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 SD328B Table of contents Table of contents Important information. 2 Table of contents . 3 Writing conventions and symbols. 9 1 Introduction . 11 1.1 About this manual . 11 1.2 Device overview . 11 1.3 Scope of supply. 12 1.4 Components and interfaces . 13 1.5 Type code . 14 1.6 Documentation and literature references . 15 1.7 Declaration of conformity. 16 1.8 TÜV certificate for functional safety. 17 2 Before you begin - safety information. 19 2.1 Qualification of personnel . 19 2.2 Intended use . 19 2.3 Hazard categories . 20 2.4 Basic information. 21 2.5 DC bus voltage measurement. 23 2.6 Functional safety . 24 2.7 Standards and terminology . 24 3 Technical Data . 25 3.1 Certifications . 25 3.2 Ambient conditions . 25 3.2.1 Degree of protection . 26 3.3 Mechanical data . 27 3.3.1 Dimensions. 27 3.4 Electrical Data . 28 3.4.1 Power stage . 28 3.4.2 24Vdc controller supply voltage . 29 3.4.3 Signals . 29 3.4.4 Safety function STO . 30 3.4.5 Fan . 31 3.4.6 Mains filter . 31 0198441113706, V2.03, 07.2010 Stepper motor drive 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 SD328B Table of contents 7.3 Commissioning procedure. 95 7.3.1 "First Setup" . 96 7.3.2 Operating state (state diagram) . 100 7.3.3 Setting basic parameters and limit values . 101 7.3.4 Digital inputs / outputs . 103 7.3.5 Testing the signals of limit switches signals of fieldbus devices . 105 7.3.6 Testing the safety function STO . 106 7.3.7 Checking the direction of movement. 107 7.3.8 Checking the fan. 107 7.3.9 Optimizing the motion behavior . 107 8 Operation . 109 8.1 Overview of operating modes . 109 8.2 Access control. 109 8.2.1 Via HMI. 109 8.2.2 Via fieldbus . 110 8.2.3 Via commissioning software . 110 8.2.4 Via hardware input signals . 110 8.3 Operating states . 111 8.3.1 State diagram . 111 8.3.2 Indicating the operating states . 115 8.3.3 Changing operating states . 118 8.4 Starting and changing operating modes . 120 8.4.1 Starting the operating mode . 121 8.4.2 Changing the operating mode . 122 8.5 Operating modes. 123 8.5.1 Operating mode Jog . 123 8.5.2 Operating mode Electronic gear. 126 8.5.3 Operating mode Profile Position . 132 8.5.4 Operating mode Profile Velocity . 135 8.5.5 Operating mode Homing. 137 8.6 Functions. 151 8.6.1 Setting the motor phase current . 151 8.6.2 Monitoring functions . 152 8.6.3 Scaling . 159 8.6.4 Motion profile . 162 8.6.5 Quick Stop . 165 8.6.6 Halt . 166 8.6.7 Fast position capture . 167 8.6.8 Speed window . 170 8.6.9 Brake function. 171 8.6.10 Reversal of direction of rotation . 173 8.6.11 Restoring default values . 174 9 Examples . ..