required degree of protection.

̈ If necessary, remove the cover film (see chapter 6.2.1 "Mounting the device"). 0198441113706, V2.03, 07.2010 84 Stepper motor drive 0198441113706, V2.03, 07.2010 D2B7 Commissioning Commissioning 7 SD328B Stepper motor drive injury or equipment damage. injury serious indeath, result can Failurefollow to instructions these the systemif there are Only nopersonsor start obstructions in • Verify the functions after replacing the product andafter also • When commissioning, carefully tests run for all operating states • Verify that the stored data and settings are correct. • Do NOToperate the drivesystemwith unknown settings or data. • movements or responses to signals and disable monitoring functions. data orsettings. Unsuitable settingsdata or may unexpected trigger The behavior of the drive systemis governed by numerous stored UNINTENDED BEHAVIOR injury. Failure to follow these instructions will result in death or serious the systemif there are Only nopersonsthein start hazardous • tor's view and cannotbe visually monitored. the drivesWhen are thestarted, out usually systemof the is opera- UNINTENDED CONSEQUENCESOF injury. Failure to follow these instructions will result in death or serious Turn off the mains voltage using an appropriate switch to achieve • busThe DC isolation. The safety functionSTO ("Safe TorqueOff")does not electric cause ELECTRIC SHOCK CAUSED BY INCORRECTUSE the hazardous area. making changesthe tosettings or data. and potential faultsituations. area. a voltage-free condition. voltageis stillpresent. @ @ @ WARNING DANGER DANGER EQUIPMENT OPERATION EQUIPMENT 85 7 Commissioning SD328B

@ WARNING UNEXPECTED MOVEMENT When the drive is operated for the first time, there is a risk of unexpected movements caused by possible wiring errors or unsuitable parameters. • Perform the first test run without coupled loads. • Verify that a functioning button for EMERGENCY STOP is within reach. • Anticipate movements in the incorrect direction or oscillation of the drive. • Only start the system if there are no persons or obstructions in the hazardous area. Failure to follow these instructions can result in death, serious injury or equipment damage.

7.2 Commissioning tools

7.2.1 Overview

The following tools can be used for commissioning, parameterization and diagnostics: • Integrated HMI • Remote terminal • Commissioning software • Fieldbus Access to the complete list of parameters is only possible with the commissioning software or via the fieldbus.

ESC

ENT

stop reset RUN FWO REV

1 2 3 4

Figure 7.1 Commissioning tools

(1) Integrated HMI (2) PC with commissioning software (3) Remote terminal (4) Fieldbus 0198441113706, V2.03, 07.2010 88 Stepper motor drive 0198441113706, V2.03, 07.2010 D2B7 Commissioning HMI: Human-Machine Interface 7.2.2 SD328B Stepper motor drive Control panel Function (10) No function No function No Stop) (Software Stop Quick (10) Status indication (9) Red LEDon: Voltagepresent DC bus at (8) (7) (6) arrow: Up (5) Arrow: Down (4) ENT: (3) ESC: Status LEDs (2) (1) HMI and remote terminal Figure 7.2 The following figure shows the HMI (left) and the (right).remote terminal and theoperation. structure HMI the to introduction followingbrief The a provide sections missioning software must be used. whethera function canbe out carried via the HMI or whether the com- The sections oncommissioningandoperation include information on chine Interface(HMI). Diagnosticsinformation be canalso displayed. The device allows you to edit parameters viathe integrated Human-Ma- 6 4 5 - Increasethe displayed value parameter or menu previous to Return - - Decreasethe displayed value - Goto next menu or parameter EEPROM the - Savedisplayedvalueto - Display amenuparameter or va displayed from Return - - Closeamenu or parameter 8.8.8.8 7 ESC ENT ERR RUN BUS lue tolaststoredvalue 1 2 3 5 4 xxxx 10 xxxx 8.8.8.8 RUN 7 9 ESC ENT STOP RESET 8 3 2 89 7 Commissioning SD328B

LEDs for Profibus The fieldbus status can be checked using the two LEDs at the HMI:

LED "RUN" LED "ERR" Meaning off off Fieldbus communication inactive lights off Fieldbus communication active off lights Fieldbus error (e.g. watchdog) off flashes Missing or incorrect parameterization

Font on HMI display The following table shows the assignment of the letters and numbers to the symbols displayed by the HMI as used in the sections on parameters. Uppercase and lowercase are only distinguished for the letter "C".

ABCDEFGHI J KL MNOPQR ABcCDEFGHiJKLMNoPQR

STUVWXYZ1234567890 STuVWXYZ1234567890

Displaying parameters via the HMI Each parameter that can be displayed is accessed via a menu item. The following figure shows an example of displaying a parameter and entering a parameter value.

Parameter Value Menu

ENT ENT Set- GFAc 500 ESC ESC ESC

ENT iStd 1000 1000 ESC Store (flashing) (next parameter)

Figure 7.3 HMI, example of setting a parameter

The two arrow keys are used to set numerical values within the permitted range of values; alphanumerical values are selected from lists. Press ENT to confirm the selected value. The display flashes once for confirmation. The modified value is immediately written to the EEP- ROM. If you press ESC, the display returns back to the original value. 0198441113706, V2.03, 07.2010 90 Stepper motor drive 0198441113706, V2.03, 07.2010 DRC- SET- Description FSU- HMI menu 7 Commissioning SD328B Stepper motor drive PRoT ioPi ENCm mtyp drC- icms irmp istd GFAC Set- FSU- SAVE pBAD ioPi ENCm Mtyp Menu structure Definition of direction ofrotation of direction Definition interface position selection Signal position motor encoder of Processing Motor selection DR Percentage movement constant during ofphase current Percentage / component deceleration acceleration during ofphase current Percentage atstandstill ofphase current gear ratios special Selection of SET F Saving thesettings Profibus address interface position selection Signal position motor encoder of Processing Motor selection irst ive tings (devicetings settings) S et C onfiguration U p forp settings initial iue74HMI menu structure Figure 7.4 the menu structure. is menu-driven.The HMI Thefollowing Menus - First Setup - FirstSetup

- FirstSetup

Power On: Power done notdone ESC ESC ESC ESC ESC ESC ESC ESC Save srv (Om- drC- JoG- SEt- STA- FLt- FSU- rdy InF- ENT ENT ENT ENT ESC ESC ENT ENT ESC ESC ENT ESC ENT ENT ENT ESC ESC ESC ENT ESC illustration shows thetoplevelof JOG Mode Service Drive Configuration Settings Communication Status Information Fault First Setup Information /Identification 91 7 Commissioning SD328B

HMI menu Description FCS Restore factory settings (default values) BTCL Time delay for applying the holding brake BTRE Time delay for releasing the holding brake supv Value displayed by HMI when motor moves SRV- srv- Service brak Releasing/applying the holding brake (requirement: power stage supply is off) JOG- Jog- JOG STrt Start jog NSLW Speed for slow jog NFST Speed for fast jog COM- COm- COMmunication pBAD Profibus address MBAD Modbus address ( commissioning software) MBFo Modbus data format (commissioning software MBBD Modbus baud rate (commissioning software) MBWo Modbus word sequence for double words (32 bit values) (commissioning software) FLT- FLt- FauLT (Information on operating state Fault) STPF Error number of last stop fault INF- Inf- INFormation / Identification dev[ Currently selected control mode _nAM Product Name _PNR Program number firmware _PVR Version number firmware PoWo Number of power on cycles PiNo Nominal current of power stage MiNo Nominal motor current STA- StA- Monitoring of device, motor and motion data (STAtus Information) ioAC Status of digital inputs and outputs NACT Actual speed of motor PACU Actual motor position in user-defined units Pdif Current deviation between reference and actual positions iACT Total motor current uDCA DC bus voltage of the power stage supply voltage TDEV Device temperature TPA Power stage temperature WRNS Saved warnings, bit-coded SiGS Saved status of monitoring signals oPh Operating hours counter 0198441113706, V2.03, 07.2010 92 Stepper motor drive 0198441113706, V2.03, 07.2010 D2B7 Commissioning SD328B Stepper motor drive Status indication Status A changebecomesonlyactive when the power stageis disabled. • • • set thefollowingcan menuvia the item By default, the currentoperating statedisplayed, is pagesee 111. You iact nact stat displays thecurrent motor current displays the current speed of rotation of the motor displays the current operating state drc- / supv : 93 7 Commissioning SD328B

7.2.3 Lexium CT commissioning software

CAUTION DAMAGE TO PC If this commissioning interface at the product is directly connected to a Gigabit Ethernet interface at the PC, the PC interface may be de- stroyed. • Never directly connect an Ethernet interface to the commissioning interface of this product. Failure to follow these instructions can result in equipment damage.

The commissioning software has a graphic user interface and is used for commissioning, diagnostics and testing settings. Source of commissioning software The latest version of the commissioning software is available for download from the internet. http://www.schneider-electric.com Functions of the commissioning The functions of the commissioning software include: software • Scan various fieldbuses for devices • Extensive information on connected devices • Display and enter device parameters • Archive and duplicate device parameters • Manual positioning of the motor • Test input signals and output signals • Record, evaluate and archive motion and signals • Error diagnostics • Optimize control performance (servo motors only) System requirements The minimum hardware requirements for installation and operation of the software are: • IBM-compatible PC • Approx. 200 MB of hard disk space • 512 MB RAM • Graphics card and monitor with a resolution of at least 1024x768 pixels • Free serial interface (RS232) or free USB interface • Operating system Windows 2000, Windows XP Professional or Windows Vista • Acrobat Reader 5.0 or later • Internet connection (for initial installation and updates) Online help The commissioning software offers comprehensive help functions, which can be accessed via "? - Help Topics" or by pressing the F1 key. 0198441113706, V2.03, 07.2010 94 Stepper motor drive 0198441113706, V2.03, 07.2010 D2B7 Commissioning Commissioning procedure 7.3 SD328B Stepper motor drive injury or equipment damage. injury serious indeath, result can Failurefollow to instructions these the systemif there are Only nopersonsor start obstructions in • Check the parameters beforeoperation. • Preparelist a with the parameters required forthe functions used. • unexpectedtrigger movements or responses of signals. Unsuitable parametervalues may disable functions monitoring and OF CONTROLLOSS UNS TO DUE the hazardous area. @ WARNING UITABLEVALUES PARAMETER 95 7 Commissioning SD328B

7.3.1 "First Setup"

A "First Setup" is required when the controller supply voltage is switched on for the first time or after the factory settings have been restored. Preparation ࡯ A PC with the commissioning software must be connected to the device unless commissioning is performed exclusively via the HMI. ̈ Switch on the controller supply voltage.

"First Setup" via HMI The following diagram shows the sequence via the HMI.

FSU-

ENT ENT None 368 ENT MTYP 397 3910 ESC 3913 1117 1122 e910 e913 1 USER

ENT ENT enCm None ESC NOCO PINF ROTM 1

ENT ENT IOPI Ab ESC Pd

ENT ENT PBAD 126 ESC

SaVe

ENT

Figure 7.5 "First Setup" via HMI

(1) The next menu item can only be selected if the previous menu item has a valid value (≠none). 0198441113706, V2.03, 07.2010 96 Stepper motor drive 0198441113706, V2.03, 07.2010 DRC- DRC- - MTYP SM_Type D2B7 Commissioning HMI menu Parameter name SD328B Stepper motor drive - MTYP missioning softwaremissioning fieldbus. orthe parameters com- the motor-specific viathe you youWhen 'user-defined', must select set cally set. parametersthe motor-specific areautomati- thelist, typefrom ofamotor After selection User-defined 99999999 / user defined motor/ defined / user 99999999 39BA ATEX / 54913 39BA BRS / 39AA ecito Unit / 0 /none Motor type Description 5368 / BRS 368W / 368W / BRS 5368 VRDM3913/50LW / VRDM3913/50LW 3913 / VRDM3910/50LW / VRDM3910/50LW 3910 / 50LW /VRDM397/50LW397 / 50LW /VRDM368/50LW368 / 54910 /ATEX54910 / BRS39AA / BRS39BW / 53913 / BRS39AW53910 / / BRS3ADW51122 / / BRS3ACW51117 / ExRDM3913/50 /ATEX43913 / ExRDM3913/50 ExRDM3910/50 /ATEX43910 / ExRDM3910/50 VRDM31122/50LW / VRDM31122/50LW31122 / VRDM3117/50LW / VRDM31117/50LW31117 / / 397W / BRS 5397 Motor type Motor none : No motor selected (default) b368 b397 SM_n_90% SM_I_nom lowing parameters must be checked and adjusted: fieldbus. the software or fol- The commissioning the set via must be data moto user-specific a of case the In set. matically is auto- data type, motor-specific the motor youa defined When select ̈ b39A b39b b3AD b3AC 397 368 to the device. parameter the Use : BRS 368W : BRS : BRS 397W : BRS : BRS39AW : BRS 39BW : BRS : BRS 3ADW: BRS 3ACW: BRS 3913 3910 E39B E39A : VRDM397/ : VRDM368/ 1122 1117 : : : ATEX BRS : ATEX BRS E913 E910 , , uSEr : : SM_n_50% SM_Pole_Pairs : ATEX : ATEX : - - - - Maximum value Factory setting Minimum value SM_Type and SM_n_20% , SM_Ind_U_V ( MTYP r, the corresponding motor-specific ) to) specify the motorconnected . - per. R/W UINT32 UINT32 Expert Persistent R/W Data type , SM_Res_U_V Profibus 3588 Modbus 3588 via fieldbusvia Parameter address , 97 7 Commissioning SD328B

Motor encoder ̈ Use the parameter CTRLS_MotEnc (encm) to specify whether or not a motor encoder is connected to the device and to indicate its function.

Select noCo if no motor encoder is not connected. If PINF or RotM is selected, an encoder must be connected for operation. In addition, temperature monitoring for the encoder is activated. PINF delivers only position information, rotation monitoring is not active. Select RotM to activate rotation monitoring. If "no motor encoder connected" is selected, the corresponding reference values _p_refusr or _n_pref are output as the motor position (_p_actusr) or the motor speed (_n_act). If rotation monitoring is activated and the encoder cable is connected correctly, the "ENCODER" LED lights up when the device is switched on.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert CTRLS_MotEnc Processing of motor encoder position - UINT16 Modbus 5138 none 0 UINT16 Profibus 5138 DRC- - ENCM 0 / undefined / : Undefined (default) 0 R/W 1 / NoEncCon / noCo: No motor encoder DRC- - ENCM 3 per. connected - 2 / ShowEncPos / PInF: Motor encoder connected, rotation monitoring inactive, only position info 3 / RotMonOn / rotM: Motor encoder connected, rotation monitoring active If you select "Motor encoder connected", temperature monitoring of the encoder is also activated. If you select "No motor encoder connected", the reference values _p_refusr and _n_pref are output as motor position (_p_actusr) and motor speed (_n_act).

Function of the RS422 interface ̈ Set the assignment for the RS422 interface with the IOposInterfac (IOPI) parameter.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert IOposInterfac Signal selection position interface - UINT16 Modbus 1284 AB 0 UINT16 Profibus 1284 DRC- - ioPi 0 / ABinput / : Input ENC_A, ENC_B, 0 R/W ENC_I (index pulse) quadruple evaluation DRC- - ioPi PD 1 per. 1 / PDinput / : Input PULSE, DIR, - ENABLE2 RS422 I/O interface (Pos)

NOTE: Changed settings do not become active until the unit is switched on the next time. 0198441113706, V2.03, 07.2010 98 Stepper motor drive 0198441113706, V2.03, 07.2010 COM- COM- - PbAD PBadr D2B7 Commissioning HMI menu Parameter name SD328B Stepper motor drive - PbAD Fieldbus Profibus ecito Unit time active isswitched unit the until next the on become not NOTE:do settings Changed Valid 1to 126 addresses: Profibus address Description Further steps Further Saving data A restart of the deviceA restart required is forthe changesbecome toeffective. ae174. page settings", factory the "Restoring 8.6.11.2 chapter see settings, Note that you can onlyto the return "First Setup" by the restoring factory ̈ ̈ ୵ ̈ ̈ age. Failure tofollow theseinstructions canresultequipment in dam- Updatethewith only areliable firmware voltage. supply • Do not switch off thevoltagesupply theduring update. • uct will be damaged and must If the supply voltage becomes unavailable an update, during the prod- DAMAGE TO THE PRODUCT CAUSEDBY POWER OUTAGE Make below the settings described for commissioning. baud rate. fieldbus and address type, fieldbus fieldbus as device the such Attach a label to the device that contains information for servicing status The device savesset values all Save inEEPROM" Commissioning software: Save your settings via "Configuration - HMI: Save yourwith settings Save when allentries you are done. Set the fieldbus address with the parameter nRDY , RDY or 126 126 1 - Maximum value Factory setting Minimum value DIs onthe HMI.

CAUTION be sent in for repair. save to theEEPROM anddisplays the - per. R/W Expert Persistent R/W Data type PBadr via fieldbusvia Parameter address ( PBAD ). 99 7 Commissioning SD328B

7.3.2 Operating state (state diagram)

After switching on and when an operating mode is started, the product goes through a number of operating states. The state diagram (state machine) shows the relationships between the operating states and the state transitions. The operating states are monitored and influenced by internal monitoring functions and system functions such as temperature monitoring or current monitoring. Graphical representation The state diagram is represented as a flow chart.

Motor without current

Switching on

1 INIT Start T0 2 nrdy Not Ready To Switch On

dis Switch On 3 Disabled T15

T9 T2 T7 T12 Ready 4 rdy T10 To Switch On 9 T3 Fault

5 fLt 8888 Son Switched On

T14 8 T4 fLt Fault Reaction Active rUn 6 Quick Stop Active 7 Operation T16 T13 HALT Enabled Stop 8888 HaLt

T11 Error class 1 Error class 2, 3, (4)

Motor under current

Operating state State transition Error

Figure 7.6 State diagram

Operating states and state See chapter 8.3 "Operating states" for detailed information on operating transitions states and state transitions. Releasing and applying the holding The holding brake can be manually released and applied via the HMI. brake via the HMI This requires the power stage to be disabled. Note that the load may drop in the case of vertical axes (Z axes) when the holding brake is released! Select the HMI menu SrV- and the submenu BRAK for releasing and applying the holding brake. 0198441113706, V2.03, 07.2010 100 Stepper motor drive 0198441113706, V2.03, 07.2010 - - RAMPquickstop - - RAMPdecel HMI menu Parameter name 7 Commissioning Setting basi 7.3.3 SD328B Stepper motor drive Ramp for "Quick Stop" and "Halt" Limitation of reference speedof Setting limitvalues has occurred. stop is triggered or if an error of error class 1 drive asoftware the when of Deceleration ramp forDeceleration Quick Stop eeeaino rfl eeao min generator profile of Deceleration ecito Unit Description c parameters andlimitvalues rotation RAMPn_max (ramps), the reference speed canlimited be the withparameter For operating modes that are executedwith the profile generator ̈ ̈ ̈ ating modes Profile Position,ating modesProfile Profile Acceleration and deceleration are limited by ramp functions in the oper- exceededwill be a reduction. such without component system a of torque permissible the if reduced be must torque For example, the maximum motor current asthe factor the determining loads, ternal the default settingsdo not needtochanged. be the system and motor data. Aslong as the motor isoperated without ex- Suitablevalues limit and must calculatedtheof on be basis determined injury or equipment damage. injury serious indeath, result can Failurefollow to instructions these the systemif there are Only nopersonsor start obstructions in • Check the parameters beforeoperation. • Preparelist a with the parameters required forthe functions used. • unexpectedtrigger movements or responses of signals. Unsuitable parametervalues may disable functions monitoring and OF CONTROLLOSS UNS TO DUE RAMPdecel parameter the ramp set with deceleration the uses "Halt" tionfor "Quick Stop".The ramp shape for "Quicklinear. Stop" is Use the parameter Use the parameter speed of rotation. the hazardous area. . . min Maximum value Factory setting Minimum value 3000000 750 200 3000000 6000 200 RAMPquickstop RAMPn_max @ -1 -1 /s /s WARNING UITABLEVALUES PARAMETER to set the maximum reference maximum the set to Velocity, andHoming. Oscillator Expert Persistent R/W Data type - per. R/W UINT32 UINT32 - per. R/W UINT32 UINT32 to set the maximum decelera- maximumto setthe via fieldbusvia Parameter address Profibus 1558 Modbus 1558 Profibus 1572 Modbus 1572 101 7 Commissioning SD328B

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert RAMPn_max Limitation of ref. speed for op. modes with min-1 UINT16 Modbus 1554 profile generation 60 UINT16 Profibus 1554 - 3000 R/W The parameter is active in the following oper- - 3000 per. ating modes: - - Profile position - Profile velocity - Homing - Jog

If a greater reference speed is set in one of these operating modes, it is automatically limited to RAMPn_max. This way, commissioning at limited speed is easy to perform. 0198441113706, V2.03, 07.2010 102 Stepper motor drive 0198441113706, V2.03, 07.2010 D2B7 Commissioning Digital inputs/outputs 7.3.4 SD328B Stepper motor drive HMI 15 14 13 12 11 10 9 8 7 6 5 i inlI/O 4 3 2 1 Signal 0 Bit HMI, status of 7.7 Figure ୵ ̈ ୵ ̈ ified. The signal statescandisplayed be on the HMI, but they cannot be mod- fieldbus. the ware or soft- displayed commissioning and the HMI on using the modified and The switching states of the digitalinputs and outputsdisplayed canbe The digitaloutputs are displayed inabit-coded way. Press "UpArrow". The digitalinputs are displayed inabit-coded way. Open the menu item 51 31 110 11 12 13 14 15 76543210 ------ACTIVE1_OUT NO_FAULT - - STO_A STO_B HALT LIMP LIMN REF ( ( PWRR_A PWRR_B )I )I sta- the digital inputs/outputs digital the / ioaC . 9 8 Bit =0 Bit =1 O O O O O O O O I I I I I I 103 7 Commissioning SD328B

Fieldbus The current switching states are contained in the parameter _IO_act in a bit-coded way. The values "1" and "0" correspond to the current state of the input or output.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert _IO_act Physical status of the digital inputs and out- - UINT16 Modbus 2050 puts - UINT16 Profibus 2050 STA- - ioAC 0 R/- Assignment of the 24 V inputs: STA- - ioAC - - Bit 0: REF - Bit 1: LIMN,CAP2 Bit 2: LIMP,CAP1 Bit 3: HALT Bit 4: STO_B (PWRR_B) Bit 5: STO_A (PWRR_A) Bit 6: - Bit 7: reserved 0198441113706, V2.03, 07.2010 104 Stepper motor drive 0198441113706, V2.03, 07.2010 D2B7 Commissioning Testing thesignals 7.3.5 SD328B Stepper motor drive of limitswitches signal are failsafe.are signals 0monitoring ifpossible, because they Use active 152. page see LIMP The appropriate parameters canused be release to the input signals ୵ ̈ ̈ •Useence values). ards (e.g.mechanical with collision injury or equipment damage. injury serious indeath, result can Failurefollow to instructions these The use of of use The LOSS OF CONTROL Before you use can • Verify the correctinstallation of • Verify thattheexternal sensors or switches are con- properly • 182. page Diagnostics, chapter see message, HMI displaysThe error an Trigger thelimitswitches manually. overtraveling the limit switches. way a switches from limit such in the motor keepthe to up as Set mechanical stop to allowfor anadequate stopping distance. switches must be mountedpositiona in farenough away fromthe nected. , LIMN LIMP and LIMP and REF and and LIMN and to set the evaluation to active 0 or active 1, 1, active or 0 evaluation the set active to to and LIMN LIMP where possible. @ s offieldbus devices can provide some protection against haz- against protection provide some can WARNING and and LIMN thelimitswitches.limit The stop caused by caused stop refer- incorrect , youmust enable them. 105 7 Commissioning SD328B

7.3.6 Testing the safety function STO

Operation with STO If you want to use the STO safety function, carry out the following steps: ࡯ Power stage supply voltage is switched off. Controller supply voltage is switched off. ̈ Verify that the inputs STO_A (PWRR_A) and STO_B (PWRR_B) are isolated from each other. The two signals must not have a connection.

࡯ Power stage supply voltage is switched on. Controller supply voltage is switched on. ̈ Start the Jog operating mode (without motor movement). (see page 123) ̈ Trigger the safety function. STO_A (PWRR_A) and STO_B (PWRR_B) must be switched off simultaneously. ୵ The power stage is disabled and error message 1300 is generated. (NOTE: Error message 1301 indicates a wiring error.) ̈ Check the behavior of the drive during fault conditions. ̈ Document all tests of the safety function in your acceptance certificate.

Operation without STO If you do not want to use the STO safety function: ̈ Verify that the inputs STO_A (PWRR_A) and STO_B (PWRR_B) are connected to +24VDC. 0198441113706, V2.03, 07.2010 106 Stepper motor drive 0198441113706, V2.03, 07.2010 .. Optimizing themotionbehavior 7.3.9 Checking thefan 7.3.8 7 Commissioning Checking thedi 7.3.7 SD328B Stepper motor drive Direction of of rotation Direction rection ofmovement Reversing the motor phases results inunexpectedReversing movements.results phases the motor enteredparameters, in see page 96. values must be motor-specific the is selected, "USER" type motor the SM_Type Ifmotors are selected theduring Setup" "First with or parameter tion, see chapter 8.6.4 "Motion profile", page 162. dropa stepper of motorincreasing at speedsby reducing the accelera- ation phases isavailable. Thisramp compensates for the typical torque Alternatively,motor-optimized a ramp for the acceleration and deceler- The factory setting for accelerationand deceleration isalinear ramp. airflowmust bedirectedfrom bottomto top. Verify proper operationofthe fan inthe caseof SD32 ̈ ୵ ̈ ୵ ̈ ୵ ̈ you look at the end of the protruding motor shaft. Positive direction of rotation iswhen Rotation of the motor shaft in apositive or negative direction of rotation. ieto frtto" ae173. directionof rotation", page the If thearrow and direction of rotationnot do match,correct with this The HMIdisplays The motor rotates with negative direction of rotation. Arrow") "Down (HMI: movementa Start with negative direction of rotation. The HMIdisplays The motor rotates with positive direction of rotation. Arrow") "Up (HMI: movementa Start with positive direction of rotation. The HMIdisplays (HMI: Jog. mode operating the Start POSdirOfRotat Jog_ , motor-specific values are automatically set as fixedas values. set If automatically values are motor-specific , / Strt ) -JG JG- JG . prmtr e hpe 8.6.10 "Reversalof parameter, seechapter . . the motor shaft rotates clockwise as •• U68 devices.U68 The 107 7 Commissioning SD328B 0198441113706, V2.03, 07.2010 108 Stepper motor drive 0198441113706, V2.03, 07.2010 - - HMIlocked oigFedu omnsPsto otolrXPage 137 Page 126 Page 135 HMI menu Parameter name Page 132 Page 123 X Position controller - X Position controller Position controller X Fieldbus commands Via HMI Position controller X 8.2.1 Access control Position controller Fieldbus commands 8.2 Fieldbus or HMI commands Description Fieldbus commands 8 Operation Profile generator P/DorA/B Homing Profile Velocity Control loop Profile Position Reference value interface Electronic Gear Jog Operating mode Overview ofoperating modes 8.1 Operation 8 SD328B Stepper motor drive - Fault reset - Jog - Parameter change the is HMI when locked: started The following be cannolonger functions 1 /locked 0 /notlocked Lock HMI ecito Unit Description : HMI locked: HMI : HMI not locked: HMInot that control viatheis nolonger HMI possible. Thecan HMI belocked the using parameter is not possiblethe when HMIcontrol. has access Control Controlstarted. viathe commissioning software or the fieldbus Thereceives HMI control when access the operating mode Jog is operating modes. face,control loop and the useof the profile generatortheindividual of The table below shows the relationships between reference value inter- chapter.this in detail explained are more in parameters of some function foundtheinchapter "Parameters". The useand the overviewalphabeticallyAn sorted of modes and functions of the device. The chapter "Operation" describes the basic operating states, operating 1 0 0 - Maximum value Factory setting Minimum value all parameters can be can be parameters - per. R/W UINT16 UINT16 Expert Persistent R/W Data type HMIlocked Profibus 14850 Modbus 14850 via fieldbusvia Parameter address . This means means . This 109 8 Operation SD328B

8.2.2 Via fieldbus

Fieldbus control mode In local control mode, you can use the AccessLock parameter to re- strict access control to the fieldbus.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert AccessLock Locking other access channels - UINT16 Modbus 316 0 UINT16 Profibus 316 - 0: Release other access channels - R/W 1: Lock other access channels - 1 - - The fieldbus can lock active access to the device via the following access channels with this parameter: - Commissioning software - HMI - A second fieldbus

Processing of the input signals (such as HALT) cannot be locked.

8.2.3 Via commissioning software

The commissioning software receives access control via the "Access" button. Access via HMI or fieldbus is then impossible.

8.2.4 Via hardware input signals

The digital input signals HALT, STO_A (PWRR_A) and STO_B (PWRR_B) are effective, even if the HMI or the commissioning software have access control. 0198441113706, V2.03, 07.2010 110 Stepper motor drive 0198441113706, V2.03, 07.2010 D2B8 Operation State diagram 8.3.1 Operating states 8.3 SD328B Stepper motor drive Graphical representation Graphical T 9 prtn tt Statetransition Operating state HALT H nrdy INIT rUn aLt Son rdy dis Switching on To SwitchOn To SwitchOn T4 T3 T2 Switched On Start Not Ready Switch On Operation Disabled Enabled Ready T1 T0 T7 6 2 1 3 4 5 iue81State diagram Figure 8.1 The state diagramrepresented is asaflow chart. monitoring. current ing functions and system functionstemperature suchas monitoringor The operating states are monitored and influencedby monitor- internal operating states and the state transitions. The state diagram (state machine) shows the relationshipsbetween the goes through anumberof operating states. After switching onand when an operating the product mode isstarted, T11 T16 T10 Sto Quick StopActive p Error class1 T12 8888 7 f f Lt Lt Fault Reaction Fault Error Active Error class2,3,(4) T13 T15 8888 T14 Motor withoutcurrent Motor undercurrent 8 9 111 8 Operation SD328B

Operating states The operating states are displayed by default by the HMI and the commissioning software.

Display Operating state Description of operating state Init 1 Start Controller supply voltage on, electronics are being initialized nrdy 2 Not ready to switch on The power stage is not ready to switch on dis 3 Switch on disabled Enabling of power stage locked rdy 4 Ready to switch on The power stage is ready to switch on Son 5 Switched on Motor not supplied with current Power stage ready No operating mode active run 6 Operation enable RUN: Selected operating mode is active HALT HALT: Motor is stopped, power stage is enabled Stop 7 Quick Stop active "Quick Stop" is being executed FLt 8 Fault Reaction active An error has been detected, error response activated FLt 9 Fault Operating state "Fault"

Error class The product triggers an error response if it switches to the operating state Fault as a result of an error. Depending upon the severity of the fault, the device responds in accordance with one of the following error classes:

Error Response Meaning class 0 Warning Message only, no interruption 1 "Quick Stop" Motor stops with "Quick Stop", power stage and controller remain switched on and enabled. 2"Quick Stop" Motor stops with "Quick Stop", power stage and with switch-off controller are disabled after standstill has been achieved. 3 Fatal error Power stage and controller switch off immediately without stopping the motor first. 4 Uncontrolled Power stage and controller switch off immedi- operation ately without stopping the motor first. The error response can only be reset by switching the device off. 0198441113706, V2.03, 07.2010 112 Stepper motor drive 0198441113706, V2.03, 07.2010 D2B8 Operation SD328B Stepper motor drive Error response state event In the 1 (operating byclass of errors triggered a"Quickof Stop" died and aFaultmust Reset executed. be To exit the "Fault" operating state, the cause of the error must be reme- "Fault".powerto Subsequently, stage. changes state operating the ample deceleration and stopping with "Quick Stop" or disabling the theerror response,vice cancelsthe motion commandforandstarts ex- An error can betriggered by a temperature sensor, for example. The de- react. must as occurrencesoon as an signals aninternal error to which the device The state transition T13 (error class2, 3 or 4) initiates an error response tion STOtion or Safety3,4 func- State 2 Error class 7 ),"Fault a you Reset"returns directly to operating state x x to -> from -> -> 8 ->9 8 Response even if"Quick Stop" still active.is Power isdisabled stage immediately, Power disabled stage brakeapplied Holding is Stop movement with"Quick Stop" 6 . 113 8 Operation SD328B

State transitions State transitions are triggered by an input signal, a fieldbus command or as a response to a monitoring signal.

Transi- Operating Condition / event 1) 2) Response tion state T0 1-> 2 • Device electronics successfully initialized T1 2-> 3 • Parameter successfully initialized T2 3 -> 4 • No undervoltage Encoder successfully checked Actual speed: <1000 min-1 STO_A (PWRR_A) and STO_B (PWRR_B) = +24V T3 4 -> 5 • Request for enabling the power stage T4 5 -> 6 • Automatic transition Power stage is enabled User-defined parameters are checked Holding brake is released (if available) T7 4 -> 3 • Undervoltage -

• STO_A (PWRR_A) and STO_B (PWRR_B) = 0V

• Actual speed: >1000 min-1 (for example by external driving force) T9 6 -> 3 • Request for disabling the power stage Power stage is immediately disabled. T10 5 -> 3 • Request for disabling the power stage T11 6 -> 7 • Class 1 error Motion command is canceled with "Quick Stop". T12 7 -> 3 • Request for disabling the power stage Power stage is disabled immediately, even if "Quick Stop" is still active. T13 x -> 8 • Error of classes 2, 3 or 4 Error response is carried out, see "Error Response" T14 8 -> 9 • Error response terminated (error of class 2)

• Error of classes 3 or 4 T15 9-> 3 • Function: "Fault Reset" Error is reset (cause of error must be cor- rected). T16 7 -> 6 • Function: "Fault reset" 1) In order to initiate a state transition it is sufficient if one condition is met 2) Fieldbus commands only with fieldbus control mode

Special note on switching on If the parameter CTRLS_Toggle is activated, the stepper motor per- (transition T4) forms a small movement to move the shaft into a stable position.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert CTRLS_toggle Toggle of motor when power stage is acti- - UINT16 Modbus 5136 vated - UINT16 Profibus 5136 - - R/W 0 / inactive: Inactive - - per. 1 / active: Active (default) - 0198441113706, V2.03, 07.2010 114 Stepper motor drive 0198441113706, V2.03, 07.2010 D2B8 Operation Indicating t 8.3.2 SD328B Stepper motor drive Receive detailed data format, he operatingstates description . 16. ... 9 ifiedindex via and subindex.Thereno time is with consistency bytes : These bytes can be parameterized, the content is spec- 20 ... 17 Bytes 16: "32bit actual position",current positiondata ... 13 Bytes Byte 12: "ioSignals", statusofinput the signals mode operating current the returns "modeStat", 11: Byte word.bus status bitserror and bits and the status of the current operatingfield-a mode as warning state, operating current the contains driveStat, 10: ... 9 Bytes Receive datainthepr 8.2 Figure data channel,fieldbus seealso manual. In the caseof afieldbus, the receive data are evaluated in the process software. commissioning the or HMI the In fieldbus control mode, the operating state isindicated viathe fieldbus, Byte 9 Z1PD Z3PD Z5PZD6 PZD5 PZD4 PZD3 PZD2 PZD1 10 16Bit driveStat 114 11 12 8 Bit modeStat 316 13 ocess data channel: slaveocess datachannel: to master 8Bit IO-Signals 518 15 32Bit actualposition 17 1 9 20 115 8 Operation SD328B

Byte 9 10 1112 13 14 15 16 17 18 19 20 PZD1 PZD2 PZD3 PZD4 PZD5 PZD6

32Bit actual position 8Bit IO-Signals 8Bit modeStat 16Bit driveStat

modeStat Bit 746 52301 MTMEref_ok 0 MODE

Mode drive referenced Mode Error Mode Toggle

driveStat Bit 1514 13 12...9 8 746 5 3...0 x_err x_end x_info 0 000HALT warn FAULT0 0 State

State diagram axis-specific coding fault external monitoring warning active

Figure 8.3 Structure of receive data in the process data channel

Description of driveStat The driveStat status word has the following structure

Bit Name Description 0...3 State State diagram, state 6 FAULT Error detection, error occurred 7 Warn A warning was generated 8 HALT A HALT request is active 13 x_info Additional information on operating mode 14 x_end Termination identifier operating mode 15 x_err Error identifier operating mode 0198441113706, V2.03, 07.2010 116 Stepper motor drive 0198441113706, V2.03, 07.2010 D2B8 Operation Is set if homingof the drive systemby me oper Currently selected Description ref_ok Mode 5 Name 0...3 Bit SD328B 7 MT, ModeToggle Mirrored bit 7 (Mode Toggle) bit7(Mode Mirrored of trans of th ifarequest Set MT, ModeToggle ME, ModeError 7 6 Stepper motor drive Description ofDescription signals I/O (byte 12) Description of modeStat of Description power disabled. is stage isc If a withan encoder motor was successful. slave. data. mayData onlybeevaluated ifthe MT sent Bit 7 Not Not assigned Not assigned Safety function STO Bit 7 Bit 6 Bit 5 Bit 7 Synchronized processing ispossible with the transmit data modeStat modeStat indicates the current processing state of theoperating modes: way.is voltage. there voltage. is"1", no bit is the there If is"0", bit the If The currentphysical statesof theare signals represented inabit-coded responds to them. means that the masterwaits for feedbackfromthe messagesslave and 7 i Safety function STO Function Positive switch limit Bit 4 Negative limit switch Bit 3 Reference switch 2 Bit Assignment Bit 1 Bit 0 Bit MdErr–M n oeoge–MT). Synchronized processing – and ME ModeToggle – (ModeError e e master viatransmitdatawas rejected. (ModeToggle – MT) and the receive the and data MT) – (ModeToggle ating mode mode withtransmitas data ating onnected, the validonnected, reference poi mit data, this acknowledges acceptance transmitof HALT ans of areferenceans moveme REF from the master is equal to the MT of the of the MT the to is equal master from the LIMP STO_A STO_B LIMN ( ( PWRR_A PWRR_B nt validremains even if the ) ) , Bit6 nt or posi nt or tion setting and 117 , 8 Operation SD328B

8.3.3 Changing operating states

The master can control the operating state of the slave via the process data channel, e.g. enable and disable the power stage, trigger and reset a "Quick Stop", reset errors and enable operating modes. Changing operating states and activating operating modes must be executed separately. An operating mode can normally only be activated if the operating state is already "Operation Enable". In the process data channel, driveCtrl is used for controlling, see also fieldbus manual. In the case of this family of devices, the parameter address corresponds to the index. The subindex is 0.

Description driveCtrl:

Byte 9 10 1112 13 14 15 16 17 18 19 20 PZD1 PZD2 PZD3 PZD4 PZD5 PZD6

mapping_32 Ref_32 Ref_16 modeCtrl driveCtrl

driveCtrl - 8 Bits Bit 746 52301 CUCH SH 0 FR QS EN DI

Disable Enable Quickstop Fault Reset Set HALT Clear HALT Continue

Figure 8.4 Transmit data in the process data channel: driveCtrl

The operating states are changed via the process data channel or the parameter channel . In the case of access via the process data channel, these bits respond in an edge-selective way, i.e. the corresponding function is triggered with rising edge. In the case of access via the parameter channel, a write access with a set bit value is sufficient. NOTE: The Enable bit must be set as long as current is to be applied to the motor. 0198441113706, V2.03, 07.2010 118 Stepper motor drive 0198441113706, V2.03, 07.2010 D2B8 Operation 9 - 3 -4 (Fault enable 6-7(Operation toswitch 4- 5 -6(Ready on Parameter channel: Processing with is write accessstarted if bit value = 1. 2) Process data with edge. channel: arising Processing isstarted 6 - 3 enable4 (Operation 1) Bit 3: Fault Reset Bit Quick2: Stop Bit Power1: Enable stage Bit Power0: Disable stage state ofoperating Change SD328B Stepper motor drive )2) 1) Effect on operating states Effect onoperating ⇒ Switchondisable ⇒ Quick Stop active) ⇒ ⇒ Switchondisable - Switched on Switched ⇒ Ready to Ready switch on) ⇒ Operation Operation Enable) ⇒ Ready to switch Ready on) 119 8 Operation SD328B

8.4 Starting and changing operating modes

@ WARNING UNINTENDED OPERATION • Note that any changes to the values of these parameters are executed by the drive controller immediately on receipt of the data set. • Verify that the system is free and ready for movement before changing these parameters. Failure to follow these instructions can result in death, serious injury or equipment damage.

Prerequisites The device must be ready for operation and properly initialized for an operating mode to be started. The product cannot run in two operating modes at the same time. If an operating mode is active, you can only change to a different operating mode if the current operating mode is terminated or canceled. An operating mode is terminated if the drive is at a standstill, for example, if the target position of a positioning process is reached or if the drive is stopped by a "Quick Stop" or "Halt". If an error occurs during processing which causes the current operating mode to be canceled, the movement can be resumed or you can change to a different operating mode after the cause of the error has been removed. 0198441113706, V2.03, 07.2010 120 Stepper motor drive 0198441113706, V2.03, 07.2010 D2B8 Operation theoperatingmode Starting 8.4.1 SD328B Stepper motor drive Description modeCtrl: Description Select operating mode and action with • Referencevalues infieldsandPZD3 PZD2, PZD4 • reference values: change ter must enter thefollowing values to activatean operating modeto or The operating modes are controlled by means of Transmit processdatachannel: the data in 8.5 Figure trl. access.glewrite doneprocessin theis This data channel with modeC- In fieldbus control mode, the operating via modea sin- isset and started Toggle • (MODESELECTION) Bit Byte modeCtrl -8Bits modeCtrl TMODE MT modeCtrl, Bit7 9 74 Z1PD Z3PD Z5PZD6 PZD5 PZD4 PZD3 PZD2 PZD1 driveCtrl 10 Mode Toggle 6 ACTION 114 11 52 modeCtrl 12 Action withinMode Ref_16 316 13 30 (MT) 518 15 1 Ref_32 Mode modeCtrl, Bits0..6 17 modeCtrl modeCtrl 1 9 mapping_32 20 . The mas- 121 , 8 Operation SD328B

Operating mode modeCtrl 1) Description Reference value ref_16, Reference value ref_32, PZD2 PZD3+4 Jog 01h Jog - classical jog Operation (selection of - direction of rotation and speed of rotation) as JOGactivate Homing 02h Position setting - Position for position setting as HMp_setpusr 12h Reference movement Type of reference move- - ment as HMmethod Profile position 03h Absolute positioning Reference speed Reference position as PPn_target as PPp_absusr 13h Relative positioning with Reference speed Reference position reference to the currently as PPn_target as PPp_relprefusr set target position 23h Relative positioning with Reference speed Reference position reference to the currently as PPn_target as PPp_relpactusr set motor position Profile Velocity 04h Profile Velocity Reference speed as PVn_target (16 bit only!) Electronic gear 05h Electronic gear, immediate Denominator of gear ratio Numerator of gear ratio synchronization as GEARdenom (16 bit as GEARnum only!) 15h Electronic gear, synchroni- Denominator of gear ratio Numerator of gear ratio zation with compensation as GEARdenom (16 bit as GEARnum movement only!)

1) Column corresponds to the value to be entered in byte modeCtrl, however, without ModeToggle (Bit 7)

If operating mode, reference position and reference speed are simultaneously transmitted via the process data channel, the data must be con- sistent. Therefore, the operating mode data is only evaluated if Bit 7 has been toggled. Toggling means that since the last transmission a change between "0" and "1" has been detected in this bit. Bit 7 is mirrored in the receive data set which allows the master to determine that the data has been accepted by the slave.is mirrored in the receive data set which allows the master to determine that the data has been accepted by the slave.

8.4.2 Changing the operating mode

The operating modes can be changed during operation. For this pur- pose, the current process must be completed or explicitly canceled. The drive must be at a standstill. Then proceed as described in "Starting an operating mode". 0198441113706, V2.03, 07.2010 122 Stepper motor drive 0198441113706, V2.03, 07.2010 D2B8 Operation Operating modeJog 8.5.1 Operating modes 8.5 SD328B Stepper motor drive Starting the operatingStarting mode Overview ofjog Overview eration until the start signal is canceled. signaleration until the start a specified waitinga specified time fined jog distance moves first for movement,motor by signal jog the the de- a start the With start. the fieldbus. the Writing parameter value causes the operating mode to The operating mode isset in the process datachannel via inmodeCtrl keysimultaneously to switch between slowfast and movement. motorshaft, press the "Arrow Up"or abled and current appliedthe to motorwith The operating modevia the can beHMI. started The power stage isen- units. inuser-defined tered mode. The jog distance and the values for the speed of rotation are en- for position operating the Jog start is the position motor current The set. be can operation to continuous waiting prior the time and rotation tinuous operation. The lengthof the unit, jog thevalues for the speed of The motormoves byunitjog oneator constant speedof rotation con- in Z2Bit positive0: ofrotation direction PZD2 injury or equipment damage. injury serious indeath, result can Failurefollow to instructions these Verify freeandreadyfor is system the that movement before • Note that any changes to the values of these parameters are exe- • UNINTENDED OPERATION changing these parameters. set. cuted by thedrive controllerimmediately on receipt the of data JOGstepusr Bit2: 0=slow 1=fast of rotation negative Bit 1: direction JOGtime @ WARNING . If the start signal . Ifthestart , the device switches to continuous op- "Arrow Down" keys. theENT Press jog- / is stillavailable after strt . To rotate the 123 8 Operation SD328B

1 PZD2 Bit0 0

1 PZD2 Bit1 0

1 PZD2 Bit2 0 JOGn_fast M JOGn_slow

1 2 1 2 1 3 4

1 driveStat Bit14 0

Figure 8.6 Jog, slow and fast

(1) JOGstepusr (2) t < JOGtime (3) t > JOGtime (4) Continuous operation Jog distance, waiting time and jog speeds are adjustable. If the jog distance is zero, the jog movement starts directly with continuous operation irrespective of the wait time.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert JOGn_slow Speed for slow jog min-1 UINT16 Modbus 10504 1 UINT16 Profibus 10504 JOG- - NSLW The adjustable value is internally limited to 60 R/W the current parameter setting in JOG- - NSLW 3000 per. RAMPn_max. - JOGn_fast Speed for fast jog min-1 UINT16 Modbus 10506 1 UINT16 Profibus 10506 JOG- - NFST The adjustable value is internally limited to 180 R/W the current parameter setting in JOG- - NFST 3000 per. RAMPn_max. - JOGstepusr Jog distance prior to continuous run usr INT32 Modbus 10510 0 INT32 Profibus 10510 - 0: Direct activation of continuous run 20 R/W >0: Positioning distance per jog cycle - 2147483647 per. - JOGtime Wait time prior to continuous run ms UINT16 Modbus 10512 1 UINT16 Profibus 10512 - This time is only effective if you have set a 500 R/W jog distance not equal to 0, otherwise the - 32767 per. drive immediately starts a continuous run. - 0198441113706, V2.03, 07.2010 124 Stepper motor drive 0198441113706, V2.03, 07.2010 D2B8 Operation SD328B Stepper motor drive Terminating the operating mode Further options Further the operating mode has been interrupted by "Halt" or an error • the direction signal is inactive • motor the is finishedwhen Jog For settings and functions further for the operating mode, see page151. has come to a and standstill 125 8 Operation SD328B

8.5.2 Operating mode Electronic gear

Description In Electronic Gear operating mode, the reference signals are supplied in the form of A/B signals or pulse/direction signals. A new position reference value is calculated on the basis of these signals plus an adjustable gear ratio. The parameter IOposInterfac is used to determine whether A/B signals or pulse/direction signals are to be processed. Example An NC control provides reference signals to two units. The motors execute different, proportional positioning movements in accordance with the gear ratios.

900 1/min 3 M Setpoint 2 3~

CN5 (PULSE) E

CN2 Actual motor position 600 1/min CN1/CN4 (Fieldbus) Fieldbus NC Master

450 1/min 3 M 4 3~

CN5 (PULSE) E

CN2 Actual motor position

CN1/CN4 (Fieldbus)

Figure 8.7 Reference value via NC controller 0198441113706, V2.03, 07.2010 126 Stepper motor drive 0198441113706, V2.03, 07.2010 ... Parameterization 8.5.2.1 D2B8 Operation SD328B Stepper motor drive Terminating the operating mode Synchronization Overview which can becanwhichfor set the operating mode Electronic Gear. The followingoverview shows theof function the parametersprinciple • Standstill of motor caused by ofmotorcaused Standstill • Deactivation oftheoperatin • by:Processing isterminated device follows immediately. Position values units. are specified in internal If the values change, the positions the motor to the new referenceposition. referencepositions are supplied, the device applies thegear ratio and the operatingchronizationElectronic modestarts and Gear. If changed accessthe toA write parameter during the interruption continueto be counted internally. other drives islost. Position changes of the reference signals that occur other drives. If the operating mode synchronicityis terminated, with the The deviceoperates synchronously with other devices,for example, Release of directionrotation of • Gearratio (predefined valueuser-defined or gearratio) • chronization, include: Settings for the electronic gear which are independent of the type of syn- tion. Itamounts to 131072 motor increments per revolution. The resulting positioning distance depends on the current motor resolu- Operating Electronic mode 8.8 Figure Reference signals OoItra GEARdir_enabl IOposInterfac PD AB GearDenom GEARratio GearNum g mode and standstill ofmotor and standstill mode g "Halt" or by an error GEARreference M Gear, effect ofadjustable parameters sets the type of syn- 3~ M E 127 8 Operation SD328B

Position change with power stage If "Synchronization with compensation movement" is selected, the pa- disabled rameter GEARposChgMode determines the way changes to the motor position and reference value (RS422 interface) are handled with disabled power stage. These position changes can be ignored or taken into account for transitions to the "OperationEnable" state: • Off: All position changes with disabled power stage are not taken into account • On: Position changes with disabled power stage are taken into account. Please note that all position changes between starting the operating mode and the subsequent enabling of the power stage are not taken into account.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert GEARposChgMode Consideration of position changes with inac- - UINT16 Modbus 9750 tive power stage 0 UINT16 Profibus 9750 - 0 R/W 0 / off: Position changes in states with inac- - 1 per. tive power stage are discarded. - 1 / on: Position changes in states with inactive power stage are considered. This setting has an effect only if gear processing is started in the mode 'Synchro- nization with compensation movement'.

Gear ratio The gear ratio is the ratio of the number of motor increments and the number of externally supplied reference increments.

Motor increments Gear factor numerator Gear factor = = Reference increments Gear factor denominator

The parameter GEARratio allows you to set a predefined gear ratio. It is also possible to set your own gear ratio. The user-defined gear ratio is defined with the parameters GEARnum and GEARdenom. A negative numerator value reverses the motor's direction of rotation. The gear ratio is set via PZD2 (GEARdenom as a 16 bit value) and PZD3,4 (GEARnum as a 32 bit value). Example With a setting of 1000 reference increments, the motor is to rotate by 2000 motor increments. This results in a gear factor of 2. 0198441113706, V2.03, 07.2010 128 Stepper motor drive 0198441113706, V2.03, 07.2010 - - GEARdenom - - GEARnum SET- SET- - GFAC GEARratio D2B8 Operation HMI menu Parameter name SD328B Stepper motor drive speedof rotation and acceleration Application casesforof limitation - GFAC See descriptionGEARnum ratio gear of Denominator numeratorvalue supplied. is The new ratio when the gear applied is GEARdenom ------ratio =Gear GEARnum Numerator of ratiogear ified value ified one motor revolution. causes reference ofthe valueA change by spec- the / 11 / 16384 / 10 / 8192 9 /4096 / /10000 8 7 /5000 Unit 6 /4000 5 /2000 4 /1000 / 3 /500 / 2 /400 / 1 /200 GEARnum/GEARdenom with adjusted 0 /GearFactor / ratios ofspecial gear Selection Description 500 400 200 4096 5000 4000 2000 1000 8192 10.00 : 500 : 400 : 200 16.38 : 4096 : 5000 : 4000 : 2000 : 1000 : 8192 : 10000 FACT : 16384 Reference signals erratic: • Reference signals generated: • must belimited inthe operating mode Electronic Gear. acceleration and rotation of speed the application, the on Depending : ofgearratio Usage the speed of rotation ( rotation of speed the case if the reference value is supplied via pulse packets. By limiting accelerationsthe which motor cannot follow. For example, this isthe The external reference signals may specifyspeeds of rotation and ( reference valuegenerated is by anexternal profile generator. that the motor canfollow them. Forexample, is the this caseifthe Themust user supply theexternal reference signals insuch away The positiondeviation can beread via The motor isno longerposition-synchronized period. this during GEARramp ), you generate a motion profile the motor can follow. can motor the profile you), amotion generate 2147483647 1 1 - 2147483647 1 -2147483648 - 11 0 0 - Maximum value Factory setting Minimum value GEAR_n_max GEARcontrol GEARcontrol ) and the acceleration acceleration the ) and - per. R/W INT32 INT32 - per. R/W INT32 INT32 - per. R/W UINT16 UINT16 Expert Persistent R/W Data type _p_difGEAR =1(active) = 0 (inactive) Profibus 9734 Modbus 9734 Profibus 9736 Modbus 9736 Profibus 9740 Modbus 9740 fieldbusvia Parameter address . 129 8 Operation SD328B

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert GEARcontrol Activate speed and acceleration limitations - UINT16 Modbus 9744 0 UINT16 Profibus 9744 - 0 / off: Inactive 0 R/W 1 / on: Active - 1 per. If GEARcontrol is active, the reference value - for acceleration/deceleration is limited to the value of parameter GEARramp and the reference speed value to the value of parameter GEAR_n_max. This helps to keep the motor from stalling. If the limitation is activated, this causes a deviation of the calculated reference position and the internally effective reference position which is compensated for. The maximum deviation is limited to 400 revolutions. If this value is exceeded, the unit cancels with a fault. GEAR_n_max Maximum speed in gearing min-1 UINT16 Modbus 9746 1 UINT16 Profibus 9746 - This function is only available if the limitation 3000 R/W via GEARcontrol is active. - 3000 per. - GEARramp Maximum acceleration in gearing min-1/s UINT32 Modbus 9748 30 UINT32 Profibus 9748 - This function is only available if the limitation 600 R/W via GEARcontrol is active. - 3000000 per. This value is effective both in the accelera- - tion and the deceleration phase. The system uses a linear ramp. The start/stop speed has no effect. _p_difGear Position difference in electronic gear caused Inc INT32 Modbus 7724 by limitation -2147483648 INT32 Profibus 7724 - - R/- If speed and acceleration limitation was set - 2147483647 - in 'Electronic Gear' mode (see parameter - GEARcontrol) and the limits are reached during processing, the drive no longer follows the reference value. This parameter allows you to read out the resulting position deviation. 0198441113706, V2.03, 07.2010 130 Stepper motor drive 0198441113706, V2.03, 07.2010 - - GEARdir_enabl D2B8 Operation HMI menu Parameter name SD328B Stepper motor drive Release of of direction Release ment lockment function. This allows you move- toactivate a return 3 /both 2 /negative 1 /positive processing Enabledmovement gear of direction ecito Unit Description Further options Further : Both directions: Both : Pos. direction : Neg.direction GEARdir_enabl tive direction. Releasedirection of withis set the parameter Release of direction allowsyou movements to limit to positivenega- or For settings and functions further for the operating mode, see page151. . 3 3 1 - Maximum value Factory setting Minimum value - per. R/W UINT16 UINT16 Expert Persistent R/W Data type Profibus 9738 Modbus 9738 via fieldbusvia Parameter address 131 8 Operation SD328B

8.5.3 Operating mode Profile Position

In Profile Position operating mode, a movement with an adjustable motion profile is performed from a start position to a target position. The value of the target position can be specified as either a relative or an absolute position. You can set a motion profile with values for acceleration ramp, deceleration ramp and target speed. Relative and absolute positioning In the case of absolute positioning, the positioning distance is specified absolutely with reference to the zero point of the axis. A zero point must be defined with the Homing operating mode before absolute positioning can be used for the first time. In the case of a relative positioning, the positioning distance is specified relatively with reference to the current axis position or the target position. Absolute positioning or relative positioning is set via modeCtrl.

500 usr 500 usr 700 usr 0 1.200 usr 0

Figure 8.9 Absolute positioning (left) and relative positioning (right)Absolute positioning (left) and relative positioning (right)

Prerequisites The device must be in operating state "Operation enable". See chapter 8.4 "Starting and changing operating modes". 0198441113706, V2.03, 07.2010 132 Stepper motor drive 0198441113706, V2.03, 07.2010 - - PPp_absusr - - PPn_target - - AbsHomeRequest ... Parameterization 8.5.3.1 HMI menu Parameter name 8 Operation SD328B Stepper motor drive vated) - Software switcheslimit they (if areacti- factor- Scaling on: valuesMin./max depend position profile Target of mode absolute operating position RAMPn_max. the currentparameter settingin to limited adjustableThe value internally is position profile mode operating Referencein speed Available asof software version V1.211. 1 /yes 0 /no after homing only positioning Absolute ecito Unit Description : No : Yes and examples. eters or the process data channel. Seethe fieldbus manual for settings The Profile Position operating mode can beset and executed viaparam- relatively with reference to the current axis position or the target position. position. target the or position axis relatively reference current with tothe In the case of arelative positioning, the positioning distance is specified absolutely with referencethe to zero pointof the axis. In the case of absolute positioning, the positioning distance is specified toparameter Corresponds parameter to Corresponds Absolute: PZD4 + PZD3 PZD2 Position, Operating Profile mode effect ofadjustable parameters 8.10 Figure SPV_SW_Limits RAMPn_max PZD3 +PZD4 PZD2 RAMPdecel RAMPacc or parameter Relative: Correspondsto parameter - 0 - usr min 1 0 0 - Maximum value Factory setting Minimum value 3000 60 1 -1 POSNormDenom POSNormNum PPp_relpactusr *fv=1 *fa=1 * fp - - R/W - per. R/W UINT16 UINT16 Expert Persistent R/W Data type - - R/W UINT16 UINT16 PPn_target Profibus 1580 Modbus 1580 via fieldbusvia Parameter address Profibus 8970 Modbus 8970 PPp_relprefusr PPp_absusr driveStat 133 8 Operation SD328B

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert PPp_relpactusr Target position relative to current motor posi- usr tion - R/W - 0 - Min./max values depend on: - - - - Position normalization factor - Software limit switches (if they are activated)

In the case of active positioning in Profile Position mode, relative positioning refers to the current motor position. The absolute user position limits can only be overrun if the drive is at standstill when the movement starts (x_end=1). In this case, implicit position setting to position 0 is performed. PPp_relprefusr Target position relative to the current target usr position - R/W - 0 - Min./max values depend on: - - - - Position normalization factor - Software limit switches (if they are activated)

Current position The current position can be determined with the 2 parameters _p_actusr and _p_actRAMPusr.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert _p_actusr Actual motor position in user units usr INT32 Modbus 7706 - INT32 Profibus 7706 STA- - PACu 0 R/- STA- - PACu - - - _p_actRAMPusr Actual position of motion profile generator usr INT32 Modbus 7940 - INT32 Profibus 7940 - In user units 0 R/- - - - - 0198441113706, V2.03, 07.2010 134 Stepper motor drive 0198441113706, V2.03, 07.2010 - - PVn_target HMI menu Parameter name 8 Operation Operating mode 8.5.4 SD328B ... Parameterization 8.5.4.1 Stepper motor drive Reference speed RAMPn_max. the currentparameter settingin to limited adjustableThe value internally is velocity Reference ofoperating profile speed mode ecito Unit Description Prerequisites Overview Profile Velocity execution of motion arunning command. ing range limits. Newspeed values are accepted immediately the during by position- the limited not is mode movement.operating the The during rameter The referencespeedis assigned in the process data channel via the pa- PZD2 Corresponds toparameter Corresponds PZD2 ProfileVelo mode Operating 8.11 Figure beforcanwhich set the operating mode ProfileVelocity. The followingoverview shows theof function the parametersprinciple See chapter 8.3 "Operating states". The devicemust beinoperating state "Operationenable". ramps. deceleration and acceleration able target speed of rotation. You can setmotion a profile with values for In the operating mode Profile Velocity, the drive accelerates to an adjust- injury or equipment damage. injury serious indeath, result can Failurefollow to instructions these Verify freeandreadyfor is system the that movement before • Note that any changes to the values of these parameters are exe- • UNINTENDED OPERATION RAMPn_max changing these parameters. set. cuted by thedrive controllerimmediately on receipt the of data PZD2 PVn_target RAMPdecel RAMPacc min Maximum value Factory setting Minimum value 3000 - -3000 inrevolutions per minutes and can bechanged @ -1 WARNING *fv=1 *fa=1 city, effects ofadjustable parameters Expert Persistent R/W Data type - - R/W INT32 INT32 PVn_target via fieldbusvia Parameter address Profibus 9218 Modbus 9218 driveStat 135 8 Operation SD328B

Current speed The current speed is determined by using the 2 parameters _n_act and _n_actRAMP.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert _n_act Actual motor speed min-1 INT16 Modbus 7696 - INT16 Profibus 7696 STA- - NACT 0 R/- STA- - NACT - - - _n_actRAMP Actual speed of motion profile generator min-1 INT32 Modbus 7948 - INT32 Profibus 7948 - 0 R/- - - - - 0198441113706, V2.03, 07.2010 136 Stepper motor drive 0198441113706, V2.03, 07.2010 D2B8 Operation Operating modeHoming 8.5.5 SD328B Stepper motor drive Types of reference movements OverviewHoming of Movement to negativeswitch limit • There are 4standardtypes of reference movements: Movement to reference switch • Movement to reference switch • Movement topositiveswitch limit • encoder connected". encoder be connected. The For referencemovements with index pulsemotora with encoder must Referencemovement with index pulse • Referencemovement without index pulse • Reference movements are possible with orwithout index pulse. • Position setting lets you set the current motor position to a desired desired a to position motor current Position you the lets set setting • A reference movementis amovementa to defined point, therefer- • referencemovement setting. a by or of position byout means a carried between the motor position and a defined axisposition. Homing can be The operating mode Homing establishesan absolute positionreference injury or equipment damage. injury serious indeath, result can Failurefollow to instructions these Verify freeandreadyfor is system the that movement before • Note that any changes to the values of these parameters are exe- • UNINTENDED OPERATION tion the motor.the Movement the physicalswitching tothe from edge index of pulse from switchingedge distance Movement the switching toaparameterizable from edge position value towhich the subseq Monitoring signals that are notmust used deactivated. be The signals required for the referencemovement mustbe wired. vated. mentmust completed be before a new operatingmode can beacti- again. Asopposed to the other operating modes, areference move- be valid. If the reference movement isinterrupted, it must be started A reference for movement new completed must the be zeroto point is possibleparameterize to ashift of the zero point. It reference movements a point. as positioning absolute subsequent The reference pointalso defines thezero point thatused is for all position reference between the motor positionand the axis position. absolute the establish objective is to the axis; the on point, ence changing these parameters. set. cuted by thedrive controllerimmediately on receipt the of data CTRLS_MotEnc @ WARNING REF REF parameter must be set to "Motor LIMP LIMN uent position values uent position relate. will with positive direction of rotation of positive with direction with negative directionof rota- 137 8 Operation SD328B

In the process data channel, the reference movement is started via driveCtrl and modeCtrl corresponding to the parameter HMmethod. The status is mapped to the receive data in driveStat and modeStat. Operating mode terminated The operating mode is terminated after successful homing, a motor standstill by "Halt" or an error. If a motor with an encoder is connected, the valid reference point remains valid even if the power stage is disabled. 0198441113706, V2.03, 07.2010 138 Stepper motor drive 0198441113706, V2.03, 07.2010 - - IOsigLimP - - IOsigLimN - - HMn - - IOsigRef 8.5.5.1 Parameterization, general Parameterization, 8.5.5.1 HMI menu Parameter name 8 Operation HMI menu Parameter name HMI menu Parameter name SD328B Stepper motor drive 2 /normally open 1 /normally closed 0 /inactive evaluationSignal LIMP 2 /normally open 1 /normally closed 0 /inactive evaluationSignal LIMN RAMPn_max. the currentparameter settingin to limited adjustableThe value internally is for ofrotation Speed searchof switch processed. is homing REF) while The reference switch is only activated (to 2 /normally open 1 /normally closed evaluationSignal REF ecito Unit Description Unit Description Unit Description Description : Inactive: : Inactive: : Normally open NO open : Normally : Normally open NO open : Normally : Normally open NO open : Normally : Normally closed NC closed : Normally : Normally closed NC closed : Normally : Normally closed NC closed : Normally searching the switch and for movingaway from the switch. The parameters failsafe.are signals 0monitoring ifpossible, because they Use active switches.limit enablethe to active_1 active_0 and to or Use the parameters quired. switch Use the parameter rameter There are various methods of homing whichcan be selected viathe pa- REF HMmethod to active_0or active_1. Areleaseof the switchnot is re- HMn . IOsigREF IOsigLimN and 2 1 0 - 2 1 0 - min 2 1 1 - Maximum value Factory setting Minimum value Maximum value Factory setting Minimum value Maximum value Factory setting Minimum value 3000 60 1 -1 HMn_out to set the evaluationof the reference and areto usedthe set speedsfor IOsigLimP - per. R/W UINT16 UINT16 - per. R/W UINT16 UINT16 - per. R/W UINT16 UINT16 Expert Persistent R/W Data type Expert Persistent R/W Data type Expert Persistent R/W Data type - per. R/W UINT16 UINT16 to set the evaluation Profibus 1568 Modbus 1568 Profibus 1566 Modbus 1566 Profibus 1564 Modbus 1564 via fieldbusvia Parameter address fieldbusvia Parameter address fieldbusvia Parameter address Profibus 10248 Modbus 10248 139 8 Operation SD328B

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert HMn_out Speed of rotation for moving away from min-1 UINT16 Modbus 10250 switch 1 UINT16 Profibus 10250 - 6 R/W The adjustable value is internally limited to - 3000 per. the current parameter setting in - RAMPn_max.

The parameter HMp_homeusr can be used to specify a desired position value, which is set at the reference point after a successful reference movement. This position value defines the current motor position at the reference point. This also defines the zero point.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert HMp_homeusr Position at reference point usr INT32 Modbus 10262 -2147483648 INT32 Profibus 10262 - After a successful reference movement, this 0 R/W position is automatically set at the reference - 2147483647 per. point. -

The parameters HMoutdisusr and HMsrchdisusr can be used for activation of the monitoring of the switch function.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert HMoutdisusr Maximum distance for search for switching usr INT32 Modbus 10252 edge 0 INT32 Profibus 10252 - 0 R/W 0: Monitoring of distance inactive - 2147483647 per. >0: Maximum distance in user-defined units - After detection of the switch, the drive starts to search for the defined switching edge. If it is not found within the distance defined here, the reference movement is canceled with an error. HMsrchdisusr Max. search distance after overrun of switch usr INT32 Modbus 10266 0 INT32 Profibus 10266 - 0: Search distance processing disabled 0 R/W >0: Search distance in user units - 2147483647 per. - The switch must be activated again within this search distance, otherwise the reference movement is canceled. 0198441113706, V2.03, 07.2010 140 Stepper motor drive 0198441113706, V2.03, 07.2010 - - SaveHomeMethod D2B8 Operation HMI menu Parameter name SD328B Stepper motor drive Preferred method eal oigmto - method Default homing ecito Unit Description The functionis available software asof version 1.501 and higher. is overwritten by thevalue in set the parameter When the device the isswitched valueWhen parameter the inthe on, rameter SaveHomeMethod ing method.meaning The of the valuesofthe parameter The parameter HMmethod SaveHomeMethod corresponds to the meaningthe of values of the pa- . 35 18 1 Maximum value Factory setting Minimum value allows you save to apreferred hom- - per. R/W INT16 INT16 Expert Persistent R/W Data type SaveHomeMethod Profibus 6968 Modbus 6968 via fieldbusvia Parameter address HMmethod . 141

8 Operation SD328B

8.5.5.2 Reference movement without index pulse

Description A reference movement without index pulse is set via PZD2 = 17 to 30, see parameter HMmethod for the bit assignment. First, the product moves to the defined limit switch or reference switch. Then the product moves to a defined distance from the switching edge. The distance from the switching edge can be specified with the parameter HMdisusr.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert HMdisusr Distance from switching edge to reference usr INT32 Modbus 10254 point 1 INT32 Profibus 10254 - 200 R/W After the drive 'leaves' the switch, it is posi- - 2147483647 per. tioned into the working area by a defined dis- - tance. This target point is defined as the reference point.

The parameter is only effective during reference movements without index pulse search.

Reference movement to limit switch The following illustration shows a reference movement to the negative limit switch with distance from the switching edge (HMmethod = 17).

LIMN LIMP

ᕃ

ᕄ

ᕅ R-

HMdisusr HMn HMoutdisusr HMn_out

Figure 8.12 Reference movement to the negative limit switch

(1) Movement to limit switch at search speed (2) Movement to switching edge at speed for moving away from switch (3) Movement to distance from switching edge at speed for moving away from switch 0198441113706, V2.03, 07.2010 142 Stepper motor drive 0198441113706, V2.03, 07.2010 D2B8 Operation SD328B Stepper motor drive Reference movement to reference switch switchwith distance from the switchingedge ( The followingillustration shows reference movementsreferenceto the 3 Movement to distance from switching edge at speed for mov- Movementswitching to edgeat speed formoving away from (3) Movement to reference switch at search speed (2) (1) Reference movements tothereference switch 8.13 Figure LIMN ing away from switch switch HMn_out HMn R- ᕅ REF ᕄ R- ᕄ ᕅ ᕅ ᕄ ᕄ R- ᕅ ᕃ ᕃ ᕃ ᕃ R- M HMmethod HMmethod =27 HMmethod =30 HMmethod =2 HMmethod =28 =27 to30). =27 LIMP 9 143 8 Operation SD328B

Examples The following illustration shows reference movements to the reference switch with distance from the switching edge (HMmethod =27). You can see different responses at different search speeds and start positions. • Movement to the reference switch with first movement in negative direction; the reference switch is once in front of the starting point (A1, A2), once behind it (B1, B2). • Additional movement when the unit moves through the switch range (A2, B2).

LIMN REF LIMP

M M ᕃ R- A1 ᕄ ᕇ ᕅ R- A2 ᕄ ᕇ

B1 ᕃ R- ᕄ ᕇ ᕅ

HMoutdisusr ᕆ B2 HMn R- HMn_out ᕄ ᕇ

Figure 8.14 Reference movements to the reference switch

(1) Movement to reference switch at search speed (2) Movement to switching edge at speed for moving away from switch (3) Excessively fast movement to reference switch at search speed (4) Return movement to switch range at speed for moving away from switch (5) Movement to distance from switching edge at speed for moving away from switch 0198441113706, V2.03, 07.2010 144 Stepper motor drive 0198441113706, V2.03, 07.2010 - - HMdisREFtoIDX DRC- DRC- - ENCM CTRLS_MotEnc ... Reference movement with index pulse 8.5.5.3 HMI menu Parameter name 8 Operation HMI menu Parameter name SD328B Stepper motor drive - ENCM Parameterization In increments of 1/10000 revolutions of1/10000 In increments reproduced. be can processing the reference movement withindex pulse whether fordetermining criterion a as serves index the switching and pulse edge and It allows to check between the the distance reference switch. switching atthe position thelimitor edge of index the the and between position pulse This read value delivers thedifference fromswitching Distance to index edge pulse nected, rotationmoni 2 /ShowEncPos / connected 1 /NoEncCon/ motor speed motor speed (_n_act). and (_p_actusr) position motor as output are the reference values _n_pref _p_refusr and If you connected", motorencoder select "No activated.also encoder is ofthe temperature monitoring connected", If youencoder "Motor select nected, rotation 3 /RotMonOn/ infoposition ecito Unit Description Unit 0 /undefined/ of position Processing motor encoder Description Description none monitoring active monitoring noCo rotM PInF : Undefined (default): Undefined toring inactive,toring only parameter parameter A reference movement withindex to pulse1 14,seeis set via PZD2= connected". encoder be connected. The For referencemovements with index pulsemotora with encoder must erence switch be erence can If the index pulse istoo closeto the switching edge, the limit switch or ref- way,This the reference movement with indexis reproducible. pulse The value should be>0.05. withbe the determined parameter The position distance between the switching edge and index pulse can Then the product moves to the nearest index pulse. First, the productmoves todefined the switch limit reference or switch. : Nomotor encoder : Motor encoder con- : Motorencodercon- HMmethod CTRLS_MotEnc moved mechanically. for the bit assignment. - 0.0000 - revolution 3 0 0 - Maximum value Factory setting Minimum value Maximum value Factory setting Minimum value HMdisREFtoIDX parameter must be set to "Motor - - R/- INT32 INT32 - per. R/W UINT16 UINT16 Expert Persistent R/W Data type Expert Persistent R/W Data type Profibus 10264 Modbus 10264 Profibus 5138 Modbus 5138 via fieldbusvia Parameter address fieldbusvia Parameter address . 145 8 Operation SD328B

Reference movement to limit switch The following illustration shows a reference movement to the positive limit switch with movement to the first index pulse (HMmethod = 2).

LIMN LIMP

M ᕃ

ᕅ ᕄ

HMn HMn_out

Figure 8.15 Reference movement to the positive limit switch

(1) Movement to limit switch at search speed (2) Movement to switching edge at speed for moving away from switch (3) Movement to index pulse at speed for moving away from switch 0198441113706, V2.03, 07.2010 146 Stepper motor drive 0198441113706, V2.03, 07.2010 D2B8 Operation SD328B Stepper motor drive Reference movement to reference switch switch with movement index to thefrist ( pulse The followingillustration shows reference movementsreferenceto the 3 Movement to index pulse at speed for moving away from Movementswitching to edgeat speed formoving away from (3) Movement to reference switch at search speed (2) (1) Reference movements tothereference switch 8.16 Figure LIMN switch switch HMn_out HMn ᕅ REF ᕄ ᕄ ᕅ ᕅ ᕄ ᕄ ᕅ ᕃ ᕃ ᕃ ᕃ M HMmethod HMmethod =11 HMmethod =14 HMmethod =13 HMmethod =12 = 11 to 14). to 11 = LIMP 147 8 Operation SD328B

Examples The following illustration shows reference movements to the reference switch with movement to the first index pulse (HMmethod =11). Various responses at different search speeds and start positions are shown. • Movement to the reference switch with first movement in negative direction; the reference switch is once in front of the starting point (A1, A2), once behind it (B1, B2). • Additional movement when the unit moves through the switch range (A2, B2).

LIMN REF LIMP

M M ᕃ A1 ᕄ ᕇ

ᕅ A2 ᕄ ᕇ

ᕄ ᕇ ᕃ B1

ᕅ

HMoutdisusr ᕆ B2 HMn HMn_out ᕄ ᕇ

Figure 8.17 Reference movements to the reference switch

8.5.5.5 Homing by position setting

Description Homing by position setting is set via PZD2 = 35, see parameter HMmethod for the bit assignment. By means of position setting, the current motor position is set to the position value in parameter HMp_setpusr. This also defines the zero point. Homing by position setting can only be carried out when the motor is at a standstill. Any active position deviation is retained and can still be compensated by the position controller after position setting.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

Example Position setting can be used to carry out a continuous motor movement without exceeding the positioning limits.

M M M ቢ

0 2000 usr "2000" ቤ ባ "0" 0 2000 usr

Figure 8.19 Positioning by 4000 usr units with position setting

(1) The motor is positioned by 2000 usr. (2) By means of position setting to 0, the current motor position is set to position value 0 which, at the same time, defines a new zero point. (3) When a new motion command by 2000 usr is triggered, the new target position is 2000 usr. This method avoids overtravel of the absolute position limits during a positioning operation because the zero point is continuously adjusted. The reference position is read by means of parameter _p_refusr.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert _p_refusr Reference position in user units usr INT32 Modbus 7704 - INT32 Profibus 7704 - 0 R/- - - - - 0198441113706, V2.03, 07.2010 150 Stepper motor drive 0198441113706, V2.03, 07.2010 - - CTRLS_I_nom SET- SET- - icnS CTRLS_I_Const% SET- SET- - icnS CTRLS_I_Const% SET- SET- - irMP CTRLS_I_Ramp% SET- SET- - iStd CTRLS_I_Stand% D2B8 Operation HMI menu Parameter name Setting the 8.6.1 Functions 8.6 SD328B Stepper motor drive - - - - icnS icnS irMP iStd centage forcentage thedifferent movement states. currentper- of in phase asetting 100% at The value to the motor current corresponds typechanged. orthe motor selected The value when a motor is isupdated PA_I_nom. and SM_I_nom to thelowerCorresponds value of current nominal Used ecito Unit Description - Electronic gear - Electronic isused): 'CTRLS_I_Ramp%' (in these modes, modes operating no effect has The setting inthefollowing CTRLS_I_nom valueto the in correspond 100% movement Percentage constant during of current phase gear - Electronic isused): 'CTRLS_I_Ramp%' (in these modes, modes operating no effect has The setting inthefollowing CTRLS_I_nom valueto the in correspond 100% movement Percentage constant during of current phase CTRLS_I_nom valueto the in correspond 100% ation/deceleration Percentage acceler- currentduring phase of CTRLS_I_nom valueto the in correspond 100% Percentage currentatstandstill phase of motor phasecurrent eter eter parameter parameter CTRLS_I_Nom valuea between 0%andof 100% the nominal motor current to set be can torque) bythe (and, implication, current phase motor The CTRLS_I_Const% CTRLS_I_Ramp% CTRLS_I_Stand% . The value canbeset separa A Maximum value Factory setting Minimum value 100 80 1 % 100 80 1 % 100 100 1 % 100 50 1 % - 0.00 - rms , depending on the system requirements.system the dependingon , and for constant movement forparam- and with constant , for accelerationand deceleration with Expert Persistent R/W Data type - per. R/W UINT16 UINT16 - per. R/W UINT16 UINT16 - per. R/W UINT16 UINT16 - per. R/W UINT16 UINT16 - - R/- UINT16 UINT16 tely forstandstill with motor via fieldbusvia Parameter address Profibus 5144 Modbus 5144 Profibus 5144 Modbus 5144 Profibus 5142 Modbus 5142 Profibus 5140 Modbus 5140 Profibus 5122 Modbus 5122 151 8 Operation SD328B

8.6.2 Monitoring functions

8.6.2.1 Status monitoring during operation

_p_tarRAMPusr _p_actRAMPusr _n_targetRAMP _n_actRAMP POSdirOfrotat Profile _p_refusr Motor generator Jerk limitation _p_ref controller Power stage 0

_p_actPosintf _v_act_Posintf _p_addGEAR + Rotation Encoder evaluation M monitoring 3~ - _n_act M Actual value + _p_act - Speed E _p_actusr - Position GEARratio GEARdir_enabl GEARnum GEARdenum

Figure 8.20 Status monitoring of the control loops

8.6.2.2 Positioning range

Positioning range (only fieldbus ) The motor can be moved to any point on the axis within the axis positioning range by specifying an absolute positioning process. The current position of the motor can be read out using the parameter _p_actusr.

M A B A B A B

Figure 8.21 Positioning range

The positioning limits, with default scaling, are: (A) -268435456 usr (B) 268435455 usr Overtraveling of the positioning limits is possible in all operating modes, except during absolute positioning in Profile Position operating mode. If the motor overtravels the positioning limit, the reference point is lost. In the case of relative positioning in the operating mode Profile Position, the unit checks whether the position limits will be overtraveled before the movement is started. If so, internal position setting to 0 is triggered when the movement is started. The reference point is lost (ref_ok = 1 -> 0). 0198441113706, V2.03, 07.2010 152 Stepper motor drive 0198441113706, V2.03, 07.2010 - - SPV_SW_Limits - - SPVswLimNusr - - SPVswLimPusr D2B8 Operation HMI menu Parameter name SD328B Stepper motor drive Softwareswitches limit 1). incase ofsuccessfulhoming(ref_ok= works software of Monitoring limitswitchesonly ware switcheslimit bothdirections SWLIMP+SWLIMN / 3 switches negative direction 2 /SWLIMN switches positive direction 1 /SWLIMP 0 /none software of Monitoring limitswitches Refer to descripti switch Negative for limit position software limit automatically set automatically to themax. user value. missible range, user thelimit switch are limits If value is a user ofthe per- outside entered Positive limitfor position software limitswitch ecito Unit Description : None : None (default) : Activation software of limit : Activationsoftware of limit on 'SPVswLimPusr' _SigLatched SPVswLimNusr parameters the via switches set limit are sitionvalues specified are withreference to the zero point. The software possible assoon as the drive has a valid zero point (ref_ok =1). The po- The positioning range can be limited by : Activation ofsoft- signals the triggering ofsoftware a signals the triggering limit switch. are activated via 3 0 0 - - -2147483648 - usr - 2147483647 - usr Maximum value Factory setting Minimum value SPV_SW_Limits software limit switches. Thisis - per. R/W UINT16 UINT16 - per. R/W INT32 INT32 - per. R/W INT32 INT32 Expert Persistent R/W Data type SPVswLimPusr Profibus 1542 Modbus 1542 Profibus 1546 Modbus 1546 Profibus 1544 Modbus 1544 via fieldbusvia Parameter address . Bit. 2of parameter and 153 8 Operation SD328B

Limit switches @ WARNING LOSS OF CONTROL The use of LIMP and LIMN can provide some protection against hazards (e.g. collision with mechanical stop caused by incorrect reference values). • Use LIMP and LIMN where possible. • Verify that the external sensors or switches are properly connected. • Verify the correct installation of the limit switches. The limit switches must be mounted in a position far enough away from the mechanical stop to allow for an adequate stopping distance. • Before you can use LIMP and LIMN, you must enable them. Failure to follow these instructions can result in death, serious injury or equipment damage.

During movements the two limit switches are monitored via the input signals LIMP and LIMN. If the drive hits a limit switch, the motor stops. Trig- gering of the limit switch is signaled. The parameters IOsigLimP and IOsigLimN are used to release the input signals LIMP and LIMN and to set the evaluation to active 0 or active 1. Use active 0 monitoring signals if possible, because they are failsafe.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert IOsigLimN Signal evaluation LIMN - UINT16 Modbus 1566 0 UINT16 Profibus 1566 - 0 / inactive: Inactive 1 R/W 1 / normally closed: Normally closed NC - 2 per. 2 / normally open: Normally open NO - IOsigLimP Signal evaluation LIMP - UINT16 Modbus 1568 0 UINT16 Profibus 1568 - 0 / inactive: Inactive 1 R/W 1 / normally closed: Normally closed NC - 2 per. 2 / normally open: Normally open NO - IOsigRef Signal evaluation REF - UINT16 Modbus 1564 1 UINT16 Profibus 1564 - 1 / normally closed: Normally closed NC 1 R/W 2 / normally open: Normally open NO - 2 per. - The reference switch is only activated (to REF) while homing is processed.

Moving drive out The drive can be moved away from the limit switch range to the movement range in the operating mode Jog. 0198441113706, V2.03, 07.2010 154 Stepper motor drive 0198441113706, V2.03, 07.2010 - - PA_T_warn - - _SigActive - - PA_T_max STA- STA- - TPA _Temp_act_PA STA- STA- - TDEV _Temp_act_DEV ... Monitoring internal signals 8.6.2.3 HMI menu Parameter name 8 Operation HMI menu Parameter name SD328B Stepper motor drive - - Motor temperature monitoring TPA TDEV Power stage temperature Monitoring parameters Monitoring stage Temperaturepower of threshold warning codes. bit for the on details more _SigLatched See signals of monitoring status Current ture powertempera- stage Maximum permissible ecito Unit Description °C °C Unit Power temperature stage Device temperature Description monitoring temperature approaches the limit temperature Sensors monitor the temperature of the power stage. If the power stage areswitched off. The devicetemperaturea signals error. the temperature exceeds the limit value, the power stage and controller temperature isalso monitored. The temperature limit values are fixed. If CTRLS_MotEncUse parameter the if and encoder with motors of case the In down. The devicetemperaturea signals error. temperature of the power stage, the power stagecontroller and areshut message is generated. If the temperature reaches the max. permissible various objects. The device status and operating state can be monitored by means of is set"Motor to is encoder connected", the motor - 0 - °C - 0 - - - 0 - °C Maximum value Factory setting Minimum value - 0 - - 0 - Maximum value Factory setting Minimum value - per. R/- INT16 INT16 - - R/- UINT32 UINT32 - per. R/- INT16 INT16 Expert Persistent R/W Data type - - R/- INT16 INT16 - - R/- INT16 INT16 Expert Persistent R/W Data type PA_T_warn Profibus 4108 Modbus 4108 Profibus 7182 Modbus 7182 Profibus 4110 Modbus 4110 via fieldbusvia Parameter address Profibus 7200 Modbus 7200 Profibus 7204 Modbus 7204 fieldbusvia Parameter address , awarning 155 8 Operation SD328B

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert _SigLatched Saved status of monitoring signals - UINT32 Modbus 7184 - UINT32 Profibus 7184 STA- - SiGS Signal status: 0 R/- 0: Not activated STA- - SiGS - - 1: Activated - Bit assignments: Bit 0: General fault Bit 1: Limit switches (LIMP/LIMN/REF) Bit 2: Out of range (SW limit switches, tun- ing) Bit 3: Quickstop via fieldbus Bit 4: Inputs STO are 0 Bit 5: Reserved Bit 6: RS485 fault Bit 7: CAN fault Bit 8: Ethernet fault Bit 9: Frequency of reference signal too high Bit 10: Fault current operating mode Bit 11: Reserved Bit 12: Profibus fault Bit 13: Reserved Bit 14: Undervoltage DC bus Bit 15: Overvoltage DC bus Bit 16: Mains phase missing Bit 17: Motor connection fault Bit 18: Motor overcurrent/short circuit Bit 19: Motor encoder fault Bit 20: Undervoltage 24VDC Bit 21: Overtemperature (power stage, motor) Bit 22: Tracking error Bit 23: Max. speed exceeded Bit 24: Inputs STO different Bit 25: Reserved Bit 26: Reserved Bit 27: Reserved Bit 28: Reserved Bit 29: EEPROM fault Bit 30: System booting (Hardware fault or parameter error) Bit 31: System error (e.g. watchdog)

Monitoring functions are product-dependent. _WarnActive Active warnings, bit-coded - UINT16 Modbus 7190 - UINT16 Profibus 7190 - See _WarnLatched for more details on the 0 R/- bit codes. - - - - 0198441113706, V2.03, 07.2010 156 Stepper motor drive 0198441113706, V2.03, 07.2010 FLT- FLT-STPF - _StopFault HMI menu Parameter name - - _actionStatus D2B8 Operation STA- STA- - WRNS _WarnLatched SD328B Stepper motor drive - - STPF WRNS ecito Unit Description ro ubro atso al - Error number of stopfault last Bit 15:Reserved speed generator movesBit 14:Profile at constant generator accelerates Bit 13:Profile generator decelerates Bit 12:Profile is0) speed (reference generator idle Bit 11:Profile Bit 10:Reserved Bit 9: Reserved Bit 8: Drive rotatescounter-clockwise Bit 7: Drive rotatesclockwise Bit 6: (<9[1/min]) Drive isat standstill Bit 5: Reserved Bit 4: Error class4 Bit 3: Error class3 Bit 2: Error class2 Bit 1: Error class1 Bit 0: Warning 1: activated 0: notactivated status: Signal Action word Bit 6: Braking resistor overload resistor (I 6: Braking Bit Bit 5: Motor overload (I Monitoring functions areproduct-dependent. functions Monitoring Bit 15:Reserved warning Bit 14:Ethernet running) still PositionBit 13: yet not valid capture (position Bit 12:Profibus warning phase Bit 11:DCbus mains undervoltage/missing (PWRR_B) Bit 10:STO_A (PWRR_A) and/orSTO_B Bit 9: protocol warning RS485 Bit 8: warning Motor encoder 7:Bit CAN warning Bit 4: PowerBit overload stage (I Bit 3: Reserved Bit 2: Temperature of high motor 1: TemperatureBit of power high stage (see_LastWarning) Bit 0: General warning Bit assignments: 1: Activated 0: Notactivated status: Signal automatically.Bits 10, aredeleted 11, 13 FaultReset.a caseof the in Saved deleted are bits warning Saved warnings, bit-coded 2 t) 2 t) 2 t) Maximum value Factory setting Minimum value - 0 - - 0 - - - 0 - - Expert Persistent R/W Data type - - R/- UINT16 UINT16 - - R/- UINT16 UINT16 - - R/- UINT16 UINT16 via fieldbusvia Parameter address Profibus 7178 Modbus 7178 Profibus 7176 Modbus 7176 Profibus 7192 Modbus 7192 157 8 Operation SD328B

8.6.2.4 Ground fault and short-circuit monitoring

Function principle When the power stage is enabled, the device continuously monitors the motor phases for ground fault and short circuit. A ground fault or short circuit of one or more motor phases is detected. A ground fault of the DC bus is not detected. 0198441113706, V2.03, 07.2010 158 Stepper motor drive 0198441113706, V2.03, 07.2010 D2B8 Operation Scaling 8.6.3 SD328B Stepper motor drive Scaling factorScaling Description versa.device The saves positionvalues inuser-defined units. Scaling translates units userthe unitsdevice, of internal to and vice The scalingfactor is setusing the parameters factor ofthe scaling Representation 8.23 Figure Scaling 8.22 Figure olutions and the required user-definedunits[usr]. The scaling factor isthe relationship between the number of motor rev- the power stage is enabled. is power stage the bled. Values in user-defined units are converted to units internal when The scalingfactor can onlybechanged the when power stagedisa- is exceeded. limit the working range. Anerror issignaled when the working range is integer values. be only tor can A sc When specifying the scalingfactor, note that numeratoranddenomina- numerator value.the POSscaleDenom injury or equipment damage. injury serious indeath, result can Failurefollow to instructions these Checkpara the correspondingusr • Note thatthe scaling affects allrelationships betweentheset val- • movements. different thereforecause can commands motion same The units. Changing the scaling changes the effect of the values inuser-defined UNEXPECTED MOVEMENT CAUSED BY SCALING CHANGED Position position Motor tem inuser-defined units. ues and the movementsof the drive. User defined Scaling factor units _p_actusr _p_refusr . A new scaling factor is activated when you specify = @ Scaling- Scaling factor Change oftheuserposition[usr] WARNING Motor revolutions aling factor less meters and values of thesys- _p_ref _p_act POSscaleNum Operating Internal Internal mode than 1/131072will units units in and 3~ M E 159 8 Operation SD328B

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert POSscaleNum Numerator of position scaling revolution INT32 Modbus 1552 1 INT32 Profibus 1552 - Specification of the scaling factor: 1 R/W - 2147483647 per. Motor revolutions [U] ------Change of user position [usr]

A new scaling is activated when the numerator value is supplied.

User limit values may be reduced due to the calculation of an internal factor. POSscaleDenom Denominator of position scaling usr INT32 Modbus 1550 1 INT32 Profibus 1550 - Refer to numerator (POSscaleNum) for a 16384 R/W description. - 2147483647 per. - A new scaling is activated when the numerator value is supplied.

If an existing device is replaced by this device, and if the same positioning commands are to be used, the scaling must be set in accordance with the settings used previously.

Default scaling A value of 16384 user-defined units per motor revolution is set as the default scaling. Examples 3 situations can be distinguished as far as setting user-defined units is concerned. • Scaling corresponds to default scaling 1 motor revolution = 16384 user-defined units => Every eighth motor position can be approached.

• Scaling corresponds to motor resolution (minimum scaling) 1 motor revolution = 131072 user-defined units => Every motor position can be approached.

• Scaling is less than the default scaling 1 motor revolution = 4096 user-defined units => every 32nd motor position can be approached.

The following persistent parameters must be adapted in addition to the user-defined values to obtain the same positioning movement of the motor after changing the scaling factor: HMoutdisusr, HMdisusr, HMp_homeusr, HMsrchdisusr, JOGstepusr, SPVswLimPusr and SPVswLimNusr. If the parameters are not adjusted, this may, for example, cause an incorrect reference movement since the distance to the switching edge of the limit switch or reference switch is no longer sufficient to leave the switching range. 0198441113706, V2.03, 07.2010 160 Stepper motor drive 0198441113706, V2.03, 07.2010 D2B8 Operation SD328B Stepper motor drive Example 1 Example 2 Example 3 olutions. This resultsin motor rev- user-defined units isto correspondto 3 Positioning by 1111 Figure 8.26 Calculation of the scaling factor, scaling ofthe Calculation example 3 8.26 Figure factor, scaling ofthe Calculation example 2 8.25 Figure means:This = 0.01 1usrrev* 1 mm /100 mm=1/10000revolutions. mm. respond to one step0.01 of mm. Each user-definedunit [usr]cor-is to sponds to adistance of 100 Calculation of ascalingfactor lengthin units: 1motor revolution corre- moves by900* usr3/1111 rev/usr =2.4302 revolutions. Ifyou relative now start positioning by900 user-defined units, themotor factor, scaling ofthe Calculation example 1 8.24 Figure Device value 1/(2* = valueUser =1usr π 1rad= 1rev/(2* Settingpositioning in1/1000rad =3.1416(rounded) cln atr= Scaling factor cln atr= Scaling factor cln atr= Scaling factor π ) π *1000) U *1000) 1111 usr 3rev 2*3,1416*1000 usr 10000 usr 1rev 1 rev = 6283,2 usr 1 rev = 62832 usr 10 rev 161 8 Operation SD328B

8.6.4 Motion profile

Profile generator Target position and target speed of rotation are input values to be specified by the user. The profile generator uses these values to calculate a motion profile depending on the selected operating mode. The values of the profile generator plus the values of a jerk limitation are transformed into a motor movement. The acceleration and deceleration behavior of the motor can be described as a ramp function of the profile generator. The characteristic values of the ramp function are the ramp shape and the ramp steepness. Ramp shape A linear ramp and a motor-optimized ramp are available for the acceleration and deceleration phases. The profile settings are valid for both directions of movement of the motor. The linear ramp shape is used for "Quick Stop". The motor-optimized ramp is used to compensate for the typical torque drop of a stepper motor at increasing speeds by reducing the acceleration.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert RAMP_TypeSel Selection of ramp type - INT16 Modbus 1574 - INT16 Profibus 1574 - -1 / motoroptimized: Motor-optimized ramp - R/W 0 / linear: Linear ramp - - per. -

Start/stop speed A special property of stepper motors is the very fast acceleration from standstill, adjustable as the start-stop speed. Depending on the load, the start-stop speed can be set to up to 60 min- 1. If the lower speed value is too low, the stepper motor may develop mechanical resonances with low external damping. Too high a value for the start-stop speed can be detected by the fact that only reduced ramp values can be set for acceleration and deceleration.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert RAMPnstart0 Start/stop speed min-1 UINT16 Modbus 1570 - UINT16 Profibus 1570 - Start and end speed of profile - R/W - - per. - 0198441113706, V2.03, 07.2010 162 Stepper motor drive 0198441113706, V2.03, 07.2010 - - RAMPacc - - RAMPn_max - - RAMPdecel D2B8 Operation HMI menu Parameter name SD328B Stepper motor drive Ramp steepness ceeaino rfl eeao min Acceleration generator of profile easy to perform. easy to This way, is at speed commissioning limited to RAMPn_max. limited modes, operating these If a greater reference speed set inone is of - Jog - Homing - Profilevelocity - Profileposition modes: ating The parameter isactive inthefollowing oper- generation profile of ref.Limitation for speed op. with modes min generator profile of Deceleration ecito Unit Description RAMPdecel parameter the via per time unit. The ramp steepness can be set for the acceleration ramp The steepnessthe oframp the speed changes determines of the motor Figure 8.27 Acceleration and deceleration and ramps deceleration Acceleration 8.27 Figure it is automatically it isautomatically v RAMPacc . RAMPacc _n_actRAMP min Maximum value Factory setting Minimum value 3000 3000 60 3000000 750 200 3000000 600 1 -1 -1 -1 /s /s andfor the deceleration ramp via Expert Persistent R/W Data type - per. R/W UINT16 UINT16 - per. R/W UINT32 UINT32 - per. R/W UINT32 UINT32 via fieldbusvia Parameter address Profibus 1554 Modbus 1554 Profibus 1558 Modbus 1558 Profibus 1556 Modbus 1556 RAMPn_max RAMPdecel t 163 8 Operation SD328B

Jerk limitation Jerk limitation removes sudden changes in the acceleration to obtain smooth, virtually jerk-free changes of the speed of rotation.

t Figure 8.28 Speed curve with and without (dotted) jerk limitation

The jerk limitation is activated and adjusted via the parameter RAMP_TAUjerk. The end of the movement (x_end = 1) is not signaled until the target position at the end of the jerk limitation has been reached.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert RAMP_TAUjerk Jerk limitation ms UINT16 Modbus 1562 0 UINT16 Profibus 1562 - 0 / off: Off 0 R/W 1 / 1: 1 ms - 128 per. 2 / 2: 2 ms - 4 / 4: 4 ms 8 / 8: 8 ms 16 / 16: 16 ms 32 / 32: 32 ms 64 / 64: 64 ms 128 / 128: 128 ms Limits the acceleration change (jerk) of the reference position generation during the positioning transitions: Standstill - acceleration Acceleration - constant speed Constant speed - deceleration Deceleration - standstill

Processing in the following operating modes: - Profile velocity - Profile position - Jog - Homing

Adjustments can only be made if the operating mode is inactive (x_end=1). 0198441113706, V2.03, 07.2010 164 Stepper motor drive 0198441113706, V2.03, 07.2010 - - RAMPquickstop D2B8 Operation HMI menu Parameter name Quick Stop 8.6.5 SD328B Stepper motor drive "Quick Stop" ramp "Quick Stop reset" has occurred. stop is triggered or if an error of error class 1 drive asoftware the when of Deceleration ramp forDeceleration Quick Stop ecito Unit Description to a standstill with the desireddecele with to astandstill The "Quick Stop" ramp must be set in such away that the drive comes disabledstandstill. a to the drive come after has stageremains enabled.the Inofcase error class 2, the power stage is In the event of an error response to an error of error class1, the power of an errorerror of classes 1andas 2or aresult softwarea of stop. "Quick Stop"is aquick brake function whichstops the motor asaresult operating mode. switch the drive can be moved back into the movement range viathe jog If"Quicka Stop"has been triggered by the positive or negative limit by"Fault reset a be mustA "Quick Stop" Reset". you drive Stop", the load. must reduce Ifthe device frequentlyBus Overvoltage""DC signals "Quick during withoutany braking force. and thedevice signals "DCbusovervoltage". The motor coastsdown bus voltage exceeds the permissiblethe limit powerdisabled stage is The drive absorbs excess brakingenergy deceleration. during IfDC the gered. min Maximum value Factory setting Minimum value 3000000 6000 200 -1 /s ration whenthefu Expert Persistent R/W Data type - per. R/W UINT32 UINT32 via fieldbusvia Parameter address Profibus 1572 Modbus 1572 nction is trig- nction is 165 8 Operation SD328B

8.6.6 Halt

The function "Halt" decelerates the motor with a torque ramp. The parameter LIM_I_maxHalt specifies the current for the torque ramp. After the drive has come to a standstill, the position is determined internally, position control is activated and the motor is held with the power stage enabled. When all "Halt" requests are cleared, the interrupted movement is resumed. If the HALT signal is already cleared during deceleration, the drive continues to decelerate until it comes to a standstill and then accelerates again. "Halt" ramp The "Halt" ramp must be set in such a way that the drive comes to a standstill with the desired deceleration after a "Halt" request. The drive absorbs excess braking energy during deceleration. If the DC bus voltage exceeds the permissible limit the power stage is disabled and the device signals "DC bus overvoltage". The motor coasts down without any braking force.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert RAMPdecel Deceleration of profile generator min-1/s UINT32 Modbus 1558 200 UINT32 Profibus 1558 - 750 R/W - 3000000 per. - 0198441113706, V2.03, 07.2010 166 Stepper motor drive 0198441113706, V2.03, 07.2010 D2B8 Operation Fast positioncapture 8.6.7 SD328B Stepper motor drive Activating fast position capture Terminating capture position Settings or falls. The positioncapturedbecanwhen the edgethe at capture inputrises Continuous position capture • One-time positioncapture • input: One of 2 possible functions for capture can be selected for each capture • • For CAP2: Write value 2 to parameter parameter value 2 to For Write CAP2: • parameter value 2 to For Write CAP1: • Activating continuous positioncapture parameter value 1 to For Write CAP2: • parameter value 1 to For Write CAP1: • Activating one-time positioncapture every definededge; theprevious captured value islost. Continuous capture means thatthemotor positionis captured anew at ̈ ̈ • function. ture" independent2 capture inputs are available for the"Fast Position Cap- at thepoint intime adigitalis available 24Vsignal at acapture input. The "Fast Position Capture" function value 0or the capture can be stopped by the writing parameter In the casecontinuousposition capturesignalnodetected, orif edge is detected. is edge signal first the when terminated is function In thecase of one-time positioncapture, the "Fast Position Capture" at everyedge. The the previous capturedvalue lost. is Continuous capture means that themotor position iscaptured anew edge. first One-time capture means that the motor positionis captured at the LIMN Set the type of method with the parameter parameter the with method of type the Set parameter the with edge of type the Set LIMP / / CAP2 CAP1 Cap2Activate (CAP2) (CAP1) , value0. capturesthe current motorposition Cap2Activate Cap1Activate Cap2Activate Cap1Activate Cap1Config Cap1Activate Cap1Activate . . 167 , 8 Operation SD328B

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert Cap1Activate Capture unit 1 start/stop - UINT16 Modbus 2568 0 UINT16 Profibus 2568 - 0 / Capture stop: Cancel capture function - R/W 1 / Capture once: Start one-time capture - 2 - 2 / Capture continuous: Start continuous - capture In the case of one-time capture, the function is terminated when the first value is captured. In the case of continuous capture, the function continues to run.

Position capture can only be activated in "fieldbus control mode". Cap1Config Capture unit 1 configuration - UINT16 Modbus 2564 0 UINT16 Profibus 2564 - 0 / 1->0: Position capture at 1->0 change 0 R/W 1 / 0->1: Position capture at 0->1 change - 1 - - Cap1Count Capture unit 1 event counter - UINT16 Modbus 2576 - UINT16 Profibus 2576 - Counts the capture events. 0 R/- The counter is reset when capture unit 1 is - - - activated. - Cap1Pos Capture unit 1 captured position usr INT32 Modbus 2572 - INT32 Profibus 2572 - Captured position at the time of the "capture 0 R/- signal". - - - The captured position is calculated again - after "Position Setting" or "Homing". Cap2Activate Capture unit 2 start/stop - UINT16 Modbus 2570 0 UINT16 Profibus 2570 - 0 / Capture stop: Cancel capture function - R/W 1 / Capture once: Start one-time capture - 2 - 2 / Capture continuous: Start continuous - capture In the case of one-time capture, the function is terminated when the first value is captured. In the case of continuous capture, the function continues to run.

Position capture can only be activated in "fieldbus control mode". Cap2Config Capture unit 2 configuration - UINT16 Modbus 2566 0 UINT16 Profibus 2566 - 0 / 1->0: Position capture at 1->0 change 0 R/W 1 / 0->1: Position capture at 0->1 change - 1 - - Cap2Count Capture unit 2 event counter - UINT16 Modbus 2578 - UINT16 Profibus 2578 - Counts the capture events. 0 R/- The counter is reset when capture unit 2 is - - - activated. - 0198441113706, V2.03, 07.2010 168 Stepper motor drive 0198441113706, V2.03, 07.2010 HMI menu Parameter name - - CapStatus D2B8 Operation - - Cap2Pos SD328B Stepper motor drive ecito Unit Description position encoder carried out (used (used internally) out carried encoder position index via actual capture pulse 2: position Bit out CAP2 carried input via capture position Bit 1: out CAP1 carried input via capture position Bit 0: Read access: Status of the capture units after "Positionafter or"Homing". Setting" again calculated is position captured The signal". "capture the timeof the at position Captured 2captured position unit Capture Maximum value Factory setting Minimum value - 0 - - - 0 - usr Expert Persistent R/W Data type - - R/- UINT16 UINT16 - - R/- INT32 INT32 via fieldbusvia Parameter address Profibus 2562 Modbus 2562 Profibus 2574 Modbus 2574 169 8 Operation SD328B

8.6.8 Speed window

The reference speed is considered to have been reached if the speed of the drive is within the speed window SPVn_win during the parameterized time SPVn_winTime. The parameters SPVn_win and SPVn_winTime define the size of the window.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert SPVn_win Speed window, permissible speed deviation min-1 UINT16 Modbus 1576 1 UINT16 Profibus 1576 - 30 R/W - 65535 per. - SPVn_winTime Speed window, time ms UINT16 Modbus 1578 0 UINT16 Profibus 1578 - Value = 0: speed window monitoring deacti- 0 R/W vated - 16383 per. - Changing the value causes a restart of speed monitoring, feedback for reaching the reference speed is set to 0. 0198441113706, V2.03, 07.2010 170 Stepper motor drive 0198441113706, V2.03, 07.2010 STA- STA- - iACT _I_act DRC- DRC- - BTRE BRK_trelease Time for releasing the holding brake HMI menu Parameter name 8 Operation Brake function 8.6.9 SD328B Stepper motor drive Releasing and applying the holding - - iACT BTRE Adjustable parameters brake viathe HMI ecito Unit In 0.01Arms Total motor current Description holding brakeholding the Time delay opening/releasing during Holding brake position. forms asmallmovement so that the stepper motor isnot at an unstable If the parameter type and canbe found inthe motor datasheet. The setting of the parameter corresponding value. brake needs to be released. Enabling the power stage is delayed by the The parameter plying the holding brake. ( brake delay time holding a the for parameterize releasing is possible to It axis). The holdingbrake is not asafety function. no current issupplied to the motor (for example, in the case of avertical when shaft blocking of motor brake the task the has holding motor The Figure 8.29 Releasing the holding brake the holding Releasing 8.29 Figure Select the HMI menuSelect theHMI leased! drop axes inthe caseof vertical axes) (Z the when holdingbrake is re- may load the that disabled. powerto Note be the stage requires This The holding brake canmanually be released and appliedtheviaHMI. BRK_trelease ACTIVE1_OUT BRAKE_OUT _I_act ENABLE BRK_trelease CTRLS_Toggle ) and for applying theholding brake ( 0 1 0 1 0 1 0 1 SrV- A Maximum value Factory setting Minimum value - 0.00 - 1000 0 0 ms rms and the submenu BRK_trelease is usedto specify the time the holding BRK_trelease isactivated,the stepper motor per- Expert Persistent R/W Data type - - R/- INT16 INT16 - per. R/W UINT16 UINT16 BRAK depends on the motor CTRLS_Toggle for releasing and ap- via fieldbusvia Parameter address Profibus 7720 Modbus 7720 Profibus 1294 Modbus 1294 BRK_tclose t 171 ). 8 Operation SD328B

A motor with a released holding brake heats up. In the case of temperature-critical applications, a holding brake controller with voltage reduction can be used to reduce the heat build-up, see also motor manual. The holding brake controller integrated in the device has no voltage reduction. Delayed application When the power stage is disabled, the holding brake is applied. How- ever, current continues to be applied to the motor for the period of time defined with the parameter BRK_tclose. The setting of the parameter BRK_tclose depends on the motor type and can be found in the motor data sheet. The delay time is not effective if the power stage is disabled via the STO safety function. Especially in the case of vertical axes it is important to verify whether additional measures are required to avoid lowering of the load.

ENABLE 1

_I_act 1

BRAKE_OUT 1

ACTIVE1_OUT 1

t BRK_tclose

Figure 8.30 Applying the holding brake

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

_I_act Total motor current Arms INT16 Modbus 7720 - INT16 Profibus 7720 STA- - iACT In 0.01Arms 0.00 R/- STA- - iACT - - - 0198441113706, V2.03, 07.2010 172 Stepper motor drive 0198441113706, V2.03, 07.2010 DRC- DRC- - PRoT POSdirOfRotat D2B8 Operation HMI menu Parameter name Reversal ofdirectionrotation 8.6.10 DRC- DRC- - BTCL BRK_tclose HMI menu Parameter name SD328B Stepper motor drive - - PRoT BTCL input and vice versa. vice and input to mustthe LIMP direction beconnected withajog movement reached is in positive settings. switch the Thelimit changing which switch after limit the connections interchange NOTE: Ifyou uselimitswitches, you must Unit flange). at atthe the motorshaft (looking wise At positiverotates clock- speeds,drive the Meaning: clockwise 1 /counter clockwise/ / clockwise / 0 of rotation direction of Definition Description Unit Description iedlydrn lsn fhligbaems brake of Time delayholding closing during CLW : Clockwise _p_actusr Reversal of the direction of rotation changes the actualposition values can beused unchanged. reversed, must be motor the all parameter of rotation of direction If the range for negativedirection of rotation to ̈ tionof rotation to Connect the limit switch thatlimits until after the deviceis switched off and onagain. active become not do motor. the settings of rotation changed that Note The parameter CCLW used for later operation of this motor.this for of used operation later ofrotation direction Set thesame : Counter- determined by device. the determined POSdirOfRotat LIMP 1 0 0 - Maximum value Factory setting Minimum value Maximum value Factory setting Minimum value 1000 100 0 . Connect thelimit . Connect switch can beused to reverse the direction of the working range forpositive direc- during commissioning that willbe commissioning during - per. R/W UINT16 UINT16 Expert Persistent R/W Data type Expert Persistent R/W Data type - per. R/W UINT16 UINT16 LIMN . that limits the working theworking that limits Profibus 1560 Modbus 1560 fieldbusvia Parameter address fieldbusvia Parameter address Profibus 1296 Modbus 1296 173 8 Operation SD328B

8.6.11 Restoring default values

All parameter values set by the user are lost in this process. It is possible at any time to save all parameter values set for a device as a configuration using the commissioning software.

8.6.11.1 Restoring the "First Setup"

The parameter PARuserReset is used to restore the settings made with the "First Setup". All parameter values are reset to the default values with the exception of the communication parameters. The data in the memory is deleted, but not written to the EEPROM. Particularly in fieldbus mode, this allows for a defined start behavior that ignores any changes you may have made via the HMI.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert PARuserReset Reset user parameters - UINT16 Modbus 1040 0 UINT16 Profibus 1040 - Bit 0 = 1: Set persistent parameters to - R/W default values. - 7 - All parameters are reset with the exception - of: - Communication parameters - Definition of the direction of rotation - Signal selection position interface - Motor type - Processing of motor encoder position

NOTE: The new settings are not saved to the EEPROM!

8.6.11.2 Restoring the factory settings

The parameter PARfactorySet is used to restore the factory settings. All parameter values are reset to the default values. ̈ Disconnect the product from the the fieldbus in order to avoid con- flicts by simultaneous access.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert PARfactor ySet Restore factory settings (default values) - No 0 R/W DRC- - FCS 0 / No / : No - - 1 / Yes / YES: Yes DRC- - FCS 3 - All parameters are set to their default values, these are saved to the EEPROM. Restoring the factory settings is possible via the HMI or the commissioning software. The saving process is complete when the parameter is read and 0 is returned.

NOTE: The default becomes active only when the unit is switched on the next time. 0198441113706, V2.03, 07.2010 174 Stepper motor drive 0198441113706, V2.03, 07.2010 D2B8 Operation Duplicating existing devicesettings 8.6.11.3 SD328B Stepper motor drive Factoryvia commissioning settings Application and advantage and Application Device settings:Opening Factory settings viaHMI Factorysettings Device settings:Saving Prerequisites software and on again. The new settings only become active until after the device is switched off Setup", page 96. All parametervalues are reset to the default values.also See "First note that the fieldbus addresscopied is along with this information. You can copy astored configuration to adevice of the same type. Please forma of configuration file. The commissioningsoftware cansavethe settingsof adevice thein lervoltage supply mustbe switched onat the device. tothe be used is Windows-based commissioning software. The control- Device type, motor type and device firmware must be identical. The tool TheSetup" "First not doeshave viathe HMI.tobe run • Multiple devices are to have thesettings, same forexample, when • and on again. The new settings only become active until after the device is switched off See also"First Setup", pageFirst Seealso Setup, page96.. Factory Settings. Allparameter valuesarereset the to default values. The factory settingsareloaded viathe menuConfiguration items => ̈ ̈ ̈ age. Failure tofollow theseinstructions canresultequipment in dam- Updatethewith only areliable firmware voltage. supply • Do not switch off thevoltagesupply theduring update. • uct will be damaged and must If the supply voltage becomes unavailable an update, during the prod- DAMAGE TO THE PRODUCT CAUSEDBY POWER OUTAGE Save the configuration of the device via "File - Save".device - Save "File the of via configuration the devices are replaced. yes Select desired configuration. In the commissioningsoftware, select "File-Open"and load the . DRC and then FCS

at the HMI and confirm the at selection the HMIand with confirm CAUTION be sent in for repair. 175 8 Operation SD328B 0198441113706, V2.03, 07.2010 176 Stepper motor drive 0198441113706, V2.03, 07.2010 D2B9 Examples Wiring 9.1 Examples 9 SD328B Stepper motor drive L1 DC 24V - N 3~ E M ~ + 43 44 42 41 40 N/L2 L1 W V U DC+ DC- VS2 VS1 RM_FAULT_OUT +24VDC 0VDC -BRAKE_OUT +BRAKE_OUT CN2 Figure 9.1 Wiring example Wiring 9.1 Figure CN3 RxD/TxD-N-OUT RxD/TxD-P-OUT NO_FAULT_OUT CN1 CN5 CN4 RxD/TxD-N-IN RxD/TxD-P-IN ACTIVE1_OUT PWRR_A PWRR_B 24VDC LIMP LIMN HALT REF 38 37 35 34 33 36 32 31 23 22 21 3 24 9 LIMN PULSE/DIR REF A/B/I RS485 Profibus 24V RS232 M PC LIMP 177 9 Examples SD328B

9.2 Wiring STO

Using the safety functions integrated in this product requires careful planning. For more information see chapter5.1 "Safety function STO ("Safe Torque Off")" on page 37. 0198441113706, V2.03, 07.2010 178 Stepper motor drive 0198441113706, V2.03, 07.2010 LIMP Hardware limitswitch (for example otaeso Quick Stop active Software stop vn tt M ipa C HMIdisplay Fault OperationEnabled State Error of errorclass>1 Error of errorclas Halt Event Error responsesanderror classes 10.2 troubleshooting Diagnostics and 10 Service 10.1 Diagnostics andtroubleshooting 10 SD328B Stepper motor drive ) Quick Stop active 1 s Error class Quick Stop active aa ro Power switch controller stage and offimmedi- Uncontrolled Fatal error 4 "Quick Stop" 3 only, Message nointerruption stopswith"Quick Motor power Stop", and stage "Quick Stop" 2 Warning 1 0 class Error pair. Also includethis information if you the product for return inspection or re- Yourown the assumptions cause concerning of the error • Previous and concomitantcircumstances • Typeoferror (suchLED as flash code orerror number) • number, number,(type, identification ...) serial DOM, Nameplate • Have thefollowingavailable: details Ifyou cannot resolve anerror yourselfplease contactyour sales office. The devicesignals the occurrenceofan event inthefollowing way: classes: fault, the device responds inaccordancewithof one the following error state Faultresulta as of anerror. Dependinguponthe severity of the The producterror an triggers response it if switches to the operating operation switch-offwith Meaning Response STOP A306 STOP FLT A320 FLT HALT STOP A320 STOP STOP A302 STOP ately without stopping the first. the motor withoutstopping ately switched remain andenabled.controller on device off. beresetbycan only response switching the first. The error the motor withoutstopping ately Power switch controller stage and offimmedi- achieved. been has standstill are disabled after controller stopswith"QuickMotor power Stop", and stage A 0 - EA306 30EA320 E A320 E -- 30EA320 E A320 E (_StopFault) 32EA302 E A302 E ause of last stop oflast ause memory Entry inerror 179 10 Diagnostics and troubleshooting SD328B

10.3 Error indication

The last cause of stop and the last 10 error messages are stored. The HMI allows you to display the last cause of stop; the commissioning software and the fieldbus let you display the last 10 error messages in addition to the last cause of stop. For a description of all error numbers, see page 189.

10.3.1 State diagram

Motor without current

Switching on

1 INIT Start T0 2 nrdy Not Ready To Switch On

dis Switch On 3 Disabled T15

T9 T2 T7 T12 Ready 4 rdy T10 To Switch On 9 T3 Fault

5 fLt 8888 Son Switched On

T14 8 T4 fLt Fault Reaction Active rUn 6 Quick Stop Active 7 Operation T16 T13 HALT Enabled Stop 8888 HaLt

T11 Error class 1 Error class 2, 3, (4)

Motor under current

Operating state State transition Error

Figure 10.1 State diagram 0198441113706, V2.03, 07.2010 180 Stepper motor drive 0198441113706, V2.03, 07.2010 FLt FLt Stop HALT run Son rdy dis nrdy T9 T2 T1 T0 T3 tion Transi- troubleshooting Diagnostics and 10 Descr state Operating Init Display SD328B T10 T7 T4 T14 T13 T12 T11 T15 Stepper motor drive 6 3 2 1 4 state Operating 5 4 5 8 x 7 6 9 -> -> -> -> -> -> -> -> -> -> -> -> -> 3 2 3 9 8 7 6 5 4 3 2 1 3 4 5 3 3 6 9 8 3 7 Fault Operating state "Fault" Operating Fault Fault Reaction active An error has been detected, error response activated detected,errorresponse An errorhasbeen Fault active Reaction QikSo cie"Quick executed isbeing Stop" Quick active Stop Switched on Motor not supplied withcurrent Motornotsupplied enable Operation on Switched Rayt wtho The power to switch isready stage on to switchReady on Sic ndsbe Enabling of power stagelocked on disabled Switch Ntrayt wtho Thepower isnot to switch stage ready on ready to switchNot on Start Controller supply voltage supply initialized Controller arebeing on, electronics Start Operating states State transitions Parameter successfullyinitialized • Device successfullyinitialized electronics • • Actual speed: >1000 min Actual >1000 speed: • / event Condition eus o ialn h oe tg Power disabled. isimmediately stage for Request disabling power the stage • • No undervoltage No • • Request for Request enabling power the stage • • Request for Request disabling power the stage • uoai rniinPower isenabled stage • Undervoltage • Automatic transition • • Function: "Fault Reset" Error is Erroris out, see "Error Error is carried response "Quick with canceled is command Motion "Fault Function: Reset" • 3or Error ofclasses 4 Power isdisabled stage immediately,• Error responsetermin • Error 2, ofclasses 3 or 4 • for Request disabling power the stage • error 1 Class • (for force) examplebydriving external STO_A Actual speed: <1000 min <1000 Actual speed: checked successfully Encoder STO_A ( ( PWRR_A PWRR_A )2) 1) ) and ) and ) and HALT RUN activemode operating No Power stage ready as aresponsea to monitoring signal. State transitions are triggered by an input signal, afieldbus command or missioning software. The operating states are displayedby defaultby theHMI and the com- : Selected operating modeisactive: Selectedoperating : Motor is stopped, power enabledis stopped, is Motor stage : ated (errorofclass 2) STO_B STO_B iption of operating state iption ofoperating -1 -1 ( ( PWRR_B PWRR_B ) = 0V ) = +24V ) = - Response Holding brakeHolding (ifavailable)is released parameters arecheckedUser-defined Response" even if"Quick Stop" stillactive.is Stop". rected). reset (causeoferrormust be cor- 181 10 Diagnostics and troubleshooting SD328B

Transi- Operating Condition / event 1) 2) Response tion state T16 7 -> 6 • Function: "Fault reset" 1) In order to initiate a state transition it is sufficient if one condition is met 2) Fieldbus commands only with fieldbus control mode

10.3.2 Error indication at the HMI

State indication Ulow The display shows ULOW (WDOG) during initialization. The controller supply voltage is too low. ̈ Check controller supply voltage.

State indication nrdy The product remains in the state nrdy (NRDY). ̈ After the "First Setup", you must switch the device off and on again. ̈ Finally, verify proper installation. If the installation is correct, then there is an internal error. To diag- nose the error, read out the error memory using the commissioning software. If you cannot resolve the error yourself please contact your sales office.

State indication dis If the product remains in the state dis (DIS), there is no DC bus voltage or the safety function STO is active. ̈ Check the following:

• Is the safety function STO active? • Verify correct installation of the signal connections. Pay particular attention to the minimum assignment, see page 6.3.12 "Connecting the digital inputs/outputs (CN1)". • Is the mains voltage to the power stage on and does the voltage correspond to the specifications in the technical data? State indication FLt The display alternately shows FLt (FLT) and a 4-digit error number. The error number can also be found in the list of the error memory. See chapter 10.5 "Table of error numbers" for the meaning of the error number. State indication STOP The HMI displays STOP (STOP) when a "Quick Stop" has been triggered. This can be caused by a software stop, a hardware limit switch or by an error of error class 1. ̈ Fix the cause of the error and acknowledge the error.

State indication WDOG The display shows WDOG (WDOG) during initialization. Internal monitoring has detected an error (watchdog). ̈ Contact technical support. Inform the support of the conditions under which the error occurred (operating mode, application). ̈ The error can be reset by switching the device off and on again.

Cause of last stop ̈ Press the ENT key on the HMI to acknowledge the current error message. ̈ Display the FLT menu. The last cause of stop (parameter _StopFault) is displayed in the form of an error number, see chapter 10.5 "Table of error numbers". 0198441113706, V2.03, 07.2010 182 Stepper motor drive 0198441113706, V2.03, 07.2010 034Error indicationvia thefieldbus 10.3.4 troubleshooting Diagnostics and 10 Error indication using 10.3.3 SD328B Stepper motor drive Error indication via process data viaprocess indication Error Cause of last stopCause of last thecommissioningsoftware formation "lets you verify the exact conditions when the error occurred. timedescription.when"Additional The the error in- occurreda and short The error messages are displayed alongwith the status,error class, prefixed a "E". with memory error the The commissioningsoftware shows a4digiterror number intheoflist Errors are indicatedthe via process data PZD1, gering cause of error isstored. otherstatus information. In the caseof subsequenterrors, theonly trig- is 0. If an error occurs, the erroris along to written the with error memory and thecause lastof stop. Ifno there error,is value the the ofparameter The parameter mitted. The error indication isresetthe when nextvalid datatelegram is trans- means ofaccess an the via parameter channel. ̈ ̈ ࡯ read the error number from the parameter the current process. To the cause determine of the error, the master can Bit 6 cannot be processed, the slave rejects processing and sets Ifrequesta foroperating an modesent viathe transmit data telegram 15 x_errset. is supply voltagesupply and switchon it again. you4, switch controller must class the of off errors of case the In Correct the error and reset theerror message. displayed. is messages error Errormemory". - "Diagnostics Select remote (CN4)", pageterminal 79. nection to the product,see chapter 6.3.13"Connecting aPC ora Youwith thePC need commissioning a softwareandcon- aworking (ModeError) in the receive data telegram. This does not interrupt _StopFault allows youto read outthe oferror number Adialog box which shows the ModeError, 6962:00 driveStat modeStat, . Error bit bit Error . by by 183 10 Diagnostics and troubleshooting SD328B

Error memory The error memory is an error history of the last 10 errors; it is not cleared even if the device is switched off. The following parameters allow you to manage the error memory:

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert FLT_del_err Clear error memory - UINT16 Modbus 15112 0 UINT16 Profibus 15112 - 1: Delete all entries in the error memory - R/W - 1 - The clearing process is completed if a 0 is - returned after a read access. FLT_MemReset Reset error memory read pointer - UINT16 Modbus 15114 0 UINT16 Profibus 15114 - 1: Set error memory read pointer to oldest - R/W error entry. - 1 - -

The error memory can only be read sequentially. The parameter FLT_MemReset must be used to reset the read pointer. Then the first error entry can be read. The read pointer is automatically set to the next entry; a read access delivers the next error entry. If the error number 0 is returned there is no error entry.

Position of the entry Meaning 1 1st error entry, oldest message 2 2nd error entry, later message, if present ...... 10 10th error entry. In the case of 10 error entries, the most recent error value is contained here.

An individual error entry consists of several pieces of information which are read out using various parameters. When you read out an error entry, the error number must be read out first with the parameter FLT_err_num.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert FLT_err_num Error number - UINT16 Modbus 15362 0 UINT16 Profibus 15362 - Reading this parameter copies the entire - R/- error entry (error class, time of occurrence of - 65535 - error, ...) to an intermediate memory from - which all elements of the error can then be read.

In addition, the read pointer of the error memory is automatically set to the next error entry. 0198441113706, V2.03, 07.2010 184 Stepper motor drive 0198441113706, V2.03, 07.2010 HMI menu Parameter name - - FLT_Qual - - FLT_Time SD328B 10 Diagnostics and troubleshooting Diagnostics and 10 - - FLT_class SD328B Stepper motor drive ecito Unit Description Example: a parameter address parameter a Example: number.error, error the the on depending information on additional contains This entry information Error additional With referenceWith hourscounter to operating Error time edged) Fatal4: be acknowl-9, cannot error(state Fatal3: be acknowledged) error(state9,can Error 2: (Quick state8,9) -> Stop Error 1: (Quick state7) -> Stop Warning0: (noresponse) Error class Maximum value Factory setting Minimum value 65535 - 0 - 536870911 - 0 s 4 - 0 - Expert Persistent R/W Data type - - R/- UINT16 UINT16 - - R/- UINT32 UINT32 - - R/- UINT16 UINT16 via fieldbusvia Parameter address Profibus 15368 Modbus 15368 Profibus 15366 Modbus 15366 Profibus 15364 Modbus 15364 185 10 Diagnostics and troubleshooting SD328B

10.4 Troubleshooting

10.4.1 Troubleshooting problems

Problem Cause Troubleshooting Motor does not Motor blocked by holding brake Release holding brake, check wiring. rotate Motor phase inter- Check motor cable and connection. One or rupted more motor phases are not connected. No torque Set parameter for current to a value greater than zero. Incorrect operat- Set the input signal and parameters for the ing mode selected desired operating mode. Drive system Switch on drive system, generate enable sig- switched off nal. Motor mechani- Check coupled components. cally blocked Motor rotates in Motor phases reversed Check motor cable and connection: Connect motor the wrong direc- phases U, V and W in the same way at the motor and tion device ends. Motor tempera- incorrect motor type set Select the correct motor type; reduce the maximum ture too high motor current; use holding brake controller with voltage reduction for motors with holding brake, see motor manual. Short motor Motor phases reversed Check motor cable and connection: Connect motor movement with phases U, V and W in the same way at the motor and shutdown by rota- device ends. tion monitoring Encoder problem Check encoder cable. Error message Drive system switched off Switch on the drive system. communication error Wiring error Verify proper wiring. Wrong PC inter- Select correct interface. face selected Error message Poor or no air circulation, Check air circulation, replace or connect fan of temperature Fan (SD32••U68 only) defective, blocked or SD32••U68, reduce runtime for peak current, load or not connected, overload peak torque, 0198441113706, V2.03, 07.2010 186 Stepper motor drive 0198441113706, V2.03, 07.2010 18 Motor overload cur- Motor (phase 18 (motor motor to Connection 17 5D u vrotg 3DCbus overvoltage, decel- 3 DCbus overvoltage 15 2 DCbus undervoltage Reserved 14 13 12 Profibus fieldbus error 0 Interruption of fieldbus Interruption 0 Profibus fieldbus error Reserved 12 11 the of processing in Error reference Incorrect signals 10 Reserved 9 RS485 fieldbus error, Mod- 8 Reserved 6 5 ro i enn Error troubleshooting Diagnostics and 10 Meaning Error bit Troubleshooting oferrors by sorted error bit 10.4.2 SD328B QikSo"vafedu Fieldbuscommand Inputs 1 "Quick fieldbus via Stop" 0 4 oftravel Range exceeded 3 Limit switch(LIMP/LIMN/ 2 General error 1 0 Stepper motor drive rent too high) too rent fault, commutation) ground interrupted, phase current operating mode operating current toohigh) (frequency bus "0" and (software limitswitch) REF) STO_B STO_A ( PWRR_B ( PWRR_A ) are ) 3 I orground fault circuit Short 3 3 Processingerrorinoperat- 2 STO safety was function 3 class oo o nrneo rvlCheck travel, range of home the drive notinrange Motor of travel 1 switch Limit orwasis acti- 1 sage. _SigLatched parameter the using read be can bits error bits. The error called To facilitatetroubleshooting, aller low). (selected motor current too torque the motor torque exceeds External Motor problem. cable. or in motor phase encoder fast too eration ing off the drive offthe ing valuethreshold for switch- DC bus voltage below Stop" valuethreshold for "Quick DC bus voltage below only communication, Profibus Homing or Jog. Homing Gear, Electronic modes ing ference Frequency inter- high, too only, forexample Modbus communication, RS485 of fieldbus Interruption triggered as Troubleshooting Cause vated, interrupted line 2 t monitoring for motor Reduce load, load, use a Reduce motor with agreater fort monitoring motor . Signal. status "1" indicates an error mes- or warning motor current. the orincrease torque external Reduce motor.Replace cable.or encoder cable motor Check connections, replace phase thedeceleration Extend Check for power outage Check orincreasemains voltage parameters, fieldbus seealso manual the fieldbus, check thecommunication Check thecommunication cables, check information intheerrormemory information For seeadditional information detailed data) (technical frequency EMC exceed measures,not do maximum parameters, fieldbus seealso manual the fieldbus, check thecommunication Check thecommunication cables, check Check door, guard cabling nominal powernominal again error memory message in range, datato axis special positioning Move drive intomovement range, match ror numbersror arecategorized byso- 187 10 Diagnostics and troubleshooting SD328B

Error bit Meaning Error Cause Troubleshooting class 20 Undervoltage controller Controller supply voltage Check controller supply voltage. Check supply voltage has fallen below the mini- for short-term voltage dips during load mum value changes 21 Temperature too high 3 Power stage overheated Fan defective or blocked, reduce runtime (power stage or motor) for peak current, load or peak torque Allow motor to cool down, reduce load, Motor overheated use motor with greater nominal power, Temperature sensor not temperature sensor defective, check/ connected replace motor encoder cables; use holding brake controller with voltage reduction for motors with holding brake, see motor manual. 22 Rotation monitoring error 3 Rotation monitoring error Reduce external load or acceleration 24 Inputs STO_A (PWRR_A) 4 Interruption of the signal Check signal cable and signal connection, and STO_B (PWRR_B) are wires check signal source, replace different 25 ... 28 Reserved 29 EEPROM error 3-4 Checksum in EEPROM Run a "First Setup", save the user-defined incorrect parameters to the EEPROM, contact your local sales office 30 System start-up error 3-4 Cause of error as indicated Resolution depends on indicated cause of (hardware or parameter error error) 31 Internal system error 4 Internal system error Switch device off and on, replace device (for example Watchdog) Comply with EMC measures, switch System error, e.g. division device off and on, contact your local sales by 0 or timeout checks, office inadequate EMC 0198441113706, V2.03, 07.2010 188 Stepper motor drive 0198441113706, V2.03, 07.2010 E 110C - - Write access only allowed access only forby specified Write user motor the a - - info=Modbus (additional address) error register Initialization 30 E 110C viaotherinterface Access blocked 3 - E 110B notallowed Command powerwhile isactive stage - - (noaccessauthorization) access denied Write E 1107 - Parameter (READ only) notpermissible write - E 1106 Parameter exist doesnot - - Parameter exist doesnot - - E 1104 Parameter range out permissible of - - E 1103 - - E 1102 - Descrip E 1101 Bit E 1100 Class Error number troubleshooting Diagnostics and 10 Table oferror numbers 10.5 SD328B Stepper motor drive where the initialization error was error initialization detected. the where Value info error additional showsin of Modbusaddress the parameter the register max.allowed isgreaterfile position than drive. speed of Error detectedatpower enable parameter Checkblocks thechannelthat access.the fieldbus at accesswasthe same time). tried byAccess occupied (e.g.: another channel softwarecommissioning isactive and Disable command. the power the and repeat stage "QuickStopActive"). notallowed Command the powerwhile isenabled stage (state "OperationEnable" or accesslevelThe write is required. expert Parameter onlyaccessible level. at expert access parameter.to read only Write Fault by parametersignaled (subindex) parameter management: not does exist. Fault by parametersignaled (index) parameter management: exist. doesnot xxCommunication movement Motor Information onerrorbits and troubleshooting canbe found onpage187. Interface, wiring Software E Bxxx Hardware E Axxx Temperature E 7xxx Voltage E 6xxx Overcurrent E 5xxx General E 4xxx E 3xxx E 2xxx range E 1xxx Error number Error number categories: class, the error classisparameterizable. all the error numbers and their meaning. If "par." isshown with the error and stored in the parameter number error an as coded is message for error error of each cause The tion, causeandcorrectives FLT_err_num check e.g.reference value for speed pro- . Thefollowing table shows 189 10 Diagnostics and troubleshooting SD328B

Error number Class Bit Description, cause and correctives E 110D 1 0 Basic configuration of controller required after factory setting The "First Setup" (FSU) was not run at all or not completed. E 110E - - Parameter changed that requires a restart of the drive Only displayed by the commissioning software. A parameter modification requires the drive to be switched off and on. Restart the drive to activate the parameter functionality. Check the parameter chapter for the parameter that required a restart of the drive. E 1300 3 4 Safety function STO activated The safety function STO was activated in "Operation enable" state. Reset the fault; check the wiring of the STO inputs. E 1301 4 24 STO_A (PWRR_A) and STO_B (PWRR_B) different level The levels of the inputs STO_A (PWRR_A) and STO_B (PWRR_B) were different for more than 1 second. The drive has to be switched off and the reason fixed (e.g.: check emergency stop active) before it is switched on. E 1310 3 9 Reference signal frequency too high The frequency of the pulse signal (A/B, Pulse/Direction, CW/CCW) is higher than the allowed value. Adapt the output pulse frequency of the controller to fit the input specification of the drive. Take care to also adapt the electronic gear ratio for the application requirements (position accuracy and speed). E 1312 - - Limit or reference switch signal in I/O functions not defined Reference movements require limit switches. These limit switches are not assigned to inputs. Assign the LIMP, LIMN and REF functions to the inputs. E 2300 3 18 Power stage overcurrent Motor short circuit and deactivation of the power stage. Check the motor power connection. E 3200 3 15 DC bus overvoltage Excessive regeneration during braking. Check deceleration ramp, check dimensioning of drive and braking resistor. E 3201 3 14 DC bus undervoltage (switch-off threshold) Power supply loss, poor power supply. E 3202 2 14 DC bus undervoltage (Quick Stop threshold) Power supply loss, poor power supply. E 3206 0 11 DC bus undervoltage, no mains phase (warning) Power supply loss, poor power supply. E 4100 3 21 Power stage overtemperature Transistors overtemperature: ambient temperature is too high, fan is inoperative, dust. Improve the heat dissipation. 0198441113706, V2.03, 07.2010 190 Stepper motor drive 0198441113706, V2.03, 07.2010 5009RS485/Modbus: overrun error 9 0 position valid No absolute motor 13 E 7500 range currentoffsetoutside permissible Motor 0 30 Invalid motordata E 7338 4 30 E 7123 4 invalidpower error: System data stage 30 E parameter 7122 inselection Error 4 - phase fault connection Motor E 7100 - overtemperature Motor 17 21 overload Motor (I2t)warning E 610D 3 3 5 E 5600 0 E 4303 overtemperature Motor 21 E 4302 Deviceovertemperature 3 21 Power stage overload (I2t)warning 3 E 4300 troubleshooting Diagnostics and 10 4 E 4200 Warning powerovertemperature stage 0 1 E 4102 0 Descrip Bit E 4101 Class Error number SD328B Stepper motor drive Check cables. EMC; cablingproblem. Device stillusable are OKAY. allfunctions and position. absolute the fix application, on Depending yet not has determined. been position youinformabsolute Warning to that the device. orreplace support technical Contact circuitis defective.Motor currentmeasurement the motor. orreplace support technical Contact inmotorencoder co is Motor datastored the device. orreplace support technical Contact data. memory internal in PowerCRC), error (wrong device in is corrupt stored data stage Check valuewritten. the be to parameterWrong value selected. phases.motor Check of connection . connected are not Motor phase(s) The currenthasexceeded va the nominal Check cable. encoder mustCheck heat the motor installation: cable. toohigh; is sensor of thermal Resistance high. too is temperature ambient overtemperature: Board time. cycle Check reduce dimensioning, The currenthasexceeded va the nominal Improve dissipation. theheat dust. Transistors fan overtemperature: ambient temperature high, istoo inoperative,is tion, causeandcorrectives or motor encoder not connected not encoder or motor be dissipated via the mounting surface. viathemounting be dissipated rrupt, error in internal memory data. memory errorininternal rrupt, lue for an extended period of time. for of lue extended an period time. for of lue extended an period overload, ambient temp (see I2t); encoder I2t);encoder (see temp overload, ambient 191 10 Diagnostics and troubleshooting SD328B

Error number Class Bit Description, cause and correctives E 7501 0 9 RS485/Modbus: framing error EMC; cabling problem. Check cables. E 7502 0 9 RS485/Modbus: parity error EMC; cabling problem. Check cables. E 7503 0 9 RS485/Modbus: receive error EMC; cabling problem. Check cables. E A060 2 10 Calculated speed in electronic gear/pulse control too high Gear ratio or speed reference value too high Reduce the gear ratio or speed reference value. E A061 2 10 Position change in reference value with electronic gear/pulse control too high Position reference change is too high. Reference value input signal disturbance. Reduce the resolution of the master. Check reference value input signal. E A062 2 10 Position offset between Topac filter input position and output position too great E A063 2 10 Reference speed at Topac filter input too great E A064 2 10 Speed of rotation difference (reference pulse frequency - current motor speed) at Topac filter too great E A300 - - Braking procedure after HALT request still active HALT was removed too soon. New command was sent before motor standstill was reached after a HALT request. Wait for complete stop before removing HALT signal. Wait until motor has come to a complete standstill. E A301 - - Drive in state 'Quick Stop active' Error with error class 1 occurred. Drive stopped with Quick Stop command. E A302 1 1 Interruption by LIMP LIMP was activated because working range was exceeded, misoperation of limit switch or signal disturbance. Check application. Check limit switch function and connection. E A303 1 1 Interruption by LIMN LIMN was activated because working range was exceeded, misoperation of limit switch or signal disturbance. Check application. Check limit switch function and connection. E A305 - - Power stage cannot be activated in the current operating state (state diagram) Fieldbus: trying to enable the power stage in operating state "Not ready to switch on". Refer to the state diagram in the operation chapter of the manual. 0198441113706, V2.03, 07.2010 192 Stepper motor drive 0198441113706, V2.03, 07.2010 E A318 - - Operating mode active(x_end=0) mode Operating - - Drive isnot standstill at E A318 - active Homing - - reference No position E A317 - - E A315 - Position (ref_ok=0) overrun,therefore defined is reference longer no point - E A314 - Poweractive not stage - E A313 Enable' Drive'Operation notinstate - - E A310 Drive instate 'Fault' - - E A309 - software by stop internal Interruption - troubleshooting Diagnostics and 10 E A308 - by software stop user-initiated Interruption 3 E A307 1 Descrip Bit E A306 Class Error number SD328B Stepper motor drive or terminate current operating currentoperating mode with HALTor terminate command. Wait (x_end=1) hasfinished mode intheoperating command the until is stillactive. Activation anewof no mode is operating 1). = (x_end standstill Waita to come motor has until inofdataset - teach of - setting reference point signals of monitoring of - change handling of - change software limitswitches sent isnotallowedwhich Command when Wait movement homing until is finished. notpossibleCommand if isactive.homing anewDefine reference point by mode. homing means of reference(ref_ok=1). defined a point needs Command anewDefine reference point by mode. homing means of point. movementpoint. An absolute ofanew untilthedefinition cannot be made reference range were limits exceededThe position reference resultedin a loss of the which ofthe manual. chapter operation Set drive the powerwith to astate stageenabled, refer diagram to thestate in the Enabled"or "Quick Stop"). isnot possibleCommand the powerbecause stageisnotenabled (state "Operation command. the Set drive to state "OperationEnable" repeat and change). the state"Opera requires A commandwhich Faultstate withcommand Reset. Check error code(HMIor tool), removecommissioning clear error and error condition Error witherrorclass 2 or higher occurred. command Fault with breakcondition Clear Reset. activation to the is sentasthe response command. software stop.not possible,a new of is Theactivation mode operating error code the an internal modes,using andjog In homing the movement interrupted isinternally command Fault with breakcondition Clear Reset. activation command. a new possible, operating not mode is to the theresponse issent as the error code Drive is state"Quickin Stop active" dueto tion, causeandcorrectives t possible while the current operating t possible thecurrent operating mode while the motor is not at a standstill e.g. atastandstill the motor not is a software stop request. The activation The of a softwarerequest. stop tion enable"tion was sent (e.g.: opmode 193 10 Diagnostics and troubleshooting SD328B

Error number Class Bit Description, cause and correctives E A31B - - HALT requested Command not allowed while a HALT is requested. Clear HALT request and repeat command. E A31C - - Invalid position setting with software limit switch Value for negative (positive) software limit switch is greater (less) than value for positive (negative) software limit switch. Homing position value is set outside the range of the software limits. Set correct position values. E A31D - - Speed range overflow ('CTRL_n_max') The reference speed value was set to a value greater than the max. speed defined in 'CTRL_n_max'. Increase the value of 'CTRL_n_max' or reduce the reference speed value. E A31E 1 2 Interruption by positive software limit switch Command not possible because of overtravel of positive software limit switch. Jog back to software limit range. E A31F 1 2 Interruption by negative software limit switch Command not possible because of overrun of negative software limit switch. Jog back to software limit range. E A320 par. 22 Tracking error too high External load or acceleration are too high. Reduce external load or acceleration, error response is adjustable via 'Flt_pDiff'. E A321 - - RS422 position interface is not defined as input signal RS422 interface is defined as output (e.g. ESIM) at start of electronic gear mode. Define RS422 interface as input via 'IOposInterfac' parameter. E A324 1 10 Error during homing (additional info = detailed error number) Homing movement was stopped by an error, the detailed reason is indicated by the additional info in the error buffer. Possible sub error codes: EA325 EA326 EA327 EA328 EA329 E A325 1 10 Limit switch to be approached not enabled Homing to LIMP or LIMN and limit switches are disabled. Enable limit switch via 'IOsigLimP' or 'IOsigLimN'. E A326 1 10 REF switch not found between LIMP and LIMN REF input switch defective or not correctly connected. Check the function and wiring of the REF switch. E A327 1 10 Reference movement to REF without direction reversal, improper enabling of limit switch LIM Search of REF without direction reversal in positive (negative) direction with LIMP (LIMN) activated. Check the function and wiring of the LIMP (LIMN) switch. 0198441113706, V2.03, 07.2010 194 Stepper motor drive 0198441113706, V2.03, 07.2010 E A32A 1 10 Ext. monitoring signal LIMP signal monitoring Ext. 10 active LIMP/LIMN/REF signal than one More 1 10 troubleshooting Diagnostics and 10 E A32A 1 Reference movement di without REF to 10 E A329 1 E A328 SD328B E A332 1 10 Jog error (additional info = detailed error number)infoerror detailed (additional error = Jog 10 1 Reference movementindex to c pulse E A332 - - enabled LIMN error(switch or switch briefly signal overtraveled) E A330 10 1 enabled switch (switch or LIMP error overtraveled) briefly signal E A32E 10 1 enabled switch or (switch overtraveled) briefly REFerror signal E A32D 10 1 of LIMNwith rotation signal pos. direction monitoring Ext. E A32C 10 1 E A32B Descrip Bit Class Error number Stepper motor drive Check the wiring and 24VDC supply voltage. supply 24VDC and Check wiring the voltagesupply or for correctly switchesnot connected LIM low.REF or too ofLIMP,Check wiring the function and REFswitch. and LIMN ('HMn') in speed or homing Reduce reversal REF direction of without Search REForLIMovertravel.and permissible For info, additional check errornumber thedetailed intheerrorbuffer. movementJog by was error.stopped settings.Check andoptimize controller stopping motor reaction after Check voltage,supply cabling functionofswitch.and nal. to vibration Motor subjected shockor activationafter stopped when theswitchof sig- disturbance. signal Switch settings.Check andoptimize controller stopping motor reaction after Check voltage,supply cabling functionofswitch.and nal. to vibration Motor subjected shockor activationafter stopped when theswitchof sig- disturbance. signal Switch settings.Check andoptimize controller stopping motor reaction after Check voltage,supply cabling functionofswitch.and nal. to vibration Motor subjected shockor activationafter stopped when theswitchof sig- disturbance. signal Switch LIMP). tothe inputs connected Activate movementa jog withpositivedirectio switch. of limit and function Check connection correct LIMP) activateand theLIMN switch (swit reference movement pos.directi Start with the working range). the working revolution away towards direction of position, the outside mechanical the current from motor of a half one position a switch is optimum (the of limit point mounting Change indexof the too low.is pulse differenceThe position between thechange switchto the LIMN). inputs to the be connected Activate movementjog a negative with direct switch. of limit and function Check connection correct LIMN) andactivate the LIMP switch (swit reference movementStart (e.g. rotation of direction reference withneg. movement to tion, causeandcorrectives with neg. direction of rotation of direction neg. with crease deceleration ('RAMPdecel'). crease deceleration annot be reproduced. Index pulse is too close close too Index is reproduced. pulse be annot rection reversal,rection overrun REFnot LIM or of ch in opposite direction ofmovement). direction ch inopposite ch in opposite direction ofmovement). direction ch inopposite on of rotation (e.g.on ofrotation reference movement to of the switch andtheoccurrence signal ion of rotation (target limit (target switchion ofrotation must n of rotation (target limit switch (targetlimit n ofrotation must be 195 10 Diagnostics and troubleshooting SD328B

Error number Class Bit Description, cause and correctives E A334 2 0 Timeout at Standstill window monitor Position deviation after movement finished greater than standstill window, e.g. caused by an external load. Check load. Check settings for standstill window ('STANDp_win', 'STANDpwinTime' and 'STAND- pwinTout'). Optimize controller settings. E A335 1 10 Processing only possible in fieldbus control mode Reference movement started in local control mode (homing not possible if 'DEVcmdinterf' is not set to a fieldbus device, no limit switches). DEVcmdinterf' must be set to a fieldbus device. E A337 0 10 Operating mode cannot be continued Continuation of interrupted movement in profile position mode is not possible because another mode had been active in the meantime. In Motion Sequence mode, continuation is impossible if a motion blend was interrupted. E A339 - - No processing of motor encoder selected or fast position detection motor index pulse active E A33A - - Reference point is not defined (ref_ok=0) No homing done and no motor with absolute encoder connected. Homing position lost because the working position range was left. Start homing. Use motor with multiturn encoder if no homing is to be done. E B100 0 9 RS485/Modbus: unknown service Unsupported Modbus service was received. Check application on the Modbus master. E B200 0 9 RS485/Modbus: Protocol error Logical protocol error: wrong length or unsupported subfunction. Check application on the Modbus master. E B201 2 6 RS485/Modbus: Nodeguard error Modbus is defined as command interface ('DEVcmdinterf'=Modbus): connection monitoring parameter ('MBnode_guard') is <>0ms and a nodeguard event was detected. Check application on the Modbus master or change value (set to 0ms or increase the parameter 'MBnode_guard' monitoring time). E B202 0 9 RS485/Modbus: Nodeguard warning Modbus is not defined as command interface ('DEVcmdinterf '<>Modbus): connection monitoring parameter ('MBnode_guard') is <>0ms and a nodeguard event was detected. Check application on the Modbus master or change (set to 0ms or increase the parameter 'MBnode_guard' monitoring time). E B302 0 12 Profibus: write access denied (incorrect job identification) Wrong AK used at write command. Check AK and data type of parameter. 0198441113706, V2.03, 07.2010 196 Stepper motor drive 0198441113706, V2.03, 07.2010 3021 Profibus: communication data error 12 2 Profibus: parameter be mapped cannot 12 E B310 Profibus:motor stop 0 12 E B30D 2 Profibus:Watchdog 12 E B30C Profibus: exist parameter not does 2 0 Profibus:zerosubindex to not equal E B30B 1 Profibus: parameter be read cannot 12 0 E B30A 0 of channel Profibus: processing data process incorrect 0 12 E B309 Profibus: outputdataframe tothe parameter be mapped cannot E B308 troubleshooting Diagnostics and 10 1 12 of channel Profibus: processing data process incorrect E B306 1 12 E B305 1 Descrip Bit E B303 Class Error number SD328B Stepper motor drive Check PZD content(application). Check shielding. Profibus connection, busSystem or error, EMC. parameter.Check number ofmapped parameter existread-only. is or allowedIt isnot to mapthisparameter Profibusmaster.the in time watchdog Increase time. bus ProfibusThe the timeof master cycle number. Check parameter Parameterexist. not does (PKW) sent by channel parameter Set subindex to zero. Subindex within parameter Check PZD content(application). processing invalidPZD: Error while PZD5-8 contains value. param The requested Check PZD content(application). processing invalidPZD: Error while PZD1-4 contains value. Check application sentby command Clear master, bus error. tion, causeandcorrectives via clear command of master command clear via eter cannot be mapped to bemapped the PZD.eter cannot identifier PKE is notzero. to the PZD because the parameter does not not theparameter does because to thePZD is greater than theprogrammedgreaterwatchdog than is 197 10 Diagnostics and troubleshooting SD328B 0198441113706, V2.03, 07.2010 198 Stepper motor drive 0198441113706, V2.03, 07.2010 11Representation oftheparameters 11.1 11Parameters Parameters 11 SD328B Stepper motor drive Entering values Entering .0 .0 1000 50 2357 20 1.000 23.57 5.0 Fieldbus 20 1.000 Commissioning software 23.57 5.0 20 Value examples: Input decimalapoint.All decimal places must beentered. Please note that parameter values are entered viathe fieldbus without properties. settings, defaults parameter and otherhand, the parameter explanationsalso providecan informationon mation which is needed for unique identification of a parameter. On the When parameters are explained,this contains, on the one hand, infor- thein correspondingdescribed fieldbus manual. In addition, specialparameters for communication viathe fieldbus are for operating the product. This chapter provides an overview injury or equipment damage. injury serious indeath, result can Failurefollow to instructions these When commissioning, carefully tests run for all operating states • the systemif there are Only nopersonsor start obstructions in • Neverchange aparameteryou unless understand its meaning. • or signalsdeactivate or monitoring functions. ters. Unsuitable parameter valuesunintended can trigger movements The behavior of the drive systemis governed by numerous parame- UNINTENDED BEHAVIOR CAUSEDBY PARAMETERS and potential faultsituations. the hazardous area. @ WARNING of the parameters whichcanbe used 199 11 Parameters SD328B

11.1.1 Explanation of the parameter representation

A parameter explanation has the following features:

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

Example_Name Brief description (cross-reference) Apk UINT32 fieldbus 1234:5h 0.00 R/W INF- - DEVC Selection values ABC1 3.00 per. INF- DEVC 1 / Selection value1 / : Explanation 1 300.00 - - 2 / Selection value2 / ABC2: Explanation 2 Further description and details

Parameter Name The parameter name clearly identifies a parameter. HMI menu The HMI menu shows the sequence of menus andcommands by which the parameter is called up via the HMI. Description Brief description (cross-reference) The brief description contains some information on the parameter and a cross-reference to the page that describes the function of the parameter. Selection values In the case of parameters which offer a selection of settings, the value to be entered via the fieldbus and the designation of the value for input via the commissioning software and the HMI are specified. 1 = Value via fieldbus Selection value1 = Selection value via commissioning software ABC1 = Selection value via HMI Further description and details Provides further information on the parameter. Unit The unit of the value. Minimum value The minimum value which can be entered. Factory setting The factory setting. Maximum value The maximum value which can be entered. Data type If the minimum and the maximum values are not explicitly indicated, the valid range of values is determined by the data type.

Data type Byte Minumum value Maximum value INT8 1 Byte / 8 Bit -128 127 UINT8 1 Byte / 8 Bit 0 255 INT16 2 Byte / 16 Bit -32768 32767 UINT16 2 Byte / 16 Bit 0 65535 INT32 4 Byte / 32 Bit -2147483648 2147483647 UINT32 4 Byte / 32 Bit 0 4294967295 0198441113706, V2.03, 07.2010 200 Stepper motor drive 0198441113706, V2.03, 07.2010 D2B11Parameters SD328B Stepper motor drive Parameter address Persistent R/W dress is used to access the parameter via the fieldbus. the via parameter the access to used is dress Eachparameter hasauniqueparameter address. The parameter ad- explicitly store thechanged value inthe persistentmemory. changing a value via commissioning software or fieldbus, the user must whether itremainsinth i.e. persistent, is parameter valuethe "per."of the whether indicates values"R/W" can beread and written. "R/"valuesonlycan beread values write and/or read Indicates e memory after the devicee memory isswitched off .When 201 11 Parameters SD328B

11.2 List of all parameters

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert _acc_pref Acceleration of reference value generation min-1/s INT32 Modbus 7954 - INT32 Profibus 7954 - Sign according to the changed speed value: 0 R/- - - - Increased speed: pos. sign - Reduced speed: neg. sign _AccessInfo Current access channel for action objects - UINT16 Modbus 280 - UINT16 Profibus 280 - Low byte : 0 R/- 0 : Used by channel in high byte - - - 1 : Exclusively used by channel in high byte - High byte: Current assignment of access channel 0: reserved 1: IO 2: HMI 3: Modbus RS485 4: CANopen 5: CANopen via seconds SDO channel 6: Profibus 7: DeviceNet 8: reserved 9: Ethernet 10..15: Modbus TCP _actionStatus Action word (157) - UINT16 Modbus 7176 - UINT16 Profibus 7176 - Signal status: 0 R/- 0: not activated - - - 1: activated - Bit 0: Warning Bit 1: Error class 1 Bit 2: Error class 2 Bit 3: Error class 3 Bit 4: Error class 4 Bit 5: Reserved Bit 6: Drive is at standstill (<9 [1/min]) Bit 7: Drive rotates clockwise Bit 8: Drive rotates counter-clockwise Bit 9: Reserved Bit 10: Reserved Bit 11: Profile generator idle (reference speed is 0) Bit 12: Profile generator decelerates Bit 13: Profile generator accelerates Bit 14: Profile generator moves at constant speed Bit 15: Reserved

_I_act Total motor current (171) Arms INT16 Modbus 7720 - INT16 Profibus 7720 STA- - iACT In 0.01Arms 0.00 R/- STA- - iACT - - - 0198441113706, V2.03, 07.2010 202 Stepper motor drive 0198441113706, V2.03, 07.2010 HMI menu Parameter name STA- STA- - NACT _n_act - - _p_act STA- STA- - oPh _OpHours - - _n_targetRAMP - - _n_pref - - _n_I_act - - _n_actRAMP D2B11Parameters - - _LastWarning STA- STA- - ioAC _IO_act SD328B Stepper motor drive - - - NACT oPh ioAC ecito Unit Description culpsto fmtri nenluisInc units internal in motor of position Actual min Reference profile generator ofmotion speed min ofreferenceSpeed value generation [min _n_act word: speed Actual High currentvaluesues and Optimized val- toactualspeed read access (136) generator profile of motion speed Actual culmtrsed(3)min (136) speed motor Actual Value occurred Nowarning 0: reset. number is memorized until the next fault becomesinactiveIf again, the warning the warning. most recent of the Number as number warning Last Low word: Actual current [A Low current Actual word: prtn or one s counter hours Operating Bit 7: reserved Bit 6: - 5: STO_ABit (PWRR_A) 4: STO_BBit (PWRR_B) Bit 3: HALT Bit 2: LIMP,CAP1 Bit 1: LIMN,CAP2 Bit 0: REF Assignment the24Vinputs: of (104) outputs Physical and status inputs thedigital of rms ] -1 ] Maximum value Factory setting Minimum value - 0 - min - 0 - - - 0 - - 0 - - 0 - - 0 - - 0 - - - 0 - - 0 - - -1 -1 -1 -1 Expert Persistent R/W Data type - - R/- INT32 INT32 - - R/- UINT16 UINT16 - - R/- UINT32 UINT32 - - R/- INT16 INT16 - - R/- INT32 INT32 - - R/- INT32 INT32 - - R/- INT32 INT32 - - R/- INT32 INT32 - - R/- UINT16 UINT16 via fieldbus Parameter address Profibus 7700 Modbus 7700 Profibus 7186 Modbus 7186 Profibus 7188 Modbus 7188 Profibus 7696 Modbus 7696 Profibus 7946 Modbus 7946 Profibus 7950 Modbus 7950 Profibus 7726 Modbus 7726 Profibus 7948 Modbus 7948 Profibus 2050 Modbus 2050 203 11 Parameters SD328B

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert _p_actPosintf Actual position at position interface Inc INT32 Modbus 2058 -2147483648 INT32 Profibus 2058 - Counted position increments at RS 422 sig- - R/- nal interface CN5 if signal direction is - 2147483647 - defined as input (see parameter IOposInter- - face) _p_actRAMPusr Actual position of motion profile usr INT32 Modbus 7940 generator (134) - INT32 Profibus 7940 - 0 R/- In user units - - - - _p_actusr Actual motor position in user units (134) usr INT32 Modbus 7706 - INT32 Profibus 7706 STA- - PACu 0 R/- STA- - PACu - - - _p_addGEAR Initial position electronic gear Inc INT32 Modbus 7942 - INT32 Profibus 7942 - When electronic gear is inactive, the refer- 0 R/- ence position for the position controller can - - - be determined here. This position is set - when electronic gear is activated with the selection of 'Synchronization with compensation movement'. _p_dif Current deviation between reference and revolution INT32 Modbus 7716 actual position -214748.3648 INT32 Profibus 7716 STA- - PDiF - R/- Corresponds to the current deviation STA- - PDiF 214748.3647 - between reference and actual motor posi- - tion. _p_difGear Position difference in electronic gear caused Inc INT32 Modbus 7724 by limitation (130) -2147483648 INT32 Profibus 7724 - - R/- If speed and acceleration limitation was set - 2147483647 - in 'Electronic Gear' mode (see parameter - GEARcontrol) and the limits are reached during processing, the drive no longer follows the reference value. This parameter allows you to read out the resulting position deviation. _p_ref Reference position in internal units Inc INT32 Modbus 7698 - INT32 Profibus 7698 - 0 R/- - - - - _p_refusr Reference position in user units (150) usr INT32 Modbus 7704 - INT32 Profibus 7704 - 0 R/- - - - - _p_tarRAMPusr Target position of motion profile generator usr INT32 Modbus 7938 - INT32 Profibus 7938 - Absolute position value of the profile genera- 0 R/- tor, calculated on the basis of the relative - - - and absolute position values received. - In user units 0198441113706, V2.03, 07.2010 204 Stepper motor drive 0198441113706, V2.03, 07.2010 HMI menu Parameter name - - _SigActive D2B11Parameters - - _serialNoDEV INF- INF- - _PVR _prgVerDEV INF- INF- - _PNR _prgNoDEV SD328B Stepper motor drive - - _PVR _PNR ecito Unit Description codes. bit for the on details more _SigLatched See (155) signals of monitoring status Current tion theproduct tion of for number unique identifica- number: Serial Devicenumber serial 4201 The value value: isentered adecimal as V4.201 Example: versionFirmware number 8401 The value value: isentered adecimal as PR840.1 Example: programFirmware number Maximum value Factory setting Minimum value - 0 - - 4294967295 - 0 - - 0.000 - - - 0.0 - - Expert Persistent R/W Data type - - R/- UINT32 UINT32 - per. R/- UINT32 UINT32 - - R/- UINT16 UINT16 - - R/- UINT16 UINT16 via fieldbus Parameter address Profibus 7182 Modbus 7182 Profibus 302 Modbus 302 Profibus 260 Modbus 260 Profibus 258 Modbus 258 205 11 Parameters SD328B

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert _SigLatched Saved status of monitoring signals (156) - UINT32 Modbus 7184 - UINT32 Profibus 7184 STA- - SiGS Signal status: 0 R/- 0: Not activated STA- - SiGS - - 1: Activated - Bit assignments: Bit 0: General fault Bit 1: Limit switches (LIMP/LIMN/REF) Bit 2: Out of range (SW limit switches, tun- ing) Bit 3: Quickstop via fieldbus Bit 4: Inputs STO are 0 Bit 5: Reserved Bit 6: RS485 fault Bit 7: CAN fault Bit 8: Ethernet fault Bit 9: Frequency of reference signal too high Bit 10: Fault current operating mode Bit 11: Reserved Bit 12: Profibus fault Bit 13: Reserved Bit 14: Undervoltage DC bus Bit 15: Overvoltage DC bus Bit 16: Mains phase missing Bit 17: Motor connection fault Bit 18: Motor overcurrent/short circuit Bit 19: Motor encoder fault Bit 20: Undervoltage 24VDC Bit 21: Overtemperature (power stage, motor) Bit 22: Tracking error Bit 23: Max. speed exceeded Bit 24: Inputs STO different Bit 25: Reserved Bit 26: Reserved Bit 27: Reserved Bit 28: Reserved Bit 29: EEPROM fault Bit 30: System booting (Hardware fault or parameter error) Bit 31: System error (e.g. watchdog)

Monitoring functions are product-dependent. _StopFault Error number of last stop fault (157) - UINT16 Modbus 7178 - UINT16 Profibus 7178 FLT- - STPF 0 R/- FLT- - STPF - - - _Temp_act_DEV Device temperature (155) °C INT16 Modbus 7204 - INT16 Profibus 7204 STA- - TDEV 0 R/- STA- - TDEV - - - _Temp_act_PA Power stage temperature (155) °C INT16 Modbus 7200 - INT16 Profibus 7200 STA- - TPA 0 R/- STA- - TPA - - - 0198441113706, V2.03, 07.2010 206 Stepper motor drive 0198441113706, V2.03, 07.2010 STA- STA- - WRNS _WarnLatched - - _WarnActive HMI menu Parameter name - - _v_act_Posintf STA- STA- - uDCA _UDC_act - - AbsHomeRequest D2B11Parameters - - _U_ref SD328B Stepper motor drive - - WRNS uDCA Bit 4: PowerBit overload stage (I Bit 3: Reserved Bit 2: Temperature of high motor 1: TemperatureBit of power high stage (see_LastWarning) Bit 0: General warning Bit assignments: 1: Activated 0: Notactivated status: Signal automatically.Bits 10, aredeleted 11, 13 FaultReset.a caseof the in Saved deleted are bits warning (157) Saved warnings, bit-coded bit codes. forSee _WarnLatched the moredetails on (156) Active bit-coded warnings, ecito Unit Description face) defined asinput (see parameter IOposInter- interface is nal if direction CN5 signal sig- 422 at RS frequency pulse Determined interfaceat position speed Actual Available asof software version V1.211. 1 /yes 0 /no (133) after homing only positioning Absolute in increments of 0.1 V of 0.1 increments in busDC voltage Voltage busat DC of0.1V In increments Total motor voltage Bit 6: Braking resistor overload resistor (I 6: Braking Bit Bit 5: Motor overload (I Monitoring functions areproduct-dependent. functions Monitoring Bit 15:Reserved warning Bit 14:Ethernet running) still PositionBit 13: yet not valid capture (position Bit 12:Profibus warning phase Bit 11:DCbus mains undervoltage/missing (PWRR_B) Bit 10:STO_A (PWRR_A) and/orSTO_B Bit 9: protocol warning RS485 Bit 8: warning Motor encoder 7:Bit CAN warning : No : Yes 2 t) 2 t) 2 t) - 0 - - Maximum value Factory setting Minimum value 2147483647 - -2147483648 Inc/s 1 0 0 - - 0.0 - V - 0.0 - V - 0 - - - - R/- UINT16 UINT16 Expert Persistent R/W Data type - - R/- INT32 INT32 - per. R/W UINT16 UINT16 - - R/- UINT16 UINT16 - - R/- INT16 INT16 - - R/- UINT16 UINT16 Profibus 7190 Modbus 7190 via fieldbus Parameter address Profibus 2060 Modbus 2060 Profibus 1580 Modbus 1580 Profibus 7198 Modbus 7198 Profibus 7722 Modbus 7722 Profibus 7192 Modbus 7192 207 11 Parameters SD328B

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert AccessLock Locking other access channels (110) - UINT16 Modbus 316 0 UINT16 Profibus 316 - 0: Release other access channels - R/W 1: Lock other access channels - 1 - - The fieldbus can lock active access to the device via the following access channels with this parameter: - Commissioning software - HMI - A second fieldbus

Processing of the input signals (such as HALT) cannot be locked. BRK_tclose Time delay during closing of holding ms UINT16 Modbus 1296 brake (173) 0 UINT16 Profibus 1296 DRC- - BTCL 100 R/W DRC- - BTCL 1000 per. - BRK_trelease Time delay during opening/releasing the ms UINT16 Modbus 1294 holding brake (171) 0 UINT16 Profibus 1294 DRC- - BTRE 0 R/W DRC- - BTRE 1000 per. - Cap1Activate Capture unit 1 start/stop (168) - UINT16 Modbus 2568 0 UINT16 Profibus 2568 - 0 / Capture stop: Cancel capture function - R/W 1 / Capture once: Start one-time capture - 2 - 2 / Capture continuous: Start continuous - capture In the case of one-time capture, the function is terminated when the first value is captured. In the case of continuous capture, the function continues to run.

Position capture can only be activated in "fieldbus control mode". Cap1Config Capture unit 1 configuration (168) - UINT16 Modbus 2564 0 UINT16 Profibus 2564 - 0 / 1->0: Position capture at 1->0 change 0 R/W 1 / 0->1: Position capture at 0->1 change - 1 - - Cap1Count Capture unit 1 event counter (168) - UINT16 Modbus 2576 - UINT16 Profibus 2576 - Counts the capture events. 0 R/- The counter is reset when capture unit 1 is - - - activated. - Cap1Pos Capture unit 1 captured position (168) usr INT32 Modbus 2572 - INT32 Profibus 2572 - Captured position at the time of the "capture 0 R/- signal". - - - The captured position is calculated again - after "Position Setting" or "Homing". 0198441113706, V2.03, 07.2010 208 Stepper motor drive 0198441113706, V2.03, 07.2010 SET- SET- - icnS CTRLS_I_Const% - - CapStatus - - Cap2Pos - - Cap2Count - - Cap2Config - - CTRLS_I_nom HMI menu Parameter name D2B11Parameters - - Cap2Activate SD328B Stepper motor drive - icnS operating modes (in (in these modes, modes operating no effect has The setting inthefollowing CTRLS_I_nom valueto the in correspond 100% (151) movement Percentage constant during of current phase (used internally) out carried encoder position index via actual capture pulse 2: position Bit out CAP2 carried input via capture position Bit 1: out CAP1 carried input via capture position Bit 0: Read access: (169) Status of the capture units after "Positionafter or"Homing". Setting" again calculated is position captured The signal". "capture the timeof the at position Captured (169) 2captured position unit Capture activated. unit2is is resetwhen capture The counter events. capture the Counts (168) 2event unit Capture counter 1 /0->1 0 /1->0 (168) 2configuration unit Capture centage forcentage thedifferent movement states. currentper- of in phase asetting 100% at The value to the motor current corresponds typechanged. orthe motor selected The value when a motor is isupdated PA_I_nom. and SM_I_nom to thelowerCorresponds value of (151) current nominal Used ecito Unit Description "fieldbus mode". control Position activatedbe in only can capture run. to continues tion caseof In the continuous capture, the func- tured. value first the when cap- is terminated is function capture,the ofone-time In thecase capture continuous Capture / 2 once1 /Capture stop /Capture 0 (168) 2start/stop unit Capture - Electronic gear - Electronic isused): 'CTRLS_I_Ramp%' : Position change captureat 0->1 : Position change captureat 1->0 : Cancel function : Cancel capture : Start one-time capture one-time : Start : Start continuous continuous : Start - 0 - - - 0 - usr - 0 - - 1 0 0 - A Maximum value Factory setting Minimum value 2 - 0 - 100 80 1 % - 0.00 - rms - - R/- UINT16 UINT16 - - R/- INT32 INT32 - - R/- UINT16 UINT16 - - R/W UINT16 UINT16 Expert Persistent R/W Data type - - R/W UINT16 UINT16 - per. R/W UINT16 UINT16 - - R/- UINT16 UINT16 Profibus 2562 Modbus 2562 Profibus 2574 Modbus 2574 Profibus 2578 Modbus 2578 Profibus 2566 Modbus 2566 via fieldbus Parameter address Profibus 2570 Modbus 2570 Profibus 5144 Modbus 5144 Profibus 5122 Modbus 5122 209 11 Parameters SD328B

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert CTRLS_I_Ramp% Percentage of phase current during acceler- % UINT16 Modbus 5142 ation/deceleration (151) 1 UINT16 Profibus 5142 SET- - irMP 100 R/W 100% correspond to the value in SET- - irMP 100 per. CTRLS_I_nom - CTRLS_I_Stand% Percentage of phase current at % UINT16 Modbus 5140 standstill (151) 1 UINT16 Profibus 5140 SET- - iStd 50 R/W 100% correspond to the value in SET- - iStd 100 per. CTRLS_I_nom - CTRLS_KPi_nHigh Current controller P-term at high speed V/A UINT16 Modbus 5128 0.5 UINT16 Profibus 5128 - The value is calculated on the basis of motor - R/W parameters. - 2000.0 per. expert In increments of 0.1V/A CTRLS_KPi_nLow Current controller P-term at low speed V/A UINT16 Modbus 5124 0.5 UINT16 Profibus 5124 - The value is calculated on the basis of motor - R/W parameters. - 2000.0 per. expert In increments of 0.1V/A CTRLS_MotEnc Processing of motor encoder position (98) - UINT16 Modbus 5138 none 0 UINT16 Profibus 5138 DRC- - ENCM 0 / undefined / : Undefined (default) 0 R/W 1 / NoEncCon / noCo: No motor encoder DRC- - ENCM 3 per. connected - 2 / ShowEncPos / PInF: Motor encoder connected, rotation monitoring inactive, only position info 3 / RotMonOn / rotM: Motor encoder connected, rotation monitoring active If you select "Motor encoder connected", temperature monitoring of the encoder is also activated. If you select "No motor encoder connected", the reference values _p_refusr and _n_pref are output as motor position (_p_actusr) and motor speed (_n_act). CTRLS_nHigh Speed for CTRLS_KPi_nHigh min-1 UINT16 Modbus 5132 1 UINT16 Profibus 5132 - High speed for current controller P term 360 R/W CTRLS_KPi_nHigh. - 3000 per. The value is calculated on the basis of motor expert parameters. CTRLS_nLow Speed for CTRLS_KPi_nLow min-1 UINT16 Modbus 5130 0 UINT16 Profibus 5130 - Low speed for current controller P term 30 R/W CTRLS_KPi_nLow. - 3000 per. The value is calculated on the basis of motor expert parameters. CTRLS_TNi Current controller setting time ms UINT16 Modbus 5126 0.26 UINT16 Profibus 5126 - The value is calculated on the basis of motor - R/W parameters. - 327.67 per. The value is speed-independent. expert 327.67ms is interpreted as infinite and thus completely switches off the I term. 0198441113706, V2.03, 07.2010 210 Stepper motor drive 0198441113706, V2.03, 07.2010 - - FLT_Idq - - FLT_err_num - - FLT_del_err - - FLT_class - - FLT_n - DEVC - DEVcmdinterf HMI menu Parameter name INF- INF- - PoWo FLT_powerOn - - FLT_MemReset 11Parameters - - CTRLS_toggle SD328B Stepper motor drive DEVC - PoWo In increments of10mA In increments Motor currentat error time entry. is automatically settothenextmemory error oftheerror pointer read the In addition, read. of all elements the errorcanthen be which error,inte to ...) an (error class, error entry entire the copies this parameter Reading (184) Error number returned after a read afteraread access. returned is 0 if a completed is process clearing The 1:Delete allentries in the error memory (184) errormemory Clear edged) Fatal4: be acknowl-9, cannot error(state Fatal3: be acknowledged) error(state9,can Error 2: (Quick state8,9) -> Stop Error 1: (Quick state7) -> Stop Warning0: (noresponse) (185) Error class pe terrtm min Speed aterror time / 0 /none mode control ofthe Specification settings"). time (exception: of change value 0,for"Initial active isswitched unit the until next the on become not NOTE:do settings Changed 4 /ProfibusDevice / ecito Unit Description error entry. readpointer Set1: error oldest memory to memory Reset error 1 /active 0 /inactive (114) activated Toggle power of when motor stage is ubro oe ncce - Number of power on cycles : Active (default) NoNE : Inactive: : Undefined rmediate memory from memory rmediate edpitr(184) read pointer PbDP time ofoccurrence of : Profibus - 0.00 - A 65535 - 0 - 1 - 0 - 4 - 0 - 4 0 0 - Maximum value Factory setting Minimum value 1 - 0 - - - - - 4294967295 - 0 - 0 - -1 - - R/- UINT16 UINT16 - - R/- UINT16 UINT16 - - R/W UINT16 UINT16 - - R/- UINT16 UINT16 - per. R/W Expert Persistent R/W Data type - - R/W UINT16 UINT16 - per. R/W UINT16 UINT16 - - R/- UINT32 UINT32 - - R/- INT16 INT16 Profibus 15362 Modbus 15362 Profibus 15112 Modbus 15112 Profibus 15364 Modbus 15364 via fieldbus Parameter address Profibus 15114 Modbus 15114 Profibus 5136 Modbus 5136 Profibus 15108 Modbus 15108 Profibus 15376 Modbus 15376 Profibus 15378 Modbus 15378 211 11 Parameters SD328B

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert FLT_Qual Error additional information (185) - UINT16 Modbus 15368 0 UINT16 Profibus 15368 - This entry contains additional information on - R/- the error, depending on the error number. - 65535 - Example: a parameter address - FLT_Temp_DEV Temperature of device at error time °C INT16 Modbus 15382 - INT16 Profibus 15382 - 0 R/- - - - - FLT_Temp_PA Temperature of power stage at error time °C INT16 Modbus 15380 - INT16 Profibus 15380 - 0 R/- - - - - FLT_Time Error time (185) s UINT32 Modbus 15366 0 UINT32 Profibus 15366 - With reference to operating hours counter - R/- - 536870911 - - FLT_UDC DC bus voltage at error time V UINT16 Modbus 15374 - UINT16 Profibus 15374 - In increments of 100mV 0.0 R/- - - - - FLTAmpOnCyc ENABLE cycles up to the time of error - UINT16 Modbus 15370 - UINT16 Profibus 15370 - Number of power on cycles from the time the 0 R/- power supply (control voltage) was switched - - - on to the time the error occurred. - FLTAmpOnTime Time of error after ENABLE s UINT16 Modbus 15372 - UINT16 Profibus 15372 - 0 R/- - - - - GEAR_n_max Maximum speed in gearing (130) min-1 UINT16 Modbus 9746 1 UINT16 Profibus 9746 - This function is only available if the limitation 3000 R/W via GEARcontrol is active. - 3000 per. - 0198441113706, V2.03, 07.2010 212 Stepper motor drive 0198441113706, V2.03, 07.2010 - - GEARposChgMode - - GEARnum - - GEARdir_enabl - - GEARdenom - - GEARramp HMI menu Parameter name D2B11Parameters - - GEARcontrol SD328B Stepper motor drive nization with compensation movement'. compensation with nization 'Synchro- mode inthe is started processing hasan effectThis setting ifgear only tive power stageare considered. 1 /on tive power stageare discarded. 0 /off (128) tive powerstage withinac- changes ofposition Consideration numeratorvalue supplied. is The new ratio when the gear applied is GEARdenom ------ratio =Gear GEARnum (129) Numerator of ratio gear ment lockment function. This allows you move- toactivate a return 3 /both 2 /negative 1 /positive (131) processing Enabledmovement gear of direction See descriptionGEARnum (129) ratio gear of Denominator no effect. has speed ramp. linear a start/stop The uses phase. deceleration The system the tion and This value iseffective bothin the accelera- via GEARcontrol isactive. available isonly This function limitation ifthe (130) gearing in Maximum acceleration Unit Description cancels withafault.cancels valueolutions.If this The maximum rev- deviation to400 islimited for. iscompensated which effective internally the referenceand position deviation reference thecalculated of position a causes this is activated, limitation the If motor from stalling. to keepter GEAR_n_max. This helps the value speed erence to thevalue of parame- value of parameterGEARramp theref- and for islimited to the acceleration/deceleration isactive,If GEARcontrol reference the value 1 /on 0 /off (130) limitations Activate and acceleration speed : Position inac- with instates changes : Active : Position instates inac- changes with : Inactive : Both directions: Both : Pos. direction : Neg.direction is exceeded, the unit 1 0 0 - 2147483647 1 -2147483648 - 3 3 1 - 2147483647 1 1 - min Maximum value Factory setting Minimum value 1 0 0 - 3000000 600 30 -1 /s R/W UINT16 UINT16 - per. R/W INT32 INT32 - per. R/W UINT16 UINT16 - per. R/W INT32 INT32 Expert Persistent R/W Data type - per. R/W UINT16 UINT16 - per. R/W UINT32 UINT32 - per. Profibus 9736 Modbus 9736 Profibus 9738 Modbus 9738 Profibus 9734 Modbus 9734 via fieldbus Parameter address Profibus 9744 Modbus 9744 Profibus 9748 Modbus 9748 Profibus 9750 Modbus 9750 213 11 Parameters SD328B

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert GEARratio Selection of special gear ratios (129) - UINT16 Modbus 9740 FACT 0 UINT16 Profibus 9740 SET- - GFAC 0 / GearFactor / : Usage of gear ratio 0 R/W adjusted with GEARnum/GEARdenom SET- - GFAC 200 11 per. 1 / 200 / : 200 - 2 / 400 / 400: 400 3 / 500 / 500: 500 4 / 1000 / 1000: 1000 5 / 2000 / 2000: 2000 6 / 4000 / 4000: 4000 7 / 5000 / 5000: 5000 8 / 10000 / 10.00: 10000 9 / 4096 / 4096: 4096 10 / 8192 / 8192: 8192 11 / 16384 / 16.38: 16384 A change of the reference value by the specified value causes one motor revolution. GEARreference Gear synchronization type in fieldbus control - UINT16 Modbus 9730 mode 0 UINT16 Profibus 9730 - 0 R/W 0 / inactive: Deactivated - 2 - 1 / immediate gear: Immediate synchroni- - zation 2 / compensated gear: Synchronization with compensation movement HMdisREFtoIDX Distance from switching edge to index revolution INT32 Modbus 10264 pulse (145) - INT32 Profibus 10264 - 0.0000 R/- This read value delivers the difference - - - between the index pulse position and the - position at the switching edge of the limit or reference switch. It allows to check the distance between the index pulse and the switching edge and serves as a criterion for determining whether the reference movement with index pulse processing can be reproduced. In increments of 1/10000 revolutions HMdisusr Distance from switching edge to reference usr INT32 Modbus 10254 point (142) 1 INT32 Profibus 10254 - 200 R/W After the drive 'leaves' the switch, it is posi- - 2147483647 per. tioned into the working area by a defined dis- - tance. This target point is defined as the reference point.

The parameter is only effective during reference movements without index pulse search. HMIDispPara HMI display when motor rotates - UINT16 Modbus 14852 STAT 0 UINT16 Profibus 14852 DRC- - SuPV 0 / DeviceStatus / : Device status 0 R/W (default) DRC- - SuPV NACT 2 per. 1 / n_act / : Current speed (n_act) - 2 / I_act / iACT: Current motor current 0198441113706, V2.03, 07.2010 214 Stepper motor drive 0198441113706, V2.03, 07.2010 - - HMn_out - - HMmethod - - HMn HMI menu Parameter name D2B11Parameters - - HMIlocked SD328B Stepper motor drive RAMPn_max. the currentparameter settingin to limited adjustableThe value internally is (140) switch for ofrotation Speed moving away from inside: Indexinside: / pulse switch Index outside outside: /distance pulse inv.:not inswitch inverted Directionnot inv.: inswitch direction Invert movementREF-: Search in pos. direction REF+: Searchmovement inpos. direction Abbreviations: 34 33 30 29 28 REFneg27 / 26 25 24 REFpos / 23 LIMP18 / LIMN17 / 14 13 12 11 10 9 pulse, inv.,inside 8 /REFnegindexpuls pulse, inv.,outside indexpuls REFpos / 7 2 /LIMPindexpuls 1 /LIMN indexpuls 0 /deactivate method Homing RAMPn_max. the currentparameter settingin to limited adjustableThe value internally is (139) for ofrotation Speed searchof switch Unit Description - Fault reset - Jog - Parameter change the is HMI when locked: started The following be cannolonger functions 1 /locked 0 /notlocked (109) Lock HMI : REF+ withindex: REF+ pulse, notinv., inside : Index pos. pulse Direction : Index neg. direction pulse inv., not : REF-, outside : REF-,notinv., inside inv.,: REF-, inside : REF+,not inv., outside : REF+, not inv., inside : REF+,inv., inside indexREF- with : pulse, inv., not outside indexREF- with : pulse, inv., not inside indexREF- with : pulse, inv.,inside index with pulse, inv.,REF- : outside : REF+withindex pulse, inv., not outside : LIMP : LIMN : HMI locked: HMI : REF-, inv., outside : REF+, inv., outside : Deactivated : HMI not locked: HMInot : withindexLIMP pulse : LIMNwithindex pulse distance insideswitch : REF+ withindex : REF+ withindex min 35 - 0 - min Maximum value Factory setting Minimum value 1 0 0 - 3000 60 1 3000 6 1 -1 -1 - - R/W UINT16 UINT16 Expert Persistent R/W Data type - per. R/W UINT16 UINT16 - per. R/W UINT16 UINT16 - per. R/W UINT16 UINT16 Profibus 10242 Modbus 10242 via fieldbus Parameter address Profibus 14850 Modbus 14850 Profibus 10248 Modbus 10248 Profibus 10250 Modbus 10250 215 11 Parameters SD328B

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert HMoutdisusr Maximum distance for search for switching usr INT32 Modbus 10252 edge (140) 0 INT32 Profibus 10252 - 0 R/W 0: Monitoring of distance inactive - 2147483647 per. >0: Maximum distance in user-defined units - After detection of the switch, the drive starts to search for the defined switching edge. If it is not found within the distance defined here, the reference movement is canceled with an error. HMp_homeusr Position at reference point (140) usr INT32 Modbus 10262 -2147483648 INT32 Profibus 10262 - After a successful reference movement, this 0 R/W position is automatically set at the reference - 2147483647 per. point. - HMp_setpusr Position setting to position setting position usr INT32 Modbus 10246 -2147483648 INT32 Profibus 10246 - Action object: write access triggers position - R/W setting. - 2147483647 - Only possible if the motor is at standstill. - Position scaling is not considered. HMsrchdisusr Max. search distance after overrun of usr INT32 Modbus 10266 switch (140) 0 INT32 Profibus 10266 - 0 R/W 0: Search distance processing disabled - 2147483647 per. >0: Search distance in user units - The switch must be activated again within this search distance, otherwise the reference movement is canceled. IODirPosintf Direction of counting at position interface - UINT16 Modbus 2062 0 UINT16 Profibus 2062 - 0 / clockwise: Clockwise 0 R/W 1 / counter clockwise: Counter-clockwise - 1 per. - IOposInterfac Signal selection position interface (98) - UINT16 Modbus 1284 AB 0 UINT16 Profibus 1284 DRC- - ioPi 0 / ABinput / : Input ENC_A, ENC_B, 0 R/W ENC_I (index pulse) quadruple evaluation DRC- - ioPi PD 1 per. 1 / PDinput / : Input PULSE, DIR, - ENABLE2 RS422 I/O interface (Pos)

NOTE: Changed settings do not become active until the unit is switched on the next time. IOsigLimN Signal evaluation LIMN (139) - UINT16 Modbus 1566 0 UINT16 Profibus 1566 - 0 / inactive: Inactive 1 R/W 1 / normally closed: Normally closed NC - 2 per. 2 / normally open: Normally open NO - IOsigLimP Signal evaluation LIMP (139) - UINT16 Modbus 1568 0 UINT16 Profibus 1568 - 0 / inactive: Inactive 1 R/W 1 / normally closed: Normally closed NC - 2 per. 2 / normally open: Normally open NO - 0198441113706, V2.03, 07.2010 216 Stepper motor drive 0198441113706, V2.03, 07.2010 HMI menu Parameter name COM- COM- - MBBD MBbaud COM- COM- - MBAD MBadr JOG- NFST JOG- - JOGn_fast - - JOGtime - - JOGactivate - - JOGstepusr JOG- NSLWJOG- - JOGn_slow D2B11Parameters - - IOsigRef SD328B Stepper motor drive - - - - MBBD MBAD NFST NSLW ecito Unit Description time active isswitched unit the until next the on become not NOTE:do settings Changed / 38.4KB 38400 / 19.2KB 19200 / / 9600 9.6KB Modbus Baud rate Valid 1to 247 addresses: Modbus address run. acontinuous starts drive immediately the to 0, equal otherwise distance not jog This time effectiveonly is if you have set a (124) Wait to run continuous timeprior RAMPn_max. the currentparameter setting in to limited adjustableThe value internally is (124) forSpeed fast jog hasnoeffect. ofrotation direction activationsimultaneous ofthebitsfor the If movementa jog the started. isrunning, activated at the sametime, no movement is forIf bits both of rotation are thedirection Bit2 : 0=slow 1=fast Bit1 : Negative ofrotation direction : PositiveBit0 of rotation direction Activation of jog >0: Positioning dist Directactivation0: continuousof run (124) to continuous run prior Jog distance REF) while homing is processed. is homing REF) while The reference switch is only activated (to 2 /normally open 1 /normally closed (139) evaluationSignal REF RAMPn_max. the currentparameter setting in to limited adjustableThe value internally is (124) forSpeed slow jog 9.6 38.4 19.2 : 9600 : 9600 Baud : Normally open NO open : Normally ance perjog cycle : Normally closed NC closed : Normally : 38400 Baud : 38400 Baud : 19200 Maximum value Factory setting Minimum value 38400 19200 9600 - 247 1 1 - 32767 500 1 ms min 7 0 0 - 2147483647 20 0 usr 2 1 1 - min 3000 180 1 3000 60 1 -1 -1 Expert Persistent R/W Data type - per. R/W UINT16 UINT16 - per. R/W UINT16 UINT16 - per. R/W UINT16 UINT16 - - R/W UINT16 UINT16 - per. R/W INT32 INT32 - per. R/W UINT16 UINT16 - per. R/W UINT16 UINT16 - per. R/W UINT16 UINT16 via fieldbus Parameter address Profibus 5638 Modbus 5638 Profibus 5640 Modbus 5640 Profibus 10512 Modbus 10512 Profibus 10498 Modbus 10498 Profibus 10510 Modbus 10510 Profibus 1564 Modbus 1564 Profibus 10506 Modbus 10506 Profibus 10504 Modbus 10504 217 11 Parameters SD328B

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert MBdword_order Modbus word sequence for double words - (32 bit values) 0 R/W COM- - MBWo hiLo 0 per. COM- MBWo 0 / HighLow / : HighWord-LowWord 1 - - 1 / LowHigh / Lohi: LowWord-HighWord High word first or low word first

High word first -> Modicon Quantum Low word first -> Premium, HMI (Telemeca- nique) MBformat Modbus data format - 8N1 1 R/W COM- - MBFo 1 / 8Bit NoParity 1Stop / : 8 bits, no par- 2 per. COM- MBFo ity bit, 1 stop bit 4 - - 2 / 8Bit EvenParity 1Stop / 8E1: 8 bits, even parity bit, 1 stop bit 3 / 8Bit OddParity 1Stop / 8o1: 8 bits, odd parity bit, 1 stop bit 4 / 8Bit NoParity 2Stop / 8N2: 8 bits, no parity bit, 2 stop bits NOTE: Changed settings do not become active until the unit is switched on the next time MBnode_guard Modbus node guard ms 0 R/W - Node guard 0 - 0: Inactive (default) 10000 - - >0: Monitoring time ModeError Error code for synchronous errors (ME flag) - UINT16 Modbus 6962 - UINT16 Profibus 6962 - Manufacturer-specific error code that caused 0 R/- the ModeError flag to be set. - - - Usually, this is an error that was caused by - the activation of an operating mode.

PA_I_nom Nominal current of power stage Arms UINT16 Modbus 4118 - UINT16 Profibus 4118 INF- - PiNo Current in increments of 10mA 0.00 R/- INF- - PiNo - per. - PA_T_max Maximum permissible power stage °C INT16 Modbus 4110 temperature (155) - INT16 Profibus 4110 - 0 R/- - - per. - PA_T_warn Temperature warning threshold of power °C INT16 Modbus 4108 stage (155) - INT16 Profibus 4108 - 0 R/- - - per. - PA_U_maxDC Maximum permissible DC bus voltage V UINT16 Modbus 4102 - UINT16 Profibus 4102 - Voltage in increments of 100mV - R/- - - per. - 0198441113706, V2.03, 07.2010 218 Stepper motor drive 0198441113706, V2.03, 07.2010 COM- COM- - PbAD PBadr - - PARuserReset DRC- DRC- - FCS ySet PARfactor - - PAReeprSave - - PA_U_minStopDC HMI menu Parameter name - - PBFltPpo D2B11Parameters - - PA_U_minDC SD328B Stepper motor drive - - PbAD FCS Valid 1to 126 addresses: (99) Profibus address EEPROM! NOTE: saved not new The are settings the to position motor encoder of Processing - - Motor type interface selection position - Signal ofrotation of the direction - Definition - Communication parameters of: exception areresetwiththe parameters All default values. parametersto Bit 0=1: persistent Set (174) parameters user Reset when the unit isswitched theunit when next onthe time. NOTE: The default activebecomes only 0is returned. and isread parameter The saving processis complete when the the HMI software.or the commissioning the factory settings ispossible via Restoring these are savedthe EEPROM.to default parametersaresettotheir All values, 1 /Yes/ 0 /No/ (174) values) Restoresettings (default factory 0is returned. and isread parameter The saving processis complete when the the non-volatile (EEPROM). memory are saved set The currently parameters to Bit 0=1: Save parameters allpersistent Saveparameter valuesEEPROM to Voltage in increments of 100mV aQuickforms Stop. thedriveIf isper- this threshold reached, busDC voltagefor low threshold Quick Stop ecito Unit Description 1 /ErrorClass11 0 /none faultprocessing channel toprocess data Error response Voltage in increments of 100mV off the drive busDC voltagefor low threshold switching time active isswitched unit the until next the on become not NOTE:do settings Changed No : Noerrorresponse (Mode Error) YES : No : Yes : Error class1 : 7 - 0 - 3 - 0 ------V Maximum value Factory setting Minimum value - - - V 126 126 1 - 1 0 0 - - - R/W UINT16 UINT16 - - R/W - - R/W UINT16 UINT16 - per. R/- UINT16 UINT16 Expert Persistent R/W Data type - per. R/- UINT16 UINT16 - per. R/W - per. R/W UINT16 UINT16 Profibus 1040 Modbus 1040 Profibus 1026 Modbus 1026 Profibus 4116 Modbus 4116 via fieldbus Parameter address Profibus 4104 Modbus 4104 Profibus 6158 Modbus 6158 219 11 Parameters SD328B

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert PBMapIn Mapping of PZD5+6 to master - UINT32 Modbus 6150 0 UINT32 Profibus 6150 - A parameter with a data length of 32 bits can 0 R/W be used for mapping the PZD5+6 from the - 65535 per. drive to the master. - The following parameters can be used: 0: No mapping active 7178: Error number of last cause of interruption 2050: Digital inputs/outputs 7200: Temperature power stage 7198: DC bus voltage of power stage supply 7720: Current motor current 7176: Action word PBMapIn2 Mapping of PZD5 to master - UINT32 Modbus 6174 0 UINT32 Profibus 6174 - A parameter with a data length of 16 bits can 0 R/W be used for mapping the PZD5 from the - 65535 per. drive to the master. - The setting is only possible if a 16 bit value was also set for PBMapIn. PBMapOut Mapping of PZD5+6 to drive - UINT32 Modbus 6148 0 UINT32 Profibus 6148 - A parameter with a data length of 32 bits can 0 R/W be used for mapping the PZD5+6 from the - 65535 per. master to the drive. - The following parameters can be used: 0: No mapping active 1556: Acceleration of profile generator 1558: Deceleration of profile generator 1538: Symmetrical ramp PBPkInhibit Inhibit time during read tasks in the parame- ms UINT16 Modbus 6152 ter channel 0 UINT16 Profibus 6152 - 1000 R/W In the case of a static read task, the reader - 65535 per. value is cyclically updated according to the - wait time defined with this parameter. 0: No wait time >0: Wait time in ms PBSafeState Safe state - UINT16 Modbus 6154 0 UINT16 Profibus 6154 - 0 / NoError: No response 1 R/W 1 / ErrorClass2: Error of class 2, drive - 1 per. switches to FAULT if the power stage was - active Response of the drive in state 'Clear' of the ProfibusDP master and response to termination of the watchdog. 0198441113706, V2.03, 07.2010 220 Stepper motor drive 0198441113706, V2.03, 07.2010 - - PPn_target HMI menu Parameter name - - POSscaleNum - - PPp_absusr D2B11Parameters - - POSscaleDenom DRC- DRC- - PRoT POSdirOfRotat SD328B Stepper motor drive - PRoT RAMPn_max. the currentparameter setting in to limited adjustableThe value internally is (133) position profile mode operating Referencein speed ecito Unit Description calculation of an internal factor. ofan internal calculation values limit User may due to the bereduced tor value is supplied. A new isactivatedscaling thenumera-when [usr] position ofuser Change ------Motor revolutions [U] factor: scaling ofthe Specification (160) scaling Numeratorof position vated) - Software switcheslimit they (if areacti- factor- Scaling on: valuesMin./max depend (133) position profile Target of mode absolute operating position tor value is supplied. A new isactivatedscaling thenumera-when description. Refer to numerator (POSscaleNum) for a (160) scaling position of Denominator input and vice versa. vice and input to mustthe LIMP direction beconnected withajog movement reached is in positive settings. switch the Thelimit changing which switch after limit the connections interchange NOTE: Ifyou uselimitswitches, you must flange). at atthe the motorshaft (looking wise At positiverotates clock- speeds,drive the Meaning: clockwise 1 /counter clockwise/ / clockwise / 0 (173) of rotation direction of Definition CLW : Clockwise CCLW : Counter- min Maximum value Factory setting Minimum value 2147483647 1 1 revolution - 0 - usr 2147483647 16384 1 usr 3000 60 1 1 0 0 - -1 Expert Persistent R/W Data type - per. R/W INT32 INT32 - - R/W - per. R/W INT32 INT32 - - R/W UINT16 UINT16 - per. R/W UINT16 UINT16 via fieldbus Parameter address Profibus 1552 Modbus 1552 Profibus 1550 Modbus 1550 Profibus 8970 Modbus 8970 Profibus 1560 Modbus 1560 221 11 Parameters SD328B

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert PPp_relpactusr Target position relative to current motor usr position (134) - R/W - 0 - Min./max values depend on: - - - - Position normalization factor - Software limit switches (if they are activated)

In the case of active positioning in Profile Position mode, relative positioning refers to the current motor position. The absolute user position limits can only be overrun if the drive is at standstill when the movement starts (x_end=1). In this case, implicit position setting to position 0 is performed. PPp_relprefusr Target position relative to the current target usr position (134) - R/W - 0 - Min./max values depend on: - - - - Position normalization factor - Software limit switches (if they are activated)

In the case of active positioning in operating mode Profile Position, relative positioning refers to the target position of the current movement. The absolute user position limits can only be overrun if the drive is at standstill when the movement starts (x_end=1). In this case, implicit position setting to position 0 is performed. PVn_target Reference speed of operating mode profile min-1 INT32 Modbus 9218 velocity (135) -3000 INT32 Profibus 9218 - - R/W The adjustable value is internally limited to - 3000 - the current parameter setting in - RAMPn_max. 0198441113706, V2.03, 07.2010 222 Stepper motor drive 0198441113706, V2.03, 07.2010 - - RAMPacc - - RAMP_TypeSel - - RAMPn_max - - RAMPdecel HMI menu Parameter name D2B11Parameters - - RAMP_TAUjerk SD328B Stepper motor drive ceeaino rfl eeao 13 min (163) Acceleration generator of profile 0 /linear -1 / motoroptimized (162) oframpSelection type easier to perform. This way, is at speed commissioning limited to RAMPn_max. limited modes, operating these If a greater reference speed set inone is of - Jog - Homing - Profilevelocity - Profileposition modes: ating The parameter isactive inthe following oper- (102) generation profile of ref.Limitation for speed op. with modes min (101) generator profile of Deceleration Unit Description ing modeisinactiveing (x_end=1). can only Adjustments - Homing - Jog - Profileposition - Profilevelocity inthe followingProcessing operating modes: Deceleration - standstill - speed deceleration Constant Acceleration - constantspeed Standstill - acceleration transitions: positioning the reference during generation position ofthe (jerk) theacceleration change Limits /128 128 6464 / 3232 / 1616 / 8 / 4 / 2 / 1 / 0 /off (164) limitation Jerk : 8ms : 4ms : 2ms : 1ms : Off : 64ms : 32ms : 16ms : Linear ramp : Linear : 128 ms : 128 : Motor-optimized ramp be made if the be madeifthe operat- it is automatically it isautomatically - - - - min Maximum value Factory setting Minimum value 128 0 0 ms 3000 3000 60 3000000 750 200 3000000 600 1 -1 -1 -1 /s /s - per. R/W INT16 INT16 Expert Persistent R/W Data type - per. R/W UINT16 UINT16 - per. R/W UINT16 UINT16 - per. R/W UINT32 UINT32 - per. R/W UINT32 UINT32 Profibus 1574 Modbus 1574 via fieldbus Parameter address Profibus 1562 Modbus 1562 Profibus 1554 Modbus 1554 Profibus 1558 Modbus 1558 Profibus 1556 Modbus 1556 223 11 Parameters SD328B

Read access returns the greater value from RAMPacc/RAMPdecel. If the currently set value cannot be represented as 16 bit value, the max, UINT16 value is written. SaveHomeMethod Default homing method (141) - INT16 Modbus 6968 1 INT16 Profibus 6968 - 18 R/W - 35 per. -

SM_I_nom Nominal motor current Arms UINT16 Modbus 3596 - UINT16 Profibus 3596 INF- - MiNo Current in increments of 10mA - R/W INF- - MiNo - per. expert SM_L_UV Motor inductance mH UINT16 Modbus 3600 - UINT16 Profibus 3600 - Inductance terminal-terminal - R/W - - per. expert SM_n_20% Speed at which 20% of the standstill torque min-1 UINT16 Modbus 3608 is still available - UINT16 Profibus 3608 - - R/W This value is automatically set if you select a - - per. defined motor. In this case, the value is only expert available as a read-only value. If you select a "user-defined" motor, you can set and change the value. SM_n_50% Speed at which 50% of the standstill torque min-1 UINT16 Modbus 3606 is still available - UINT16 Profibus 3606 - - R/W This value is automatically set if you select a - - per. defined motor. In this case, the value is only expert available as a read-only value. If you select a "user-defined" motor, you can set and change the value. 0198441113706, V2.03, 07.2010 224 Stepper motor drive 0198441113706, V2.03, 07.2010 DRC- DRC- - MTYP SM_Type - - SM_R_UV HMI menu Parameter name - - SM_Polepair D2B11Parameters - - SM_n_90% SD328B Stepper motor drive - MTYP 99999999 / user defined motor/ defined / user 99999999 39BA ATEX / 54913 39BA BRS / 39AA 0 / none / 0 /none (97) Motor type terminal-terminal Resistance Motor resistance 5368 / BRS 368W / 368W / BRS 5368 VRDM3913/50LW / VRDM3913/50LW 3913 / VRDM3910/50LW / VRDM3910/50LW 3910 / 50LW /VRDM397/50LW397 / 50LW /VRDM368/50LW368 / 54910 /ATEX54910 / BRS39AA / BRS39BW / 53913 / BRS39AW53910 / / BRS3ADW51122 / / BRS3ACW51117 / ExRDM3913/50 /ATEX43913 / ExRDM3913/50 ExRDM3910/50 /ATEX43910 / ExRDM3910/50 VRDM31122/50LW / VRDM31122/50LW31122 / VRDM3117/50LW / VRDM31117/50LW31117 / / 397W / BRS 5397 ecito Unit Description ubro oepiso oo - of pairs of motor Number pole set and change the value. the change and set If you"user-defined"motor, selecta you can available value. aread-only as motor.defined case, value this In the only is This value setifyou automatically is a select is stillavailable torque thestandstill atwhich90% of Speed missioning softwaremissioning fieldbus. orthe parameters com- the motor-specific viathe you youWhen 'user-defined', must select set cally set. parametersthe motor-specific areautomati- thelist, typefrom ofamotor After selection User-defined none : No motor selected (default) b368 b397 b39A b39b b3AD b3AC 397 368 : BRS 368W : BRS : BRS 397W : BRS : BRS39AW : BRS 39BW : BRS : BRS 3ADW: BRS 3ACW: BRS 3913 3910 E39B E39A : VRDM397/ : VRDM368/ 1122 1117 : : : ATEX BRS : ATEX BRS E913 E910 uSEr : : : ATEX : ATEX : - - - Ω Maximum value Factory setting Minimum value - - - min ------1 expert per. R/W UINT16 UINT16 Expert Persistent R/W Data type expert per. R/W UINT16 UINT16 - per. R/W UINT32 UINT32 expert per. R/W UINT16 UINT16 Profibus 3602 Modbus 3602 via fieldbus Parameter address Profibus 3598 Modbus 3598 Profibus 3588 Modbus 3588 Profibus 3604 Modbus 3604 225 11 Parameters SD328B

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert SPV_SW_Limits Monitoring of software limit switches (153) - UINT16 Modbus 1542 0 UINT16 Profibus 1542 - 0 / none: None (default) 0 R/W 1 / SWLIMP: Activation of software limit - 3 per. switches positive direction - 2 / SWLIMN: Activation of software limit switches negative direction 3 / SWLIMP+SWLIMN: Activation of software limit switches both directions

Monitoring of software limit switches only works in case of successful homing (ref_ok = 1). SPVn_win Speed window, permissible speed min-1 UINT16 Modbus 1576 deviation (170) 1 UINT16 Profibus 1576 - 30 R/W - 65535 per. - SPVn_winTime Speed window, time (170) ms UINT16 Modbus 1578 0 UINT16 Profibus 1578 - Value = 0: speed window monitoring deacti- 0 R/W vated - 16383 per. - Changing the value causes a restart of speed monitoring, feedback for reaching the reference speed is set to 0. SPVswLimNusr Negative position limit for software limit usr INT32 Modbus 1546 switch (153) - INT32 Profibus 1546 - -2147483648 R/W Refer to description 'SPVswLimPusr' - - per. - SPVswLimPusr Positive position limit for software limit usr INT32 Modbus 1544 switch (153) - INT32 Profibus 1544 - 2147483647 R/W If a user value entered is outside of the per- - - per. missible user range, the limit switch limits are - automatically set to the max. user value. 0198441113706, V2.03, 07.2010 226 Stepper motor drive 0198441113706, V2.03, 07.2010 onco e,Mlxcnetr1 oe ihcipcnat,5pee VW3M8213 Molex set, contacts,Connector 5pieces 12pole, crimp connector with 20m = Length Molex 12-pin end connector; cable other connector; round pole with12 cablemotor end Encoder shielded; for motor; stepper 15m = Length Molex 12-pin end connector; cable other connector; round pole with12 cablemotor end Encoder shielded; for motor; stepper 10m = Length Molex 12-pin end connector; cable other connector; round pole with12 cablemotor end Encoder shielded; for motor; stepper 5m = Length Molex 12-pin end connector; cable other connector; round pole with12 cablemotor end Encoder shielded; for motor; stepper 3m = Length Molex 12-pin end connector; Encoder cable for other cable stepper motor, connector; pole round 12 motor end with shielded, Designation Encoder cables VW3S5102R200 12.3 VW3S5102R150 VW3S5102R100 VW3S5102R50 Motor cable for cable 20m both length= ends = stepper open; motor 4x1.5shielded, VW3S5102R30 Motor cable for cable 15m both length= ends = stepper open; motor 4x1.5shielded, Motor cable for cable 10m both length= ends = stepper open; motor 4x1.5shielded, Motor cable for cable 5m both length= ends = stepper open; motor 4x1.5shielded, Motor cable for cable 3m both length= ends = stepper open; motor 4x1.5shielded, 20m length= open; end = Motor cable for 6-pi stepper motor 4x1.5, shielded, 15m length= open; end = Motor cable for 6-pi stepper motor 4x1.5, shielded, 10m length= open; end = Motor cable for 6-pi stepper motor 4x1.5, shielded, 5m length= open; end = Motor cable for 6-pi stepper motor 4x1.5, shielded, 3m length= open; end = VW3A8106 Motor cable for 6-pi stepper motor 4x1.5, shielded, Designation Motor cables 12.2 andspareparts Accessories 12 Fan kit 24VDC devices 24VDC power unitfor supply supply 5VDCencoder Reference Value Adapter RVA for of distribution USIC (Universal Interface Signal Converter), RS232 to RS485 converter kit,bidirectional PC connection (HMI) Remote terminal Designation Optional accessories 12.1 Accessoriesandspareparts 12 SD328B Stepper motor drive o inlaatto oR42sadr VW3M3102 standard RS422 to for adaptation signal A/B signals or pulse/direction signals to 5 to signals pulse/direction or A/Bsignals n circular plug at the motor end; other cable other end; motor the at plug circular n cable other end; motor the at plug circular n cable other end; motor the at plug circular n cable other end; motor the at plug circular n cable other end; motor the at plug circular n VW3S8101R200 VW3S8101R150 VW3S8101R100 VW3S8101R50 VW3S8101R30 Order no. VW3S5101R200 VW3S5101R150 VW3S5101R100 VW3S5101R50 VW3S5101R30 Order no. VW3S3101 VW3M3101 VW3A31101 Order no. 227 12 Accessories and spare parts SD328B

12.4 RS422: Pulse/direction and A/B

Designation Order no. Cable pulse/direction, ESIM, A/B, device end 10-pin connector, other end open, 0.5m VW3M8201R05 Cable pulse/direction, ESIM, A/B, device end 10-pin connector, other end open, 1.5m VW3M8201R15 Cable pulse/direction, ESIM, A/B, device end 10-pin connector, other end open, 3m VW3M8201R30 Cable pulse/direction, ESIM, A/B, device end 10-pin connector, other end open, 5m VW3M8201R50 Cable pulse/direction, ESIM, AB to Premium CFY, 10-pin connector, + 15-pin SubD, 0.5m VW3M8204R05 Cable pulse/direction, ESIM, AB to Premium CFY, 10-pin connector, + 15-pin SubD, 1.5m VW3M8204R15 Cable pulse/direction, ESIM, AB to Premium CFY, 10-pin connector, + 15-pin SubD, 3m VW3M8204R30 Cable pulse/direction, ESIM, AB to Premium CFY, 10-pin connector, + 15-pin SubD, 5m VW3M8204R50 Cable pulse/direction, ESIM, AB to Siemens S5 IP247, 10-pin connector, 3m VW3M8205R30 Cable pulse/direction, ESIM, AB to Siemens S5 IP267, 10-pin connector, 3m VW3M8206R30 Cable pulse/direction, ESIM, AB to Siemens S7-300 FM353, 10-pin connector, 3m VW3M8207R30 Cable pulse/direction, ESIM, AB to RVA, USIC or WP/WPM311, 0.5m VW3M8209R05 Cable pulse/direction, ESIM, AB to RVA, USIC or WP/WPM311, 1.5m VW3M8209R15 Cable pulse/direction, ESIM, AB to RVA, USIC or WP/WPM311, 3m VW3M8209R30 Cable pulse/direction, ESIM, AB to RVA, USIC or WP/WPM311, 5m VW3M8209R50 Cable pulse/direction, USIC, 15-pin SubD, other end open, 0.5m VW3M8210R05 Cable pulse/direction, USIC, 15-pin SubD, other end open, 1.5m VW3M8210R15 Cable pulse/direction, USIC, 15-pin SubD, other end open, 3m VW3M8210R30 Cable pulse/direction, USIC, 15-pin SubD, other end open, 5m VW3M8210R50 Cascading cable for RVA, 0.5m VW3M8211R05 Connector kit with 5 Molex connectors 10-pin with crimp contacts VW3M8212

12.5 Mains filter

Designation Order no.

Mains filter 1~; 9A; 115/230Vac VW3A31401

12.6 Mains reactors

Designation Order no. Mains reactor 1~; 50-60Hz; 7A; 5mH; IP00 VZ1L007UM50 Mains reactor 1~; 50-60Hz; 18A; 2mH; IP00 VZ1L018UM20

12.7 Mounting material

Designation Order no. Adapter plate for DIN rail mounting, width 77.5mm VW3A11851 0198441113706, V2.03, 07.2010 228 Stepper motor drive 0198441113706, V2.03, 07.2010 321Lifetime STO safety function 13.2.1 Maintenance 13.2 maintenanceanddisposal 13 Service, address Service 13.1 maintenanceanddisposal Service, 13 SD328B Stepper motor drive Example Do notusethe safety function after December 31, 2028. DD.MM.YY, for example31.12.08. (31December 2008). This means: The DOMon the nameplatethe ofproduct isshown inthe format ̈ plate of the product. dateby isdetermined adding20 years to the DOM showntheonname- expiry valid. The longer no are safety the function of data the period, The STO safety function is designed for a lifetime of 20 years. After this Checktheproduct for pollution or damageregular at intervals. http://www.schneider-electric.com of a customer service Your sales office staffwillbeha Ifyou have any questions please contactyour office.sales pair. Also includethis information if you the product for return inspection or re- Yourown the assumptions cause concerning of the error • Previous and concomitantcircumstances • Typeoferror (suchLED as flash code orerror number) • number, number,(type, identification ...) serial DOM, Nameplate • Have thefollowingavailable: details Ifyou cannot resolve anerror yourselfplease contactyour sales office. accepted forrepairs made by unauthorized persons. center.customer service No The product may onlyrepaired be by aSchneider Electric Do not use the safety function after this date. this after safety the function use not Do This date mustincluded be inthe maintenance plan of the system. fice in your in area. fice warrantyis orliability ppy togive you thenameof 229 13 Service, maintenance and disposal SD328B

13.3 Replacing devices

@ WARNING UNINTENDED BEHAVIOR The behavior of the drive system is governed by numerous stored data or settings. Unsuitable settings or data may trigger unexpected movements or responses to signals and disable monitoring functions. • Do NOT operate the drive system with unknown settings or data. • Verify that the stored data and settings are correct. • When commissioning, carefully run tests for all operating states and potential fault situations. • Verify the functions after replacing the product and also after making changes to the settings or data. • Only start the system if there are no persons or obstructions in the hazardous area. Failure to follow these instructions can result in death, serious injury or equipment damage.

Prepare a list with the parameters required for the functions used.

Observe the following procedure when replacing devices. ̈ Save all parameter settings to your PC using the commissioning software, see chapter 8.6.11.3 "Duplicating existing device settings", page 175. ̈ Switch off all supply voltages. Verify that no voltages are present (safety instructions). ̈ Label all connections and uninstall the product. ̈ Note the identification number and the serial number shown on the product nameplate for later identification. ̈ Install the new product as per chapter 6 "Installation". ̈ Commission the product as per chapter 7 "Commissioning". ̈ If the product to be installed has previously been used in a different system or application, you must restore the factory settings before commissioning the product. See chapter 8.6.11.2 "Restoring the factory settings", page 174. ̈ Commission the product as per chapter 7 "Commissioning". Note that the position of the virtual index pulse changes when you replace a device. The motor shaft position associated with the motor position must be redefined, see parameter ENC_pabsusr. 0198441113706, V2.03, 07.2010 230 Stepper motor drive 0198441113706, V2.03, 07.2010 13.5 Shipping, storage, disposal Shipping, storage, 13.5 maintenanceanddisposal 13 Service, Changing themotor 13.4 SD328B Stepper motor drive Shipping Disposal Storage cal regulations. be disposed of separately. Dispose of the product inaccordancelo- with mate various of consists The product Protecttheproduct from dust and dirt. sible ambient conditions for roomtemperature humidity and are met. The product maybe only stored in possible, packaging usethe original for shipping. The product mustprotected be against shocks If transportation. during Note the ambient conditions on page 25. ̈ ̈ ̈ ̈ ̈ Commission the product asper chapter 7"Commissioning". 6"Installation". chapter as per newthe Install product product nameplate for later identification. Note the identification numberthe and number serial shown on the Label all connections and uninstall the product. (safety instructions). voltages. supply all Verifyoff Switch present voltagesare no that spaces where the specified permis- rials thatcanberecycledandmust rials 231 13 Service, maintenance and disposal SD328B 0198441113706, V2.03, 07.2010 232 Stepper motor drive 0198441113706, V2.03, 07.2010 i inlDsrpinI/O Description If the safety function is not required, these inputs must be wired with +24V.1) 38 Extract 14 37 36 Signal Pin Minimum connection assignment in Extract for installation 14.1 Extract 14 SD328B Stepper motor drive Connecting the safety function STO_B STO_A HALT ( ( fieldbus control mode: PWRR_B PWRR_A ) Safety function channel B, see product manual for more information I digital 24V I digital 24V I digital Safety B, channel manual for function see product moreinformation Safety A, manual for channel see product function moreinformation ) ) Function HALT, interruption of movement / continue without error I digital 24V I digital HALT,Function of movement interruption error / continue without For moreinformation, see chapters "Basics""Engineering". and injury. Failure to follow these safety for the function. using requirements the Observe • tion. Incorrectmay usage hazardacauseofto due the the safety loss func- OF SAFETYLOSS FUNCTION injury. Failure to follow these instructions will result in death or serious Carefullyread understand and the complete product manual. • You may only perform install, co • nance. mainte- and commissioning installation, during occur hazards pected This chapter Extract does not re UNEXPECTED HAZARDS uct ifuct you are aqualifiedtrained and technician. instructions can result indeath orserious @ @ WARNING DANGER place the product manual. Unex- mmission and maintain the prod- the maintain and mmission 1) 1) 233 14 Extract SD328B

CN1 21 22 23 24 31 32 33 34 35 36 37 38 39

RxD/TxD-P-IN PWRR_A RxD/TxD-N-IN PWRR_B RxD/TxD-P-OUT HALT RxD/TxD-N-OUT LIMP LIMN REF ACTIVE1_OUT NO_FAULT_OUT

CN3 S1 OFF 40 41 42 43 44 CN2 ENCODER

+BRAKE_OUT +24VDC 24V =

0VDC ~

M E 3~

CN4 CN5

RS485 PULSE/DIR RS232 A/B/I

L1 N/L2

N/L2 L1 DC+ VS1 VS2 DC- U V W

115V

Figure 14.1 Wiring overview 0198441113706, V2.03, 07.2010 234 Stepper motor drive 0198441113706, V2.03, 07.2010 SD328B 14 Extract 14 Extract for commissioning 14.2 SD328B Stepper motor drive 1 8.8.8.8 2 ESC ENT RUN ERR BUS 3 injury or equipment damage. injury serious indeath, result can Failurefollow to instructions these the systemif there are Only nopersonsor start obstructions in • movements Anticipate in • Verify thatfunctioninga buttonfor EMERGENCY STOP iswithin • Perform the first test without run coupled loads. • rameters. pa- unsuitable or errors by movements possible caused pected wiring When the drive isoperatedfor the first time, ofthere unex- is arisk UNEXPECTED MOVEMENT the hazardous area. the drive. reach. ESC ENT (3) LEDs forfieldbus LEDs indication Status (3) LEDon: Red Voltage DCbus present at (2) (1) • Decrease the displayed Decrease value • next parameter to or menu Go • Increase the displayedvalue • to previous Return menu orparameter • Save displayed value to theEEPROM • Displayparameter menu or a • from Return displayed valuelast to • amenu Close or parameter • saved value @ the incorrect direction or oscillation of oscillation directionor theincorrect WARNING 235 14 Extract SD328B

14.2.1 HMI menu structure

Power On: ENT - First Setup FSU- not done First Setup ESC

Save ENT - First Setup done rdy

ENT

ENT ESC SEt- Settings ESC

ENT ESC drC- Drive Configuration ESC

ENT ESC srv Service ESC

ENT ESC JoG- JOG Mode Menus ESC ENT ESC (Om- Communication ESC

ENT ESC FLt- Fault ESC

ENT ESC InF- Information / Identification ESC

ENT ESC STA- Status Information ESC

Figure 14.2 HMI menu structure

HMI, example of setting a parameter The figure to the left shows an example of Parameter Value displaying a parameter (second level) and Menu entering or selecting a parameter value (third level). ENT ENT Set- GFAc 500 Press ENT to confirm the selected value. ESC The display flashes once for confirmation. ESC ESC The modified value is immediately written ENT to the EEPROM. iStd 1000 1000 ESC Store (flashing) (next parameter) 0198441113706, V2.03, 07.2010 236 Stepper motor drive 0198441113706, V2.03, 07.2010 Restoring theRestoring factory setting via the Extract 14 "First Setup"(FSU)viaHMI 14.2.2 SD328B Stepper motor drive 1 1 SaVe FSU- PBAD IOPI enCm MTYP ENT ENT ESC ENT ESC ENT ESC ENT ESC ENT e913 e910 None None ROTM PINF 3910 126 NOCO USER 1122 1117 3913 397 368 Pd Ab ENT ENT ENT ENT HMI Set the unique fieldbus address of the deviceof the fieldbus address unique (1-126) Set the and on again. The new settings only become active until after the device is switched off Proceedfollows as restore to the factory settings: ̈ ̈ ୵ ̈ ̈ ̈ ̈ ̈ For moreinformation, see chapter "Commissioning". theselections corresponding to your application. followingmake the and perform steps HMI, the via ForSetup" "First the yes Select Switch the controller supply voltage off and on again. status The device savesset values all Save settings. the Set the fieldbus address of the device A/B signals ( (CN5): ioPi EnCm 368 (only the4 last digitsare displayed) mtyp SAVE rotm Pinf noCo . , : Select interface mode for operating mode ElectronicGear : Select the rotation monitoring settings : Select the connected motor type 397 nRDY DRC , 3910 and then , AB Save thesettings to the device. Rotation monito only information position connected, Rotation monitoring connected No rotationmonitoring RDY , ) or pulse/directionsignals ( 3913 or DIs FCS , 1117 onthe HMI. at the HMI and confirm the at selection the HMIand with confirm ring activatedring , 1122 to theEEPROM anddisplays the or user-specificmotor pbdp PD ) user 237 14 Extract SD328B

14.2.3 Jog

For simple initial commissioning the motor should not be connected to the system. If the motor is connected to the system, all limiting parameters must be verified and an EMERGENCY STOP button must be within reach before the first motor movement, see product manual. If the inertia ratio of Jext/Jmotor > 10 (external load to motor), the initial setting of the control loop parameters may result in an unstable controller.

̈ Start the operating mode Jog. (HMI: Jog_ / Strt) ୵ The HMI displays: JG ENT ENT ̈ JoG Strt JG Start a movement with positive direction of rotation (1). ESC ... (HMI: "Up Arrow") ୵ The motor rotates with positive direction of rotation. The HMI displays JG-. ̈ Start a movement with negative direction of rotation (2). (HMI: "Down Arrow") 1 2 ୵ The motor rotates with negative direction of rotation. The HMI dis- -JG ENT + ENT + plays . fast slow fast Press the ENT key and an arrow key simultaneously to switch from slow JG- -JG to fast movement.

If the motor does not rotate: • Did you switch on the controller supply voltage? • Did you switch on the power stage supply voltage? • Is the device in state rdy? • Did you run a "First Setup" or import device settings? Did you switch off and on the controller supply voltage after that? • Did you wire the safety function correctly? Was the safety function triggered? • Did you wire the limit switches correctly or was a limit switch triggered? 0198441113706, V2.03, 07.2010 238 Stepper motor drive 0198441113706, V2.03, 07.2010 SD328B 14 Extract 14 Duplicating exis 14.2.4 SD328B Stepper motor drive Application and advantage and Application Export device settings Export Import device settings Import Requirements ting device settings tion. Please notethat the fieldbus addressis alsocopied this with informa- A stored configuration intoa device can beimported of the same type. ̈ ̈ ̈ ̈ "First setup"not does need outusing to becarried the HMI. • Multiple devices should have thesettings, same e.g. when devices • a device as configuration. The commissioning softwareinstalledthe can applysettings a PC on of voltage must beswitched onat the device. is the Windows-basedcommissioning software. The controller supply Device type, motor type and device firmware must be identical. The tool Highlight the configurationselect and "Action -Configure". and load the desiredconfiguration. In the commissioningsoftware select the menuitem"File -Import" Highlight the configurationselectExport". and- "File ware with - "Action Transfer". Loadtheconfiguration of the deviceintothe commissioning soft- are replaced. 239 14 Extract SD328B 0198441113706, V2.03, 07.2010 240 Stepper motor drive 0198441113706, V2.03, 07.2010 slug W HP Power 15.1.4 N dyne p oz lb Force 15.1.3 oz lb Glossary 15 Mass 15.1.2 mm cm m yd ft in Length 15.1.1 Units andconversion tables 15.1 Glossary 15 SD328B g kg Stepper motor drive .3005/ 1.942559*10 / 0.03108095 4 - 100*10 / 0.27801 * 9.807*10 * 4.448222 * *27801 - 980.7 * *444822.2 * 28.349524 / 9.807*10 / 746 * 453.55358 / 980.7 -* - / 0.27801 / 27801 - 16 * * 453.5924 / 28.349524 / 4.448222 / 444822.2 *0.4535924 / 453.55358 * 1.942559*10 * 10 - / 16 * 0.03108095 * 914.4 - * 1000 *304.79 * 25.4 /10 91.44 * - - * 16 30.479 * 100 * 746 *2.54 0.9144 * 1000 / 0.30479 * 100 / *0.0254 / 16 / 914.4 - - /91.44 - 3 / / 304.79 /36 /0.9144 /30.479 3 * /0.30479 / 25.4 - / 12 2.54 / 0.0254 / 36 * 12 * - PW N dyne g p HP kg oz mm slug lb cm oz m lb yd ft in 5.93 8392/1539/10 - * 1000 / 1000 - /14593.9 /14.5939 / 28.34952 / 0.02834952 / 453.59237 / 0.45359237 5 m / 0.9144 = 5.468 yd = 5.468 5 m/ 0.9144 conversion to yards[m] Example: [yd] of5meters unit(top row) with the formula (in the field). The valuethe in specified unit (left column) iscalculated for the desired -3 - * 14.5939 * * 14593.9 *14.5939 - -3 -3 * 100*10 28.34952 * * 0.02834952 3 - 3 -3 241 15 Glossary SD328B

15.1.5 Rotation

min-1 (RPM) rad/s deg./s min-1 (RPM) -* π / 30 * 6 rad/s * 30 / π - * 57.295 deg./s / 6 / 57.295 -

15.1.6 Torque

lb·in lb·ft oz·in Nm kp·m kp·cm dyne·cm lb·in - / 12 * 16 * 0.112985 * 0.011521 * 1.1521 * 1.129*106 lb·ft * 12 - * 192 * 1.355822 * 0.138255 * 13.8255 * 13.558*106 oz·in / 16 / 192 - * 7.0616*10-3 * 720.07*10-6 * 72.007*10-3 * 70615.5 Nm / 0.112985 / 1.355822 / 7.0616*10-3 - * 0.101972 * 10.1972 * 10*106 kp·m / 0.011521 / 0.138255 / 720.07*10-6 / 0.101972 - * 100 * 98.066*106 kp·cm / 1.1521 / 13.8255 / 72.007*10-3 / 10.1972 / 100 - * 0.9806*106 dyne·cm / 1.129*106 / 13.558*106 / 70615.5 / 10*106 / 98.066*106 / 0.9806*106 -

15.1.7 Moment of inertia

lb·in2 lb·ft2 kg·m2 kg·cm2 kp·cm·s2 oz·in2 lb·in2 - / 144 / 3417.16 / 0.341716 / 335.109 * 16 lb·ft2 * 144 - * 0.04214 * 421.4 * 0.429711 * 2304 kg·m2 * 3417.16 / 0.04214 - * 10*103 * 10.1972 * 54674 kg·cm2 * 0.341716 / 421.4 / 10*103 - / 980.665 * 5.46 kp·cm·s2 * 335.109 / 0.429711 / 10.1972 * 980.665 - * 5361.74 oz·in2 / 16 / 2304 / 54674 / 5.46 / 5361.74 -

15.1.8 Temperature

°F °C K °F - (°F - 32) * 5/9 (°F - 32) * 5/9 + 273.15 °C °C * 9/5 + 32 - °C + 273.15 K (K - 273.15) * 9/5 + 32 K - 273.15 -

15.1.9 Conductor cross section

AWG 12345678910111213 mm2 42.4 33.6 26.7 21.2 16.8 13.3 10.5 8.4 6.6 5.3 4.2 3.3 2.6

AWG 14 15 16 17 18 19 20 21 22 23 24 25 26 mm2 2.1 1.7 1.3 1.0 0.82 0.65 0.52 0.41 0.33 0.26 0.20 0.16 0.13 0198441113706, V2.03, 07.2010 242 Stepper motor drive 0198441113706, V2.03, 07.2010 SD328B 15 Glossary 15 Terms andAbbreviations 15.2 SD328B Stepper motor drive Degree of protection Direction of of rotation Direction Electronic gear Factory setting Actual position Holding brake I Drive system 2 t monitoring Error class Fault reset Fatal error Fatal Encoder DOM Error EMC Fault DC AC I/O Inputs/outputs current. motor the reduces value drive exceeded,the is limit a If components is calculated in advance on the basis of the motor current. temperatureAnticipatory monitoring. The expected temperature of rise The you look at the end of the protruding motor shaft. Positive direction of rotation iswhen Rotation of the motor shaft in apositive or negative direction of rotation. objectsand water (for example: IP20). equipmentthethat describes protection againstthe ingress of foreign The degree of protectionstandardizeda is specification forelectrical Direct current System consistingcontroller, of power stage and motor. Current positionof moving components inthe drivesystem. currentAlternating breviations may have specific meanings with regardto thestandards. tinent standards on whichmany are based. and ab- terms Some terms See chapter 2.7 "Standardsandterminology" for informationthe onper- specified or theoretically theoretically specified or a detected (computed, measured or signaled) value or condition and the Operating state of the drive caused asa result of a discrepancy between torthat so thepower stage mustbe immediately disabled. mo- fatal the of case able In control the error, to longer isno product the The factory setting. faults, to for responses specific example by severity. Classification of errors into groups. The different error classes allow for dition and the specifiedor theoretically correctvalue or condition. Discrepancy between acomputed, observed or measured value or con- stalled inamotor, the encoder shows the angular positionthe of rotor. Sensor for detection of the angular position of arotating component. In- compatibility Electromagnetic drive system. input speed and the values ofadjustable an gearratio; calculated by the Calculation of anew output speedfor the motormovement basedthe on for example 31.12.06 (December 31,2006). DD.MM.YY, format the axis). The holdingbrake is not asafety function. no current issupplied to the motor (for example, in the case of avertical when shaft blocking of motor brake the task the has holding motor The "Operation Enable"). rorlongeris no active (transition fromoperating state "Fault"to state tected error is cleared by removing the cause of the error so that the er- A functionused to restore the driveto an operational stateafter ade- D ate ate o f m anufacturing onthe nameplateof the device is shownin correct valuecondition. or the motor shaft rotates clockwise as 243 15 Glossary SD328B

Inc Increments Index pulse Signal of an encoder to reference the rotor position in the motor. The encoder returns one index pulse per revolution. Internal units Resolution of the power stage at which the motor can be positioned. In- ternal units are specified in increments. IT mains Mains in which all active components are isolated from ground or are grounded by a high impedance. IT: isolé terre (French), isolated ground. Opposite: Grounded mains, see TT/TN mains Limit switch Switches that signal overtravel of the permissible range of travel. Parameter Device data and values that can be set by the user. PELV Protective Extra Low Voltage, low voltage with isolation. For more information: IEC 60364-4-41 Persistent Indicates whether the value of the parameter remains in the memory after the device is switched off. PLC Programmable logic controller Power stage The power stage controls the motor. The power stage generates current for controlling the motor on the basis of the positioning signals from the controller. Profibus Standardized open fieldbus as per EN 50254-2 which allows drives and other devices from different manufacturers to communicate. PTC Resistor with positive temperature coefficient. Resistance value increases as the temperature rises. Pulse/direction signals Digital signals with variable pulse frequencies which signal changes in position and direction of rotation via separate signal wires. Quick Stop Function which can be used for fast deceleration of the motor via a command or in the event of an error. RCD Residual Current Device

rms Root Mean Square value of a voltage (Vrms) or a current (Arms) Scaling factor This factor is the ratio between an internal unit and a user-defined unit. TT mains, TN mains Grounded mains, differ in terms of the ground connection (PE conductor connection). Opposite: Ungrounded mains, see IT mains. User-defined unit Unit whose reference to motor rotation can be determined by the user via parameters. Warning If the term is used outside the context of safety instructions, a warning alerts to a potential problem that was detected by a monitoring function. A warning is not an error and does not cause a transition of the operating state. Watchdog Unit that monitors cyclic basic functions in the product. The power stage is disabled and the outputs are switched off in the event of errors. 0198441113706, V2.03, 07.2010 244 Stepper motor drive 0198441113706, V2.03, 07.2010 D2B16Index Index 16 SD328B Stepper motor drive omsinn 85 Commissioning 105 Checking limit switches 118 Changing the operating state 231 Changing the motor Change 25 Certifications 182, 183 Cause of stop,last 37 Category 1stop 37 Category 0stop 167 CAP2 167 CAP1 34 Cables Cable specificationsand terminal Cable specifications C Braking ramp, see deceleration ramp 171 function Brake Before you begin B Assembling cables 28, 58 Approved motors 25 Ambient conditions 25 Air humidity 73 ACTIVE2_OUT 227 Accessoriesspare and parts 109 control Access 132 mode operating Positioning in Profile positioning Absolute 243 Abbreviations A iia nusadotus103 Digital inputs and outputs 105 switches limit Checking 122 mode Operating 58 Motor phase connections 79 terminal Remote 39 Protected cable installation 75 Profibus fieldbus interface 79 PC 74 ESIM 70 Encoder signalA, B, I 77 Digital signals 19 Safety information 59 Motor phases 62 Mains supply 25 Transportation and storage 25 operation air humidity Relative 25 Operation 25 Air humidity operation 245 16 Index SD328B

Direction of movement, test 107 Safety function STO, test 106 Setting basic parameters 101 steps 95 Tools 88 Commissioning software 94 Error indication 183 Functions 94 Online help 94 System requirements 94 Commissioning software Lexium CT 94 Components and interfaces 13 Connection DC bus 60 Digital inputs/outputs 77 Encoder signals A, B, I 70 Mains supply 61 Motor phases 58 PC and remote terminal via RS485 79 Profibus DP 75 PULSE 72 Rotation monitoring (CN2) 64 Control cabinet 49 Control cabinet design 43 Controller supply voltage Connection 68 Controller supply voltage 24VDC 29 Cover film, removing 51 Current Position 134 Speed 136 D Deceleration ramp, setting 163 Declaration of conformity 16 Default values Restoring 174 Definition STO 37 Device Mounting 49, 50 Device overview 11 Diagnostics 179 Diagram A/B signals 70 Digital inputs and outputs Display and modify 103 Digital inputs/outputs Connection 78 dimensional drawing, see dimensions Dimensions 27 Direction of movement, test 107 Direction of rotation ->Direction of movement 107 Direction reversal 173 Disposal 229, 231 0198441113706, V2.03, 07.2010 246 Stepper motor drive 0198441113706, V2.03, 07.2010 D2B16Index SD328B Stepper motor drive ouetto n ieauerfrne 15 Documentationand literature references ucin 151 Functions 35 24, safety Functional Function Setup First DP PROFIBUS interface Fieldbus Fieldbus interface Profibus Fieldbus 167 capture position Fast F 177 Examples 186 Errors 179 113, response Error 182 Error indication HMI 180 Error indication 112, 179 Error class Error 45 conductors bonding Equipotential 15 EPLAN Macros Encoder cable 64 Encoder 43 EMC 126 Electronic gear 53 Electrical installation E atpsto atr 167 Fast position capture 173 direction reversal 171 Brake function 75 PROFIBUS DP fieldbus interface 72 P/D, Pulse/Direction 151 Motorphase current, setting 70 Encoder signalsB, A, I 96 Via HMI 96 Preparation 75 function 76 Terminating resistor 75 DP Profibus 183 Error indication 179 112, Meaning 182 HMI 183 Fieldbus 183 software Commissioning 182 Current 45 EMC requirements ConnectionMotor encoder 70 Connection 44 Shielding 43 Scope of supply and accessories 44 Power supply 45 Motorcable and encodercable 45 Improvement 44 Cable installation oncin66 Connection 247 16 Index SD328B

Halt 166 monitoring functions 152 Quick Stop 165 Restoring default values 174 scaling 159 travel profile 162 G Gear ratio 128 Glossary 241 H Halt 166 Hazard categories 20 HMI Control panel 89 Error indication 182 First Setup 96 function 89 Menu structure 90, 91 Homing 137 Homing by position setting Position setting 150 Humidity 25 I Improvement of EMC 45 Installation electrical 53 mechanical 48 Intended use 19 Interface signal FAULT_RESET 165 Introduction 11 IT mains, operation in 47 J Jerk limitation 164 Jog 123 L Last cause of stop 182, 183 LEDs at HMI for Profibus 90 Lexium CT commissioning software 94 Limit switch Limit switch 154 Moving the drive away from the switch 154 Reference movement without index pulse 142 Limit values Setting 101 0198441113706, V2.03, 07.2010 248 Stepper motor drive 0198441113706, V2.03, 07.2010 D2B16Index SD328B Stepper motor drive onig ehncl49 Mounting, mechanical 49 distances Mounting 151 Motor phase current, percentage setting Motor cable 41,152 Monitoring functions Monitoring 77 Minimum connection assignment 48 Mechanical installation 25 Max. humidity operation Manuals 229 Maintenance Mains supply Mains filter 15 Macros EPLAN M vriw87,88 Overview 25 Operation ambient temperature 109 Operation 111 Operating states 100 Operating state 123 Operating modes Operating mode O oiinn iis152 Positioning limits 150 Position setting Position 25 Pollution degree 34 PELV power supply UL PC 199 Parameters Parameter P M eurmns45 EMC requirements 60 Connection 155 Parameters 59 Motor phases 15 Source 63 Connection 52 Mounting rcdr o lcrclisalto 55 Procedure for electricalinstallation 56 All connections 121 Start 135 Profile Velocity 132 Profile Position 123 jog 137 Homing 126 electronic gear 122 Change urn 134 Current 79 Connection 199 representation 90 viaHMI Display 249 16 Index SD328B

Power connections Overview 56 Prerequisites For setting the operating mode 120 For starting Profile Position 132, 135 Profibus Connection 76 LEDs at HMI 90 Profibus fieldbus interface cable specifications 75 Profile generator 162 Profile Position 132 Profile Velocity 135 Protected cable installation 39 PULSE/DIR Connection 74 Pulse/Direction P/D Function 72 Q Qualification of personnel 19 Quick Stop 165 R Ramp Shape 162 Steepness 163 REF, see reference switch Reference movement with index pulse 145 Reference movement without index pulse 142 Reference speed 135 Reference switch Reference movement with index pulse 147 Reference movement without index pulse 143 Relative air humidity 25 Relative positioning in Profile Position operating mode 132 Release of direction 131 Remote terminal Function 79 S Safe Torque Off 37 Definition 37 Safety disconnect moment 37 Safety function 37 Application examples 40 Category 0 stop 37 Category 1 stop 37 Definition 37 Definitions 37 Requirements 38 Safety function STO, test 106 Scaling 159 Scope of supply 12 0198441113706, V2.03, 07.2010 250 Stepper motor drive 0198441113706, V2.03, 07.2010 D2B16Index SD328B Stepper motor drive trg 231 Storage 37 STO 152 Status monitoring during operation 181 114, transitions State 100, 182 State machine State indication 111 State diagram Start Source 153 Software limitswitches Signal inputs Signal connections 231 Shipping 44 requirements - EMC Shielding 229 Service address 229 Service yecd 14 code Type 17 safety for functional certificate TÜV 186 179, Troubleshooting 162 Travel profile Transportation 88 Tools forcommissioning Time chart 243 Terms Terminating resistor remote Terminal, Terminal 155 Temperature monitoring 25 Temperature during operation 25 Technical data T min odtos25 Ambient conditions 38 Requirements 37 Definitions 40 examples Application 182 WDOG 182 ULOW 182 NRDY 182 FLT 182 DIS 121 mode Operating 15 Manuals 15 EPLAN Macros 94 software Commissioning 73 Circuit diagram 57 Overview rosb i ls 187 Errorsbit by class 186 Errors 25 Ambient conditions 73 Pulse/direction signal 76 Fieldbus interfaceProfibus 79 Function 79 Connection 251 16 Index SD328B

U UL PELV power supply 34 Wiring 34 Units and conversion tables 241 V Ventilation 49 W Wiring diagram 24V supply 68 Encoder A, B, I 71 Motor encoder 66 Motor phases 60 PC 80 Power stage supply voltage 62 Profibus at CN1 76 PULSE/DIR 74 Terminal 80 Wiring UL 34 0198441113706, V2.03, 07.2010 252 Stepper motor drive