Stepper Motor Drive Product Manual

SD326
Stepper motor drive

Product manual
V2.03, 07.2010
0198441113694, V2.03, 07.2010
www.schneider-electric.com
Important information SD326
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.
0198441113694, V2.03, 07.2010
Most of the product designations are registered trademarks of their re-

spective owners, even if this is not explicitly indicated.
2 Stepper motor drive

SD326 Table of contents
Table of contents
Important information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
Table of contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Writing conventions and symbols. . . . . . . . . . . . . . . . . . . . . . . 7
1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.1 About this manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.2 Device overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.3 Scope of supply. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.4 Components and interfaces . . . . . . . . . . . . . . . . . . . . . 11
1.5 Type code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1.6 Documentation and literature references . . . . . . . . . . . 13
1.7 Declaration of conformity. . . . . . . . . . . . . . . . . . . . . . . . 14
2 Before you begin - safety information. . . . . . . . . . . . . . . . . . . 15

2.1 Qualification of personnel . . . . . . . . . . . . . . . . . . . . . . . 15
2.2 Intended use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.3 Hazard categories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.4 Basic information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
2.5 DC bus voltage measurement . . . . . . . . . . . . . . . . . . . . 19
2.6 Standards and terminology . . . . . . . . . . . . . . . . . . . . . . 20
3 Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3.1 Certifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3.2 Ambient conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3.2.1 Degree of protection . . . . . . . . . . . . . . . . . . . . . . . . . 22
3.3 Mechanical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3.3.1 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3.4 Electrical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
3.4.1 Power stage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
0198441113694, V2.03, 07.2010
3.4.2 Interface CN1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

3.4.3 Interface CN2 (optional) . . . . . . . . . . . . . . . . . . . . . . 25
3.4.4 Interface CN3 (optional) . . . . . . . . . . . . . . . . . . . . . . 26
3.4.5 Fan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
3.4.6 Mains filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
3.5 Technical data accessories . . . . . . . . . . . . . . . . . . . . . . 28
3.5.1 Cables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Stepper motor drive 3

Table of contents SD326
3.6 Conditions for UL 508C . . . . . . . . . . . . . . . . . . . . . . . . 28
4 Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
4.1 Electromagnetic compatibility, EMC . . . . . . . . . . . . . . . 29
4.1.1 Operation in an IT mains . . . . . . . . . . . . . . . . . . . . . 33
4.2 Mechanical installation . . . . . . . . . . . . . . . . . . . . . . . . . 34
4.2.1 Mounting the device . . . . . . . . . . . . . . . . . . . . . . . . . 35
4.2.2 Mounting a mains filter. . . . . . . . . . . . . . . . . . . . . . . 38
4.3 Electrical installation . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
4.3.1 Overview of procedure. . . . . . . . . . . . . . . . . . . . . . . 41
4.3.2 Overview of all connections . . . . . . . . . . . . . . . . . . . 42
4.3.3 Connection of motor phases . . . . . . . . . . . . . . . . . . 43
4.3.4 DC bus connection. . . . . . . . . . . . . . . . . . . . . . . . . . 45
4.3.5 Mains supply connection . . . . . . . . . . . . . . . . . . . . . 46
4.3.6 Connecting the signal interface (CN1) . . . . . . . . . . . 49
4.3.7 Connection of rotation monitoring (CN2) . . . . . . . . . 53
4.3.8 Connection of outputs and controller supply
voltage (CN3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
4.3.9 Connecting the fan . . . . . . . . . . . . . . . . . . . . . . . . . . 58
4.4 Checking installation. . . . . . . . . . . . . . . . . . . . . . . . . . . 59
5 Commissioning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
5.1 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
5.2 Commissioning procedure . . . . . . . . . . . . . . . . . . . . . . 64
5.2.1 Overview of parameter switches . . . . . . . . . . . . . . . 64
5.2.2 Setting parameter switch S1 . . . . . . . . . . . . . . . . . . 64
5.2.3 Setting parameter switch S2 . . . . . . . . . . . . . . . . . . 68
5.2.4 Test operation of the motor . . . . . . . . . . . . . . . . . . . 69
6 Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
6.1 Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
6.1.1 Input PULSE/DIR . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
6.1.2 Input CW/CCW . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
6.1.3 Input ENABLE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
6.1.4 Input GATE. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
6.1.5 Input PWM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
6.1.6 Input STEP2_INV. . . . . . . . . . . . . . . . . . . . . . . . . . . 73
6.1.7 Output "Readiness" . . . . . . . . . . . . . . . . . . . . . . . . . 74
6.1.8 Output "Holding Brake" (optional) . . . . . . . . . . . . . . 74
6.1.9 Output "Error Message Rotation Monitoring"
(optional) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
0198441113694, V2.03, 07.2010
6.1.10 Monitoring functions. . . . . . . . . . . . . . . . . . . . . . . . . 74
7 Examples. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
7.1 Wiring example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
8 Diagnostics and troubleshooting . . . . . . . . . . . . . . . . . . . . . . . 77

SD326 Table of contents
8.1 Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
8.2 Status indication via LEDs. . . . . . . . . . . . . . . . . . . . . . . 78
8.3 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
8.3.1 Troubleshooting problems. . . . . . . . . . . . . . . . . . . . . 79
9 Accessories and spare parts . . . . . . . . . . . . . . . . . . . . . . . . . . 81

9.1 Optional accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
9.2 Motor cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
9.3 Encoder cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
9.4 Signal cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
9.5 Mains filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
9.6 Mains reactors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
9.7 Mounting material . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
10 Service, maintenance and disposal . . . . . . . . . . . . . . . . . . . . 85

10.1 Service address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
10.2 Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
10.3 Replacing devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
10.4 Changing the motor. . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
10.5 Shipping, storage, disposal . . . . . . . . . . . . . . . . . . . . . . 87
11 Extract . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
11.1 Extract for installation and commissioning . . . . . . . . . . 90
11.1.1 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
11.1.2 Settings for parameter switches S1 and S2 . . . . . . . 91
11.1.3 Signal interface CN1. . . . . . . . . . . . . . . . . . . . . . . . . 92
11.1.4 Test operation of the motor . . . . . . . . . . . . . . . . . . . . 93
11.1.5 Operating state via LED . . . . . . . . . . . . . . . . . . . . . . 93
12 Glossary. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
12.1 Units and conversion tables . . . . . . . . . . . . . . . . . . . . . 95
12.1.1 Length. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
12.1.2 Mass . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
12.1.3 Force. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
12.1.4 Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
12.1.5 Rotation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
12.1.6 Torque. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
0198441113694, V2.03, 07.2010
12.1.7 Moment of inertia . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

12.1.8 Temperature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
12.1.9 Conductor cross section . . . . . . . . . . . . . . . . . . . . . . 96
12.2 Terms and Abbreviations. . . . . . . . . . . . . . . . . . . . . . . . 97
13 Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99

Table of contents SD326
0198441113694, V2.03, 07.2010

SD326 Writing conventions and symbols
Writing conventions and symbols

Work steps If work steps must be performed consecutively, this sequence of steps
is represented as follows:
쮿 Special prerequisites for the following work steps
왘 Step 1
컅 Specific response to this work step
왘 Step 2
If a response to a work step is indicated, this allows you to verify that the
work step has been performed correctly.
Unless otherwise stated, the individual steps must be performed in the
specified sequence.
Bulleted lists The items in bulleted lists are sorted alphanumerically or by priority. Bul-
leted lists are structured as follows:
• Item 1 of bulleted list
– Subitem for 2
– Subitem for 2
Making work easier Information on making work easier is highlighted by this symbol:
Sections highlighted this way provide supplementary
information on making work easier.
SI units SI units are the original values. Converted units are shown in brackets
behind the original value; they may be rounded.
Example:
Minimum conductor cross section: 1.5 mm2 (AWG 14)
0198441113694, V2.03, 07.2010

Writing conventions and symbols SD326
0198441113694, V2.03, 07.2010

SD326 1 Introduction
1 Introduction
1.1 About this manual

This manual is valid for all SD326 standard products. This chapter lists
the type code for this product. The type code can be used to identify
whether your product is a standard product or a customized model.
1.2 Device overview
Figure 1.1 Device overview
Drive system This drive is used to control a 3-phase stepper motor.

Reference values are normally supplied and monitored by a master PLC
or a motion controller, e.g. LMC.
An HMI (HMI, Human-Machine-Interface) with display and keys is lo-
cated at the front of the device.
Signal interface The reference value is provided incrementally as a pulse signal via the
signal interface. In addition, control signals for enabling the power stage
and for changing the step resolution as well as the reference value for
0198441113694, V2.03, 07.2010
the reference current are provided are available.

An output signal signals operating readiness.

1 Introduction SD326
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 inter-
rupted, it is signaled that the encoder is not ready.
• Motor temperature monitoring:
The device shuts off if the motor temperature is too high.
Rotation monitoring is an optional feature of the device. The controller
supply voltage (+24VDC) must be connected if rotation monitoring is
used.
Holding brake output The device is equipped with an output for direct connection of a holding
brake.
The controller supply voltage (+24VDC) must be connected if a holding
brake is used.
1.3 Scope of supply
M5x12 2
1
3
5
0198441113694, V2.03, 07.2010
Figure 1.2 Scope of supply
(1) SD32••
(2) Mounting screws
(3) Shield terminal
(4) EMC mounting plate
(5) Fan (SD32••U68 only)

1.4 Components and interfaces
1 2 3 4 5
11 10
Figure 1.3 Components and interfaces
(1) LEDs for status indication

(2) Parameter switches for configuration of the device
(3) Rotary switch for setting the motor current
(4) CN2 rotation monitoring (12-pin female connector and LED,
optional)
(5) 24V interface CN3 (spring terminals, optional)
• 24V controller supply voltage
• 24V outputs
(6) Signal interface CN1 (24-pin female connector)
• 5V inputs opto-isolated
• 24V inputs opto-isolated
• Output "Readiness"
(7) Screw terminals for connection of the mains supply
(8) Screw terminals for connecting the motor
(9) EMC mounting plate
(10) Fan (SD326•U68 only)
(11) Heat sink
0198441113694, V2.03, 07.2010

1.5 Type code

SD3 26 D U25 S2
Product designation
SD3 = Stepper motor drive 3-phase
Product type
26 = Standard stepper motor drive
Interfaces
D = Pulse/direction without rotation monitoring
R = Pulse/direction with rotation monitoring and holding brake connection
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.
0198441113694, V2.03, 07.2010

1.6 Documentation and literature references

The following manuals belong to this product:
• Product manual, describes the technical data, installation, com-
missioning and all operating modes and functions.
• Motor manual, describes the technical characteristics of the
motors, including correct installation and commissioning.
Source manuals The latest versions of the manuals can be downloaded from the Internet
at:
http://www.schneider-electric.com
Source EPLAN Macros For easier engineering, macro files and product master data are availa-
ble for download from the Internet at:
Further reading Recommended literature for further reading
• No recommendation for literature available.
0198441113694, V2.03, 07.2010

1.7 Declaration of conformity
SCHNEIDER ELECTRIC MOTION DEUTSCHLAND GmbH & Co. KG

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: SD326xUxxS2
Product number: 0063711110x0x
Applied EN 61800-3:2004, second environment

harmonized EN 61800-5-1:2007
standards,
especially:
Applied UL 508C
national standards Product documentation
and technical
specifications,
especially:
Company stamp:
0198441113694, V2.03, 07.2010
Date/ Signature: 10 July 2008
Name/ Department: Wolfgang Brandstätter/Development

SD326 2 Before you begin - safety information
2 Before you begin - safety information
2.1 Qualification of personnel

Only appropriately trained persons who are familiar with and understand
the contents of this manual and all other pertinent product documenta-
tion are authorized to work on and with this product. In addition, these
persons must have received safety training to recognize and avoid haz-
ards involved. These persons must have sufficient technical training,
knowledge and experience and be able to foresee and detect potential
hazards that may be caused by using the product, by changing the set-
tings and by the mechanical, electrical and electronic equipment of the
entire system in which the product is used.
All persons working on and with the product must be fully familiar with all
applicable standards, directives, and accident prevention regulations
when performing such work.
2.2 Intended use

This product is a drive for 3-phase stepper motors and intended for in-
dustrial use according to these instructions.
The product may only be used with a permanently installed connection
in the control cabinet.
The product may only be used in compliance with all applicable safety
regulations and directives, the specified requirements and the technical
data.
Prior to using the product, you must perform a risk assessment in view
of the planned application. Based on the results, the appropriate safety
measures must be implemented.
Since the product is used as a component in an entire system, you must
ensure the safety of persons by means of the design of this entire sys-
tem (for example, machine design).
Operate the product only with the specified cables and accessories. Use
only genuine accessories and spare parts.
The product must NEVER be operated in explosive atmospheres (haz-
ardous locations, Ex areas).
Any use other than the use explicitly permitted is prohibited and can re-
sult in hazards.
Electrical equipment should be installed, operated, serviced, and main-
tained only by qualified personnel.
0198441113694, V2.03, 07.2010

2 Before you begin - safety information SD326
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).
0198441113694, V2.03, 07.2010

2.4 Basic information
@ DANGER
HAZARD OF ELECTRIC SHOCK, EXPLOSION OR ARC FLASH
• Only appropriately trained persons who are familiar with and
understand the contents of this manual and all other pertinent
product documentation and who have received safety training to
recognize and avoid hazards involved are authorized to work on
and with this drive system. Installation, adjustment, repair and
maintenance must be performed by qualified personnel.
• 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.
• Many components of the product, including the printed circuit
board, operate with mains voltage. Do not touch. Only use electri-
cally insulated tools.
• Do not touch unshielded components or terminals with voltage
present.
• 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.
• Do not short across the DC bus terminals or the DC bus capaci-
tors.
• Before performing work on the drive system:
– Disconnect all power, including external control power that
may be present.
– Place a "DO NOT TURN ON" label on all power switches.
– Lock all power switches in the open position.
– Wait 15 minutes to allow the DC bus capacitors to discharge.
Measure the voltage on the DC bus as per chapter "DC bus
voltage measurement" and verify the voltage is < 42 Vdc. The
DC bus LED is not an indicator of the absence of DC bus volt-
age.
• Install and close all covers before applying voltage.
Failure to follow these instructions will result in death or serious
injury.
0198441113694, V2.03, 07.2010

@ 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 hold-
ing brake.
Failure to follow these instructions can result in death, serious
injury or equipment damage.
@ WARNING
LOSS OF CONTROL
• The designer of any control scheme must consider the potential
failure modes of control paths and, for certain critical functions,
provide a means to achieve a safe state during and after a path
failure. Examples of critical control functions are EMERGENCY
STOP, overtravel stop, power outage and restart.
• Separate or redundant control paths must be provided for critical
functions.
• System control paths may include communication links. Consid-
eration must be given to the implication of unanticipated transmis-
sion delays or failures of the link.
• Observe the accident prevention regulations and local safety
guidelines. 1)
• Each implementation of the product must be individually and thor-
oughly tested for proper operation before being placed into serv-
ice.
Failure to follow these instructions can result in death or serious
injury.
1) For USA: Additional information, refer to NEMA ICS 1.1 (latest edition), Safety
Guidelines for the Application, Installation, and Maintenance of Solid State Control
and to NEMA ICS 7.1 (latest edition), Safety Standards for Construction and
Guide for Selection, Installation for Construction and Operation of Adjustable-
Speed Drive Systems.
0198441113694, V2.03, 07.2010

2.5 DC bus voltage measurement

Disconnect all power prior to starting work on the product.
@ DANGER
HAZARD OF ELECTRIC SHOCK, EXPLOSION OR ARC FLASH
• Only appropriately trained persons who are familiar with and
understand the safety instructions in the chapter "Before you
begin - safety information" may perform the measurement.
injury.
The DC bus voltage can exceed 800 Vdc. Use a properly rated voltage-
sensing device for measuring. Procedure:
왘 Disconnect all power.
왘 Wait 15 minutes to allow the DC bus capacitors to discharge.
왘 Measure the DC bus voltage between the DC bus terminals to verify
that the voltage is < 42 Vdc.
왘 If the DC bus capacitors do not discharge properly, contact your
local Schneider Electric representative. Do not repair or operate the
product.
The DC bus LED is not an indicator of the absence of DC bus voltage.

0198441113694, V2.03, 07.2010

2.6 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", "er-
ror", "error message", "warning", "warning message", etc.
Among others, these standards include:
• IEC 61800 series: "Adjustable speed electrical power drive sys-
tems"
• IEC 61800-7 series: "Adjustable speed electrical power drive sys-
tems - 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/pro-
grammable electronic safety-related systems"
Also see the glossary at the end of this manual.
0198441113694, V2.03, 07.2010

SD326 3 Technical Data
3 Technical Data
This chapter contains information on the ambient conditions and on the
mechanical and electrical properties of the product family and the ac-
cessories.
3.1 Certifications
Product certifications:
Certified by Assigned number Validity

UL File E153659
3.2 Ambient conditions

Ambient conditions transportation The environment during transport and storage must be dry and free from
and storage dust. The maximum vibration and shock load must be within the speci-
fied limits.
Temperature [°C] -25 ... +70
Ambient temperature during The maximum permissible ambient temperature during operation de-
operation pends on the distance between the devices and the required power. Ob-
serve the pertinent instructions in the chapter Installation.
Operating temperature 1) 2) [°C] 0 ... +50

1) No icing
2) If the product is to be used in compliance with UL 508C, note the information pro-
vided in chapter 3.6 "Conditions for UL 508C".
Pollution degree
Pollution degree 2
Relative humidity The following relative humidity is permissible during operation:
Relative humidity (non-condens- [%] As per IEC 60721-3-3

ing) 5 ... 85 (class 3K3)
Installation altitude The installation altitude is defined as height above sea level.
Installation altitude [m] ≤1000

Installation altitude at a max. ambi- [m] ≤2000
ent temperature of 40°C, without
0198441113694, V2.03, 07.2010
cover film, with a free space at the

sides > 50 mm
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 Technical Data SD326
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 4.2.1 "Mounting the device", page 35.
0198441113694, V2.03, 07.2010

3.3 Mechanical data

3.3.1 Dimensions
J
2xØ5
M4
H
b
K
= G =
c a
Figure 3.1 Dimensions
SD32••... U25S2 U68S2

a [mm] 72 72
b [mm] 145 145
c [mm] 140 140
G [mm] 60 60
H [mm] 121.5 121.5
J [mm] 5 5
K [mm] 18.5 18.5
Mass [kg] 1.1 1.2
Type of cooling Convection 1) Fan
2)
DIN rail mounting [mm] 77.5 77.5 2)
1) >1 m/s
2) Width of adapter plate
0198441113694, V2.03, 07.2010

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
1)
Fuse to be connected upstream [A] 10 10
1) Fuses: Class CC or J as per UL 248-4, alternatively circuit breakers with C char-
acteristic.
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
0198441113694, V2.03, 07.2010
higher short-circuit current, use upstream mains reactors. Suitable

mains reactors can be found in chapter 9 "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.

3.4.2 Interface CN1

5V inputs The inputs are optocoupler inputs.
Logic 1 (Uhigh) [V] +2.5 ... +5.25

Logic 0 (Ulow) [V] ≤0.4
Input current [mA] ≤25
Maximum input frequency [kHz] ≤200
24V inputs The inputs are optocoupler inputs.
Logic 1 (Uhigh) [V] +15 ... +30

Logic 0 (Ulow) [V] ≤5
Input current [mA] ≤7
Maximum input frequency [kHz] ≤200
Output "Readiness" The output "Readiness" is an electronic relay (bidirectional Mosfet).
Maximum switching voltage [V] ≤30

Maximum switching current [mA] ≤200
Voltage drop at 50 mA load [V] ≤1
3.4.3 Interface CN2 (optional)

Rotation monitoring
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

Signal voltage As per RS422
Input frequency [kHz] ≤400
0198441113694, V2.03, 07.2010

3.4.4 Interface CN3 (optional)

Spring terminals The spring terminals have the following properties
Minimum conductor cross section [mm2] 0.14 (AWG 24)

Maximum connection cross section [mm2 ] 1.5 (AWG 16)
without wire ferrule
Maximum connection cross section [mm2] 0.75 (AWG 20)
with wire ferrule
Stripping length 1) [mm] 8.5 ... 9.5
Maximum current load [A] 2
1) Mechanical conditions must be considered.
24V controller supply voltage The 24V controller supply voltage must meet the requirements of
IEC 61131-2 (PELV standard power supply unit):
Input voltage [V] 24 (-15 % / +20 %)

Input current 1) [A] ≤0.2
Residual ripple [%] <5
1) Without load on outputs
The controller supply voltage (+24VDC) only needs to be

connected if a holding brake or rotation monitoring are
used.
24V output signals

Output voltage [V] ≤30
Maximum switching current [mA] 50
RM-FAULT_OUT
Maximum switching current [A] 1.5
+BRAKE_OUT 1)
1) No voltage reduction
3.4.5 Fan
Only device type SD32••U68 comes with a fan.
Fan
Input voltage [Vdc] 24
Input current [mA] 130
0198441113694, V2.03, 07.2010

3.4.6 Mains filter

Basics The EMC standards distinguish various use cases:
EN 61800-3:2001-02; IEC 61800-3, Ed.2 Description

First environment, category C1 Operation in residential areas
First environment, category C2 Operation in residential areas
Second environment, category C3 Operation in industrial power distribution networks
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 fol-
lowing:
@ WARNING
HIGH-FREQUENCY INTERFERENCE
In a residential environment this product may cause high-frequency
interference that may require interference suppression.
injury.
Better values can be achieved depending on the device and the appli-
cation 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 9 "Accessories and
spare parts" for order data on external mains filters.
0198441113694, V2.03, 07.2010

3.5 Technical data accessories

3.5.1 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 9.2 10/50 1) 4*1.5 (AWG 14) X
"Motor cables")
Mains supply − 0.75 (AWG 18)
Signal interface 100 8*2*0.14 (AWG 24) X X X
Encoder cables (see chapter 9.3 100 10*0.25 and 2*0.5 X X X
"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 appli-
cations; they are available in various lengths. See page 81 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
0198441113694, V2.03, 07.2010
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

SD326 4 Installation
4 Installation
4.1 Electromagnetic compatibility, EMC
@ WARNING
SIGNAL AND DEVICE INTERFERENCE
Signal interference can cause unexpected responses of device.
• Install the wiring in accordance with the EMC requirements.
• Verify compliance with the EMC requirements.
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 fol-
lowing:
@ WARNING
HIGH-FREQUENCY INTERFERENCE
In a residential environment this product may cause high-frequency
interference that may require interference suppression.
injury.
EMC scope of supply and The device is shipped with SK shield clamps and an EMC plate. The
accessories number of shield clamps depends on the device type. The shield clamps
are not designed to be used as a strain relief.
See page 81 for information pre-assembled cables.
Control cabinet design
EMC measures Objective
Use EMC plate or galvanized or chrome-plated Improves conductivity
mounting plates, connect large surface areas of due to surface contact.
metal parts, remove paint from contact surfaces.
Ground the control cabinet, door and EMC plate Reduces emissions.
with ground straps or cables with a cross section
greater than 10 mm2 (AWG 6).
Fit switching devices such as contactors, relays or Reduces mutual interfer-
solenoid valves with interference suppression ence
0198441113694, V2.03, 07.2010
assemblies or arc suppressors (for example,

diodes, varistors, RC circuits).
Install power and control components separately. Reduces mutual interfer-
ence

4 Installation SD326
Shielding
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 emis-
sions
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
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 emis-
sions.
0198441113694, V2.03, 07.2010
Power supply
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 over-
voltage.

Motor and encoder cables Motor and encoder cables are especially critical in terms of EMC. Use
only pre-assembled cables or cables that comply with the specifications
and implement the EMC measures described below.

Do not install switching elements in motor cables or Reduces interference.
encoder cables.
Route the motor cable at a distance of at least Reduces mutual interfer-
20 cm from the signal cable or use shielding plates ence
between the motor cable and signal cable.
For long lines, use equipotential bonding conduc- Reduces current in the
tors. cable shield.
Route the motor cable and encoder cable without Reduces emission.
cutting them. 1)
1) If a cable has to be cut for the installation, it has to be connected with shield con-
nections and a metal housing at the point of the cut.
Additional measures for EMC An EMC-compliant design is required to meet the specified limit values.
improvement Depending on the application, better results can be achieved with the
following measures:

Upstream mains reactors Reduces mains harmon-
ics, prolongs product
service life.
Upstream external mains filters Improves the EMC limit
values.
Particularly EMC-compliant design, e.g. in a closed Improves the EMC limit
control cabinet with 15 dB damping of radiated values.
interference
Equipotential bonding conductors Potential differences can result in excessive currents on the cable
shields. Use equipotential bonding conductors to reduce currents on the
cable shields.
The equipotential bonding conductor must be rated for the maximum
current flowing. Practical experience has shown that the following con-
ductor cross sections can be used:
• 16 mm2 (AWG 4) for equipotential bonding conductors up to a
length of 200 m
• 20 mm2 (AWG 4) for equipotential bonding conductors with a length
of more than 200 m
0198441113694, V2.03, 07.2010

Control cabinet Mains filter

(optional)
Central
grounding point
Machine
PE
L1
N
Motor (ground
to machine)
Encoder
M~
Motor
Signals
Figure 4.1 EMC measures1

0198441113694, V2.03, 07.2010
1. Number of shield clamps depends on the device type.

4.1.1 Operation in an IT mains

An IT mains has a neutral conductor that is isolated or grounded via high
impedance. If you use permanent isolation monitoring, it must be suita-
ble for non-linear loads (e.g. Merlin Gerin type XM200). If, in spite of cor-
rect wiring, an error is signaled, you can, in the case of products with
integrated mains filters, disconnect the ground connection of the Y ca-
pacitors (deactivate the Y capacitors).
In the case of all other mains except for IT mains, the ground connection
via the Y capacitors must remain effective!
If the ground connections of the Y capacitors are disconnected, the
specifications for radiated interference are no longer met (specified cat-
egories, see chapter 3.4.6 "Mains filter", page 27)! You must take all the
measures required for compliance with all applicable directives, regula-
tions and standards.
PE
2
Figure 4.2 Operation in an IT mains
(1) Y capacitors of the internal filter operative (standard)

(2) Y-capacitors of the internal filter deactivated (IT mains)
0198441113694, V2.03, 07.2010

4.2 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.
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 equip-
ment damage.
0198441113694, V2.03, 07.2010

4.2.1 Mounting the device

Control cabinet The control cabinet must have a sufficient size so that all devices and
components can be permanently installed and wired in compliance with
the EMC requirements.
The ventilation of the control cabinet must be sufficient to remove the
heat generated by all devices and components operated in the control
cabinet.
Mounting distances, ventilation When selecting the position of the device in the control cabinet, note the
following:
• Mount the device in a vertical position (±10°). This is required for
cooling the device.
• Adhere to the minimum installation distances for required cooling.
Avoid heat accumulations.
• Do not mount the device close to heat sources.
• Do not mount the device on flammable materials.
• The heated airflow from other devices and components must not
heat up the air used for cooling the device.
• If the thermal limits are exceeded during operation, the drive
switches off (overtemperature).
• When planning installation distances, consider the dimensions of a
mains filter, see also notes on page 38
d d
Figure 4.3 Mounting distances and air circulation
Temperature 1) Distance 2) Measures without cover film 3) Measures with cover film
0°C to +40°C d > 50mm None None
(32°F to 104°F) (d > 1.97 in.)
d < 50mm None d > 10mm
(d < 1.97 in.) (d > 0.39 in.)
+40°C to +50°C d > 50mm None Reduce nominal current and continuous
0198441113694, V2.03, 07.2010
(104°F to 122°F) (d > 1.97 in.) current 4)

d < 50mm Reduce nominal current and continuous Operation impossible
(d < 1.97 in.) current 4)
1) Maximum operating temperature for use as per UL: max. +40°C (104°F)
2) Distance in front of the device: 10mm (0.39 in.), above: 50mm (1.97 in.), below: 200mm (7.87 in.)
3) Recommendation: Remove cover film after installation
4) By 2.2 % per °C above 40 °C (by 1.22 % per °F above 104 °F)

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 23.
왘 Mount the device in a vertical position (±10°). This is required for
cooling the device.
왘 Mount the EMC plate at the bottom of the device, see also Figure
4.1, or use alternative connection elements (busbars, shield clamps
or similar).
Attaching a label with safety 왘 Select the label suitable for the target country.
instructions Observe the safety regulations in the target country.
왘 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 avail-
able 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.
왘 Mount the fan as shown in the illustration below.
왘 Mount the fan before carrying out the electrical installation of the
product.
0198441113694, V2.03, 07.2010
Figure 4.4 Mounting the fan

Removing the cover film
Figure 4.5 Removing the cover film
왘 Remove the cover film only after completion of all installation work.
The cover film must be removed if required by the thermal condi-
tions.
0198441113694, V2.03, 07.2010

4.2.2 Mounting a mains filter

For technical data of external mains filters, see page 27.
Information on the electrical installation can be found in chapter 4.3.5
"Mains supply connection", page 46.
Figure 4.6 Mounting a mains filter
왘 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.
0198441113694, V2.03, 07.2010

4.3 Electrical 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.
injury.
@ DANGER
ELECTRIC SHOCK CAUSED BY INSUFFICIENT GROUNDING
Insufficient grounding causes the hazard of electric shocks.
• Ground the drive system before applying voltage.
• Do not use conduits as protective ground conductors; use a pro-
tective ground conductor inside the conduit.
• The cross section of the protective ground conductor must com-
ply with the applicable standards.
• Ground the cable shields at both ends; however, the shields are
not protective ground conductors.
injury.
@ WARNING
THIS PRODUCT MAY CAUSE DIRECT CURRENT IN THE PROTECTIVE
GROUND CONDUCTOR
If a residual current device (RCD) is used, conditions must be ob-
served.
injury.
0198441113694, V2.03, 07.2010

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 deter-
mining suitability of the cables:
• Suitable for drag chain applications
• Temperature range
• Chemical resistance
• Outdoor installation
• Underground installation
0198441113694, V2.03, 07.2010

4.3.1 Overview of procedure

왘 Unlock the front plate of the device and open the front plate.
왘 Connect the ground connection of the device or the EMC plate to
the central grounding point of the system.
왘 Make all required connections according to the sequence as shown
in the table below. If you do not make the connections in the
sequence described, the connection terminals may be covered by
other cables.
Verify compliance with the EMC requirements, see page 29.
왘 Finally, lock the front plate.
Chapter Page
4.3.3 "Connection of motor phases" 43
4.3.4 "DC bus connection" 45
4.3.5 "Mains supply connection" 46
4.3.6 "Connecting the signal interface (CN1)" 49
4.3.7 "Connection of rotation monitoring (CN2)" 53
4.3.8 "Connection of outputs and controller supply voltage (CN3)" 56
4.3.9 "Connecting the fan" 58
The connections CN2 and CN3 are only available on device type
SD326R.
used.
0198441113694, V2.03, 07.2010

4.3.2 Overview of all connections

Power connections
N/L2 L1
115V
DC+ VS1 VS2 DC- U V W
N/L2 L1
230V
Figure 4.7 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
Signal connections
CN 3
11 12 13 14 15
CN 2
CN 1
Figure 4.8 Overview of signal connections
Connection Assignment
CN1 Signal interface
CN2 (optional) Rotation monitoring
CN3 (optional) 24V outputs, pins 11-13
24V controller supply voltage, pins 14-15
0198441113694, V2.03, 07.2010

4.3.3 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 addi-
tional protective ground conductor to the motor housing.
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 3.5.1 "Cables" for additional information.

왘 Use pre-assembled cables (page 81) to reduce the risk of wiring
errors.
왘 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.
0198441113694, V2.03, 07.2010

Assembling cables Note the dimensions specified when assembling cables. The specified
dimensions refer to a cable arrangement as shown in the figure "EMC
measures", page 31.
A
50
BN
BU
2 BK
GN/YE
B 20
BN BU BK
3
GN/YE
A
Figure 4.9 Steps (1-3) for assembling the motor cable
(A) 130 mm
(B) 75 mm
왘 (1) Strip the cable jacket (length A) and shorten the shield braiding
to approx. 50mm.
왘 (2) Slide the shield braiding back over the cable jacket and fasten it
with heat shrink tubing, tape or by other means. Note that approx.
20 mm of the shield braiding must not be insulated for the required
large-surface connection of the shield braiding to the EMC plate.
왘 (3) Shorten the three motor phase wires (U, V, W) to length B. The
protective ground conductor has length A.
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.
Monitoring The motor phases are monitored for:
• Short circuit between the motor phases
• Short circuit to ground
Connecting the motor cable 왘 Note the EMC requirements for the motor cables, see page 31.
0198441113694, V2.03, 07.2010
왘 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.
왘 Connect a large area of the cable shield to the EMC plate.

Wiring diagram
U
V M
W 3~
Figure 4.10 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.
4.3.4 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 dam-
age.
0198441113694, V2.03, 07.2010

4.3.5 Mains supply connection
@ DANGER
ELECTRIC SHOCK CAUSED BY INSUFFICIENT GROUNDING
This drive system has an increased leakage current > 3.5 mA.
• Use a protective ground conductor at with least 10 mm2 (AWG 6)
or two protective ground conductors with the cross section of the
conductors supplying the power terminals. Verify compliance with
all local and national electrical code requirements as well as all
other applicable regulations with respect to grounding of all
equipment.
injury.
@ WARNING
INSUFFICIENT PROTECTION AGAINST OVERCURRENTS
• Use the external fuses specified in "Technical data".
• Do not connect the product to a power supply in which the short-
circuit capacity exceeds the maximum short-circuit current
approved in "Technical data".
CAUTION
DESTRUCTION DUE TO INCORRECT MAINS VOLTAGE
Incorrect mains voltage may destroy the product.
• Before switching on and configuring the product, verify that it is
approved for the mains voltage.
age.
The products are intended for industrial use and may only be operated
with a permanently installed connection.
0198441113694, V2.03, 07.2010

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 3.5.1 "Cables", page 28 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 4.1.1 "Operation in an IT mains" when
connecting the device to an IT mains.
Verify the suitability of the cables, see page 40, and the EMC-compliant
connection, see page 30.
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 4.11 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.
0198441113694, V2.03, 07.2010

Setting the voltage range 왘 Set the device to the correct voltage range.
VS1 bridged to VS2: 115 V
VS1 not bridged to VS2: 230 V (factory setting)
N/L2 L1
115V
N/L2 L1
230V
Figure 4.12 Setting the voltage range
Connecting mains supply Note the following information:

• The device must be set to the correct voltage range.
• If you use an external mains filter, the mains cable must be shielded
and grounded at both ends if the length between the external mains
filter and the device exceeds 200 mm.
• Observe the EMC requirements. If necessary, use surge arresters,
mains filters and mains reactors, see page 38.
• See page 28 for a UL-compliant design.
왘 Connect the mains wires. Note the terminal assignment of your
device, see chapter 4.3.2 "Overview of all connections".
0198441113694, V2.03, 07.2010

4.3.6 Connecting the signal interface (CN1)
@ WARNING
UNEXPECTED MOVEMENT
Incorrect or interfered signals as reference values can cause unex-
pected 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
Schematic circuit diagram inputs The following illustration provides a schematic overview of circuit of the
opto-isolated inputs, using the example of the PULSE signal input.
~1kΩ
PULSE(24) (+)
~68Ω
PULSE(5) (+)
~68Ω
PULSE(5) (-)
~1kΩ
PULSE(24) (-)
Figure 4.13 Schematic circuit diagram inputs
Schematic circuit diagram output The following illustration provides a schematic overview of output
"Readiness".
ACTIVE_OUT_C
ACTIVE_OUT_NO
Figure 4.14 Schematic circuit diagram output

0198441113694, V2.03, 07.2010

Wiring diagram
CN 3
11 12 13 14 15
CN 2 A
19 18
24 23 22 21 20 17 16 15 14 13
CN 1
12 11 10 9 8 7 6 5 4 3 2 1
A
Figure 4.15 Wiring diagram signal interface
Pin Signal Color 1) Pair Meaning 5V/24V I/O

13 PULSE(5) White 1 Motor step (+) 5V I
CW(5) Motor step positive direction of rotation (+)
1 PULSE(5) Brown 1 Motor step, inverted (-) 5V I
CW(5) Motor step positive direction of rotation, inverted
(-)
14 DIR(5) Green 2 Direction of rotation (+) 5V I
CCW(5) Motor step negative direction of rotation (+)
2 DIR(5) Yellow 2 Direction of rotation, inverted (-) 5V I
CCW(5) Motor step negative direction of rotation, inverted
(-)
15 GATE(5) Gray 3 Reference values locked (+) 5V I
ENABLE(5) Power stage enable (+)
3 GATE(5) Pink 3 Reference values locked, inverted (-) 5V I
ENABLE(5) Power stage enable, inverted (-)
16 STEP2_INV(5) Black 4 Switching angular resolution (+) 5V I
4 STEP2_INV(5) Violet 4 Switching angular resolution, inverted (-) 5V I
17 PWM(5) Blue 5 Control of motor phase current (+) 5V I
5 PWM(5) Red 5 Control of motor phase current, inverted (-) 5V I
19 ACTIVE_OUT_C Gray/pink 6 Readiness O
7 ACTIVE_OUT_NO Red/blue 6 Readiness O
20 PULSE(24) White 1 Motor step (+) 24V I
CW(24) Motor step positive direction of rotation (+)
8 PULSE(24) Brown 1 Motor step, inverted (-) 24V I
CW(24) Motor step positive direction of rotation, inverted
(-)
21 DIR(24) Green 2 Direction of rotation (+) 24V I
CCW(24) Motor step negative direction of rotation (+)
9 DIR(24) Yellow 2 Direction of rotation, inverted (-) 24V I
CCW(24) Motor step negative direction of rotation, inverted
(-)
0198441113694, V2.03, 07.2010
22 GATE(24) Gray 3 Reference values locked (+) 24V I

ENABLE(24) Power stage enable (+)
10 GATE(24) Pink 3 Reference values locked, inverted (-) 24V I
ENABLE(24) Power stage enable, inverted (-)
23 STEP2_INV(24) Black 4 Switching angular resolution (+) 24V I
11 STEP2_INV(24) Violet 4 Switching angular resolution, inverted (-) 24V I
24 PWM(24) Blue 5 Control of motor phase current (+) 24V I

Pin Signal Color 1) Pair Meaning 5V/24V I/O

12 PWM(24) Red 5 Control of motor phase current, inverted (-) 24V I
6.18 Not assigned
Cable specifications • Twisted pair

• Shielded cable
Maximum cable length [m] 100

Minimum conductor cross section [mm2] 8*2*0.14 (AWG 24)

0198441113694, V2.03, 07.2010

Assembling cables 왘 Use pre-assembled cables to reduce the risk of wiring errors. Step
5 in the illustration below must be carried out even with pre-assem-
bled cables. The dimensions for connecting the shield to the hous-
ing are applicable when the included EMC plate is used.
왘 If you do not use a pre-assembled cable, follow the procedure
below.
1 3
2 5
B C
Figure 4.16 Assembling the cable for the signal interface
(A) 25 mm
(B) 80 mm
(C) 15 mm
Stripping Manufacturer's Crimping Connector Connector
length [mm] crimp contact tool manufacturer type
no.
2.5 ..3.0 43030-0007 69008-0982 Molex Micro-Fit
43025-2400
왘 (1) Strip the cable jacket, length A.

왘 (2) Slide the shield braiding back over the cable jacket.
왘 (3+4) Crimp the contacts to the wires. Insulate the shield braiding
with heat shrink tube. Plug the crimp contacts into the connector
housing; see Figure 4.15 for the pin assignment.
왘 (5) Strip the cable jacket to length C at the position shown; at this
0198441113694, V2.03, 07.2010
point, the cable is fastened to the EMC plate with a clamp (shield to
ground connection).
Connecting the signal interface 왘 Verify that wiring and cables meet the PELV requirements.
왘 Connect the connector to CN1.
왘 Fasten the cable to the EMC plate and verify that the cable shield is
connected to a large surface area.

4.3.7 Connection of rotation monitoring (CN2)

Only device type SD326R has this connection.
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
signals.
Cable specifications • Twisted pair
• Shielded cable
Maximum cable length [m] 100

Minimum conductor cross section [mm2] 10*0.25 + 2*0.5 (AWG 22)

Assembling cables 왘 Use pre-assembled cables to reduce the risk of wiring errors. Step
5 in the illustration below must be carried out even with pre-assem-
bled cables. The dimensions for connecting the shield to the hous-
ing are applicable when the included EMC plate is used.
왘 If you do not use a pre-assembled cable, follow the procedure
below.
1 3
2 5
B C
Figure 4.17 Steps (1-5) for assembling the encoder cable

0198441113694, V2.03, 07.2010
(A) 25 mm
(B) 90 mm
(C) 15 mm

Stripping Manufacturer's Crimping Connector Connector

length [mm] crimp contact tool manufacturer type
no.
2.5 ..3.0 43030-0007 69008-0982 Molex Micro-Fit
43025-1200
왘 (1) Strip the cable jacket, length A.

왘 (2) Slide the shield braiding back over the cable jacket. The shield
drain wire is required as connection.
왘 (3) The wire with the color blue/red is not required and may be cut.
Insulate the shield drain wire with heat shrink tube.
왘 (4) Crimp the contacts to the remaining wires and to the insulated
shield drain wire. Insulate the shield braiding with heat shrink tube.
Plug the crimp contacts into the connector housing; see Figure 4.18
for the pin assignment.
왘 (5) Strip the cable jacket to length C at the position shown; at this
point, the cable is fastened to the EMC plate with a clamp (shield to
ground connection).
Connecting the motor encoder 왘 Verify that wiring, cables and connected interfaces meet the PELV
requirements.
왘 Note the EMC requirements for the encoder cable, page 31; use
equipotential bonding conductors for equipotential bonding.
왘 Connect the connector to CN2.
왘 Fasten the cable to the EMC plate and verify that the cable shield is
connected to a large surface area.
0198441113694, V2.03, 07.2010

Wiring diagram
SHLD 1
12
6
CN 3 A 11
CN 2
11 12 13 14 15 12 11 10 9 8 7 5
10
4
9
6 5 4 3 2 1 3
CN 1 7
A NC
NC
NC
Figure 4.18 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
4 ENC+5V_OUT 8 Red 3 5VDC supply for encoder, max. 100mA 2) 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 Not assigned
2 Not assigned
7 T_MOT 11 Gray/pink Temperature sensor PTC I
1 SHLD Shield drain wire
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 "ENDCODER lights up when the encoder supply is on."
0198441113694, V2.03, 07.2010

4.3.8 Connection of outputs and controller supply voltage (CN3)

Only device type SD326R has this connection.
used.
@ DANGER
ELECTRIC SHOCK CAUSED BY INCORRECT POWER SUPPLY UNIT
The +24VDC supply voltage is connected with many exposed signal
connections in the drive system.
• Use a power supply unit that meets the PELV (Protective Extra
Low Voltage) requirements.
• Connect the negative output of the power supply unit to PE
(ground).
injury.
CAUTION
DAMAGE TO CONTACTS
The connection for the controller supply voltage at the product does
not have an inrush current limitation. If the voltage is switched on by
means of switching of contacts, damage to the contacts or contact
welding may result.
• Use a power supply unit that limits the peak value of the output
current to a value permissible for the contact.
• Switch the power input of the power supply unit instead of the
output voltage.
age.
0198441113694, V2.03, 07.2010

Wiring diagram
11 12 13 14 15
CN 3
11 12 13 14 15 M
CN 2 3~
24V = 0V
CN 1
~ +24V
Figure 4.19 Wiring diagram CN3
Pin Signal Meaning I/O

11 RM-FAULT_OUT Error message rotation monitoring O
12 +BRAKE_OUT Holding brake connection O
13 -BRAKE_OUT Reference potential to +BRAKE_OUT 1) O
14 0VDC Reference potential to +24VDC
15 +24VDC Controller supply voltage
1) Internally connected to pin 14
Cable specifications
Minimum conductor cross
section
Controller supply voltage [mm2] 0.75 (AWG 18)
Holding brake connection [mm2] 0.75 (AWG 18)
Error message rotation monitoring [mm2] 0.25 (AWG 22)
Connecting the controller supply 왘 Verify that wiring, cables and connected interfaces meet the PELV
voltage requirements.
왘 Route the controller supply voltage from a power supply unit (PELV)
to the device.
왘 Ground the negative output at the power supply unit.
왘 Note the maximum permissible terminal current when connecting
several devices.
왘 Verify that the connector locks snap in properly at the housing.
Connecting the outputs 왘 Connect the outputs to be used in accordance with the pin assign-
ment.
0198441113694, V2.03, 07.2010

4.3.9 Connecting the fan

The connection is only required in the case of device type SD32••U68.
+24V
+24V
0V
0V
Figure 4.20 Wiring diagram fan
Connecting the supply 왘 Verify that wiring and cables meet the PELV requirements.
왘 Route the power supply cable from a power supply unit (PELV) to
the fan connection.
0198441113694, V2.03, 07.2010

4.4 Checking installation

Verify proper installation:
왘 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?
왘 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?
왘 Verify that all covers and seals of the control cabinet are properly
installed to meet the required degree of protection.
왘 If necessary, remove the cover film

(see chapter 4.2.1 "Mounting the device").
0198441113694, V2.03, 07.2010

0198441113694, V2.03, 07.2010

SD326 5 Commissioning
5 Commissioning
@ DANGER
UNINTENDED CONSEQUENCES OF EQUIPMENT OPERATION
When the system is started, the drives are usually out of the opera-
tor's view and cannot be visually monitored.
• Only start the system if there are no persons in the hazardous
area.
injury.
@ 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.
@ WARNING
UNEXPECTED MOVEMENT
When the drive is operated for the first time, there is a risk of unex-
pected movements caused by possible wiring errors or unsuitable pa-
rameters.
• 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.
0198441113694, V2.03, 07.2010

the hazardous area.

5 Commissioning SD326
@ 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 equip-
ment damage.
0198441113694, V2.03, 07.2010

5.1 Overview
You must also re-commission an already configured
product if you want to use it under changed operating
conditions.
To be done
Chapter Page
4.4 "Checking installation" 59
5.2.2 "Setting parameter switch S1" 64
5.2.3 "Setting parameter switch S2" 68
5.2.4 "Test operation of the motor" 69
0198441113694, V2.03, 07.2010

5.2 Commissioning procedure

5.2.1 Overview of parameter switches
ON 1 2 3 4 5 6 7 8 F012
E
BCD
3456
OFF 789A
S1 S2
Figure 5.1 Overview of parameter switches
The parameter switches are at mains potential. Settings may only be

made with suitable, insulated tools and if no voltage is present and the
DC bus is discharged.
5.2.2 Setting parameter switch S1
@ DANGER
ELECTRIC SHOCK
The parameter switches are at mains potential.
• Only operate the switches if there is no voltage present.
• Only use appropriately insulated tools.
injury.
Setting the number of steps The resolution of the drive can be adjusted via the number of steps.
Example: At a number of steps of 1000, the drive executes exactly one
complete motor revolution at 1000 pulses.
At a pulse frequency of 1 kHz this corresponds to a speed of rotation
60 min-1.
왘 Switch off all supply voltages. Verify that no voltages are present
(safety instructions).
왘 Use parameter switches S1.1 to S1.3 to set the number of steps.
S1
ON STEP2 STEP1/STEP0
2 3 2 3 2 3 2 3
0198441113694, V2.03, 07.2010
OFF
1 2 3 1
2000 4000 5000 10000
STEP0 200 400 500 1000
STEP1
STEP2
Figure 5.2 Setting the number of steps

The "STEP2" setting can be inverted with the STEP2_INV input signal.
Setting the "current reduction" If the full holding torque is not required at standstill, the "current reduc-
tion" function can be used to reduce the holding torque.
@ WARNING
FALLING LOAD AT STANDSTILL
If the current reduction is enabled, the motor torque at standstill is re-
duced; if external forces act on the drive (vertical axes), this may
cause the load to fall.
• Verify that the load conditions allow for operation with current
reduction.
• If necessary, switch on the current reduction.
Motor and electrics heat up less and the efficiency is improved.

100 ms after the rising edge at PULSE, the motor phase current is re-
duced to approximately 60 % of the set motor phase current.
왘 Activate or deactivate current reduction with parameter switch S1.4.
Switch setting S1.4 Meaning

ON (factory setting) Function "Current reduction" activated
OFF Function "Current Reduction" deactivated
Setting the type of Enable Parameter switch S1.5 allows you to set the type of Enable.
For a description of the function, see chapter 6.1 "Functions".
왘 Use parameter switch S1.5 to set the function to "GATE" or "ENA-
BLE".

ON (factory setting) Function "GATE"
Block or release reference values
OFF Function "ENABLE"
Enable/disable power stage
0198441113694, V2.03, 07.2010

Setting the interface mode Parameter switch S1.6 allows you to set the interface mode.
For a description of the function, see chapter 6.1 "Functions".
왘 Use parameter switch S1.6 to set the type of reference value supply
to "PULSE/DIR" or "CW/CCW".

ON (factory setting) Interface mode "PULSE/DIR"
OFF Interface mode "CW/CCW"
Setting the "Softstep" Parameter switch S1.7 allows you to set the "Softstep" function.
If the function is active, the signals at the reference value interface are
internally smoothed. As a result, the motor operation is significantly
smoother, particularly at low speeds or if the reference values change.
This results in a temporary position deviation during a motor movement.
The size of the position deviation depends on the speed of rotation. The
position deviation increases in line with the speed of rotation and may
amount to as much as a motor revolution.
You can calculate the position deviation using the following formula:
• Position deviation in degrees = speed of rotation in min-1 / 8
• Position deviation in revolutions = speed of rotation in min-1 / 2880
Once the motor is at a standstill, the position deviation no longer exists.
왘 Use parameter switch S1.7 to activate or deactivate the Softstep
function.

ON "Softstep" function activated
OFF (factory setting) "Softstep" function deactivated
0198441113694, V2.03, 07.2010

Setting rotation monitoring This parameter switch has no function in the case of devices without ro-
tation monitoring.
In the case of devices with rotation monitoring, parameter switch S1.8
allows you to deactivate rotation monitoring.
왘 Use parameter switch S1.8 to activate or deactivate rotation moni-
toring.

ON (factory setting) Rotation monitoring activated
OFF Rotation monitoring deactivated
If rotation monitoring is activated and the encoder cable is connected

correctly, the "ENCODER" LED lights up when the device is switched
on.
0198441113694, V2.03, 07.2010

5.2.3 Setting parameter switch S2
@ DANGER
ELECTRIC SHOCK
The parameter switches are at mains potential.
• Only operate the switches if there is no voltage present.
• Only use appropriately insulated tools.
injury.
Parameter switch S2 allows you to set the nominal motor current.

왘 Use parameter switch S2 to set the nominal motor current.
Switch setting S2 SD326•U25 SD326•U68

0 (factory setting) [A] 0.6 1.7
1 [A] 0.8 2.0
2 [A] 0.9 2.4
3 [A] 1.0 2.7
4 [A] 1.1 3.1
5 [A] 1.3 3.4
6 [A] 1.4 3.7
7 [A] 1.5 4.1
8 [A] 1.6 4.4
9 [A] 1.8 4.8
A [A] 1.9 5.1
B [A] 2.0 5.4
C [A] 2.1 5.8
D [A] 2.3 6.1
E [A] 2.4 6.5
F [A] 2.5 6.8
0198441113694, V2.03, 07.2010

5.2.4 Test operation of the motor

Direction of rotation Rotation of the motor shaft in a positive or negative direction of rotation.
Positive direction of rotation is when the motor shaft rotates clockwise as
you look at the end of the protruding motor shaft.
Function test 쮿 The type of Enable must be set to "ENABLE".
왘 Switch on the supply voltages.
왘 Check the status indication, see chapter 8.2 "Status indication via
LEDs".
왘 Enable the power stage via the ENABLE input.
컅 If there is no error, the "Readiness" output signals ready for opera-
tion approx. 500 ms after the power stage is enabled. If rotation
monitoring is used, this time is 1.5 s. The motor performs a minor
movement (approx. 1.2 °) to adjust rotation monitoring.
왘 Start the first test with a low pulse frequency. If the signal DIR has 0
level, the motor must rotate with positive direction of rotation.
왘 Also perform positioning tests with reversed direction of rotation. A
reversal of the active edge at the PULSE signal can cause displace-
ment of the position when the direction is reversed.
If the motor follows the reference values, the motor is correctly control-
led.
0198441113694, V2.03, 07.2010

0198441113694, V2.03, 07.2010

SD326 6 Operation
6 Operation
The chapter "Operation" describes the basic functions of the device.
6.1 Functions
6.1.1 Input PULSE/DIR

Interface mode "PULSE/DIR" The motor performs a motor step when the edge of the signal PULSE
rises. The direction is controlled by the DIR signal.
1
PULSE >0,0µs
0
1 >2,5µs >2,5µs >50µs

DIR
0
+ + - +
Figure 6.1 Interface mode "PULSE/DIR"
Signal Signal value Meaning

PULSE 0 -> 1 Motor movement
DIR 0 / open Positive direction
1 Negative direction of rotation
The maximum frequency is 200 kHz.
6.1.2 Input CW/CCW

Interface mode "CW/CCW" The motor performs a motor step in positive direction when the edge of
the signal CW rises. The motor performs a motor step in negative direc-
tion when the edge of the signal CCW falls.
1 >2,5µs >2,5µs
CW
0
1 >2,5µs >2,5µs
CCW
0
+ + - -
0198441113694, V2.03, 07.2010
Figure 6.2 Interface mode "CW/CCW"
Signal Signal value Meaning

CW 0 -> 1 Motor movement in positive direction
CCW 0 -> 1 Motor movement in negative direction
The maximum frequency is 200 kHz.

6 Operation SD326
6.1.3 Input ENABLE

Function The input ENABLE enables the power stage.
In the case of a falling edge, an error message is reset.
Signal value Meaning

1 Enable power stage
0 / open Disable power stage
Falling edge Reset error message
If there is no error, the "Readiness" output signals ready for operation

approx. 500 ms after the power stage is enabled. If rotation monitoring
is used, this time is 1.5 s. The motor performs a minor movement (ap-
prox. 1.2 °) to adjust rotation monitoring.
When the signal ENABLE is removed, the power stage remains enabled
for about another 100 ms. The allows the holding brake to be completely
applied before the motor current is removed. The power stage of motors
without holding brake is disabled immediately.
6.1.4 Input GATE

Function The input GATE blocks the signals at the signal interface without disa-
bling the operating readiness. In a multi-axis system, individual axes can
be selected with GATE.

Rising edge Block signals
Falling edge Release signals
>1.5 ms >1.5 ms >1.5 ms >1.5 ms

+GATE 1
0
1
+PULSE
0
1 2 3
Figure 6.3 Signal sequences in case of activation via GATE
(1) Motor movement

(2) no motor steps
(3) motor steps
No pulse may be applied for 1.5 ms before and after the GATE signal
changes so that the drive can follow the pulse step by step.
0198441113694, V2.03, 07.2010

SD326 6 Operation
6.1.5 Input PWM

The input PWM (pulse width modulation) allows you to control the motor
phase current (and, by implication, the torque). The nominal motor cur-
rent can be controlled between 0% and 100%.
1 level No motor phase current flows at constant 1 level (current set to zero).
0 level The motor operates with the adjusted nominal motor phase current a
constant 0 level.
Square-wave signal The motor phase current can be controlled with a square-wave signal.
The pulse-pause ratio determines the value between 0% and 100%.
The frequency of the square-wave signal must be between 6 kHz and 25
kHz.
6.1.6 Input STEP2_INV

The STEP2INV input can be used if a high positioning accuracy is re-
quired but the output frequency of the master is limited.
The number of steps can be increased or reduced by a factor of 10 with
the signal input.
The STEP2_INV input inverts the setting of switch S1.1.
The table below shows an example:
Signal value S1.1 S1.2 S1.3 Number of motor Explanation

steps
0 / open 0 0 1 400 Number of motor steps as set with switches S1.1 .. S1.3
1 0 0 1 4000 Setting of switch S1.1 is inverted
>1,5 ms >1,5 ms >1,5 ms >1,5 ms

STEP2_INV 1
0
1
+PULSE
0
1 2 3
Figure 6.4 Signal sequences when the signal STEP2_INV changes
(1) Large motor step

(2) Motor steps which are smaller by a factor of 10
(3) Large motor steps
No pulse may be applied for 1.5 ms before and after the STEP2_INV sig-
0198441113694, V2.03, 07.2010
nal changes so that the drive can follow the pulse step by step.

6 Operation SD326
6.1.7 Output "Readiness"

The output ACTIVE_OUT_C / ACTIVE_OUT_NO signals operating read-
iness.

Open Power stage enabled, motor without current
Closed Power stage disabled, motor has current
6.1.8 Output "Holding Brake" (optional)

The output +BRAKE_OUT controls the holding brake of the motor.

1 Holding brake released
0 Holding brake applied
6.1.9 Output "Error Message Rotation Monitoring" (optional)

The RM-FAULT_OUT output provides a rotation monitoring error mes-
sage signal.

1 No error
0 Error message signaled by rotation monitoring
If rotation monitoring is activated and the encoder cable is connected

correctly, the "ENCODER" LED lights up when the device is switched
on.
6.1.10 Monitoring functions

The monitoring functions in the product can help to guard the system
and reduce the risks involved in a system misoperation. These monitor-
ing functions may not be used to protect persons.
The following monitoring functions are available:
Monitoring Task
Overvoltage and undervoltage Monitors for overvoltage and undervoltage of the supply voltage
Overtemperature Monitors the device for overtemperature
Rotation monitoring (optional) Monitors the motor movement and the motor temperature
Short circuit / ground fault Monitors for short circuit between motor phase and motor phase and between
motor phase and ground
0198441113694, V2.03, 07.2010

SD326 7 Examples
7 Examples
7.1 Wiring example
CN1
ACTIVE1_OUT_C 19
CN2 ACTIVE1_OUT_NO 7
E
ENABLE(5) 15
ENABLE(5) 3
5V
DIR(5) 14
DIR(5) 2
M U
3~ PULSE(5) 13
V
W
1
PULSE(5)
11
CN3
RM_FAULT_OUT
12
+BRAKE_OUT
13 -BRAKE_OUT
14 0VDC
15 +24VDC
- +
24VDC
L1
N/L2
L1 N
Figure 7.1 Wiring example

0198441113694, V2.03, 07.2010

7 Examples SD326
0198441113694, V2.03, 07.2010

SD326 8 Diagnostics and troubleshooting
8 Diagnostics and troubleshooting
8.1 Service
If you cannot resolve an error yourself please contact your sales office.
Have the following details available:
• Nameplate (type, identification number, serial number, DOM, ...)
• Type of error (such as LED flash code or error number)
• Previous and concomitant circumstances
• Your own assumptions concerning the cause of the error
Also include this information if you return the product for inspection or re-
pair.
0198441113694, V2.03, 07.2010

8 Diagnostics and troubleshooting SD326
8.2 Status indication via LEDs
OVER- LOW- RM-

READY FAULT TEMP VOLT VOLT FAULT
DC-BUS
F012
E
BCD
3456
789A
ENCODER
Figure 8.1 Status indication via LEDs
The current operating state is indicated by means of LEDs.
LED Meaning
DC BUS DC bus under voltage
READY Ready, power stage enabled, motor has current
FAULT Short circuit between 2 motor phases or between motor
phase and ground
TEMP (steady) Power stage overtemperature
TEMP (flashing 1)) Motor overtemperature
OVER-VOLT Overvoltage (DC bus >420VDC)
LOW-VOLT Undervoltage (DC bus <180VDC)
RM-FAULT 1) Error message signaled by rotation monitoring
OVER-VOLT, Power stage disabled, motor without current
LOW-VOLT
FAULT, Frequency at signal interface too high
TEMP,
OVER-VOLT,
LOW-VOLT
0198441113694, V2.03, 07.2010
ENCODER 1) Encoder connected and ready

1) SD326R only

SD326 8 Diagnostics and troubleshooting
8.3 Troubleshooting
8.3.1 Troubleshooting problems
Problem Cause Troubleshooting

Motor does not rotate and Motor phase interrupted Check motor cable and connection. One or
has no holding torque more motor phases are not connected.
Signal input PWM has level 1 Check input signal.
Signal input ENABLE has level 0 Enable power stage.
Motor does not rotate and Motor blocked by holding brake Release holding brake, check wiring.
has no holding torque
Motor mechanically blocked Check coupled components.
Signal input GATE has level 1 Check input signal.
Motor rotates unevenly Overload Reduce load.
Motor problem Replace motor.
Motor rotates in the wrong Motor phases reversed Check motor phases.
direction
Signal input DIR has incorrect level Check input signal.
LED FAULT Short circuit between 2 motor phases or Checking wiring.

between motor phase and ground
LED TEMP (steady) Power stage overtemperature Check temperature in control cabinet, use
current reduction.
LED TEMP (flashing) Motor overtemperature Allow motor to cool down, use motor with
greater nominal power, use current reduction
for power reduction.
Interruption of signal T_MOT, encoder cable Check encoder cable.
not plugged in
24V controller supply voltage not connected Check 24V controller supply voltage.
or switched off
LED OVER-VOLT Overvoltage caused by regeneration condi- Use less steep deceleration ramp.
tion during deceleration
Error message must be reset.
LED LOW-VOLT Undervoltage Check mains voltage and connections.
Reset error message After you have fixed cause of the error, reset the error message with a
falling edge at the signal input ENABLE.
If the "Gate" function is used, the input ENABLE is not available. The er-
ror message can only be reset by disconnecting the mains supply.
0198441113694, V2.03, 07.2010

8 Diagnostics and troubleshooting SD326
0198441113694, V2.03, 07.2010

SD326 9 Accessories and spare parts
9 Accessories and spare parts
9.1 Optional accessories
Designation Order no.

Fan kit 24 VDC VW3S3101
9.2 Motor cables

Motor cable for stepper motor 4x1.5, shielded, 6-pin circular plug at the motor end; other cable VW3S5101R30
end = open; length= 3m
Motor cable for stepper motor 4x1.5 shielded, both cable ends = open; length= 3m VW3S5102R30
9.3 Encoder cables

Encoder cable for stepper motor, shielded, motor end with 12 pole round connector; other cable VW3S8101R30
end 12-pin Molex connector; Length = 3m
Encoder cable for stepper motor; shielded; motor end with 12 pole round connector; other cable VW3S8101R50
0198441113694, V2.03, 07.2010

Connector set, Molex connector 12 pole, with crimp contacts, 5 pieces VW3M8213
9.4 Signal cables

9 Accessories and spare parts SD326

Pulse/dir., 5V, shielded, the cable has a 24-pin Molex connector at the device end; other cable VW3S8201R05
end = open; length 0.5m
Pulse/dir. to =S= Premium CFY connection cable; the cable has a 24-pin Molex connector at the VW3S8204R15
drive end, CFY end with 15-pin SubD connector; length 1.5m
Pulse/dir. to =S= Premium CFY connection cable; the cable has a 24-pin Molex connector at the VW3S8204R30
drive end, CFY end with 15-pin SubD connector; length 3m
Pulse/dir. to Siemens S7-300 FM353 connection cable; the cable has a 24-pin Molex connector VW3S8206R15
at the drive end, FM353 end with 15-pin SubD15 socket; length 1.5m
Pulse/dir. to Siemens S7-300 FM353 connection cable; the cable has a 24-pin Molex connector VW3S8206R30
at the drive end, FM353 end with 15-pin SubD15 socket; length 3m
P/R, to TLM2 or WP/WPM 311 connection cable; the cable has a 24-pin Molex connector at the VW3S8208R05
drive end, other end with SubD15 socket; length 0.5m
Connector kit with 5 Molex connectors 24-pin with crimp contacts VW3S8212
0198441113694, V2.03, 07.2010

SD326 9 Accessories and spare parts
9.5 Mains filter

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

Mains reactor 1~; 50-60Hz; 7A; 5mH; IP00 VZ1L007UM50
Mains reactor 1~; 50-60Hz; 18A; 2mH; IP00 VZ1L018UM20
9.7 Mounting material

Adapter plate for DIN rail mounting, width 77.5mm VW3A11851
0198441113694, V2.03, 07.2010

9 Accessories and spare parts SD326
0198441113694, V2.03, 07.2010

SD326 10 Service, maintenance and disposal
10 Service, maintenance and disposal

The product may only be repaired by a Schneider Electric
customer service center. No warranty or liability is
accepted for repairs made by unauthorized persons.
10.1 Service address

If you cannot resolve an error yourself please contact your sales office.
Have the following details available:
• Nameplate (type, identification number, serial number, DOM, ...)
• Type of error (such as LED flash code or error number)
• Previous and concomitant circumstances
• Your own assumptions concerning the cause of the error
Also include this information if you return the product for inspection or re-
pair.
If you have any questions please contact your sales office.
Your sales office staff will be happy to give you the name of
a customer service office in your area.
10.2 Maintenance
Check the product for pollution or damage at regular intervals.
0198441113694, V2.03, 07.2010

10 Service, maintenance and disposal SD326
10.3 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.
the hazardous area.
Observe the following procedure when replacing devices.

왘 Label all connections and uninstall the product.
왘 Note the identification number and the serial number shown on the
product nameplate for later identification.
왘 Install the new product as per chapter 4 "Installation".
왘 Commission the product as per chapter 5 "Commissioning".
10.4 Changing the motor

왘 Label all connections and uninstall the product.
왘 Note the identification number and the serial number shown on the
product nameplate for later identification.
왘 Install the new product as per chapter 4 "Installation".
왘 Commission the product as per chapter 5 "Commissioning".
0198441113694, V2.03, 07.2010

SD326 10 Service, maintenance and disposal
10.5 Shipping, storage, disposal

Note the ambient conditions on page 21.
Shipping The product must be protected against shocks during transportation. If
possible, use the original packaging for shipping.
Storage The product may only be stored in spaces where the specified permis-
sible ambient conditions for room temperature and humidity are met.
Protect the product from dust and dirt.
Disposal The product consists of various materials that can be recycled and must
be disposed of separately. Dispose of the product in accordance with lo-
cal regulations.
0198441113694, V2.03, 07.2010

10 Service, maintenance and disposal SD326
0198441113694, V2.03, 07.2010

SD326 11 Extract
11 Extract
@ DANGER
UNEXPECTED HAZARDS
This chapter Extract does not replace the product manual. Unex-
pected hazards occur during installation, commissioning and mainte-
nance.
• You may only perform install, commission and maintain the prod-
uct if you are a qualified and trained technician.
• Carefully read and understand the complete product manual.
injury.
0198441113694, V2.03, 07.2010

11 Extract SD326
11.1 Extract for installation and commissioning
11.1.1 Overview
OVER- LOW- RM-

READY FAULT TEMP VOLT VOLT FAULT
DC-BUS
ON 1 2 3 4 5 6 7 8 F012
E
BCD
3456
OFF 789A
S1 S2
ENCODER
CN3
11 12 13 14 15
CN2
RM_FAULT_OUT
+24VDC 24V =
0VDC ~
+BRAKE_OUT -BRAKE_OUT
M
E 3~
CN1
~1kΩ PULSE +24V
~68Ω PULSE +5V
19 18 ~68Ω PULSE ⊥5V

24 23 22 21 20 17 16 15 14 13
~1kΩ PULSE ⊥24V
ACTIVE_OUT_C
12 11 10 9 8 7 6 5 4 3 2 1
ACTIVE_OUT_NO
24V 5V
L1
N/L2
0198441113694, V2.03, 07.2010
N/L2 L1
115V
Figure 11.1 Wiring overview

SD326 11 Extract
11.1.2 Settings for parameter switches S1 and S2

The parameter switches are at mains potential. Settings may only be
made with suitable, insulated tools and if no voltage is present and the
DC bus is discharged.
왘 Switch all supply voltages off before making any settings to S1 or
S2. Verify that no voltages are present.
ON 1 2 3 4 5 6 7 8 F012
E
BCD
3456
OFF 789A
S1 S2
Figure 11.2 Overview of parameter switches
For more information, see chapter "Commissioning".
11.1.2.1 Settings for parameter switch S1
S1
ON STEP2 STEP1/STEP0
2 3 2 3 2 3 2 3
OFF
1 2 3 1
2000 4000 5000 10000
STEP0 200 400 500 1000
STEP1
STEP2
Figure 11.3 Setting the number of steps with S1.1..S1.3
The "STEP2" setting can be inverted with the STEP2_INV input signal.
Meaning On Off
S1.4 Current reduction 1) Function "Current reduction" activated 2) Function "Current Reduction" deactivated
S1.5 Type of enable Function "GATE" Function "ENABLE"
Block or release reference values 2) Enable/disable power stage
S1.6 Interface mode Interface mode "PULSE/DIR" 2) Interface mode "CW/CCW"
S1.7 Softstep "Softstep" function activated Function "Softstep" deactivated 2)
S1.8 Rotation monitoring Rotation monitoring activated 2) Rotation monitoring deactivated
1) Activated current reduction reduces the motor torque at standstill. Axes subject to external forces may move!
2) Factory setting
0198441113694, V2.03, 07.2010

11 Extract SD326
11.1.2.2 Settings for parameter switch S2
Parameter switch S2 allows you to set the nominal motor current.
Switch setting S2 0 1 2 3 4 5 6 7 8 9 A B C D E F
SD326•U25 [A] 0.6 0.8 0.9 1.0 1.1 1.3 1.4 1.5 1.6 1.8 1.9 2.0 2.1 2.3 2.4 2.5
SD326•U68 [A] 1.7 2.0 2.4 2.7 3.1 3.4 3.7 4.1 4.4 4.8 5.1 5.4 5.8 6.1 6.5 6.8
11.1.3 Signal interface CN1

Connection assignment CN1: 5V or Either 5V or 24V Signale may be connected!
24V signals
Pin 5V Pin 24V Signal Color 1) Pair Meaning I/O

13 20 PULSE White 1 Motor step (+) I
CW Motor step positive direction of rotation (+)
1 8 PULSE Brown 1 Motor step, inverted (-) I
CW Motor step positive direction of rotation, inverted
(-)
14 21 DIR Green 2 Direction of rotation (+) I
CCW Motor step negative direction of rotation (+)
2 9 DIR Yellow 2 Direction of rotation, inverted (-) I
CCW Motor step negative direction of rotation, inverted
(-)
15 22 GATE Gray 3 Reference values locked (+) I
ENABLE Power stage enable (+)
3 10 GATE Pink 3 Reference values locked, inverted (-) I
ENABLE Power stage enable, inverted (-)
16 23 STEP2_INV Black 4 Switching angular resolution (+) I
4 11 STEP2_INV Violet 4 Switching angular resolution, inverted (-) I
17 24 PWM Blue 5 Control of motor phase current (+) I
5 12 PWM Red 5 Control of motor phase current, inverted (-) I
19 19 ACTIVE_OUT_C Gray/pink 6 Readiness O
7 7 ACTIVE_OUT_NO Red/blue 6 Readiness O
6.18 6.18 Not assigned
0198441113694, V2.03, 07.2010

SD326 11 Extract
11.1.4 Test operation of the motor

Function test 쮿 The type of Enable must be set to "ENABLE".
왘 Switch on the supply voltages.
왘 Check the status indication, see chapter 8.2 "Status indication via
LEDs".
왘 Enable the power stage via the ENABLE input.
컅 If there is no error, the "Readiness" output signals ready for opera-
tion approx. 500ms after the power stage is enabled. If rotation
monitoring is used, this time is 1.5 s. The motor performs a minor
movement (approx. 1.2°) to adjust rotation monitoring.
왘 Start the first test with a low pulse frequency. If the signal DIR has 0
level, the motor must rotate with positive direction of rotation.
왘 Also perform positioning tests with reversed direction of rotation. A
reversal of the active edge at the PULSE signal can cause displace-
ment of the position when the direction is reversed.
If the motor follows the reference values, the motor is correctly control-
led.
11.1.5 Operating state via LED

The current operating state is indicated by means of LEDs.
LED Meaning
DC BUS DC bus under voltage
READY Ready, power stage enabled, motor has current
FAULT Short circuit between 2 motor phases or between motor
phase and ground
TEMP (steady) Power stage overtemperature
TEMP (flashing 1)) Motor overtemperature
OVER-VOLT Overvoltage (DC bus >420VDC)
LOW-VOLT Undervoltage (DC bus <180VDC)
RM-FAULT 1) Error message signaled by rotation monitoring
OVER-VOLT, Power stage disabled, motor without current
LOW-VOLT
FAULT, Frequency at signal interface too high
TEMP,
OVER-VOLT,
LOW-VOLT
0198441113694, V2.03, 07.2010
ENCODER 1) Encoder connected and ready

1) SD326R only
For more information, see chapters "Commissioning" and "Diagnostics".

11 Extract SD326
0198441113694, V2.03, 07.2010

SD326 12 Glossary
12 Glossary
12.1 Units and conversion tables

The value in the specified unit (left column) is calculated for the desired
unit (top row) with the formula (in the field).
Example: conversion of 5 meters [m] to yards [yd]
5 m / 0.9144 = 5.468 yd
12.1.1 Length
in ft yd m cm mm
in - / 12 / 36 * 0.0254 * 2.54 * 25.4
ft * 12 - /3 * 0.30479 * 30.479 * 304.79
yd * 36 *3 - * 0.9144 * 91.44 * 914.4
m / 0.0254 / 0.30479 / 0.9144 - * 100 * 1000
cm / 2.54 / 30.479 / 91.44 / 100 - * 10
mm / 25.4 / 304.79 / 914.4 / 1000 / 10 -
12.1.2 Mass
lb oz slug kg g
lb - * 16 * 0.03108095 * 0.4535924 * 453.5924
-3
oz / 16 - * 1.942559*10 * 0.02834952 * 28.34952
slug / 0.03108095 / 1.942559*10-3 - * 14.5939 * 14593.9
kg / 0.45359237 / 0.02834952 / 14.5939 - * 1000
g / 453.59237 / 28.34952 / 14593.9 / 1000 -
12.1.3 Force
lb oz p dyne N
lb - * 16 * 453.55358 * 444822.2 * 4.448222
oz / 16 - * 28.349524 * 27801 * 0.27801
p / 453.55358 / 28.349524 - * 980.7 * 9.807*10-3
dyne / 444822.2 / 27801 / 980.7 - / 100*103
N / 4.448222 / 0.27801 / 9.807*10-3 * 100*103 -
0198441113694, V2.03, 07.2010
12.1.4 Power
HP W
HP - * 746
W / 746 -

12 Glossary SD326
12.1.5 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 -
12.1.6 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 -
12.1.7 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 -
12.1.8 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 -
12.1.9 Conductor cross section

0198441113694, V2.03, 07.2010
AWG 1 2 3 4 5 6 7 8 9 10 11 12 13
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
2
mm 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

SD326 12 Glossary
12.2 Terms and Abbreviations

See chapter 2.6 "Standards and terminology" for information on the per-
tinent standards on which many terms are based. Some terms and ab-
breviations may have specific meanings with regard to the standards.
AC Alternating current
DC Direct current
Default value Factory setting.
Degree of protection The degree of protection is a standardized specification for electrical
equipment that describes the protection against the ingress of foreign
objects and water (for example: IP 20).
Drive system System consisting of controller, power stage and motor.
DOM The Date of manufacturing on the nameplate of the device is shown in
the format DD.MM.YY,
for example 31.12.06 (December 31, 2006).
EMC Electromagnetic compatibility
Error Discrepancy between a computed, observed or measured value or con-
dition and the specified or theoretically correct value or condition.
Error class Classification of errors into groups. The different error classes allow for
specific responses to faults, for example by severity.
Fatal error In the case of fatal error, the product is no longer able to control the mo-
tor so that the power stage must be immediately disabled.
Fault Operating state of the drive caused as a result of a discrepancy between
a detected (computed, measured or signaled) value or condition and the
specified or theoretically correct value or condition.
Fault reset A function used to restore the drive to an operational state after a de-
tected error is cleared by removing the cause of the error so that the er-
ror is no longer active (transition from operating state "Fault" to state
"Operation Enable").
Holding brake The motor holding brake has the task of blocking the motor shaft when
no current is supplied to the motor (for example, in the case of a vertical
axis). The holding brake is not a safety function.
Inc 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
0198441113694, V2.03, 07.2010
Parameter switch The parameter switches are small switches adjacent to each other that
allow you to make settings.
PELV Protective Extra Low Voltage, low voltage with isolation. For more infor-
mation: IEC 60364-4-41
PLC Programmable logic controller

12 Glossary SD326
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.
PTC Resistor with positive temperature coefficient. Resistance value in-
creases 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.
RCD Residual Current Device
rms Root Mean Square value of a voltage (Vrms) or a current (Arms)
TT mains, TN mains Grounded mains, differ in terms of the ground connection (PE conductor
connection). Opposite: Ungrounded mains, see IT mains.
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.
0198441113694, V2.03, 07.2010

SD326 13 Index
13 Index
A
Abbreviations 97
Accessories and spare parts 81
Air humidity 21
Ambient conditions 21
Air humidity operation 21
Operation 21
Relative air humidity operation 21
Transportation and storage 21
Approved motors 24, 43
Assembling cables
Mains supply 47
Motor phases 44
B
Before you begin
Safety information 15
C
Cable specifications and terminal
Motor phase connections 43
Cables 28
Certifications 21
Changing the motor 86
Commissioning 61
steps 64
Components and interfaces 11
Connection
DC bus 45
Mains supply 46
Motor phases 43
Outputs and controller supply voltage (CN3) 56
Rotation monitoring (CN2) 53
Signal interface (CN1) 49
Control cabinet 35
Control cabinet design 29
Controller supply voltage
Connection 57
Cover film, removing 37
D
0198441113694, V2.03, 07.2010
Declaration of conformity 14
Device
Mounting 35, 36
Device overview 9
Diagnostics 77
dimensional drawing, see dimensions
Dimensions 23
Disposal 85, 87

13 Index SD326
Documentation and literature references 13
E
Electrical installation 39
EMC 29
Cable installation 30
Improvement 31
Motor cable and encoder cable 31
Power supply 30
Scope of supply and accessories 29
Shielding 30
Encoder 53
ConnectionMotor encoder
Connection 54
Encoder cable
EMC requirements 31
EPLAN Macros 13
Equipotential bonding conductors 31
Errors 79
Examples 75
F
Functions 71
G
Glossary 95
H
Hazard categories 16
Humidity 21
I
Improvement of EMC 31
Installation
electrical 39
mechanical 34
Intended use 15
Introduction 9
IT mains, operation in 33
M
Macros EPLAN 13
Mains filter
Mounting 38
Mains supply
0198441113694, V2.03, 07.2010
Connection 48
Maintenance 85
Manuals
Source 13
Max. humidity operation 21
Mechanical installation 34
Monitoring
Motor phases 44

SD326 13 Index
Monitoring functions 74
Motor cable
Connection 44
EMC requirements 31
Mounting distances 35
Mounting, mechanical 35
O
Operation 71
Operation ambient temperature 21
Overview 63
All connections 42
Procedure for electrical installation 41
P
PELV power supply UL 28
Pollution degree 21
Power connections
Overview 42
Q
Qualification of personnel 15
R
Relative air humidity 21
S
Scope of supply 10
Service 85
Service address 85
Shielding - EMC requirements 30
Shipping 87
Signal connections
Overview 42
Signal interface
Connection 52
Source
EPLAN Macros 13
Manuals 13
Status indication via LEDs 78
Storage 87
T
Technical data 21
0198441113694, V2.03, 07.2010
Temperature during operation 21

Terms 97
Transportation
Troubleshooting 77, 79
Errors 79
Type code 12

13 Index SD326
U
UL
PELV power supply 28
Wiring 28
Units and conversion tables 95
V
Ventilation 35
W
Wiring diagram
24V supply 57
Encoder 55
Motor encoder 55
Motor phases 45
Power stage supply voltage 47
Rotation monitoring 55
Signal interface 50
Wiring UL 28
0198441113694, V2.03, 07.2010

Stepper Motor Drive Product Manual

Uploaded by

Copyright:

Available Formats

Stepper Motor Drive Product Manual

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Stepper Motor Drive Product Manual

Uploaded by

Copyright:

Available Formats

SD326

Stepper motor drive

Some products are not available in all countries.

Most of the product designations are registered trademarks of their re-

2 Stepper motor drive

Writing conventions and symbols. . . . . . . . . . . . . . . . . . . . . . . 7

2 Before you begin - safety information. . . . . . . . . . . . . . . . . . . 15

3.4.2 Interface CN1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Stepper motor drive 3

3.6 Conditions for UL 508C . . . . . . . . . . . . . . . . . . . . . . . . 28

6.1.10 Monitoring functions. . . . . . . . . . . . . . . . . . . . . . . . . 74

8 Diagnostics and troubleshooting . . . . . . . . . . . . . . . . . . . . . . . 77

4 Stepper motor drive

9 Accessories and spare parts . . . . . . . . . . . . . . . . . . . . . . . . . . 81

10 Service, maintenance and disposal . . . . . . . . . . . . . . . . . . . . 85

12.1.7 Moment of inertia . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

Stepper motor drive 5

0198441113694, V2.03, 07.2010

6 Stepper motor drive

Writing conventions and symbols

Stepper motor drive 7

0198441113694, V2.03, 07.2010

8 Stepper motor drive

1.1 About this manual

1.2 Device overview

Figure 1.1 Device overview

Drive system This drive is used to control a 3-phase stepper motor.

the reference current are provided are available.

Stepper motor drive 9

1.3 Scope of supply

Figure 1.2 Scope of supply

10 Stepper motor drive

1.4 Components and interfaces

Figure 1.3 Components and interfaces

(1) LEDs for status indication

Stepper motor drive 11

1.5 Type code

Maximum motor phase current

Power stage supply voltage

0198441113694, V2.03, 07.2010

12 Stepper motor drive

1.6 Documentation and literature references

Stepper motor drive 13

1.7 Declaration of conformity

SCHNEIDER ELECTRIC MOTION DEUTSCHLAND GmbH & Co. KG

according to EC Directive Machinery 98/37/EC

Designation: Stepper motor drive

Product number: 0063711110x0x

Applied EN 61800-3:2004, second environment

Date/ Signature: 10 July 2008

Name/ Department: Wolfgang Brandstätter/Development

14 Stepper motor drive

2 Before you begin - safety information

2.1 Qualification of personnel

2.2 Intended use

Stepper motor drive 15

2.3 Hazard categories

DANGER indicates an imminently hazardous situation, which, if not

WARNING indicates a potentially hazardous situation, which, if not