Siemens SIMODRIVE 611 universal Function Manual Download Page 364 | Manualshive

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6

6.2

Positioning mode (P0700 = 3, from SW 2.1)

6-364

Siemens AG 2005 All Rights Reserved

SIMODRIVE 611 universal Description of Functions (FBU) – 04.05 Edition

6.2.3

Closed–loop position control components

The closed–loop control of an axis consists of the current and speed
control loop and a higher–level position control loop.

The closed–loop position control fulfills the following tasks:

Controls the velocity of the drive during movement

The axis is precisely moved to the programmed target position

Holds the axis at a target position even when disturbances are pres-
ent

The closed–loop position controller is a P controller. Various function
units are provided in its environment, which provide support for special
tasks in the motion control, and which can be adapted to the axis cha-
racteristics using numerous parameters.

Position

setpoint

Monitoring functions

Following error

Positioning

Standstill

Speed

setpoint

Position

actual value

P0080

Block number

to

... (for traversing blocks)

P0087

Mode

P0100

Dimension system

P0102

Maximum velocity

P0103

Maximum acceleration

P0104

Maximum deceleration

P0107

Jerk limiting (from SW 3.1)

P0200:8 Kv factor (position loop gain)

P0201

Backlash compensation

P0203

Speed pre–control mode

P0204:8 Factor, speed pre–control

P0205:8 (deadtime)

Balancing filter, speed pre–control

P0206:8 (PT1)

P0210:8 Time constant, pos. ref. value filter (PT1)

P0231

Position act. value inversion

P0232

Position ref. value inversion

P0203

P0204:8

P0200:8

P0310

Cam switching position 1

P0311

Cam switching position 2

P0315

Minus software limit switch

P0316

Plus software limit switch

P0318:8 Dyn. following error monitoring tolerance

P0320

Positioning monitoring time

P0321

Positioning window

P0325

Standstill monitoring time

P0326

Standstill window

P0310
P0311

P0102
P0103
P0104

P0315
P0316

P0080

to

P0087

Fine

inter–

polator

(FIPO)

Position

controller

Backlash

compensation

Direction

adaptation

P0231

P0232

P0201

+

+

+

–

P0320, P0321

P0325, P0326

P0318:8

P0232

P0232

P0205:8
P0206:8

Interpolator

(IPO)

Pos.
ref.
value
filter

P0210:8

Speed
pre–control

Bal–

ancing

filter

P0107

Fig. 6-12 Closed–loop position control components

General
information

6 Description of the Functions

01.99

! not 611ue !

10.99

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Summary of Contents for SIMODRIVE 611 universal

Page 1: ...Description of Functions 04 2005 Edition simodrive SIMODRIVE 611 universal universal E Control Components for Closed Loop Speed Control and Positioning BP3834 ...

Page 2: ......

Page 3: ...tioning SIMODRIVE 611 universal SIMODRIVE 611 universal E Description of Functions Description of Functions Description of Functions Description of Functions Description of Functions Description of Functions Description of Functions Description of Functions Description of Functions Description of Functions Description of Functions Description of Functions Product Overview 1 Installing and Connecti...

Page 4: ...RIVE POSMO are registered trademarks of Siemens AG Other names in this publication might be trademarks whose use by a third party for his own purposes may violate the rights of the registered holder Additional information can be found at http www siemens com motioncontrol This publication was produced with Interleaf V 7 Siemens AG 1999 2005 All rights reserved The controller may be able to execute...

Page 5: ...tions specified in the contract between the parties is the sole warranty of Siemens Any statements contained herein neither create new warranties nor modify the existing warranty This documentation addresses machine OEMs and service personnel who wish to use SIMODRIVE 611 universal If you have any questions please contact the following Hotline A D Technical Support Tel 49 0 180 5050 222 Fax 49 0 1...

Page 6: ...iversal HR and SIMODRIVE 611 universal E HR Information for users of SIMODRIVE 611 universal and SIMODRIVE 611 universal HR For you all of the Chapters are applicable with the exception of Chapter 1 4 Information for users of SIMODRIVE 611 universal E and SIMODRIVE 611 universal E HR It is important that you read Chapter 1 4 5 first The Chapter and pages are coded for the reader as follows in the ...

Page 7: ...e P0660 Parameter 0660 without sub parameter P1451 8 P1451 with sub parameters P1451 0 to P1451 7 8 Sub parameters that are dependent on the parameter set P0080 64 P0080 with sub parameters P0080 0 to P0080 63 64 sub parameters that are dependent on the traversing block The following applies Colon the parameter has the sub parameter Number these sub parameters are available from 0 P1650 15 Paramet...

Page 8: ...re the essential new functions that have been added for SW 3 x in comparison to SW 2 x Jerk limiting External block change Input signal Suppress fault 608 speed controller output limited Optional PROFIBUS DP module PROFIBUS DP2 Order No MLFB 6SN1114 0NB00 0AA1 PROFIBUS DP3 Order No MLFB 6SN1114 0NB01 0AA0 PROFIBUS Process data configuring Motion Control with PROFIBUS DP clock synchronous operation...

Page 9: ...ndard telegrams 4 and 103 have been supplemented The encoder interface is independent of clock synchronous operation Traversing to fixed endstop In order to execute traversing blocks it is no longer necessary to supply the input signals Operating condition reject traversing task and Operating condition intermediate stop SimoCom U Boot board function User parameter list function Permanent magnet sy...

Page 10: ... to SIMODRIVE 611 universal HR Edition 08 02 describes the functionality of SW 2 x SW 3 x SW 4 x SW 5 x and SW 6 1 What are the essential new functions that have been added for SW 6 1 PROFIdrive conformance Edition 02 03 describes the functionality of SW 2 x SW 3 x SW 4 x SW 5 x SW 6 x and SW 7 1 What are the essential new functions that have been added for SW 7 1 MDI external block processing Edi...

Page 11: ... For the purpose of this documentation and warning information on the product itself qualified personnel are those personnel who are familiar with the installation mounting start up and operation of the equipment and the hazards involved They must have the following qualifications Trained and authorized to energize de energize clear ground and tag circuits and equipment in accordance with establis...

Page 12: ...ution This symbol is always used if minor personal injury or material damage can result if proper precautions are not taken Caution This warning without warning triangle indicates that material damage can result if proper precautions are not taken Notice This warning indicates that an undesirable situation or condition can occur if the appropriate instructions information are not observed Note Thi...

Page 13: ...ionally transported stored mounted and installed as well as careful operator control and service Hazardous axis motion can occur when working with the equipment Danger Protective separation PELV SELV in the drive can only be guaranteed when the following points are taken into consideration Certified components are used The degree of protection for all components is ensured With the exception of th...

Page 14: ...to be installed fulfills the regulations specifications of the Directive 89 392 EEC Warning The information and instructions in all of the documentation supplied and any other instructions must always be observed to eliminate hazardous situations and damage For special versions of the machines and equipment the information in the associated catalogs and quotations applies Further all of the releva...

Page 15: ...d through ESDS wristlets they wear ESDS shoes ESDS shoe grounding strips in conjunction with an ESDS floor surface Boards may only be placed on conductive surfaces table with ESDS surface conductive ESDS foam rubber ESDS packing bag ESDS transport containers Boards may not be brought close to data terminals monitors or television sets minimum clearance to the screen 10 cm Boards may not be brought...

Page 16: ...xvi Siemens AG 2005 All Rights Reserved SIMODRIVE 611 universal Description of Functions FBU 04 05 Edition Foreword 06 04 Space for your notes ...

Page 17: ...trol boards and modules 2 60 2 2 Connecting up 2 66 2 2 1 General information on connecting up 2 66 2 2 2 Connecting up and setting the line supply infeed module 2 69 2 2 3 Connecting up the power module 2 70 2 3 Connection diagram and wiring 2 71 2 3 1 Connection diagram for the SIMODRIVE 611 universal board 2 71 2 3 2 Connecting up the control board 2 72 2 3 3 Connection diagram connecting up th...

Page 18: ...ptation 4 160 4 8 4 Parameters for PE spindles 4 163 4 9 1FW6 build in torque motors from SW 6 1 4 165 4 9 1 Description 4 165 4 9 2 Commissioning 1FW6 motors 4 167 4 9 3 Thermal motor protection 4 168 4 10 Linear motors 1FN1 1FN3 motors 4 169 4 10 1 General information on commissioning linear motors 4 169 4 10 2 Commissioning Linear motor with one primary section 4 172 4 10 3 Commissioning Linear...

Page 19: ...ment in the subscriber 5 317 5 10 3 Activating parameterizing slave to slave communications 5 318 5 10 4 Telegram structure 5 320 5 10 5 Example Coupling 2 drives master slave drive 5 323 6 Description of the Functions 6 329 6 1 Operating mode speed torque setpoint P0700 1 6 331 6 1 1 Application examples 6 331 6 1 2 Current and speed control 6 332 6 1 3 Ramp function generator 6 334 6 1 4 Optimiz...

Page 20: ...der interface X461 X462 6 556 6 8 1 Angular incremental encoder interface as output P0890 1 6 558 6 8 2 Angular incremental encoder interface as input P0890 2 from SW 3 3 6 563 6 8 3 Electronic handwheel from SW 8 1 6 567 6 9 Motor holding brake 6 570 6 10 Parameter set changeover 6 576 6 11 Motor changeover for induction motors from SW 2 4 6 580 6 11 1 General information on motor changeover 6 58...

Page 21: ...ion 7 730 7 6 Spare parts 7 730 A Lists A 731 A 1 Parameter list A 732 A 2 Power module list A 856 A 3 List of motors A 859 A 3 1 List of the rotating synchronous motors A 859 A 3 2 List of permanent magnet synchronous motors with field weakening 1FE1 2SP1 PE spindle A 865 A 3 3 List of permanent magnet synchronous motors without field weakening build in torque motors 1FW6 from SW 6 1 A 871 A 3 4 ...

Page 22: ...xxii Siemens AG 2005 All Rights Reserved SIMODRIVE 611 universal Description of Functions FBU 04 05 Edition Table of Contents Space for your notes ...

Page 23: ... 3 1 Control board for 2 or 1 axis 1 35 1 3 2 Elements on the control board front panel 1 37 1 3 3 Optional modules 1 40 1 4 SIMODRIVE 611 universal E control board 1 43 1 4 1 Diagram of the board and optional module 1 44 1 4 2 Elements on the control board front panel 1 45 1 4 3 Description of the terminals interfaces and operator control elements 1 46 1 4 4 Commissioning the board with SimoCom U...

Page 24: ...sing blocks can be selected and executed Every traversing block can be freely parameterized and in addition to the block number also contains additional data e g target posi tion acceleration velocity command and block enable circuit The following interfaces are provided on the board Two analog interfaces per drive 10 V Setpoints for speed torque current torque reduction or a velocity override whe...

Page 25: ...PROFIBUS DP module To integrate the system into distributed concepts SIMODRIVE 611 universal can be operated as slave on PROFIBUS DP using this option module refer to Table 1 3 The following motors can be used with SIMODRIVE 611 universal 1FK6 1FT6 servomotors up to 140 Nm 1FE1 permanent magnet synchronous motors 1PH induction motors up to 100 kW 1PH6 1PH4 1PH2 1PH7 Induction motors without encode...

Page 26: ...ver must match the motor For resolvers pole pair number 1 P1018 or the pole pair number of the motor P1112 is permissible The equipment is integrated and adapted to the machine system by appropriately parameterizing it The following possibilities are available for start up and for service SimoCom U parameterizing and start up tool SimoCom U under Windows refer to Chapter 3 3 Display and operator u...

Page 27: ... switching signals Rotary axis with modulo correction from SW 2 4 Jerk limiting from SW 3 1 External block change from SW 3 1 Traversing to fixed endstop from SW 3 3 Axis couplings from SW 3 3 Position measuring system with distance coded reference marks from SW 4 1 Jogging via velocity and incremental from SW 4 1 Teach in from SW 4 1 MDI operation from SW 7 1 SimoCom U parameterizing and start up...

Page 28: ...le of 2002 with SW 5 1 Note In the following chapters of the Description of Functions a differentiation is not made between SIMODRIVE 611 universal and SIMODRIVE 611 universal HR The functionality specified under SIMODRIVE 611 universal also applies for SIMODRIVE 611 universal HR and when required Line filter Monitoring and pulsed resistor module Transformer Reference PJU SIMODRIVE 611 Configurati...

Page 29: ...figuration Manual Drive Converters Reference PJM SIMODRIVE 611 Configuration Manual Motors AC Motors for Feed and Main Spindle Drives PC Tool SP SIMOPRO Program to engineer SIMODRIVE drives http www ad siemens de mc html_00 info projektier_tools index htm Reference BU Catalog NC 60 Ordering Documentation Z Catalog NC Z Accessories and Equipment CD Interactive Catalog CA01 CD CD1 DOC ON CD with all...

Page 30: ...pment bus DC link SIMODRIVE SIEMENS Supply infeed module Power module e g control board SIMODRIVE 611 universal for encoders with sin cos 1Vpp PROFIBUS DP Optional TERMINAL module or Optional PROFIBUS DP module e g SIMATIC S7 300 DP master DP slave Motor and encoders e g 1FT6 1FK6 or 1PH7 and encoders with sin cos 1Vpp Motor and encoders e g 1FT6 1FK6 or 1PH7 and encoders with sin cos 1Vpp Memory ...

Page 31: ...e SIMODRIVE 611 system and can be expanded using the optional TERMINALS or PROFIBUS DP module Memory module is integrated on the control board can be replaced and has a non volatile memory FEPROM to save the firmware and the user data Optional modules expands the interface functionality of the control board the optional TERMINAL module or the optional PROFIBUS DP module can be used Motor is connec...

Page 32: ... 2 6 6 6SN1118 1NK01 0AA08 7 n set 6SN1118 0NJ00 0AA 2 6 8 1 axis for resolvers 6SN1118 0NJ01 0AA08 9 1 axis for resolvers Positioning 6SN1118 1NJ00 0AA 2 6 10 6SN1118 1NJ01 0AA08 Option module can be alternatively used in the control board 1 TERMINALS 6SN1114 0NA00 0AA0 2 PROFIBUS DP13 6SN1114 0NB00 0AA0 3 PROFIBUS DP24 6SN1114 0NB00 0AA1 4 PROFIBUS DP34 6SN1114 0NB01 0AA0 Data medium 1 CD SimoCo...

Page 33: ... elements 2 analog inputs 2 analog outputs per drive 4 digital inputs 4 digital outputs per drive 2 test sockets POWER ON RESET pushbutton with LED Display and operator unit Safe start inhibit The start inhibit is addressed via terminal 663 and is signaled back using a relay with positively driven signaling contacts AS1 AS2 Using the start inhibit the energy feed from the drive to the motor is int...

Page 34: ... 1Vpp encoders Higher internal resolution interpolation factor 2048 previously 128 Pulse multiplication is possible doubling at the angular incre mental encoder interface for absolute value encoders Pulse multiplication doubling and division 1 2 1 4 1 8 are possible at the angular incremental encoder interface also for incremental encoders From SW 8 1 It is possible to connect standard square wave...

Page 35: ...data Pulse interface For screws Tighten to establish a good shield contact max torque 0 8 Nm 2 axis for encoders with sin cos 1Vpp or 2 axis for resolvers refer to Table 1 2 Equipment bus Display and operator unit Interfaces Terminals Switch For plug connections Plug connectors with the same number of pins must be appropriately coded so that they cannot be interchanged refer under the index entry ...

Page 36: ...ule Memory module Firmware User data Pulse interface For screws Tighten to establish a good shield contact max torque 0 8 Nm 1 axis for resolvers refer to Table 1 2 Equipment bus Display and operator unit Interfaces Terminals Switch For plug connections Plug connectors with the same number of pins must be appropriately coded so that they cannot be interchanged refer under the index entry Coding th...

Page 37: ...le 75 A 16 A 75 B 16 B 15 referen ce Analog outputs Button for POWER ON RESET Red FAULT LED M DAU1 DAU2 X34 56 A 14 A 24 A 20 A 65 A 9 I0 A I1 A I2 A I3 A Terminals drive A A A A A B A B A R A R A O0 A O1 A O2 A O3 A X451 X461 Slot for Optional TERMINAL module X422 inputs X432 outputs refer to Chapter 1 3 3 or Optional PROFIBUS DP module X423 interface refer to Chapter 1 3 3 X452 X462 X441 X431 X4...

Page 38: ...ning When the POWER ON RESET button is pressed this corresponds to a POWER ON and should only be executed when the motors are at a standstill In order to prevent the drive from undesirably starting after POWER ON before carrying out a POWER ON RESET the controller enable must be withdrawn at terminals 65 A and 65 B FAULT LED red refer to Chapter 7 2 2 The LED is bright at run up and when faults oc...

Page 39: ... first and last nodes of the RS485 link Standard setting RS485 terminating resistor is switched out Note All of the associated switches e g switches 7 and 8 must be in the same setting Serial interface X471 Switch S1 Ang enc interf drive A if used as output switch OFF term resistor is switched out Ang enc interf drive B if used as output switch OFF term resistor is switched out Ang enc interf driv...

Page 40: ...L module can be used as follows dependent on the software release The following applies before SW 2 4 The module can only be used in the positioning mode The following applies before SW 2 4 The module can be used independently of the operating mode Order No MLFB 6SN1114 0NA00 0AA0 I4 I5 I6 I7 I8 I9 I10 I11 O4 O5 O6 O7 O8 O9 O10 O11 X422 8 inputs X432 8 outputs For screws Tighten due to the shield ...

Page 41: ...onger be used from SW 4 1 6SN1114 0NB00 0AA0 PROFIBUS ASIC SPC3 Cyclic data transfer PKW and PZD section possible PROFIBUS DP2 6SN1114 0NB00 0AA1 PROFIBUS ASIC DPC31 without PLL For control boards SW 3 1 this module can replace the optional PROFIBUS DP1 module Features that PROFIBUS DP2 and DP3 have in common Prerequisites Control board from SW 3 1 is required Cyclic data transfer PKW and PZD sect...

Page 42: ...erated with a GSD file siem8055f gsd and P0875 2 can be operated with from SW 4 1 no yes yes 4 A master configured application gener ated using gsd file si02808f gsd and P0875 2 can be operated with from SW 6 1 no yes yes Note Case 1 is for new applications with the DP2 DP3 module Cases 2 and 3 are for series commissioning of drives using DP1 modules and for replacing a defective DP1 module by a D...

Page 43: ...s with sin cos 1Vpp with memory module for n set Optional PROFIBUS DP3 module refer to Chapters 1 3 3 and 1 4 1 Order No MLFB 6SN1114 0NB01 0AA0 The parameters can be set as follows using the SimoCom U parameterizing and start up tool on an external PG PC refer to Chapter 3 3 using the display and operator unit on the front panel refer to Chapter 3 2 using PROFIBUS DP parameter area PKW area refer...

Page 44: ...ard 2 axis for encoders with sin cos 1Vpp Equipment bus Display and operator unit Interfaces Terminals Test sockets Serial interface RS232 Optional PROFIBUS DP3 module with PROFIBUS ASIC DPC31 with PLL Encoder interface for TTL encoders For plug connections Plug connectors with the same number of pins must be appropriately coded so that they cannot be interchanged refer under the index entry Codin...

Page 45: ...supply and pulse enable 75 A 16 A 75 B 16 B 15 reference Analog outputs Button for POWER ON RESET Red FAULT LED M DAU1 DAU2 X34 X453 X454 X472 X441 X431 X421 56 B 14 B 24 B 20 B 65 B 9 I0 B I1 B O0 B O1 B Terminals drive B Terminals drive A 56 A 14 A 24 A 20 A 65 A 9 I0 A I1 A O0 A O1 A 1 P_Encoder 2 M_Encoder 3 A 4 A 5 Reserved 6 B 7 B 8 Reserved 9 P_Encoder 10 R 11 M_Encoder 12 R 13 Reserved 14 ...

Page 46: ...he gating pulses of the power transistors are inhibited Pulses enabled T 663 The gating pulses of the power transistors are enabled Relay safe start inhibit AS2 AS1 Terminals for supply and pulse enable X431 X431 Connector type 5 pin conn strip Max cond cross sect 1 5 mm2 P24 X431 1 External power sup ply for digital outputs 24 V S Voltage tolerance including ripple 10 V to 30 V Max total current ...

Page 47: ... Serial interface for SimoCom U IO Connector type 9 pin D sub socket connector Note The interface can only be used as RS232 interface refer to Chapter 3 3 3 Pin assignment of the interface refer to Chap ter 2 4 Cable diagram for RS232 refer to Chapter 2 5 PROFIBUS DP interface X423 for the optional PROFIBUS DP3 module X423 Communications in terface for PROFIBUS IO Connector type 9 pin D sub socket...

Page 48: ...ctor type 5 pin conn strip Wiring refer to3 16 A X441 2 Analog output 22 AO Wiring refer to Max conductor cross section for finely stranded or solid conduc tors 0 5 mm2 75 B X441 3 Analog output 12 AO tors 0 5 mm2 Voltage range 10 V to 10 V Max current 3 mA 16 B X441 4 Analog output 22 AO Max current 3 mA Resolution 8 bit Update In the speed controlled clock 15 X441 5 15 X441 5 Reference Update In...

Page 49: ...5 V Electrical isolation Ref is T 19 T M24 9 X453 6 9 X454 6 Enable voltage 24 V S Reference Terminal 19 Maximum current for the total group 500 mA Note The enable voltage terminal 9 can be used to supply the enable signals e g controller enable I0 A X453 7 I0 B X454 7 Digital input 02 Fast input 3 DI Voltage 24 V Typ current consumption 6 mA at 24 V Signal level incl ripple High signal level 15 V...

Page 50: ...al 250 mV at 500 mA Short circuit proof O1 A X453 10 O1 B X454 10 Digital output 12 DO Short circuit proof Note Parameterization of the output termi nals as well as the standard assign ment is described in Chapter 6 4 5 Note The power switched via these outputs is supplied via terminals P24 M24 X431 This must be taken into account when dimensioning the external supply The digital outputs only func...

Page 51: ... addi tional measuring system I Recommended encoder cable Order No MLFB 6FX2002 2CA11 1 0 7 B system TTL encoders I Order No MLFB 6FX2002 2CA11 1 0 Space retainer for cable type length 8 Reserved TTL encoders encoder 3 The information is Space retainer for cable type length Reference 9 P_Encoder The information is transferred to a S Reference Z Catalog NC Z Accessories and Equipment Encoder power ...

Page 52: ...tors are at a standstill In order to prevent the drive from undesirably starting after POWER ON before carrying out a POWER ON RESET the controller enable must be withdrawn at terminals 65 A and 65 B FAULT LED red refer to Chapter 7 2 2 The LED is bright at run up and when faults occur The 6 character 7 segment display with point is used to display and change parameter values and to display alarms...

Page 53: ...SIMODRIVE 611 uni versal E can be commissioned 2 The checklist for commissioning according to Chapter 4 1 has been checked 3 The optional PROFIBUS DP3 module is inserted into the control board refer to Chapter 1 3 3 4 The SimoCom U tool is installed on the PC PG which is to be used to commission the drive 5 There is a connecting cable between the PG PC and control board RS232 connecting cable refe...

Page 54: ...rive A in the Drive and dialog browser Is the start up required window displayed Yes Start the drive configuration assistant This means you signal the drive the existing configuration PROFIBUS node address power module motor etc No Press re configure drive button This means that you change the configuration on the control board PROFIBUS node address power module motor etc 4 Execute the drive confi...

Page 55: ... Abbreviation only for this purpose SIMODRIVE 611 universal 611u SIMODRIVE 611 universal E 611ue The following applies for users of SIMODRIVE 611 universal E The Chapter and pages are coded for the reader as follows in the header line below the edition Designation Significance none Information is valid for 611u and 611ue not 611u Information is not valid for 611u not 611ue Information is not valid...

Page 56: ...gnificance Digital in puts Term I0 x Term I1 x Term I2 x Term I3 x Term I0 x Term I1 x no no Effective parameters are P0660 function input terminal I0 x P0661 function input terminal I1 x P0662 and P0663 are ineffective Digital outputs Term O0 x Term O1 x Term O2 x Term O3 x Term O0 x Term O1 x no no Effective parameters are P0680 signal function output terminal O0 x P0681 signal function output t...

Page 57: ...on which is sensed to a higher level of control using the appropriate process data The encoder interface is used for the Motion Control with PROFIBUS DP function clock cycle synchron ous operation e g together with SINUMERIK 802D Note Motion Control with PROFIBUS function refer to Chapter 5 8 Configuring telegrams refer to Chapter 5 6 5 Encoder interface refer to Chapter 5 6 4 Encoder interface En...

Page 58: ...1 1 4 SIMODRIVE 611 universal E control board 1 58 Siemens AG 2005 All Rights Reserved SIMODRIVE 611 universal Description of Functions FBU 04 05 Edition 1 Product Overview 01 99 Space for your notes ...

Page 59: ...2 Connecting up and setting the line supply infeed module 2 69 2 2 3 Connecting up the power module 2 70 2 3 Connection diagram and wiring 2 71 2 3 1 Connection diagram for the SIMODRIVE 611 universal board 2 71 2 3 2 Connecting up the control board 2 72 2 3 3 Connection diagram connecting up the optional TERMINAL module 2 78 2 3 4 Connection diagram connecting up the optional PROFIBUS DP module 2...

Page 60: ... 3 0 Nm Tolerance 0 30 After transport the screws should be tightened The following points must be observed when installing the SIMODRIVE 611 universal control board into the power module refer to Fig 2 1 Warning The ESDS measures must be observed when installing removing the control board 1 Ensure that the power module is in a no voltage condition 2 Check that the memory module is inserted and lo...

Page 61: ...holding the module 2 screws in the front panel max torque 0 8 Nm 5 Connect up the front panel of the option module corresponding to the connection diagram refer to Chapter 2 3 3 The mating connectors are inserted at the appropriate interface Power module SIMODRIVE 611 universal control board Optional TERMINAL module or Optional PROFIBUS DP module Screw Screw Screw For screws Tighten due to the shi...

Page 62: ...U for positioning refer to Chap 1 3 SYS SOFTWARE N_SOLL 611U for n set refer to Chapter 1 3 The software designation refers to the system software including the initial program loader A memory module is inserted replaced as follows Warning The ESDS measures must be observed when installing removing the memory module 1 Place the old and new control boards on an ESDS compatible sur face to the left ...

Page 63: ...N1118 N 01 0AA 6SN1118 N 01 0AA 6SN1118 0NH11 0AA0 refer to Chapter 2 1 Installing removing an option module refer to Chapter 2 1 Installing removing a memory module Fig 2 3 Replacing a defective control board by a new one A control board is installed removed as follows 1 Ensure that the power module is in a no voltage condition 2 Release the screw connection and withdraw the old control board fro...

Page 64: ...OLL 6SN1118 1NH01 0AA0 261 0x00000000 2 2 2 7 611U encoder HR 2 axis X_SOLL 6SN1118 1NK01 0AA0 263 0x00000000 1 2 2 8 611U resolver HR 2 axis X_SOLL 6SN1118 1NJ01 0AA0 264 0x00000000 1 1 2 8 611U resolver HR 1 axis X_SOLL As last line insert under the Section 611UE 6SN1118 0NH11 0AA0 9 0x00000000 2 2 1 9 611UE encoder HR 2 axis N_SOLL Save the control txt file Restart SimoCom U and continue with P...

Page 65: ...5 10 Download your machine data saved under 6 into the new control board using the SimoCom U start up tool Warning It is only permissible to install remove a control board when the system is in a no voltage condition i e powered down If a control board is inserted or removed under voltage with the system powered up this can result in data being lost or components being destroyed The ESDS measures ...

Page 66: ...tential bonding Cable routing EMC compliant wiring Shielding and shield connections Handling modules that can be damaged by electrostatic discharge ESDS measures etc are included in Reference EMV EMC Guidelines Configuration Manual Warning Cable shields and cores conductors of power cables which are not used e g brake conductors must be connected to PE potential in order to discharge charges arisi...

Page 67: ...g 2 4 The connectors with the same number of pins should be coded so that the incorrect connector cannot be inserted A star with 6 individ ual coding profile is supplied with each control board Procedure Insert the coding element into the required coding groove on the base housing Now break off the appropriate coding lug at the con nector section e g coding groove lug 2 Designation The self adhesi...

Page 68: ...tor 1 0 38 mm2 Term R A conductor 1 0 38 mm2 Term R A conductor 1 0 38 mm2 Terminal 15 from SW 5 1 conductor 1 0 38 mm2 6FX2008 1BD21 Cable sold by the me ter twisted pairs with over all shield Conductors 4 2 0 38 mm2 4 0 5 mm2 Remaining Conductor 1 0 38 mm2 4 0 5 mm2 Input output termi nals Term I0 x to term I3 x Term O0 x to term O3 x Term I4 to term I11 Term O4 to term O11 50 conductor cable wi...

Page 69: ...line supply infeed module Connecting up the line supply infeed module will not be described in any more detail in this documentation The following applies Reader s note Information on connecting up the supply infeed modules technical data as well as an interface overview are included in Reference PJU SIMODRIVE 611 Configuration Manual Drive Converters Chapter Line supply infeed NE There is a 6 pos...

Page 70: ...w DC link P600 M600 DC link IO Busbar Equipment bus X151 Equipment bus IO Ribbon cable 34 pole Voltages various Signals various 1 O Output I Input IO Input output Warning If a contactor is used between the motor and the power module then it must be ensured that this contactor is only switched in a no current condition power circuit Powering down When terminal 663 pulse cancellation is simultaneous...

Page 71: ... drive B 9 19 M24 P24 AS1 AS2 FR IF 75 B 16 B 16 A 75 A AO1 Reference AO2 X411 AO1 AO2 B A B A R A A A A A R A O0 A O1 A O2 A O3 A to X411 to X412 663 FR 15 X421 X431 X34 M DAU1 DAU2 Digital outputs O Output Test sockets Digital inputs I Input Digital outputs O Output Digital inputs I Input Analog outputs External supply Chkb signal Pulse enable Ang incr encoder interface Ang incr encoder interfac...

Page 72: ...it X421 AS1 X421 Signaling contact Start inhibit Feedback signal NC Connector type 2 pin conn strip Max cond cross sect 2 5 mm2 Contact Floating NC contact AS2 X421 Feedback signal from terminal 663 Contact Floating NC contact Contact load capability at 250 VAC max 1 A at 30 VDC max 2 A Relay safe start inhibit AS2 AS1 T 663 T 663 Pulses not enabled T 663 The gating pulses of the power transistors...

Page 73: ...st be taken into account Maximum total current for the control board all 8 outputs 2 4 A for the optional TERMINAL module all 8 outputs 480 mA Example Board module Outputs Dimensioning the external supply Control board 8 max 1 5 A 24 V 1 5 A Control module optional TERMINAL module 8 8 max 1 5 A 280 mA 24 V 1 8 A 9 X431 3 Enable voltage 24 V S Reference Terminal 19 Maximum current for the total gro...

Page 74: ...onnector Note Online operation via the serial RS232 RS485 inter face refer to Chapter 3 3 3 Pin assignment of the interface refer to Chap ter 2 4 Cable diagram refer to Chapter 2 5 Equipment bus X351 X351 Equipment bus IO Ribbon cable 34 pin Voltages various Signals various Test sockets X34 DAU1 Test socket 12 MA Test socket 2 mm Resolution 8 bit DAU2 X34 Test socket 22 MA Resolution 8 bit Voltage...

Page 75: ...41 2 Analog output 22 AO Wiring refer to3 Max conductor cross section for finely stranded or solid conduc tors 0 5 mm2 75 B X441 3 Analog output 12 AO for finely stranded or solid conduc tors 0 5 mm2 Voltage range 10 V to 10 V 16 B X441 4 Analog output 22 AO Voltage range 10 V to 10 V Max current 3 mA Resolution 8 bit 15 X441 5 15 X441 5 Reference electronics ground Resolution 8 bit Update In the ...

Page 76: ...nal level 3 V to 5 V Electrical isolation Ref is T 19 T M24 9 X451 6 9 X452 6 Enable voltage 24 V S Reference Terminal 19 Maximum current for the total group 500 mA Note The enable voltage terminal 9 can be used to supply the enable signals e g controller enable I0 A X451 7 I0 B X452 7 Digital input 02 Fast input 3 e g for equivalent zero mark external block change from SW 3 1 DI Voltage 24 V Typ ...

Page 77: ...Input from SW 3 3 To enter incremental position reference values Output To output incremental position actual values O0 A X461 8 O0 B X462 8 Digital output 02 DO Rated current per output 500 mA Max current per output 600 mA Total current max 2 4 A valid for these 8 outputs Voltage drop typical O1 A X461 9 O1 B X462 9 Digital output 12 DO Voltage drop typical 250 mV at 500 mA Short circuit proof No...

Page 78: ...NAL module IF FR Digital inputs I Input Digital outputs O Output External supply External reference FR Control board Optional TERMINAL module external I6 I7 I8 I5 I4 I9 I10 I11 X422 X432 9 19 M24 P24 663 X431 O6 O7 O8 O5 O4 O9 O10 O11 internal Fig 2 7 Connection diagram for the optional TERMINAL module Connection diagram for the optional TERMINAL module 2 Installing and Connecting Up 01 99 not 611...

Page 79: ...rcuit proof Voltage drop typical 50 mV at 100 mA O7 X432 4 Digital output 73 DO Voltage drop typical 50 mV at 100 mA Electrical isolation Ref is T 19 T M24 O8 X432 5 Digital output 83 DO Electrical isolation Ref is T 19 T M24 Example If all 8 outputs are simultaneously controlled then the O9 X432 6 Digital output 93 DO If all 8 outputs are simultaneously controlled then the following is valid O10 ...

Page 80: ...ROFIBUS DP e g SIMATIC S7 300 DP master DP slave DP slave MPI X423 X423 PG PC CP 5511 or CP 5611 from SW 3 1 Ä Ä Fig 2 8 Connection diagram for the optional PROFIBUS DP module Warning The serial interface X471 and the PROFIBUS DP interface X423 use 9 pin D SUB socket connectors If the cables are interchanged when connecting up this could destroy the module or board of the communications partner Co...

Page 81: ...er optic cables baud rate max 1 5 Mbaud Order No MLFB 6GK1 502 1AA00 80 1 348 74 9 343 R86 R75 18 Optional PROFIBUS DP module Bus connector for copper cables with PG connection OLP optical link plug Bus connector for fiber optic cables Note The dimensions in brackets specify the total depth up to the rear cabinet panel The external shield should be connected through the largest possible surface ar...

Page 82: ...C 7 B 20 C 8 Inner shield 21 D 9 Reserved 22 D 10 EnDat_CLK 23 EnDat_DAT 11 Reserved 24 Inner shield 12 EnDat_CLK 25 Temp 13 Temp Cable Order No MLFB Motor encoder incremental 6FX 002 2CA31 1 0 Motor encoder absolute 6FX2 002 2EQ00 1 0 Motor encoder absolute EnDat 6FX2 002 2EQ10 1 0 Space retainer for the cable type length Motor encoder TTL signal the user does not have to assemble a shielded conn...

Page 83: ...3 Temp Cable Order No MLFB Resolver in the motor 6FX2 002 2CF01 1 0 Space retainer for the cable type length References Z Catalog NC Z Accessories and Equipment Connector type 9 pin D Sub socket connector Table 2 8 Assignment of the serial interface Pin Signal name Pin Signal name 1 RS485 DATA 6 Reserved 2 RS232 TxD 7 RS232 CTS 3 RS232 RxD 8 RS232 RTS 4 Reserved 9 RS485 DATA 5 Ground 0 V Note The ...

Page 84: ...r Table 2 9 Assignment of the PROFIBUS DP interface Pin Signal name Pin Signal name 1 Reserved 6 VP Supply voltage plus P5V 2 Reserved 7 Reserved 3 RxD TxD P Receive send data P B cable 8 RxD TxD N Receive send data N A cable 4 RTS Request To Send 9 Reserved 5 DGND Data reference potential M5V Pin assignment of X423 for the optional PROFIBUS DP module 2 Installing and Connecting Up 01 99 ...

Page 85: ...ce e g COM1 COM2 for PC PG 9 pin D sub skt con 9 pin D Sub plug con 0 1 mm2 Setting the interface to RS232 P0801 0 Fig 2 10 RS232 connecting cable with RTS CTS lines PG PC SIMODRIVE 611 universal SIMODRIVE 611 universal PG PC RxD 2 TxD 3 0 V 5 RTS 7 CTS 8 2 TxD 3 RxD 5 0 V 7 CTS 8 RTS Connection at X471 Connection to a serial interface e g COM1 COM2 for PC PG 9 pin D sub skt con 9 pin D Sub plug c...

Page 86: ...tch interlock on the SIMODRIVE side Fig 2 12 RS232 connecting cable PG SIMODRIVE 611 universal Order no 6FC9 348 2T 00 B Length 5 m C Length 10 m SIMODRIVE 611 universal Note Pins which are not used may not be assigned Connection at X471 9 pin D sub plug 0 1 mm2 1 data 9 data RS232 RS485 interface converter First node SIMODRIVE 611 universal Connection at X471 9 pin D sub plug 1 data 9 data n th n...

Page 87: ...g using the display and operator unit 3 89 3 2 1 Parameterizing mode 3 90 3 2 2 Example Changing a parameter value 3 95 3 3 Parameterizing using the parameterizing and start up tool SimoCom U 3 96 3 3 1 Installing SimoCom U 3 96 3 3 2 Entry into SimoCom U 3 98 3 3 3 Online operation SimoCom U via a serial interface 3 103 3 3 4 Online operation SimoCom U via PROFIBUS DP from SW 3 1 3 109 3 ...

Page 88: ...tion the parameter set of a drive is processed in the RAM of SIMODRIVE 611 universal Offline mode the parameter set is processed in a file on the PG PC SIMODRIVE 611 universal FEPROM non volatile memory Display and operator unit Drive B Para meter set Drive A Para meter set RAM volatile memory Drive B Para meter set Drive A Para meter set Save Switching on POWER ON RESET Serial interface X471 Seri...

Page 89: ...lowing is displayed A1106 or b1106 The parameterizing mode is se lected by pressing any key on the operator unit PLUS MI NUS P key Power on after the first commissioning After power on and error free run up the system goes into cyclic operation and _ _ _ run is displayed Parameterizing mode refer to Chapter 3 2 1 This mode can be selected from Power on mode or Alarm mode The parameterizing mode is...

Page 90: ...ich correspond to the selected authorization level Parameter P0651 is used to define which parameters can be read and written into refer to Chapter 4 5 Value display These parameters can be displayed and handled in the following ways example with A1400 Parameter 1400 from drive A Parameter display Value display P Previous parameter Subsequent parameter Key Key P Key P Fig 3 2 Handling parameters w...

Page 91: ...d value display max 6 positions For these parameters the following display and handling possibilities exist example with A0160 Parameter 0160 from drive A Parameter display P Previous parameter Subsequent parameter P P Value display e g the value 123 456 789 Sub divided into H High part L Low part Display from the 7th position Display up to the 6th position Key Key P Key P Fig 3 4 Handling paramet...

Page 92: ...er display Previous parameter Subsequent parameter P Value display e g the value 123 456 789 P P P Sub divided into H High part L Low part Display from the 7th position Display up to the 6th position Key Key P Key P Fig 3 5 Handling parameters with sub parameter and value display 6 positions Note Examples Display in A081 0H A081 0L P0081 0 123 456 789 mm 123 456 789 P0081 5 3 459 765 mm 3 459 765 ...

Page 93: ...mp to the sub parameter display or to the value display Jump to the next sub parameter num ber or back to the parameter display Jump to the previous sub parameter number or back to the parameter dis play Sub parameter display P Fast scrolling up1 jumps over a maximum of five existing sub parameters parameter display P Fast scrolling down1 jumps over a maximum of five existing sub parameters Jump t...

Page 94: ...numbers are displayed in the following form _ _ _ _ _ 0 to F F F F F F While a parameter value is being displayed the associated parameter or sub parameter number is cyclically displayed every 10 seconds for one second This function can be enabled disabled using P1650 bit 15 P1650 15 0 Cyclic display is active standard 1 Cyclic display is inactive The parameters which are effective after POWER ON ...

Page 95: ...press any key on the operator unit e g P 2 Select drive B Simultaneously press the PLUS and MINUS keys 3 Remove write protection Set P0875 to 4 4 Activate inversion terminals 56 B 14 B Set P0608 to 1 5 Save the parameters in the FEPROM Set P0652 to 1 6 Re activate write protection Set P0875 to 0 Note The analog setpoint via terminal 56 B 14 B is now processed inverted At the next power on after er...

Page 96: ...ing each additional language plus approx 10 MB 1 free serial interface RS232 interface The various software versions are supplied on a CD ROM Further the software is available in the Internet under the following ad dress http www ad siemens de Products Solutions Drive systems Drive converters SIMODRIVE 611 611 universal Downloads The SimoCom U parameterizing and start up tool can be used for vario...

Page 97: ...sult The SimoCom U tool has now been installed in the target direc tory which you selected The tool can e g be started as follows START PROGRAMS SIMOCOMU SimoComU click on selection Note The firmware on the CD can be loaded into the appropriate module using the SimoCom U tool You can un install the SimoCom U parameterizing and start up tool from your PG PC Using the SimoCom U program The SimoCom U...

Page 98: ...ts to think with you If you select a command which is presently not available for a specific reason e g you are offline and wish to move an axis then the program does what you would probably wish it to do It goes online and offers you a list of drives and after the required drive has been selected it opens the traversing window However if you do not wish to do this then you can exit and continue a...

Page 99: ...ed to the test sockets for measurement with an oscilloscope Execute the measuring function It is possible to measure the most important quantities in the closed loop current and speed control loop in the time and frequency domains without having to use external measuring equipment these can then also be graphically displayed Execute the trace function Selected measuring quantities in the drive can...

Page 100: ...redominantly work at the machine then select connect via and the serial interface at your computer Note The parameters displayed via SimoCom U are not cyclically read Examples If a parameter of an open dialog box is changed in online operation using the display and operator unit then this parameter remains frozen in the open dialog box If a first commissioning is executed using the display and ope...

Page 101: ...list All or only the controller data or only the sub parameter set 0 or Furthermore you can search for specific terms with F3 or list search menu e g you can search for temp if you wish to change the temperature warning threshold value Bit coded values Go with the cursor to the line and press F4 or menu List bit values You then obtain a plain text display of the individual bits and can select thes...

Page 102: ...parameters are arranged according to importance 1 Drive configuration here enter which power modules which motors which encoders are used with this drive and in which operating mode the drive is used If this data is changed the controller data is re calculated i e previous changes made to the relevant parameters will be overwritten 2 Basic commissioning here you will find the data which is in most...

Page 103: ...or By pressing key F1 Data for the following dialog boxes can be printed using the print sym bol in the symbol bar Traversing blocks Teach In User parameter list Operating conditions Status parameters Trace function Measurement function Expert list 3 3 3 Online operation SimoCom U via a serial interface The serial interface X471 can be used as RS232 interface or as RS485 interface Used as RS232 in...

Page 104: ...rive is automatically changed Note The RS485 interface can only function for control boards from a certain hardware version onwards refer under the index entry RS485 from HW 1 0802 Drive number for RS485 0 0 31 PO Serial interface X471 In an RS485 group using this parameter each drive must be assigned a unique drive number that is used for addressing 0 The drive is not available in the RS485 group...

Page 105: ...ted a dialog box opens within a few seconds You can then insert the cable into the new drive In the dialog box you can then select whether you wish to re connect or cancel The following should be observed when establishing a communications link 1 Parameter P0801 toggling between RS232 RS485 The parameter must be set to RS485 P0801 0 Recommendation Set or check this parameter using the display and ...

Page 106: ...32 RS485 The parameter must be set to RS485 P0801 1 Recommendation Set or check this parameter using the display and operator panel refer to Chapter 3 2 P0802 drive number for RS485 The drive number for each drive is selected via this parameter 2 Interface converter RS232 RS485 For operation via RS485 a commercially available RS232 RS485 converter is required between the PC and RS485 bus The inter...

Page 107: ... PC and the individual control boards must be realized via an RS232 RS485 converter and the appropriate cabling on the RS485 side so that the drive can go online at any time Assumptions for the example The recommended RS232 RS485 converter is used PC PPI cable Set all of the switches at the converter to 0 The serial interface must be set to RS485 for all drives P0801 1 Setting the drive number P08...

Page 108: ...e A P0802 7 Drive B P0802 8 Terminating resistor out S1 Switch 7 OFF S1 Switch 8 OFF 3rd board Drive A P0801 1 Drive B P0801 1 Drive A P0802 5 Drive B P0802 3 Terminating resistor in S1 Switch 7 ON S1 Switch 8 ON ÇÇ ÇÇ ÇÇ 9 pin plug 9 pin socket 1 9 9 pin plug 1 9 1 9 Ç Ç ÇÇ ÇÇ 3 8 7 2 9 pin socket 9 pin socket Data Data ÇÇ Ç PC PPI cable PG PC 0 V 24 V Terminating resistor 120 Ω Fig 3 10 Communic...

Page 109: ...SIMATIC S7 PC PG MPI PROFIBUS drives If the subsequently listed prerequisites are fulfilled then online oper ation can be established between SimoCom U and all of the drives connected to the bus DP slaves 611U For SimoCom U communications via PROFIBUS DP can be set as follows Options Settings Communications Interface dialog For For Go online connect via set the following PROFIBUS and Direct connec...

Page 110: ...coupling via PCMCIA card Design PCMCIA card type 2 adapter with 9 pin SUB D socket con nector to connect to PROFIBUS Order No MLFB 6GK1551 1AA00 or CP 5611 PROFIBUS coupling through a short PCI card Design Short PCI card with 9 pin SUB D socket to connect to PROFIBUS Order No MLFB 6GK1561 1AA00 CP 5613 PROFIBUS coupling via short PCI card from SW 4 1 Design Short PCI card with 9 pin SUB D socket t...

Page 111: ...Connecting cable Software Driver software and the associated OPC server for the installed Profibus card Configuring software for the OPC server Most OPC server Profibus cards require a bus setting e g baud rate protocol several also require that the existing drives are configured on the bus Note for the reader Please refer to the documentation of the appropriate manufacturer regarding information ...

Page 112: ...on Display all DPV1 OPC Server is selected and an OPC server selected from the selection box located below The OPC servers which are displayed for this particular selection guarantee that the utilities services required by SimComU as described in the software prerequi sites are provided If the required OPC server is not listed but the required utilities services are however available then the butt...

Page 113: ... 1 DP slave 611U Assumptions 2 axis board P0918 node address 15 PROFIBUS DP SIMATIC S7 300 CPU S7 315 2 DP DP slave 611U Assumptions 1 axis board P0918 node address 16 DP slave 611U Assumptions 2 axis board P0918 node address 17 ÄÄ ÄÄ X423 X423 X423 Parameterizing and start up tool SimoCom U PG PC Setup exe PROFIBUS card Fig 3 11 SimoCom U via PROFIBUS example with 3 control boards Example SimoCom...

Page 114: ...ing using the parameterizing and start up tool SimoCom U 3 114 Siemens AG 2005 All Rights Reserved SIMODRIVE 611 universal Description of Functions FBU 04 05 Edition 3 Parameterizing the Board 01 99 Space for your notes ...

Page 115: ...mization steps 1 to 4 4 148 4 8 Permanent magnet synchronous motor with field weakening PE spindle 4 153 4 8 1 Description 4 153 4 8 2 Commissioning 1FE1 motors 4 155 4 8 3 Current controller adaptation 4 160 4 8 4 Parameters for PE spindles 4 163 4 9 1FW6 build in torque motors from SW 6 1 4 165 4 9 1 Description 4 165 4 9 2 Commissioning 1FW6 motors 4 167 4 9 3 Thermal motor protection 4 168 4 1...

Page 116: ...g data set can be transferred to the control board via the SimoCom U tool refer to Chapter 4 3 2 Examples Several systems having the same configuration and functions are to be commissioned For the first system a first commissioning must be executed and for additional systems a series commissioning Replacing a control board Note SimoCom U is a start up tool for qualified commissioning personnel Sim...

Page 117: ...onents that we supplied and to also guarantee a high availability when used in conjunction with your product Observe all of the ESD measures when handling components All screws are tightened to the correct torque Pay special attention to the DC link bolt connections 1 8 Nm torque All connectors are correctly attached and locked screwed in place Screw the control components into the power module Ob...

Page 118: ...e Converters Caution Generally the following is valid Before powering up or down using the main switch or a line contactor terminal 63 pulse enable and or terminal 48 start terminal contactor control must be de energized or disconnected at the supply infeed module NE module Otherwise there is a danger that the line supply infeed module will be destroyed In order that the optional PROFIBUS module c...

Page 119: ...ollow ing is displayed _ _ _ run Reader s note Information regarding fault error handling and diagnostics is provided in Chapter 7 The red LED is bright approx 2 s Already commissioned no yes Power up the SIMODRIVE 611 universal Run up starts Carry out commissioning e g specify the power module motor encoder etc refer to Chapter 4 3 1 or Chapter 3 2 1 _ _ _ r u n is displayed The red LED is dark R...

Page 120: ... the system with SIMODRIVE 611 universal can be commissioned 2 The checklist for commissioning according to Chapter 4 1 has been checked 3 The SimoCom U tool is installed on the PC PG which is to be used to commission the drive 4 There is a connecting cable between the PG PC and the control board e g RS232 connecting cable refer to Chapter 2 5 5 The PC PG with SimoCom U is connected to the control...

Page 121: ...ls the drive the existing configuration power mo dule motor etc No Press re configure drive button This adapts the control board to the present configuration power module motor etc 4 Execute the drive configuration and at the end press the Calculate controller data save reset button 5 Carry out basic commissioning Set the Drive and dialog browser lefthand window to Parameter To do this press the P...

Page 122: ...line drives in the Start up menu and select Drive A in the selection box Is the start up required window displayed Yes Click on the Load parameter file into the drive button After you have selected the required parameter file for drive A and have pressed open the file is downloaded into drive A No Click on the menu File Load into drive Load and save in the drive After you have selected the require...

Page 123: ...not necessary to do the following Open files Downloading files into a drive The password must only be entered if the protected functions are to be accessed in the file or in the drive SimoCom U allows the password function to be copied between sev eral drives Note The function Password protection only functions with a SimoCom U parameterizing and start up tool version 8 1 Proceed as follows when s...

Page 124: ...ator masks menu items can be protected or enabled The following safety relevant functions are set as default values Expert list Load to drive Reconfigure drive Establish the standard values of the current drive configuration Upgrade firmware User parameter list The drive inhibits write access operations via SimoCom U Version 8 1 and outputs a warning In order to be able to change the drive in any ...

Page 125: ...ot be accessed if the password was not entered 5 If the password was incorrectly entered five times in a row then SimoCom U must be re started before the password can be re entered The drive must be deleted using delete drive configuration or boot board This deletes the complete parameterization Note Before activating password protection using SimoCom U we recommend that the functioning configurat...

Page 126: ...that they match a specified drive configuration It is necessary that SimoCom U was installed however the ap plication may not run while changing or running the registry file 1 Edit the reg file and carry out the settings refer to Fig 4 2 If you wish to only change the file names the path or the PROFIBUS address then the settings are also possible via SimoCom U without using the reg files Using the...

Page 127: ...key 4 A display window shows the firmware being downloaded A drive reset is requested once the download has been successfully completed Acknowledge this using the Enter key 5 Wait until the drive is again online and then check that the system is correctly operating Then close SimoCom U key combination CTRL ALT Shift F12 Note In order to upgrade or downgrade several drives you will require reg file...

Page 128: ... 4 no yes Press the and keys simultaneously up to b0659 Press the key up to b1106 in the display Execute the hardware configuration 1 Axxxx bxxxx Parameters drive A B 2 Only set if there is no automatic power module identification available refer to Chapter 4 6 3 The parameter value is changed using these keys 4 If drive B is not used then b0700 0 drive B inactive and b0659 0 1 boot 5 Set the PROF...

Page 129: ... optimization Values changed no yes Remove write protection P0651 4 1 2 _ _ _ run is displayed cyclic operation no End cyclic operation continue on the next page from the previous page Write into the FEPROM P0652 1 and wait until writing has been completed P0652 0 Save the parameters in the FEPROM Is an unlisted motor being used Unlisted motor refer under the index entry Unlisted motor what is one...

Page 130: ...ove write protection P0651 1 0 Enter the rating plate data type Calculate unlisted motor set P1082 to 1 Enter the motor code P1102 99 Calculate the equivalent circuit diagram data set P1081 to 1 Are the equivalent circuit diagram data known Fig 4 5 Commissioning using the display and operator unit Part 3 of 3 Reader s note What is an unlisted motor A motor which is not defined using a motor code n...

Page 131: ...2 1 Carry out HW POWER ON RESET After run up the board status when originally supplied is re established 0651 Read and write protection 0 0 10 hex Immedi ately This defines which parameters can be read visible or can be written into 0 Parameters for standard commissioning operator prompting can be read 1 Parameters for standard commissioning operating prompting can be read and writ ten into 2 All ...

Page 132: ...1080 Calculate controller data 0 0 1 Immedi ately Using this function suitable settings for the control parameters are calculated from the motor parameters and several other parameters 0 1 The controller data is being calculated the function is active 0 Function inactive or exited error free Note Recommendation Execute this function with SimoCom U as the calculated parameters are then displayed an...

Page 133: ...s not permissible pole pair number 56 Warning Speed at the start of field weakening P1142 Rated motor speed P1400 57 The function is only only permissible for unlisted motors P1102 99 1082 Calculate unlisted motor 0 0 1 Immedi ately the Calculate unlisted motor function is started Parameters P1105 only SRM P1147 P1241 P1401 are pre assigned the Calculate controller data function executed and the a...

Page 134: ...changeover 9 Parameterized maximum speed is too low for the measurement 11 Changeover speed open loop closed loop control is too high P1466 12 Speed range too low P1466 or P1160 too high 13 Ramp function generator enable missing 14 Open loop torque controlled mode is selected 15 Motor data optimization for the listed motor not permissible from SW 3 3 16 Excessively high current results in limiting...

Page 135: ...enable signals present motoring All enable signals present generating O1 x Ramp up completed O2 x nact nmin O0 x Ready or no fault O3 x Motor temperature pre warning Freely parameterizable output terminals standard assignment for n set V Hz operation Positioning mode Setpoint enable missing STW1 6 Power on inhibit present Inverter enable missing STW1 3 ON OFF 1 missing STW1 0 Enable OFF 2 missing ...

Page 136: ...ters are available for diagnostics P0653 Image input signals Part 1 P0654 Image input signals Part 2 P0655 Image input signals Part 3 from SW 3 3 P0656 Image output signals Part 1 P0657 Image output signals Part 2 P0658 Image output signals Part 3 P0678 Image of the input terminals P0698 Image of the output terminals Additional parameters for diagnostics refer to Chapter A 1 4 Commissioning 05 00 ...

Page 137: ...t power module code or motor code Incorrect motor data Inverter clock frequency or current controller gain too high Procedure when first commissioning an unlisted motor also refer to Chapter 3 2 1 Select unlisted motor e g synchronous or induction motor Enter all of the rating plate data and if known all of the equivalent circuit diagram data The equivalent circuit diagram data can also be calcula...

Page 138: ...or rotating synchronous motors SRM refer to Chapter A 3 1 for permanent magnet synchronous motors with field weakening 1FE1 motor PE spindle from SW 3 1 refer to Chapter A 3 2 for linear synchronous motors SLM refer to Chapter A 3 4 for induction motors ARM refer to Chapter A 3 5 At the first commissioning and at each POWER ON the motor data are pre assigned according to the entered motor code Exc...

Page 139: ...Chapter 6 1 In this mode the drive can be operated in the following operating states closed loop speed controlled mode nset mode open loop torque controlled mode Mset mode torque reduction MRed 2 External position reference value from SW 3 3 No longer available from SW 4 1 Select the positioning mode 3 Positioning from SW 2 1 refer to Chapter 6 2 Traversing blocks can be selected and executed in t...

Page 140: ...32 128 31 25 µs PO 1010 Interpolation clock cycle 64 128 640 31 25 µs PO The clock cycles are derived from the basic hardware clock cycle 31 25 µs When changing the clock cycles the data in the following tables and the associated limitations must be observed Current Speed Position Interpolation ctr clk cycle ctr clk cycle ctr clk cycle clock cycle P1000 P1001 P1009 P1010 4 125 µs 4 125 µs 32 1 ms ...

Page 141: ...ation is less than MSD oper ation with encoder a speed torque frequency pre control is imple mented to improve the control dynamic performance This pre control is only active in induction motor operation It pre con trols with information about the drive torque taking into account the existing torque and current limits and the load motor P1117 load P1123 8 from SW 2 4 the torque required for a part...

Page 142: ...63 terminal 63 or internally canceling the pulses when faults are present there is no motor speed data The computed speed actual value is then set to zero Thus all of the speed actual value signals speed actual value messages and output signals nact nmin ramp function generator ended nact nx nset nact are no longer reliable The IM function allows the control characteristic to be changed over onlin...

Page 143: ... operation is selected only drive converter frequencies P1100 of 4 or 8 kHz are permissible Reference PJU SIMODRIVE 611 Configuration Manual Drive Converters Chapter Power modules The actual operating status of the drive is displayed in P0600 oper ating display refer to Chapter 4 5 When high speed special motors are used or other low leakage induc tion motors a series reactor may be required to en...

Page 144: ...y knows the rating plate data manufacturer s data according to DIN VDE 0530 Part 1 of the motor The Calculate equivalent circuit diagram data function can be used to calculate other motor data The result of the calculation is merely an approximate estimate The motor data optimization is used to improve the result When optimizing the motor data voltage current and speed setpoint patterns are output...

Page 145: ...f ON Establish the boot state Carry out the hardware configuration parameter list refer to Chapter A 1 1 only if not automatically identified 1 Enter the power module code number1 P1106 Enter the motor code number P1102 99 Enter the encoder code number P1006 98 no encoder Define the operating mode P0700 Boot set P0659 to 1 continue on the next page End cyclic operation 2 2 Is the E displayed flash...

Page 146: ...no yes no Are the equivalent circuit diagram data known Calculate unlisted motor P1082 1 Optimize the motor data steps 1 to 4 refer to Chapter 4 7 3 Calculate unlisted motor P1082 1 Save to FEPROM P0652 1 Execute POWER ON RESET 1 from the previous page P1103 Rated motor current P1119 Inductance series reactor P1129 cos ϕ power factor P1130 Rated motor output P1132 Rated motor voltage P1134 Rated m...

Page 147: ... P1417 8 nx for nact nx signal P1418 8 nmin for nact nmin signal P1426 8 Tolerance bandwidth for nset nact signal P1427 Delay time nset nact signal P1428 Threshold torque Mdx P1429 Delay time Md Mdx signal P1230 8 1st torque limit P1235 8 1st power limit P1458 Current setpoint open loop controlled range IM P1459 Torque smoothing time constant IM P1465 Changeover speed IM P1466 Changeover speed ope...

Page 148: ...cted a menu is displayed in which the following optimization steps can be selected one after another from the Settings selection box These optimizing steps can be started using the Start button 1 Step 1 Determining the resistances and reactances 2 Step 2 Finely defining the no load current magnetizing field reac tance 3 Step 3 Determining the speed at the start of field weakening 4 Step 4 Determin...

Page 149: ...the no load voltage is present at the motor terminals Danger The motor is accelerated with a positive rotating field up to the rated speed Note If the speed actual value is not steady resolver toothed wheel encoder it cannot be guaranteed that this commissioning step is correctly executed the setting takes too long Remedy Set the speed actual value smoothing P1522 to min 1 ms The step is executed ...

Page 150: ...ield the speed is limited to the currently effective limit Note If the speed actual value is not steady resolver toothed wheel encoder it cannot be guaranteed that this commissioning step is correctly executed the setting takes too long Remedy Set the speed actual value smoothing P1522 to min 1 ms The step is executed as follows 1 Select the step P1083 3 2 Start the step P1084 1 P1084 1 The step w...

Page 151: ...e distribution between P1117 and P1123 8 parameter set independent and dependent Danger The motor is accelerated with a positive field direction of rotation up to the maximum speed along the torque limit The step is executed as follows 1 Select the step P1083 4 2 Start the step P1084 1 P1084 1 The step was started and is running it can be exited with P1084 0 P1084 1 0 The step was successfully com...

Page 152: ... accept a higher load torque the motor current in this range can be in creased using P1458 Note This is entered as a percentage of the rated motor current P1103 The current is limited to 90 of the current limit value P1238 1459 Torque smoothing time constant AM ARM 0 0 4 0 100 0 ms Imme diately the pre control value for the torque is smoothed initial rounding off Note In IM operation a speed torqu...

Page 153: ... poses the field This is similar to field weakening for induction motors The advantages of permanent magnet spindles in comparison to in duction motors are Extremely low power loss in the rotor low bearing temperature Higher torque for the same active part dimensions more compact machine design Shorter accelerating times with the same moment of inertia Improved efficiency Favorable Cos ϕ it may be...

Page 154: ... in motor 4 pole series especially suitable for high speeds 6 pole series especially suitable for high torque A VP module VPM is required depending on the EMF rotor voltage VPM Voltage Protection Module Maximum speed up to 16 000 RPM Maximum torque up to 310 Nm depending on the frame size Encoder system integrated encoder Hollow shaft measuring systems with sin cos 1 Vpp e g SIZAG 2 or SIMAG H The...

Page 155: ...ot have a motor code refer to Chapter A 3 2 When commissioning the data of the motor used must be avail able and must be manually entered The data required can be found in the table under the index entry Unlisted motor parameters for PE spindle Are the motor and encoder already mounted and ready to be pow ered up 1FE1 motors are commissioned using the SimoCom U parameterizing and start up tool as ...

Page 156: ...current A rms 1122 Motor limiting current as for P1104 A rms 1128 Optimum load angle from SW 3 3 Degrees 1146 Maximum motor speed RPM 1149 Reluctance torque constant from SW 3 3 mH 1180 Lower current limit adaptation 0 1181 Upper current limit adaptation 30 1182 Current controller data factor 30 1400 Rated motor speed RPM Measuring system encoder dialog box Field Which motor measuring system are y...

Page 157: ...n ing RPM 1015 Activate PE MSD 1 Activated 0 De acti vated Execute the calculate controller data function After this the controller data is pre assigned PE specific Save the parameters in the FEPROM Carry out a POWER ON RESET Note This completes the basic commissioning The motor can be operated with these settings After this first commissioning for reasons of accuracy the rotor position identifica...

Page 158: ...ult e g fault 608 If the control sense or encoder pulse number P1005 is incorrect correct P1005 and execute a POWER ON RESET P1146 and P1147 Re enter the old parameter values 2 Additional possibilities to identify the rotor position determine the angular commutation offset Incremental measuring system with zero mark Set P1011 12 1 Carry out a HW RESET Set P1017 0 1 Switch in the pulse and controll...

Page 159: ...ar commutation offset can be re determined For an incremental measuring system as for Point 2 determining the angular commutation off set For an absolute measuring system Power down the drive POWER ON RESET Power up the drive with the pulse or controller enable signals switched out Set P1017 0 to 1 Switch in the pulse and enable signals The angular offset is automatically entered into P1016 Fault ...

Page 160: ...ler adaptation different current set point steps are entered via the SimoCom U parameterizing and start up tool using the measuring function The appropriate step response is then evaluated current actual value torque actual value The adaptation characteristic for the P gain Kp of the current controller should be set over the complete current Iq so that the controller is opti mally set at each curr...

Page 161: ...2 offset 100 Check the constant adaptation characteristic range at Iq 100 Step response OK P1182 is correct Not OK Increase decrease P1182 Objective Optimum transient response refer to Fig 4 11 left 3 Current setpoint input 2 amplitude 30 20 10 5 offset Check the transition point and the gradient of the adaptation charac teristic at Iq 30 20 10 Step response OK P1181 is correct Not OK Increase dec...

Page 162: ...0 0 100 0 Immedi ately The P gain of the current control KP P1120 can be reduced depending on the current using the controller adaptation The adaptation characteristic is defined using P1180 P1181 and P1182 The following value pairs are obtained First value pair P1180 100 Second value pair P1181 P1182 P1182 P1120 P1180 P1181 Iq Id Proportional gain Kp without adaptation with adaptation Constant lo...

Page 163: ... reaches a maximum value at 150 rated current Note Refer to P1149 reluctance torque constant Synchronous motors without rotors that are symmetrical around their rotational axis e g 1FE motors Operation with reluctance torque P1128 and P1149 not equal to the standard value Operation without reluctance torque P1128 and P1149 equal to the standard value 1136 Motor short circuit current 0 0 0 0 500 0 ...

Page 164: ...4 Voltage constant n P1142 Speed at the start of field weakening Id P1136 Motor locked rotor current Id Field generating current 1145 Stall standstill torque reduction factor 5 0 100 0 1000 0 Immedi ately 1149 Reluctance torque constant SRM 0 0 0 0 300 0 mH Immedi ately For synchronous motors that have rotors that are not symmetrical around the rotational axis the additional reluctance torque can ...

Page 165: ...pped holes which allow them to be integrated into a ma chine The motors distinguish themselves as follows Extremely high power density High torque with a compact design and low envelope dimensions Wide range of types High overload capability factor 1 8 2 0 Low moment of inertia High degree of availability as there are no gearbox components in the mechanical drive transmission line which are subjec...

Page 166: ...ameter Encoder system Absolute incremental encoder with EnDat e g RCN 723 Heidenhain Incremental encoder 1Vpp e g RON 786 Heidenhain Min encoder pulse number zmin 2048 Max encoder pulse number zmax 65535 The prerequisites are as follows Control board SIMODRIVE 611 universal encoder interpolation depends on the number of pulses of the incremental encoder Build in torque motors should be set up as f...

Page 167: ...refer to Chapter A 3 3 When commissioning the motor used is selected from a list Unlisted motor The motor is not included in the list of permanent magnet synchronous motor without field weakening and also does not have a motor code refer to Chapter A 3 3 When commissioning the data of the motor used must be avail able and must be manually entered The necessary data is listed in the table under the...

Page 168: ...egrees Motion based technique from SW 6 1 This technique does not cause the rotor to move which means that it can also be used for axes which are locked e g using a brake Depending on the actual mechanical design this can result in a higher noise level when the axis is powered up during the identi fication routine The measuring system must be very stiffly mounted if this technique is used 4 9 3 Th...

Page 169: ...1 3 Reader s note Detailed information on linear motors encoders and power connection configuring and mounting are provided in Reference PJLM Configuration Manual 1FN1 1FN3 Linear Motors Manufacturers Service Documentation The following checks can be made 1 linear motors Which linear motor is being used Is the motor in the list refer to Chapter A 3 4 Yes Which 1FN _ _ _ _ _ _ _ _ _ _ _ _ _ No Is t...

Page 170: ...ssembly 3 Measuring system refer to Chapter 4 10 6 Which measuring system is being used _ _ _ _ _ _ _ _ _ _ _ _ Absolute or incremental abs incr Grid spacing _ _ _ _ _ _ _ _ _ _ µm Zero marks number and position _ _ _ _ _ _ _ _ _ _ _ _ Which is the positive drive direction refer to Chapter 4 10 6 Which is the positive counting direction of the measuring system Invert P1011 0 yes no 4 Connecting up...

Page 171: ...he connection system CON Temperature sensor evaluation refer to Chapter 4 10 5 Reader s note Section General information on the connection system CON in Reference PJLM Configuration Manual 1FN1 1FN3 Linear Motors 5 Measuring system cable Is the measuring system cable inserted at X411 X412 or at the adapter connector of the temperature sensor coupling cable Danger Presently the connection does not ...

Page 172: ...ne operation Operator action e g with Commissioning search for online drives 2 Configure the drive Generally the following is valid You can reach the next or the previous dialog box by pressing next or back Drive name dialog box Power module dialog box only if it is not automatically identi fied Motor selection dialog box Is the linear motor included in the list of linear motors Motor field Motor ...

Page 173: ...arks in the traversing range Incremental no zero mark An incremental measuring system is used without any zero marks in the traversing range Absolute EnDat An absolute measuring system EnDat is used Speed actual value inversion The inversion must be set as was already determined under Check in the no current status Grid spacing The grid spacing should be set as was already entered in the check in ...

Page 174: ...Monitoring on 4 Reduce the maximum motor current for safety reasons P1105 maximum motor current e g enter 20 Danger Linear drives can achieve significantly higher rates of acceleration and velocities than conventional drives The traversing range must always be kept clear in order to avoid any potential danger for man or machine 5 Determine the angular commutation offset The angular commutation off...

Page 175: ...ance coded reference marks END A zero mark is not selected and an angular commutation offset is not transferred One zero mark Set P1017 commissioning to 1 Move the axis over the zero mark jogging When the zero mark is passed the angular commutation offset is automatically entered into P1016 Alarm 799 is displayed Save parameters and carry out a POWER ON RESET START Hall sensor boxes used No Yes At...

Page 176: ...edge alarm 604 The angular commutation offset is automatically entered into P1016 Alarm 799 is displayed START If the EnDat serial number read from the measuring system is not equal to P1025 then P1017 is not set and Alarm 604 is displayed motor encoder is not adjusted Limitations for motion based rotor position identification fulfilled Yes limitations fulfilled P1075 must be set to 3 No limitatio...

Page 177: ...hether it involves an unlisted or SIEMENS motor 6 Traverse the axis and check that it is functioning correctly Traversing in the closed loop speed controlled mode When a speed setpoint is entered does the axis traverse correctly Yes Set the rotor position identification Point 10 No longer reduce the maximum current set P1105 to 100 Optimize the current and speed controllers refer to Chapter 6 1 4 ...

Page 178: ... follows Start the test function several times and evaluate the difference Start Set P1736 test rotor position identification to 1 Difference P1737 difference rotor position identification _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Is the spread of the measured values less than 10 degrees elec trical Yes OK No Increase P1019 e g by 10 and repeat the measurements If OK after having repeated the measur...

Page 179: ...of motor 1 and motor 2 is less than 10 degrees electrical both motors can be con nected in parallel to the drive and commissioned as a parallel circuit configuration of 2 linear motors e g 2 1FN1xxx Linear motors connected in parallel are commissioned as follows 1 Disconnect the parallel circuit Only connect motor 1 to the power module 2 Commission motor 1 as a single motor Observe the information...

Page 180: ...ation offset of motor 2 P1016 motor 2 _ _ _ _ _ _ _ _ degrees electrical 11 Deviation between Point 4 motor 1 and Point 10 motor 2 if 10 degrees OK If 10 degrees Check and correct the mechanical arrangement refer to Chapter 4 10 4 and 4 10 7 or Carry out a check by making the appropriate measurements refer to Chapter 4 10 8 12 Delete the drive configuration Operator action Options Service Delete d...

Page 181: ...correct the motor cable connection at the power module and determine the angular commutation offset For an incremental measuring system as for Chapter 4 10 2 Point 5 determining the angular com mutation offset For an absolute measuring system Power down the drive POWER ON RESET Power up the drive with the pulse or controller enable signals switched out Set P1017 0 to 1 Switch in the pulse and enab...

Page 182: ...ir gap which can be measured when it comes to maintaining the electrical and system related characteristics of the linear motor The air gap must be large enough so that the motor can freely move Thermal insulation strips e1 e2 l ÖÖÖÖÖÖÖÖÖÖÖÖÖÖÖ ÖÖÖÖÖÖÖÖÖÖÖÖÖÖÖ ÖÖÖÖÖÖÖÖÖÖÖÖÖÖÖ ÖÖÖÖÖÖÖÖÖÖÖÖÖÖÖ b Fig 4 14 Important dimensions when mounting 1FN1 motors Table 4 10 Important mounting dimensions and air ...

Page 183: ...ithout precision cooler with secondary section cooler mm mm mm hM1 mm hM2 mm hM3 mm hM4 mm mm mm mm hM1 mm hM2 mm hM3 mm hM4 mm 1FN3 050 1FN3 100 0 3 0 9 1 3 63 4 60 4 48 5 51 5 1FN3 150 0 3 0 9 1 3 65 4 62 4 50 5 53 5 1FN3 300 0 3 0 9 1 3 79 0 76 0 64 1 67 1 1FN3 450 0 3 0 9 1 3 81 0 78 0 66 1 69 1 1FN3 600 0 3 0 9 1 3 86 0 76 0 64 1 67 1 1FN3 900 0 3 0 9 1 3 88 0 78 0 66 1 69 1 After mounting th...

Page 184: ...ether At least one Temp_S must be used for the motor overtemperature protection The circuit and connection system for Temp F and Temp S are de scribed in detail in Reader s note Section General information on the connection system CON in Reference PJLM Configuration Manual 1FN1 1FN3 Linear Motors Danger The circuits of Temp F and Temp S neither have protective separation between each other nor to ...

Page 185: ...carries out an additional high voltage check the cable ends of the Temp F should be short circuited before the check If the test voltage is connected to the temperature sensors it will destroy them When connecting up Temp F please observe the polarity 2 0 1 0 200 100 ϑU C ID 2 mA R kΩ Fig 4 16 Characteristic temperature sensor Temp F Note The temperature sensor Temp F only evaluates the winding te...

Page 186: ...40 C Switch in temperature approx 70 C approx 70 C Tolerance switch in tempera ture 20 C 20 C Tolerance shutdown temper ature 5 C 5 C Temp S can be connected to the PLC through a series resistor 20 Ω RV 100 Ω via a 3RN1013 1BW10 thermistor motor protection device The series resistor is required in the sensor circuit due to the short cir cuit detection function which is integrated in the 3RN1013 1B...

Page 187: ...h 3RN1013 1BW10 thermistor motor protection device total resistance when cold 1 5 kΩ Note For protective separation it is not permissible to connect Temp S to the PLC or at the encoder connector X411 X412 of the SIMODRIVE power module without using a 3RN1013 1BW10 thermistor motor protective device When handling and connecting Temp F it must be assumed that when the drive is powered up there are h...

Page 188: ...r to the definition in Fig 4 17 then the velocity actual value must also count in the positive direction The direction of the drive is positive if the primary section moves rela tive to the secondary section in the opposite direction to the cable out let direction ÖÖÖÖÖÖÖÖÖÖÖÖÖÖÖÖÖÖÖ ÖÖÖÖÖÖÖÖÖÖÖÖÖÖÖÖÖÖÖ Secondary section magnets ÖÖÖÖÖÖÖÖÖÖÖÖÖÖÖÖÖÖÖ Secondary section magnets Primary section Cable o...

Page 189: ...ts signal marshaling Signal Cable color Round connec tor connected to color connec tor 12 pin 5 V 0 V BID Black Pin 9 Reference mark in both directions Reference mark in one direction DIR Orange Pin 7 Positive directions Negative direction 5 V Brown Pin 12 0 V White Pin 10 The counting direction of the measuring system is positive if the sensor head moves relative to the gold band in the cable out...

Page 190: ...ader Reader s note Section General information on the connection system CON in Reference PJLM Configuration Manual 1FN1 1FN3 Linear Motors If an incremental measuring system is used the drive is roughly syn chronized using the rotor position identification Warning When connecting up the temperature monitoring circuits carefully observe the specifications relating to protective separation DIN EN 50...

Page 191: ...ific grid in order to achieve a matching electrical phase position Additional data refer to Reference PJLM SIMODRIVE Configuration Manual 1FN1 1FN3 Linear Motors The temperature sensors can be evaluated for example as follows Temperature sensor Motor 1 Evaluated by the drive Motor 2 Not connected short circuited and connected with PE Temperature switch Motor 1 and 2 Evaluated by a PLC Reader s not...

Page 192: ...il the DC link has been discharged Disconnect the power cables at the drive If primary sections are connected in parallel please disconnect Form an artificial neutral point using 1 kOhm resistors U V W 1 kΩ Linear motors EMF_U 1 kΩ 1 kΩ EMF_W EMF_V Fig 4 20 Configuration for making the measurements For a positive traversing direction the phase sequence must be U V W The direction of the drive is t...

Page 193: ... the drive evalu ates both measuring systems as follows Motor encoder drive A IM at X411 for the closed loop speed control of the axis for the coarse synchronization of the axis rotor position Direct measuring system DM for drive A at X412 for the closed loop position control and precise position sensing of axis A Advantage The actual position of the axis is sensed using a direct measuring system ...

Page 194: ...resolver the following rotary or linear measuring systems can be connected at X412 Incremental encoder with sin cos 1 Vpp Absolute value encoder with EnDat protocol Resolver with any pole pair number 4 Process data for the direct measuring system The actual values of the position controller can be read via status word XistP 5 The direct measuring system function is activated with P0250 A 1 The fol...

Page 195: ...is activated P0250 1 However parameters P0892 and P0893 are not effective for the angular incremental encoder interface B Interface Output signals Ang incr enc interf A Signals of the motor meas system Ang incr enc interf B Signals of the direct 7 Direction adaptation for direct measuring systems P0231 Position act value inversion P0232 Position ref value inversion 8 You can toggle between the ind...

Page 196: ...s system IM1 motor encoder Direct measuring system DM2 Parameters Parameters No Name No Name 0250 Activates the direct measuring system only possible for drive A 1005 IM encoder pulse number 1007 DM encoder pulse number 1006 IM encoder code number 1036 DM encoder code number 1008 IM encoder phase error correction 1011 IM configuration actual value sensing 1030 DM configuration actual value sensing...

Page 197: ...e refer to Chapter 2 4 Encoder cable Users must assemble these themselves Max cable length 50 m Note If an induction motor with TTL encoder is connected to SIMODRIVE 611 universal HR then it is not permissible that the angular incremental encoder interface is used as output Warning If individual or several signals of the encoder are short circuited or interrupted under certain circumstances it is ...

Page 198: ... 4 12 Connecting induction motors with TTL encoder from SW 8 1 4 198 Siemens AG 2005 All Rights Reserved SIMODRIVE 611 universal Description of Functions FBU 04 05 Edition 4 Commissioning Space for your notes ...

Page 199: ... 6 6 Defining the process data according to the PPO type 5 270 5 6 7 Parameter area PKW area 5 273 5 7 Settings at the PROFIBUS DP master 5 281 5 7 1 Master device file and configuring 5 281 5 7 2 Commissioning 5 285 5 7 3 Diagnostics and troubleshooting 5 289 5 8 Motion Control with PROFIBUS DP from SW 3 1 5 293 5 8 1 Equidistant DP cycle operation in the n set mode 5 295 5 8 2 Equidistant DP cyc...

Page 200: ...chronous operation a new cycle is started with the set Tp clock cycle refer to Chapter 5 2 Slave to slave communications Fast distributed data transfer between drives slaves is possible using the slave to slave communications function without in volving the master refer to Chapter 5 10 Non cyclic communications Access to the drive parameters Parameterization using the SimoCom U tool refer to Chapt...

Page 201: ...lication functions on PROFI BUS DP The PROFIdrive Profile provides a total of 6 different application classes SIMODRIVE 611 universal is in conformance with the profile for application Class 1 and from SW 6 1 application Class 4 The following functional scope has been implemented corresponding to the directive PROFIdrive V3 1 2002 Clock cycle synchronous operation Configuring a telegram Encoder in...

Page 202: ... bus nodes These devices may only receive acknowledge and transfer mes sages to a master when so requested Reader s note The SIMODRIVE 611 universal control board with the optional PROFIBUS DP module is a slave on the fieldbus In the following text this slave is designated the DP slave 611U PROFIBUS supports data transfer according to RS485 and also data transfer using fiber optic cable The DP Sla...

Page 203: ...ions are also used for parameterization diagnostics and fault error handling during cyclic data transfer with drives Additional PROFIBUS nodes Field bus DP slave 611U DP master Other slaves Fig 5 1 Data transfer via PROFIBUS All of the word and double word formats used are transferred in the Big Endian format i e the high byte or high word is transferred before the low byte or low word The communi...

Page 204: ...ter channel PNO Directive PROFIdrive Profile Variable Speed Drives Cyclic data transfer PZD part Non cyclic data transfer PKW part Non cyclic data transfer DPV1 parameter channel S7 protocol data transfer protocol DP master Class 1 PLC e g SIMATIC S7 DP Master Class 2 e g OP17 HMI DP slave 611U PROFIBUS DP RS232 RS485 PG PC PG PC DP master Class 2 PG PC with SimoCom U S7 protocol DPV1 PG PC DP mas...

Page 205: ...he terminal and PROFIBUS signals is de scribed in Chapter 5 4 Yellow green Alternating flashing light PROFIBUS DP fieldbus To other nodes To other nodes Optional PROFIBUS DP module SIMODRIVE 611 universal control board with optional PROFIBUS DP module 9 pin D sub socket Retaining screws Two color LEDs for diagnostics and troubleshooting refer to Chapter 5 7 3 System connector off Red Steady light ...

Page 206: ...d actual values responses drive master When the bus system is commissioned the master defines which PPO type is used to address a drive The DP slave 611U is automatically signaled the selected PPO TYPE at run up via the configuration tele gram With cyclic data transfer setpoints and actual values are transferred one after the other between the master and its associated slaves in a cycle For standa...

Page 207: ...rocess data objects PPO types Net data PKW Refer to Chapter 5 6 7 PZD In closed loop speed controlled operation refer to Chapter 5 6 6 In the positioning mode refer to Chapter 5 6 6 PKE IND PWE PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6 PZD 7 PZD 8 PZD 9 PZD 10 1st word 2nd word 3rd word 4th word 1st word 2nd word 3rd word 4th word 5th word 6th word 7th word 8th word 9th word 10th word PPO1 PPO2 PPO3 PPO...

Page 208: ...lass 1 and Class 2 Read parameters Write parameters Master Class 1 Fig 5 5 Overview parameter access operations for PROFIdrive Note Every parameter is allocated a parameter number Profile specific parameters are defined for the ranges decimal 900 to 999 and are reserved from decimal 60000 to 65535 In order to remain compatible to previous parameter assignments when accessing via the DPV1 parameter...

Page 209: ...individ ual fields is defined and documented in the PROFIdrive profile When reading and writing parameters that depending on the current configuring of the drive are not valid e g P1083 is only valid for in duction motors however a synchronous motor is configured then the Siemens specific DPV1 error code 0x65 parameter presently de acti vated is output Values of signal parameters 50000 type parame...

Page 210: ...ransfer parameters via the S7 protocol For this type of communication the S7 protocols link to DPV1 From SW 4 1 data can be transferred using the SIMATIC Operator Panel SIMATIC OP to SIMODRIVE 611 universal via the PROFIBUS DP DP slave 611U DP master Class 1 PLC e g SIMATIC S7 DP master Class 2 e g TP170B PROFIBUS DP S7 protocol DPV1 SIMATIC OP Fig 5 6 Communications SIMATIC OP SIMODRIVE 611 unive...

Page 211: ...r_OP parameter number_611U 10000 Data word_OP sub parameter_611U Parameterization in the SIMODRIVE 611 universal A DP2 or DP3 module with a correctly entered DP address P0918 must be inserted Parameterize from where the drive is to be operated PROFIBUS DP Master Class 1 Set P0875 P872 HW terminals Set P0875 to 0 Setpoint input it is not possible to directly enter setpoints from the SIMATIC OP Setp...

Page 212: ...ut terminal I1 x P0662 0 function input terminal I2 x P0663 0 function input terminal I3 x P0607 0 analog setpoint terminal 56 x 14 x P0612 0 analog setpoint terminal 24 x 20 x Note Parameter value 0 signifies the terminal is inactive x signifies Space retainer for drive A or B The terminal which is inactive or switched out as standard can be re assigned a function by appropriately parameterizing ...

Page 213: ...MODRIVE 611 universal 1 Braking control Internal pulse enable Internal ramp function generator enable Internal speed controller enable Rotor position identification active Regenerative braking ZSW2 5 Open holding brake Brake opening time running Fault present controller inhibit Power on inhibit refer to Fig 5 9 STW1 3 Enable inverter Fault present Parking axis Internal nact P1403 Internal t P1404 ...

Page 214: ...er up SIMODRIVE 611 universal T 663 T 63 T 64 T 65 x T 663 T 63 STW1 1 OC OFF 2 STW1 1 OC OFF 2 STW1 2 OC OFF 3 STW1 0 ON OFF 1 STW1 2 OC OFF 3 ZSW1 2 Status controller enable ZSW1 4 No OFF 2 present ZSW1 5 No OFF 3 present ZSW1 1 P1012 2 1 Ready or 0 No fault Internal speed contr enable Regenerative braking Brake opening time running Fault present pulse enable Fault present pulse enable Power on ...

Page 215: ... standard Fig 5 9 indicates which signals and parameters affect the power on inhibit P1012 13 1 T 65 x STW1 0 ON OFF 1 T 663 T 63 STW1 1 OC OFF 2 STW1 2 OC OFF 3 R S Drive ZSW1 6 Power up inhibit Ready or no fault Fault present controller inhibit P1012 12 1 Fig 5 9 Generating the power on inhibit Note If in addition to P1012 13 1 also P1012 14 1 is set to 1 if the status of signals STW1 1 OC OFF 2...

Page 216: ...a PZD area Reader s note In the index for each process data control status word it is specified on which page information can be found on this word refer to Process data in the n set mode control words refer to Process data in the n set mode status words refer to Process data in the pos mode control words refer to the Process data in the pos mode status words 5 Communications via PROFIBUS DP 08 99...

Page 217: ...R System deviation DSC I32 50025 x from SW 4 1 KPC Position controller gain factor DSC U32 50026 x from SW 4 1 MomRed Torque reduction U16 50101 x x DAU1 Analog output terminal 75 x 15 I16 50103 x x DAU2 Analog output terminal 16 x 15 I16 50105 x x DIG_OUT Digital outputs terminals O0 x to 03 x U16 50107 x x from SW 3 1 XSP Target position for spindle posi tioning I32 50109 x from SW 5 1 DezEing D...

Page 218: ...9 x from SW 7 1 1 From SW 3 1 the following applies The signals are assigned to the process data in the setpoint telegram using P0915 17 PZD setpoint assignment PROFIBUS refer under the index entry Process data configuring 2 Before SW 3 3 the following applies This process data is only available if clock synchronous operation is also running 3 Process data for encoder 2 must be activated via P0879...

Page 219: ... x from SW 3 1 G2_ZSW Encoder 2 status word3 U16 50014 x G2_XIST1 Encoder 2 pos actual value 13 U32 50015 x from SW 3 3 G2_XIST2 Encoder 2 pos actual value 23 U32 50016 x from SW 3 3 G3_ZSW Encoder 3 status word2 U16 50018 x G3_XIST1 Encoder 3 pos actual value 12 U32 50019 x from SW 3 1 G3_XIST2 Encoder 3 pos actual value 22 U32 50020 x from SW 3 1 MeldW Message word U16 50102 x x ADU1 Analog inpu...

Page 220: ...I 32 integer 16 32 bit 5 6 2 Description of the control words setpoints Table 5 5 Control word STW1 for the n set mode Open loop torque controlled mode Control requested no control requested Reserved STW 1 Reserved Acceleration time zero for controller enable from SW 3 1 Spindle positioning on from SW 5 1 Opening the holding brake for test purposes from SW 4 1 Activate the function generator edge ...

Page 221: ...7 6 5 4 3 2 1 0 Reset the fault memory Activate traversing task edge Operating condition intermediate stop Operating condition reject traversing task Enable inverter pulse inhibit Operating condition OFF 3 Operating condition OFF 2 ON OFF 1 Note The control signals from the perspective of SIMODRIVE 611 universal are input signals and are described in Chapter 6 4 3 Also refer in the index under Inp...

Page 222: ...from SW 3 1 Master sign of life from SW 3 1 Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Selection parking axis Integrator inhibit speed controller Bit 2 Bit 1 Bit 0 Parameter set changeover Reserved Ramp up time zero First speed setpoint filter off Note The control signals from the perspective of SIMODRIVE 611 universal are input signals and are described in Chapter 6 4 3 Also refer in the index und...

Page 223: ... 384 1 073 741 824 Negative normalization value P0880 8 0 0 0 0 0 0 0 32 768 2 147 483 648 Lowest value4 1 The speed setpoint resolution is increased with nsoll l The control word nsoll l is only transferred for the PPO types PPO2 PPO4 and PPO5 2 Sign bit Bit 0 positive value bit 1 negative value 3 The drive does not evaluate these values low byte from nsoll l 4 The speed is limited by the lowest ...

Page 224: ... range 0 to 4000 0 Special case For KPC 0 the dynamic servo control is de activated The torque limit presently valid in the drive can be reduced using this control word Mom Red The normalization of MomRed is defined using P0881 evaluation tor que reduction PROFIBUS All 16 bits in the PROFIBUS process data are evaluated and interpreted as positive number The result of the conversion is a percentage...

Page 225: ... 39 x Space retainer for drive A or B 75 x 16 x 15 X441 10 V 10 V Analog outputs Table 5 9 Control word DAU1 DAU2 Control word Terminal analog output Parameter Signal No DAU1 PROFIBUS X441 Terminal 75 x 15 P0626 38 Signal DAU1 from PROFIBUS PPO DAU2 PROFIBUS X441 Terminal 16 x 15 P0633 39 Signal DAU2 from PROFIBUS PPO Note It is only possible to control the analog outputs via PROFIBUS DP if the ap...

Page 226: ...3 Bit 1 0 1 1 From int P0699 inverting the output terminals refer to Chapter 6 4 5 Output terminals P0681 38 P0680 38 P0683 38 From int From int From int x Space retainer for drive A or B DIG _OUT P0680 38 O0 x O1 x O2 x O3 x 1 1 1 1 Fig 5 11 Control word DIG_OUT from SW 3 1 For the Spindle positioning function the target position is entered via this control word XSP Data transfer format 1000 1 de...

Page 227: ... the perspective of SIMODRIVE 611 universal are input signals and are de scribed in Chapter 6 4 3 Also refer in the index under Input signal digital For two rigidly connected drives the actual torque setpoint of the master drive ZSW Msoll can be read into the slave drive using this control word Msoll Ext Normalization of MsollExt is defined using P0882 evaluation torque setpoint PROFIBUS The polar...

Page 228: ...ol word QStw QStw Reserved Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Reserved Correction external reference value via dXcor from SW 4 1 Request passive referencing from SW 5 1 1 Note The control signals from the perspective of SIMODRIVE 611 universal are input signals and are described in Chapter 6 4 3 Also refer in the index under Input signal digital 1 STW1 15 is OR d Control word QStw pos mode ...

Page 229: ...ar incremental encoder handwheel evaluation bit 1 from SW 8 1 Angular incr encoder handwheel evaluation bit 0 from SW 8 1 Reserved Reserved Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Reserved Reserved 25 24 23 22 21 20 Block selection Traversing block 0 to 63 Note The control signals from the perspective of SIMODRIVE 611 universal are input signals and are de scribed in Chapter 6 4 3 Also refer in ...

Page 230: ...of SIMODRIVE 611 universal are input signals and are described in Chapter 6 4 3 also refer to the index entry under Input signal digital The percentage value for the velocity override is specified using this control word Over STW 1 Pos Anw Pos Stw STW 2 The override normalization is defined using P0883 override evaluation PROFIBUS Actual override P0883 16384 Over Notice As the drive cannot rotate ...

Page 231: ...ollowing applies Note An input evaluation of the setpoints received via the source is only made for a coupling via the angular incremental encoder P0891 0 or 1 and via PROFIBUS DP P0891 4 The correction value by which the position reference value jumps e g when referencing in the master drive publisher can also be read in and taken into account in the slave drive subscriber using this control word...

Page 232: ... MDIAcc Data transfer format Units as for parameter P0083 64 in Limits min 1 max 100 For MDI blocks the deceleration override is transferred via the control word MDIDec Data transfer format Units as for parameter P0084 64 in Limits min 1 max 100 For MDI blocks the mode is transferred via this control word MDIMode Data transfer format Units as for parameter P0087 64 in Hex The following ID is only ...

Page 233: ... n ist h n ist l ZSW 2 Reserved Function generator active from SW 6 1 Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Warning present no warning present Power on inhibit no power on inhibit No OFF 3 present OFF 3 present No OFF 2 present OFF 2 present Fault present no fault present Status controller enable Ready or no fault Ready to be powered up not ready to be powered up Note From the perspective of S...

Page 234: ...rror ZSW 1 Pos Anw Pos Zsw ZSW 2 Request passive referencing from SW 5 1 Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Warning present no warning present Power on inhibit no power on inhibit No OFF 3 present OFF 3 present No OFF 2 present OFF 2 present Fault present no fault present Status controller enable Ready or no fault Ready to be powered up not ready to be powered up Note From the perspective o...

Page 235: ...t speed setpoint filter inactive Bit 2 Bit 1 Bit 0 Parameter set Note From the perspective of SIMODRIVE 611 universal status signals are output signals and are described in Chapter 6 4 6 Also refer in the index under Output signal digital 1 Only available in the n set mode For closed loop speed controlled operation the speed actual value is displayed as follows NIST_A nist h lower resolution NIST_...

Page 236: ... of SIMODRIVE 611 universal status signals are output signals and are described in Chapter 6 4 6 Also refer in the index under Output signal digital The actually converted values of the 2 analog inputs of a drive are dis played using these status words ADU 1 ADU 2 Status word Analog input ADU1 X451 terminal 56 x 14 x ADU2 X451 terminal 24 x 20 x Note The parameters available to parameterize the an...

Page 237: ...ratio between the actual torque and torque limit or between the actual power and the power limit Ausl Note The utilization value is smoothed using P1251 time constant smoothing motor utilization Data transfer format 7FFFhex 100 Update rate at which this signal is provided Clock cycle synchronous PROFIBUS DP n set mode Position controller clock cycle TMAPC of the master pos mode Position controller...

Page 238: ...ycle P1010 The drive torque is displayed using this status word Msoll The normalization of Msoll is defined from SW 4 1 using P0882 eva luation torque setpoint PROFIBUS actual torque setpoint for synchronous motors Torque setpoint Nm P1118 P1113 P0882 4000hex Msoll Induction motors Torque setpoint Nm P0882 4000hex Msoll 60 P1130 1000 2 π P1400 Note The reference torque is displayed in P1725 normal...

Page 239: ...FIBUS DP generally DP clock cycle sensed at instant in time Ti non clock cycle synchronous PROFIBUS DP n set mode Position controller clock cycle P1009 pos mode Interpolation clock cycle P1010 Table 5 18 Status word QZsw QZsw Reserved Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Reserved Correction external reference value via dXcor from SW 4 1 Request passive referencing from SW 5 1 Note From the pe...

Page 240: ...bit 1 from SW 8 1 Reserved Reserved Angular incremental encoder handwheel active from SW 8 1 Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Reserved Reserved 25 24 23 22 21 20 Status block selection Traversing block 0 to 63 Note As long as the block is not active a 1 is displayed The actual block number is displayed with the input signal activate traversing task From the perspective of SIMODRIVE 611 un...

Page 241: ...backwards Tracking mode active Setpoint static Axis moves forwards Minus software limit switch actuated Plus software limit switch actuated In synchronism from SW 3 3 Velocity limiting active Note From the perspective of SIMODRIVE 611 universal status signals are output signals and are described in Chapter 6 4 6 Also refer in the index under Output signal digital The actual DC link voltage in the ...

Page 242: ...4 and P0896 define the position output format Output value position in MSR P0884 P0896 The following applies The actual position reference value at the output of the interpolator or at the input of the fine interpolator is displayed in the drive using this status word XsollP Transfer format P0884 and P0896 define the position output format Output value position in MSR P0884 P0896 The following app...

Page 243: ...r 3 Additional meas system X472 only for SIMODRIVE 611 universal E Control signals Status signals Fig 5 13 Process data of the encoder interface Note The process data of the encoder interface can be included in the telegram when configuring the process data Refer to Chapter 5 6 5 Encoder 1 Standard telegram 3 or 102 refer to P0922 Encoder 2 Standard telegram 103 refer to P0922 Enc 1 and 3 Standard...

Page 244: ...asure ment Func tions The following applies if more than 1 function is activated The values for all functions cannot be read until each activated func tion has been terminated and this has been confirmed in the corre sponding status bit ZSW 0 1 2 3 0 signal again Find reference marker Up to 4 reference markers can be found Reference markers can also be skipped e g find reference markers 1 and 3 Eq...

Page 245: ... for e g Additional measuring system monitoring Synchronization during ramp up 0 No request 14 Activate parking en coder 1 Request to disable the measuring system monitoring and the actual value sensing Used for e g Removing an encoder or motor with encoder without having to change the drive configuration and without causing a fault 0 No request 0 1 Request to reset encoder faults 15 Acknowledge e...

Page 246: ...ilable G1_ZSW 4 5 1 Gx_XIST2 Reference marker 1 2 Actual value transfer 1 0 1 0 1 0 1 0 1 0 1 0 Find reference marker Reference marker 1 Activate function 1 2 Function 1 active Value 1 available Function 2 G1_STW 1 1 1 0 Function 2 active G1_ZSW 1 1 1 0 Function 2 active Reference marker 2 Value 2 available Actual position value at reference marker 1 Actual position value at reference marker 2 Ref...

Page 247: ...Command G1_STW 4 1 activate function G1_STW 5 1 read value Function active G1_ZSW 0 1 Value available G1_ZSW 4 1 Measuring probe deflected G1_ZSW 8 Measuring probe edge Actual value transfer 1 0 1 0 1 0 1 0 1 0 1 0 1 0 Flying measurement Measuring probe positive edge Activate function 1 Function 1 active Value 1 available 1 1 Signal must be reset by user 1 0 Read value 1 Fig 5 15 Function chart fo...

Page 248: ...zero mark BERO The equivalent zero mark must be parame terized at input terminal I0 x 4 Find refer ence marker or Flying measure Valid for find reference marker and flying measurement Bit Meaning 4 Value 1 Reference marker 1 Measuring probe positive edge 5 measure ment Status Value 1 Measuring probe positive edge 5 Value 2 Reference mark 2 Measuring probe negative edge 6 Value 3 Reference marker 3...

Page 249: ...ic absolute value Note Cyclic transmission of the absolute value can be interrupted by a function with higher priority The bit remains set although no absolute value is transmitted via Gx_XIST2 refer to Fig 5 17 refer to Gx_XIST2 0 No acknowledgement 14 Parking encoder active 1 Acknowledgment for Gx_STW 14 activate parking encoder 14 Parking encoder active 0 No acknowledgement 15 Encoder error 1 E...

Page 250: ...lication P1042 for G1_XIST1 encoder 1 P1044 for G2_XIST1 encoder 2 Standard value Fig 5 16 Partitioning and settings for Gx_XIST1 Encoder pulses The following applies for encoders with sin cos 1Vpp Encoder pulses No of sinusoidal signal periods The following applies for resolvers with 12 bit resolution Encoder pulses 1024 No of pole pairs of resolver The following applies for resolvers with 14 bit...

Page 251: ...e yes no yes no yes no yes no Gx_XIST2 0 Gx_ZSW 13 1 Gx_ZSW 4 1 or 5 1 or 6 1 or 7 1 Gx_ZSW 15 1 Parking encoder Encoder fault Value x present Transmit absolute value cyclically Fig 5 17 Priorities for functions and Gx_XIST2 Resolution Encoder pulses 2n n Fine resolution Number of bits for the internal multiplication The fine resolution is defined via P1043 P1045 or P1042 P1044 for the requested v...

Page 252: ...XIST2 encoder 1 P1045 for G2_XIST2 encoder 2 for read absolute value EnDat encoder 8 Standard value 9 Fig 5 18 Partitioning and settings for Gx_XIST2 Encoder pulses The following applies for encoders with sin cos 1Vpp Encoder pulses No of sinusoidal signal periods The following applies for resolvers with 12 bit resolution Encoder pulses 1024 No of pole pairs of resolver The following applies for r...

Page 253: ...surement function already active Change of function type No reference marker programmed Hardware already busy with another function Only BERO BERO not at terminal I0 x Not BERO EnDat encoder used Invalid combination of reference markers for distance coded encoder 1 2 3 4 1 2 3 4 are supported 5hex Retrieve reference value interrupted A fault is present Gx_ZSW 15 1 Parking encoder axis active No re...

Page 254: ...tate P0700 B 0 2 Which encoder systems are available for encoder 2 Dependent on the 2 axis board with encoder for sin cos 1 Vpp or for resolver the following rotary or linear measuring systems can be connected at X412 Incremental encoder with sin cos 1 Vpp Absolute value encoder with EnDat protocol Resolvers 3 Process data for encoder 2 Control word G2_STW Status words G2_ZSW G2_XIST1 and G2_XIST2...

Page 255: ...4 1 PZD1 remains defined as standard PZD2 to PZD16 can be freely configured Setpoint direction refer to the parameter overview for P0915 17 e g P0915 5 xxxx required signal ID P0915 6 yyyy or Actual value direction refer to the parameter overview for P0916 17 e g P0916 5 uuuu requested signal ID P0916 6 vvvv Note Standard signals defined in the PROFIdrive Profile as well as special signals only de...

Page 256: ...om SW 4 1 XERR 32 bit n set 50026 Pos contr gain factor DSC from SW 4 1 KPC 32 bit n set Equipment specific signals especially for SIMODRIVE 611 universal 50101 Torque reduction MomRed 16 bit 50103 Analog output terminals 75 x 15 DAU1 16 bit 50105 Analog output terminals 16 x 15 DAU2 16 bit 50107 Digital outputs terminals O0 x to O3 x DIG_OUT 16 bit 50109 Target pos for Spindle positioning from SW...

Page 257: ...llowing applies for P0922 0 Before SW 4 1 From P0915 5 assignment for PZD5 process data can be freely con figured This means from P0915 5 the signal ID of the requested signal can be entered From SW 4 1 From P0915 2 assignment for PZD2 process data can be freely con figured i e from P0915 2 the signal ID of the required signal can be entered P0915 0 No significance P0915 1 PZD1 Configuring not pos...

Page 258: ...it n set 50015 Encoder 2 pos act value 1 from SW 3 3 G2_XIST1 32 bit n set 50016 Encoder 2 pos act value 2 from SW 3 3 G2_XIST2 32 bit n set 50018 Encoder 3 status word G3_ZSW 16 bit n set 50019 Encoder 3 position actual value 1 G3_XIST1 32 bit n set 50020 Encoder 3 position actual value 2 G3_XIST2 32 bit n set Equipment specific signals especially for SIMODRIVE 611 universal 50102 Message word Me...

Page 259: ...llowing applies for P0922 0 Before SW 4 1 From P0916 5 assignment for PZD5 process data can be freely con figured This means from P0916 5 the signal ID of the requested signal can be entered From SW 4 1 From P0916 2 assignment for PZD2 process data can be freely con figured i e from P0916 2 the signal ID of the required signal can be entered P0916 0 No significance P0916 1 PZD1 Configuring not pos...

Page 260: ... PZD 5 xxxx PZD 5 xxxx P0915 1 50001 P0915 4 50003 P0915 5 yyyy PZD 6 xxxx P0916 1 50002 PZD 6 xxxx P0915 6 yyyy PZD 16 xxxx P0915 16 yyyy PZD 16 xxxx P0916 16 yyyy P0916 4 50004 P0916 5 yyyy P0916 6 yyyy Operating mode P0700 1 speed torque setpoint xxxx Signal name yyyy Signal ID before SW 4 1 from here can be freely configured PZD2 PZD 3 NSOLL_B P0915 2 50007 P0915 3 50007 PZD2 PZD 3 NIST_B P091...

Page 261: ...t Actual point PZD 4 STW2 P0915 1 50001 P0915 4 50003 P0916 1 50002 P0916 4 50004 PZD2 PZD 3 NSOLL_B P0915 2 50007 P0915 3 50007 PZD2 PZD 3 NIST_B P0916 2 50008 P0916 3 50008 P0922 3 Standard telegram 3 nset interface 32 bit with encoder 1 PZD1 STW1 ZSW2 PZD1 ZSW1 PZD 4 Setpoint Actual point PZD 4 STW2 PZD 5 G1_STW PZD 5 G1_ZSW PZD 6 PZD 7 PZD 8 PZD 9 G1_XIST2 P0915 1 50001 P0915 4 50003 P0915 5 5...

Page 262: ...TW P0915 6 50013 PZD 10 G2_ZSW PZD 11 PZD 12 G2_XIST1 PZD 13 PZD 14 G2_XIST2 P0916 10 50014 P0916 11 50015 P0916 12 50015 P0916 13 50016 P0916 14 50016 This process data is associated with the encoder interface refer to Chapter 5 6 4 P0922 5 Standard telegram 5 nset interface with KPC DSC and encoder 1 from SW 4 1 ZSW2 PZD1 ZSW1 PZD 4 Setpoint Actual point PZD 5 G1_ZSW PZD 6 PZD 7 G1_XIST1 PZD 8 P...

Page 263: ... G1_XIST2 PZD 5 G1_STW P0915 1 50001 P0915 4 50003 P0916 1 50002 P0916 4 50004 P0915 5 50009 P0916 5 50010 P0916 6 50011 P0916 7 50011 P0916 8 50012 P0916 9 50012 PZD 6 G2_STW P0915 6 50013 PZD 10 G2_ZSW PZD 11 PZD 12 G2_XIST1 PZD 13 PZD 14 G2_XIST2 P0916 10 50014 P0916 11 50015 P0916 12 50015 P0916 13 50016 P0916 14 50016 Actual point PZD2 PZD 3 NSOLL_B P0915 2 50007 P0915 3 50007 PZD2 PZD 3 NIST...

Page 264: ... 50008 PZD1 STW1 ZSW2 PZD1 ZSW1 PZD 4 Setpoint Actual point PZD 4 STW2 PZD 5 Over PZD 5 MeldW P0915 1 50001 P0915 2 50201 P0915 3 50203 P0915 4 50003 P0915 5 50205 PZD 6 ADU1 P0916 1 50002 P0916 2 50202 PZD 6 DAU1 P0915 6 50103 PZD 7 DAU2 P0915 7 50105 P0916 3 50204 P0916 4 50004 P0916 5 50102 P0916 6 50104 PZD2 SatzAnw PZD 3 PosStw AktSatz PZD2 PosZsw PZD 3 Operating mode P0700 3 positioning PZD ...

Page 265: ...0016 P0916 15 50016 Actual point PZD2 PZD 3 NSOLL_B P0915 2 50007 P0915 3 50007 PZD2 PZD 3 NIST_B P0916 2 50008 P0916 3 50008 This process data is associated with the encoder interface refer to Chapter 5 6 4 P0922 104 Standard telegram 104 nset interface with encoder 1 and encoder 3 PZD1 STW1 ZSW2 PZD1 ZSW1 PZD 4 Setpoint Actual point PZD 4 STW2 PZD 5 MomRed PZD 6 G1_ZSW PZD 7 PZD 8 G1_XIST1 PZD 9...

Page 266: ...W PZD 7 PZD 8 G1_XIST1 PZD 9 PZD 10 G1_XIST2 MeldW PZD 5 P0916 1 50002 P0916 4 50004 P0916 5 50102 P0916 6 50010 P0916 7 50011 P0916 8 50011 P0916 9 50012 P0916 10 50012 PZD2 PZD 3 NIST_B P0916 2 50008 P0916 3 50008 STW2 PZD1 STW1 PZD 4 PZD 6 G1_STW PZD 7 PZD 8 XERR PZD 9 PZD 10 KPC MomRed PZD 5 P0915 1 50001 P0915 4 50003 P0915 5 50101 P0915 6 50009 P0915 7 50025 P0915 8 50025 P0915 9 50026 P0915...

Page 267: ... MeldW PZD 5 P0915 1 50001 P0915 4 50003 P0916 1 50002 P0916 4 50004 P0916 5 50102 P0915 5 50101 P0915 6 50009 P0916 6 50010 P0916 7 50011 P0916 8 50011 P0916 9 50012 P0916 10 50012 PZD 7 G2_STW P0915 7 50013 PZD 11 G2_ZSW PZD 12 PZD 13 G2_XIST1 PZD 14 PZD 15 G2_XIST2 P0916 11 50014 P0916 12 50015 P0916 13 50015 P0916 14 50016 P0916 15 50016 Actual point PZD2 PZD 3 NSOLL_B P0915 2 50007 P0915 3 50...

Page 268: ...2 P0916 10 50012 PZD 7 G3_STW P0915 7 50017 PZD 11 G3_ZSW PZD 12 PZD 13 G3_XIST1 PZD 14 PZD 15 G3_XIST2 P0916 11 50018 P0916 12 50015 P0916 13 50015 P0916 14 50016 P0916 15 50016 Actual point PZD2 PZD 3 NSOLL_B P0915 2 50007 P0915 3 50007 PZD2 PZD 3 NIST_B P0916 2 50008 P0916 3 50008 PZD 8 PZD 9 XERR P0915 8 50025 P0915 9 50025 PZD 10 PZD 11 KPC P0915 10 50026 P0915 11 50026 P0922 108 Standard tel...

Page 269: ...15 8 50117 ZSW2 PZD1 ZSW1 PZD 4 Actual point PZD 6 PZD 7 XistP MeldW PZD 5 P0916 1 50002 P0916 4 50004 P0916 5 50102 P0916 6 50206 P0916 7 50206 PZD2 PZD 3 AktSatz P0916 2 50202 P0916 3 50204 PosZsw P0922 110 Standard telegram 110 positioning with MDI from SW 7 1 PZD1 STW1 PZD 4 STW2 PZD 5 Over P0915 1 50001 P0915 4 50003 P0915 5 50205 PZD2 PZD 3 SatzAnw P0915 2 50201 P0915 3 50203 PosStw Setpoint...

Page 270: ...ed in Chapter 5 6 3 Master Slave Status words actual values ZSW 1 n ist h n ist l ZSW 2 Meld W ADU 1 ADU 2 Ausl Pwirk Msoll PPO1 PPO2 PPO3 PPO4 PPO5 Abbreviations PPO Parameter Process data Object PZD Process data STW1 Control word 1 n soll Speed setpoint STW2 Control word 2 MomRed Torque reduction DAU1 Analog output terminal 75 x 15 DAU2 Analog output terminal 16 x 15 ZSW1 Status word 1 n ist Spe...

Page 271: ...ddress 12 Part I address O address PKW 272 279 272 279 not shown in the example PZD 280 283 280 283 DP slave 611U Control board with SIMODRIVE 611 universal with optional PROFIBUS DP module PROFIBUS DP SIMATIC S7 300 CPU S7 315 2 DP MPI Output signals at the DP slave Input signals at the DP slave Control signals STW1 n soll h PAB 280 0000 0100 PAB 281 0111 1111 PAW 282 1500 Status signals ZSW1 n i...

Page 272: ...ues ZSW 1 Akt Satz Pos Zsw ZSW 2 Meld W ADU 1 ADU 2 Ausl Pwirk Msoll PPO1 PPO2 PPO3 PPO4 PPO5 Abbreviations PPO Parameter Process data Object PZD Process data STW1 Control word 1 SatzAnw Block selection PosStw Position control word STW2 Control word 2 Over Override DAU1 Analog output terminal 75 x 15 DAU2 Analog output terminal 16 x 15 ZSW1 Status word 1 AktSatz Currently selected block PosZsw Pos...

Page 273: ...KW Net data PKW PZD PKE IND PWE PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6 PZD 7 PZD 8 PZD 9 PZD 10 Word 1 2 3 4 1 2 3 4 5 6 7 8 9 10 PPO1 PPO2 PPO5 PNU Value range 1 1 999 Sub parameter number AK Value range 0 15 re served Bit 15 12 11 10 0 Bit 15 8 Bit 7 0 Bit 15 0 Bit 15 0 Word 3 Word 4 Reserved Value with the appropriate data type 16 bit parameters Value 0 Value 32 bit parameters High component Low c...

Page 274: ... The negative response ID is 7 The IDs are defined so that they indicate which fields of the PK interface must also be evaluated Task 8 Data is first calculated into the control and then a response telegram is sent Task 10 Data is calculated into the control and a response telegram is sent at the same time For example in order to be able to issue a start task immediately after a traversing block h...

Page 275: ...Error cause 0 Illegal parameter number the parameter does not exist 1 Parameter value cannot be changed Parameter can only be read or is write protected 2 Upper or lower value limit exceeded 3 Incorrect sub index 4 No array parameter does not have any sub parameter 5 Incorrect data type is not required for the type conversion 6 to 19 not required 20 to 100 Reserved The data type assigned to the pa...

Page 276: ...set can only be read or changed one after the other via the individual components From SW 7 1 during positioning a new position or a new traversing block can be accepted and executed flying block change using the function MDI refer to Chapter 6 2 12 1 A task or a response can always only be referred to one parameter 2 The master must repeat a task until it has received the appropriate response fro...

Page 277: ...n the following must be execu ted on the master side refer to Fig 5 20 1 Programming SFC14 and SFC15 The standard functions SFC14 Read slave data and SFC15 write slave data are required in order to consistently transfer more than 4 bytes 2 Request parameter value Write into the PKW output signals PAB 272 279 with AK 6 PNU 945 IND 1 PWE no significance 3 Read parameter value and save Evaluate the P...

Page 278: ...AK 5 PNU 945 Index 1 Value high Value low DP slave 611U Control board with SIMODRIVE 611 universal with optional PROFIBUS DP module PAW Peripheral output word PEW Peripheral input word PKE Parameter ID IND Sub index sub parameter number array index PWE Parameter value AK Task and response ID PNU Parameter number PG PC Fig 5 20 Example Reading parameters via PROFIBUS Note The FC 92 SIMATIC S7 block...

Page 279: ...er is a SIMATIC S7 CPU S7 315 2 DP Hardware configuration 1 axis PPO type 1 node address 12 Part I address O address PKW 272 279 272 279 PZD 280 283 280 283 not shown in the example If the condition to write the position in traversing block 4 is available then the following must occur on the master side refer to Fig 5 21 1 Write the parameter value define task PKW output signals PAB 272 279 writte...

Page 280: ...274 0000 0000 0000 0011 PEW 276 0000 0000 0000 0000 PEW 278 14586 IND PKE PWE1 PWE2 AK 5 PNU 81 Index 3 Value high Value low PAW Peripheral output word PEW Peripheral input word PKE Parameter ID IND Sub index sub parameter number array index PWE Parameter value AK Task and response ID PNU Parameter number PG PC Fig 5 21 Example Writing parameters via PROFIBUS Note The FC 93 SIMATIC S7 block can be...

Page 281: ...OFIBUS DP2 and DP3 modules PROFIdrive application Class 1 SI02808F GSD for the optional PROFIBUS DP2 and DP3 modules PROFIdrive application Class 4 Using the GSD file SI02808F GSD it is no longer necessary to enter the block for clock cycle synchronism into the parameterizing tele gram manually byte for byte In order to use the GSD file SI02808F GSD a configuring tool is required which supports th...

Page 282: ...anager Drive ES Slave OM which is included in the following products Product Order No MLFB Drive ES Basic V5 1 SP2 6SW1700 5JA00 1AA0 single license 6SW1700 5JA00 1AA1 company license 6SW1700 5JA00 1AA4 upgrade Drive ES SIMATIC V5 2 6SW1700 5JC00 2AA0 6SW1700 5JC00 2AA4 upgrade The products require as basis the basic SIMATIC STEP 7 soft ware Compared to the GSD file Drive ES offers a higher degree...

Page 283: ...n data for DP slaves with SIEM8055 GSD Using the configuration telegram the DP slave 611U is signaled the PPO type the axis number and consistent or inconsistent data transfer mode A consistent data transfer is selected as standard via the GSD file The DP slave 611U also accepts an inconsistent data transfer re fer to Table 5 33 Consistent and inconsistent entries can also be mixed e g the PKW are...

Page 284: ...ther word or double word resolution one word 16 bits The 2 byte ID 01FEhex is used to differentiate between the two con figuration data of the two drives A PKW section is present if the first entry for an axis is F3hex Table 5 34 IDs in the configuration telegram Entry Meaning Data transfer Entry Meaning Consistent Inconsistent 1 PKW No PKW F3 00 or F3 1 or 2 last n words I O F n 1 with the except...

Page 285: ...al subset of the positioning mode The functional scope is defined by the control and status words specified in Chapter 5 6 1 Positioning mode In the positioning mode the functional scope is defined by the control and status words specified in Chapter 5 6 1 Note In order to commission all of the nodes connected to PROFIBUS it now may be necessary to temporarily disable the disturbing DP slaves also...

Page 286: ...ter If not then the GSD file must be inserted into the configuring tool of the master for the DP Slave 611U Data transfer consistent non consistent The following applies when programming the data transfer consis tent inconsistent in the user program of the master e g for the SIMATIC S7 CPU 315 2DP PKW part with SFC 14 15 PZD part consistent data transfer consistent over the complete length with SF...

Page 287: ...uired press the MI NUS key refer to Chapter 7 2 1 Proceed as follows 1 Set the PROFIBUS node address Press the P key for longer than 3 seconds The actual value of P0918 PROFIBUS node address is displayed Press the or key to set the required address Press the P key again to exit the entry field 2 Save the PROFIBUS node address in the FEPROM Press the or key P0652 transfer into the FEPROM is display...

Page 288: ...do not set A0918 PROFIBUS node address set A0652 write into the FEPROM 1 set 2 carry out a POWER ON RESET 3 cyclic operation between DP slave 611U PROFIBUS DP master is possible Note The system can be commissioned and parameterized as follows With SimoCom U via PROFIBUS DP from SW 3 1 Establish online operation refer to Chapter 3 3 4 Carry out the first or series commissioning start up using SimoC...

Page 289: ...ress correct P0918 0 is the bus connection OK terminating resistor are all of the bus cables inserted The module has an internal fatal error Counter measure Execute POWER ON RESET Replace the option module The module is enabled P0875 and has been started from the control board cyclic communications has been established MSCY_C1 Data Exchange net data transport between the master and this module as ...

Page 290: ...ts which have occurred are saved and they remain there until the fault case has been removed i e all of the faults have been removed and also acknowledged In fault cases 2 to 8 the acknowledged fault cases since the last POWER ON are saved The number of fault cases since POWER ON can be read from P0952 Index 0 No significance 1 101 2 t_101 w_101 2 114 10 t_114 w_114 3 0 0 0 0 4 0 0 0 0 5 0 0 0 0 6...

Page 291: ...case 3 etc This means that the parameters of fault case 1 are again free for additional entries If more than 8 fault cases have occurred since the last POWER ON then fault case 8 is overwritten the oldest fault case is eliminated If in fault case 1 there is at least one fault which must be acknowl edged with POWER ON then this is valid for the complete fault case Reader s note A description of the...

Page 292: ...eived PKW data of the DP slave 611U are displayed using the following parameters P1786 5 Received PKW data PROFIBUS P1787 5 Sent PKW data PROFIBUS The parameterizing and configuration data received from the DP master are displayed using the following parameters P1783 64 received PROFIBUS parameterizing data P1784 64 received PROFIBUS configuration data Diagnostics of the process data Diagnostics o...

Page 293: ...de n set mode Positioning and path control board FM 357 2 n set mode SIMATIC S7 300 6ES7315 2AF03 xxxx In the positioning operating mode pos mode The clock cycle synchronous drive coupling can be activated if all of the prerequisites of the DP master and DP slave have been fulfilled and the function has been selected in the DP master by appropriately parameterizing configuring it The parameters fo...

Page 294: ...quisites for the DP master Motion Control with PROFIBUS DP function Using a DP interface in the DP master which can realize clock cycle synchronous operation Data transfer rate Can be set between 1 5 and 12 Mbaud Telegram data transfer between a DP master and slave in equidis tant cycles Post synchronization of the slave clock cycles to the equidistant DP cycle via the Global Control Telegram at t...

Page 295: ...oint The motor encoder or another measuring system can be used for the position actual value sensing in the DP slave Direct measuring system at X412 Encoder 2 from SW 3 3 Additional measuring system at X472 Encoder 3 TTL encoder P0890 4 only SIMODRIVE 611 universal E The encoder interface must be configured in the process data Refer to Chapter 5 6 5 nset Clo ck cycl e xact Current control Speed co...

Page 296: ...ication Cycle Position controller cycle TDP DP cycle time DP cycle time TDX Data Exchange Time Sum of the data transfer times of all of the slaves TM Master time Start of the closed loop master control TI Input time Instant in time for the actual value sensing TO Output time Time of setpoint transfer GC Global Control Telegram Broadcast Telegram R Computation time speed position controller Dx Slav...

Page 297: ... be simultaneously started for several drives via the clock synchronous PROFIBUS If the traversing blocks have been parameterized the same travel ve locity acceleration in the various drives then the axes can also move in synchronism Traversing blocks are simultaneously started and synchronous move ments of the motion profile are realized precisely in the IPO clock cycle In this case position diff...

Page 298: ... clock cycle Slaves 1 to 3 Master TI TO TMAPC TDP TI RES GC RES GC TI TDX PLC user program IPO IPO IPO IPO IPO IPO IPO IPO IPO IPO IPO IPO IPO IPO IPO TMAPC Master Application Cycle Master application clock cycle TDP DP cycle time DP cycle time TDX Data Exchange Time Sum of the data transfer times of all of the slaves TI Input time Instant in time for the actual value sensing TO Output time Time o...

Page 299: ...enerate a master sign of life e g SIMATIC S7 TMAPC must be to TDP and the sign of life monitor ing in operation must be disabled using P0879 8 1 Additional prerequisites for SIMATIC S7 Presently there is no run level that is in synchronism with DP cycle in S7 user programs This means that if axes are to be simulta neously started in addition to the clock synchronous PROFIBUS operation the classic ...

Page 300: ...time frame in which the master application generates new setpoints e g in the position controller cycle Calculation TMAPC 1 TDP 1 ms TBASE_IO 5DChex 1500dec Time base for TI TO Calculation TBASE_IO 1500 TBit 125 µs TBit 1 12 µs at 12 Mbaud TI 2 TI_MIN TI TDP Time of actual value sensing Is the time where the position actual value is sensed before the start of a DP cycle TI integer multiple of TBAS...

Page 301: ... following applies to the setting Small window minimization of synchronization fluctuations on the drive Large window larger tolerance with respect to GC fluctuations Calculation assumption TPLL_W AHex 10Dec TPLL_W 10 TBIT 0 833 µs TBit 1 12 µs at 12 Mbaud Recommendation Set TPLL_W to 0 standard value the DP slave 611U then automatically uses the standard value of 0 81 µs TPLL_D 0 PLL dead time Th...

Page 302: ... axes TI of the interpolating axes should be the same TO of the interpolating axes should be the same 5 8 4 Bus run up synchronization and net data save When running up the DP master checks the DP slave by requesting diagnostic information The following faults errors are identified Parameterizing and configuring errors The DP slave has been assigned to another master Static user diagnostics Operat...

Page 303: ... P0879 2 to 0 Permissible sign of life error P0879 8 Operation with without Master sign of life monitoring Monitoring The master sign of life is monitored in the DP slave If the master sign of life does not consecutively correspond to the expected value or more often than is permitted in P0879 bit 2 to bit 0 then the following occurs fault 597 PROFIBUS synchronization error is output zero is outpu...

Page 304: ...8 01 00 00 05 DC 00 02 00 04 00 00 0E 10 00 00 00 00 13 Equidistant parameters Block length incl header 37 xx xx xx xx xx xx xx 6 Standard DP parameters 02 This data must be set Note P1783 64 is used for diagnostics parameterizing data P1783 0 No of valid bytes P1783 1 1st byte of the received parameterizing data etc P1783 1 P1783 7 Byte 14 Byte 26 25 P1783 15 P1783 16 P1783 20 P1783 22 P1783 23 P...

Page 305: ...of the particular option module 0875 Expected optional module type 0 0 4 PO indicates which option module was expected as a result of the parameterization The parameters are automatically set at the first start up corresponding to P0872 option module type Examples P0875 P0872 normal situation after first commissioning no error is signaled at run up P0875 3 and P0872 0 the optional PROFIBUS DP2 mod...

Page 306: ...e power reduction PROFIBUS SLM 0 0 16 384 0 16 384 0 Imme diately defines the normalization of the torque power reduction or force power reduction when us ing PROFIBUS DP Note 4000 hex or 16384 dec in the control word MomRed corresponds to a reduction by the per centage specified in P0881 0882 from SW 4 1 Torque setpoint evaluation PROFIBUS SRM ARM Force setpoint evaluation PROFIBUS SLM 16384 0 80...

Page 307: ...alue drive A only drive B in double axis modules from SW 4 1 3 Pos ref value drive A only drive B in double axis modules from SW 4 1 4 PROFIBUS DP from SW 4 1 0895 from SW 3 3 External position reference value num ber of increments 1 2048 8388607 PO defines together with P0896 for couplings the ratio between input increments and the dimension system grids Note P0895 input pulses at the angular inc...

Page 308: ...aults which occurred are entered as follows into the fault buffer first fault which occurred parameter with index 1 to Eight faults which occurred parameter with index 8 Note The following belongs to a fault Fault code P0945 65 fault number P0947 65 fault time P0948 65 and fault value P0949 65 A description of the faults the way in which they can be acknowledged as well as a list of all the faults...

Page 309: ...bits 8 and 4 are set warnings 840 and 836 are present Parameter 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit P0953 815 814 813 812 811 810 809 808 807 806 805 804 803 802 801 800 P0954 831 830 829 828 827 826 825 824 823 822 821 820 819 818 817 816 P0955 847 846 845 844 843 842 841 840 839 838 837 836 835 834 833 832 P0956 863 862 861 860 859 858 857 856 855 854 853 852 851 850 849 848 P0957 879 878 ...

Page 310: ...dex entry Process data in the x set mode status words ZSW1 from SW 3 3 0969 Actual time difference ms RO contains the relative system time since the last time that the drive was powered up or since the last counter overflow 1781 17 from SW 4 1 Setpoint source PROFIBUS process data hex RO indicates the source of the process data received via PROFIBUS The high byte includes a reference to the source...

Page 311: ...ther parameterizing nor configuration data available 1st byte 2nd byte 3rd byte 4th byte 5th byte nth byte 1785 13 from SW 3 1 Extended PROFIBUS diagnostics hex RO contains diagnostics information to operate PROFIBUS The following applies for the indi vidual indices of P1785 0 Error master sign of life since POWER ON 1 Clock cycle synchronous operation selected 2 Interpolation clock cycle Tipo in ...

Page 312: ... is described in Chapter 5 6 7 1788 17 Received process data PROFIBUS hex RO 1789 17 Sent process data PROFIBUS hex RO P1788 17 is an image of the process data received from the DP slave control words P1789 17 is an image of the process data sent to the DP master status words Index 0 1 2 3 14 15 16 No of valid words Image of the process data PZD PZD 1 PZD 2 PZD 14 PZD 3 PZD 15 PZD 16 PZD Process d...

Page 313: ...utput signals Part 3 P0660 Function input terminal I0 x P0661 Function input terminal I1 x P0662 Function input terminal I2 x P0663 Function input terminal I3 x P0680 Function output terminal O0 x P0681 Function output terminal O1 x P0682 Function output terminal O2 x P0683 Function output terminal O3 x P0972 Request POWER ON RESET from SW 3 3 P1012 2 Function switch Bit 2 Ready or no fault P1012 ...

Page 314: ...lave to slave communications Data exchange broadcast DXB req Slave to slave communications is used in the following A DP master Class 1 e g SIMATIC S7 Parameterizing master Clock cycle generator B Response Input data1 Output data1 1 From the perspective of the Class 1 master DP slave 611U Publisher A B DP slave 611U Subscriber A B DP slave 611U Subscriber Links PG PC Engineering HW Config Drive ES...

Page 315: ...e data can be transferred from drive A to B This internal link corresponds as far as the timing is concerned to a link via PROFIBUS The following limitations should be observed for the slave to slave communications function Drive ES Basic V5 1 SP1 Optional PROFIBUS DP2 module SW 4 1 Optional PROFIBUS DP3 module SW 4 1 SIMODRIVE 611 universal SW 4 1 Number of process data max of 16 per drive Number...

Page 316: ...OFIBUS P0891 Source external position reference value P0895 External position reference value No of increm P0896 Ext position reference value No of dimension system grids P0897 Inversion external position reference value P0898 Modulo range master drive P1781 Setpoint source PROFIBUS process data P1782 Target offset PROFIBUS process data P1785 13 Extended PROFIBUS diagnostics The following signals ...

Page 317: ...figuring P0915 P0922 Operation as standard DP slave The drive slave only receives its setpoints and output data from the DP master Operation as subscriber When operating a slave subscriber some of the setpoints are en tered from one or several publishers instead of from the master The slave is signaled the assignment when bus communications are being established using the parameterizing and config...

Page 318: ... input data test purposes From which position offset in the input data is data to be taken How much data is to be taken To which position in the setpoints is the data which has been taken to be copied Parameterizing telegram SetPrm The filter table is transferred as dedicated block from the master to the slave with the parameterizing telegram when bus communications are established If The block fo...

Page 319: ...fset Link1 Offset Link n Publisher DP address Publisher input length Offset in the publisher data Target offset in the subscriber Length of the data access Publisher DP address Block header Filter table header Link2 Tap1 Tap2 Link1 12 244 0xE2 0x00 0x00 0xE2 0 3 1 Data in bytes 2 Calculated from the version ID Fig 5 32 Filter block in the parameterizing telegram SetPrm 5 Communications via PROFIBU...

Page 320: ...ignal ID 50118 Signals for synchronous operation in the setpoint direction subscriber External position reference value Signal ID 50207 Correction ext position ref value Signal ID 50209 Control word slave to slave comm Signal ID 50117 For a description of this process data refer to Chapter 5 6 An example of a synchronous application from the perspective of the slave drive is shown in Fig 5 33 Most...

Page 321: ...meter P0888 The same function IDs are used as when para meterizing the input terminals via P0660 to P0671 function numbers from the List of input signals refer to Chapter 6 4 2 Using this function assignment signal sources can be mixed The fol lowing hierarchy applies 1 highest priority 1 The signal comes from the local digital input on the SIMODRIVE 611 universal hardware 2 The signal comes from ...

Page 322: ...11 universal subscriber Setpoint telegram from the master S7 Actual value telegram from the publisher ET200 Control signals in SIMODRIVE 611 universal ON OFF 1 Block selection bit 0 Set reference point Parameter set bit 0 Hardware limit switch plus Hardware limit switch minus P0888 0 81 P0888 1 82 P0915 5 50111 Fig 5 34 Example mixed operation for the control signals 5 Communications via PROFIBUS ...

Page 323: ... master drive 3 Parameterizing the slave drive Standard telegram 108 for the master drive publisher Standard telegram 109 for the slave drive subscriber Default 5 m sufficient for the traversing range An SFC14 15 cannot be used P1009 4 ms The steps when configuring an S7 are shown in the following Figs The following data should be parameterized in the DP master S7 Configuration master drive matchi...

Page 324: ...e communications link 4 words PKW 10 words actual values to the DP master inconsistent 5 words setpoints from the DP master inconsistent 5 words setpoints via slave to slave communications Fig 5 36 Example configuring the slave drive for S7 Clock cycle synchronization applicable for the master and slave drives Fig 5 37 Example clock cycle synchronization for configuring S7 DP cycle 4 ms 5 Communic...

Page 325: ...ording to the following for mula P0896 231 P0884 Max traversing distance which can be represented Optional Inverting the external position reference value using P0897 Fig 5 38 Parameterizing the master drive Note In order to ensure that the process data is correctly assigned between the publisher and subscriber the offsets of the sent and received data must match For example actual values sent dat...

Page 326: ...ion reference value coupling P0891 4 Source for External position reference value PROFIBUS DP Normalization using P0895 and P0896 Setting for the best possible resolution P0895 2048 increments P0896 5 MSR P0896 231 P0895 Max traversing distance which can be represented Optional Inverting the external position reference value using P0897 Fig 5 39 Parameterization slave drive Parameterization slave ...

Page 327: ...n reference value e g P0891 4 PROFIBUS DP Select the coupling type using P0410 e g P0410 7 Coupling to the absolute position P0412 via the digital input signal Define the optional coupling factor for revolutions master and slave drive P0401 and P0402 e g 1 Fig 5 40 Parameterizing the couplings The DP master must set control word PosStw 4 in order to activate the coupling Configuring the coupling 5...

Page 328: ...lave to slave communications from SW 4 1 5 328 Siemens AG 2005 All Rights Reserved SIMODRIVE 611 universal Description of Functions FBU 04 05 Edition 5 Communications via PROFIBUS DP 08 99 Space for your notes ...

Page 329: ...m SW 8 3 6 394 6 2 7 Adjusting absolute measuring systems 6 398 6 2 8 Parameter overview for referencing adjustments 6 400 6 2 9 Jogging operation 6 405 6 2 10 Programming traversing blocks 6 407 6 2 11 Starting interrupting and exiting traversing blocks 6 420 6 2 12 MDI operation from SW 7 1 6 425 6 3 Axis couplings from SW 3 3 6 430 6 3 1 Position reference value and position actual value coupli...

Page 330: ...ng brake 6 569 6 10 Parameter set changeover 6 575 6 11 Motor changeover for induction motors from SW 2 4 6 579 6 11 1 General information on motor changeover 6 579 6 11 2 Changeover max 4 motors each with 1 data set P1013 1 6 585 6 11 3 Changeover 1 motor with max 4 data sets P1013 2 6 587 6 11 4 Changeover max 2 motors each with 2 data sets P1013 3 6 588 6 11 5 Parameters for motor changeover 6 ...

Page 331: ... drive Higher level control SIMODRIVE 611 universal Angular incremental encoder interface nset Resolver encoder with sin cos 1Vpp incremental Fig 6 2 Positioning drive using a higher level open loop control position actual value generation via angular incremental encoder Higher level control SIMODRIVE 611 universal nset Resolver encoder with sin cos 1Vpp incremental Direct measuring system Fig 6 3...

Page 332: ...6 6 3 Speed controller Input signal Ramp up time 0 Input signal open loop torque controlled mode P1256 8 P1257 8 P1012 0 P1409 P1407 Current regulator Iq Id Setpoint conditioning analog input term 56 x 14 x and or term 24 x 20 x refer to Chapter 6 6 Mset analog refer to Chapter 6 6 3 nset analog refer to Chapter 6 6 2 Time constant integrator feedback P1421 P1421 1 0 1 0 Inversion speed actual val...

Page 333: ...unction generator Optimizing the current and speed controllers Speed controller adaptation All additional parameters to optimize the current and speed control loop can be adapted using the expert list Detailed information regarding the current and speed control loop are included in Reference FBA SIMODRIVE 611D SINUMERIK 840D 810D Description of Functions Drive Functions 6 Description of the Functi...

Page 334: ... from SW 2 4 1257 8 Ramp function generator ramp down time ARM SRM SLM 0 0 2 0 0 0 600 0 s Immedi ately The setpoint is changed from the maximum permissible actual speed to zero within this time Max permissible actual speed for synchronous motors Minimum from 1 2 P1400 and P1147 Max permissible actual speed for induction motors Minimum from P1146 and P1147 1012 0 Ramp function generator tracking h...

Page 335: ...nput output signals are shown and described in Chapter 6 4 3 and 6 4 6 and can be found in the Index under Input signal or Output signal Ramp function generation active nset Tolerance bandwidth P1426 Ramp up completed M Mx nset nact Threshold P1428 Torque Delay time P1427 Delay time P1429 P1427 P1427 nset nact RFG input RFG output P1426 from here onwards M Mx evaluation 1 For an active average val...

Page 336: ...ns and corresponds to a safe setting In order to be able to fully utilize the dynamic performance of the drive including the mechanical system some post optimization will be nec essary Optimizing using the SimoCom U tool The controller setting for SIMODRIVE 611 universal can be auto matically executed using the SimoCom U tool only in online oper ation Call Press the Execute automatic controller se...

Page 337: ...Imme diately specifies the magnitude of the proportional gain Kp proportional component of the control loop 1409 8 Integral action time speed controller SRM ARM Integral action time velocity controller SLM 0 0 10 0 500 0 ms Imme diately specifies the integral action time TN integral component of the control loop Reader s note When optimizing e g linear drives it may be necessary to set the current...

Page 338: ... of the lower P1411 and upper thresholds P1412 The values are linearly interpolated in the adaptation range Integral action time TN The settings in P1409 and P1410 are effective as a function of the lower P1411 and upper thresholds P1412 With adaptation disabled P1413 0 the following is valid The proportional gain Kp P1407 and the integral action time TN P1409 are effective over the complete range...

Page 339: ...er range n or v P1412 Note When a value of 0 is entered the associated integral component P1410 is automatically de activated 1410 8 Integral action time upper adaptation speed SRM ARM Integral action time upper adaptation velocity SLM 0 0 10 0 500 0 ms Im me di ately defines the integral action time in the constant upper range n or v P1412 Important With the adaptation activated you should avoid ...

Page 340: ...Fixed speed setpoint 4th input function number 18 Output signals refer under the index entry Output signal digital Status fixed speed setpoint 1st output function number 15 Status fixed speed setpoint 2nd output function number 16 Status fixed speed setpoint 3rd output function number 17 Status fixed speed setpoint 4th output function number 18 The following parameters are available for the fixed ...

Page 341: ...MeldW 6 output signal is set If the overtemperature condition still remains after the time set in P1603 then this results in fault 614 and the drive is powered down The monitoring function can be enabled disabled using P1601 14 Temperature monitoring without pre warning P1607 If the temperature threshold in P1607 is exceeded this immediately results in fault 613 and the drive is powered down The m...

Page 342: ...re condition remains for a time longer than that set in P1603 then this re sults in fault 614 Monitoring can be enabled disabled via P1601 14 1603 Timer motor temperature alarm 0 240 600 s Immedi ately The parameter defines the time which is started when the temperature warning threshold is exceeded P1602 1607 Shutdown limit motor temperature 0 155 200 C Immedi ately The temperature defines the sh...

Page 343: ...e setpoint monitoring Parameters No Name Min Standard Max Units Effective 1605 Timer n controller at its limit 20 0 200 0 10 000 0 ms Immedi ately specifies how long the speed controller output may be at its limit without a fault condition being generated Important If P1605 P1404 then regenerative braking can be canceled with fault 608 whereby the drive then coasts down 1606 Threshold speed contro...

Page 344: ...ensed by the NE module or a monitoring module and can also be out put as analog signal 0 10 V via an analog output From SW 4 1 the following monitoring functions warnings are available for the DC link voltage which result in the drive being powered down tripped Monitoring the DC link for an overvoltage condition Threshold P1163 Max DC link voltage Fault 617 if the DC link voltage when the pulses a...

Page 345: ... a standstill The drive remains in the closed loop controlled mode If it is switched in the ramp function generator remains active The braking that is initiated runs with or without braking ramp One of the following warnings is output Warning 800 Minus hardware limit switch Warning 801 Plus hardware limit switch The hardware limit switch signal must always remain at a 0 signal out side the permitt...

Page 346: ...47 1 02 P1146 Note The maximum useful motor speed set via P1401 8 is taken into account when calculating the speed setpoint i e P1401 8 acts as speed limiting This is valid independent of whether the setpoint is entered via a terminal or PROFIBUS DP If the speed actual value exceeds the selected limit value by more than 2 then the torque when motoring is set to 0 Thus further acceleration is not p...

Page 347: ...al HR resolver ARM SLM PE spindle P1146 Speed actual value Speed limit Exceeded by more than 2 The torque limit when motoring is internally set to zero the drive is prevented from acceler ating any further With the appropriate setting the speed controller at its limit monitoring can respond 1401 8 Speed for max useful motor speed SRM ARM 100 000 0 0 0 100 000 0 RPM Im medi Velocity for max motor u...

Page 348: ...calculated in the drive from the motor data The internally calculated limit can be changed using the torque reduction factor Warning If the stall limit has been set too high this can cause the motor to stall As the current limiting additionally limits the maximum torque which the motor can provide if the torque limit is increased more torque will only be available if a higher current can also flow...

Page 349: ...5 0 100 0 900 0 Imme diately specifies the maximum torque referred to the pull out torque SRM rated motor torque ARM or stall force SLM of the motor SRM SLM Stall torque stall force P1118 P1113 P1118 Motor standstill stall current P1113 Torque constant ARM Rated motor torque P1130 1000 2π P1400 60 9549 3 P1130 P1400 P1130 Rated motor power P1400 Rated motor speed The minimum of the torque power an...

Page 350: ...peed then the ramp up times can already be shorted and the power yield increased if only the power limit is increased with the same current limit As the current limit P1238 can also limit the maximum torque which can be specified if the output limit power limit is increased further more torque can only be obtained if the current limit is also increased Important If the motor is overloaded for a lo...

Page 351: ...ies the maximum permissible motor current referred to the rated motor current P1103 In order to shorten the ramp up accelerating times it may make sense to set the current limit to values 100 and additionally increase the power and torque limit If the motor current is at its limit due to high torque power limits the monitoring function inter venes with P1605 and P1606 speed controller at its limit...

Page 352: ...nly possible using PROFIBUS DP in an external control refer to Chapter 5 6 4 It is not possible to evaluate the coding in the board itself From SW 8 3 for rotary encoder systems The SIMODRIVE module is in the pos mode in the position to autonomously reference home without an external control The procedure is the same as when referencing with normal incremen tal measuring systems The following cond...

Page 353: ...verride Command Command parameters Mode Block change enable positioning mode IDs When programming a traversing block the block enable condition is specified This means that when starting a block precisely one block can be executed for a block enable condition END or auto matic even for several blocks if the block enable condition CON TINUE FLYING CONTINUE WITH STOP CONTINUE EXTER NAL The blocks ar...

Page 354: ... or fictitious spindle pitch P0237 8 Encoder revolutions P0238 8 Load revolutions ÍÍÍÍÍÍÍ ÍÍÍÍÍÍÍ Encoder with sin cos 1Vpp P1005 or resolver Pole pair No Table Encoder revolutions Ü Load revolutions P0237 8 P0238 8 Gear nEncoder nLoad Ü Spindle P0236 P0237 8 P0238 8 Rotary motor encoder P1027 4 0 SIMODRIVE 611 universal Fig 6 8 Linear axis with rotary motor encoder ballscrew Encoder with sin cos ...

Page 355: ...n P1027 4 0 Rotary motor encoder P1005 Encoder pulses per revolution only encoders with sin cos 1Vpp P0237 8 Encoder revolutions P0238 8 Load revolutions SIMODRIVE 611 universal Encoder with sin cos 1Vpp P1005 or resolver Pole pair No Encoder revolutions Ü Load revolutions P0237 8 P0238 8 Gear nEncoder nLoad Ü P0237 8 P0238 8 Rotary table or chuck Rotary motor encoder P1027 4 0 Fig 6 11 Rotary axi...

Page 356: ...ered in P1021 multiturn reso lution motor absolute value encoder For linear axis with encoder connected to the motor the following is valid The maximum traversing travel is P1021 effective spindle pitch Example EQN 1325 10 mm spindle pitch max traversing distance 20 48 m to 20 48 m The machine zero can be completely freely selected in the range from 20 48 m to 20 48 m Rotary axis Incremental encod...

Page 357: ...rbox ratio can be selected The following condition applies Modulo range Endat encoder traversing range modulo range load Prerequisites DC link has been connected P1162 0 e g 500 V for a controlled infeed In order to supply the control board from the DC link at the infeed regenerative feedback module the DC link must be connected to terminals M500 and P500 of terminal strip X181 refer to Reference ...

Page 358: ...y more than half of an encoder revolution Important If half of the absolute encoder range that can be represented is exceeded after powering down then the assumed actual position is incorrect and after powering up again no fault or warning is generated Note When the DC link voltage starts to ramp up the DC link coupling must be maintained in order to supply the electronics If a fault condition dev...

Page 359: ...en the equivalent zero mark must be used e g BERO at the input with the equivalent zero mark function Table 6 11 Parameters for the encoder adaptation No Name Min Standard Max Units Effective 1027 4 IM configuration encoder hex PO The motor encoder type is specified using P1027 bit 4 Bit 4 Linear measuring system 1 Linear motor encoder 0 Rotary motor encoder 1005 IM encoder pulse number SRM ARM 0 ...

Page 360: ...ding to P0242 0 Modulo conversion de activated 0242 Modulo range rotary axis SRM ARM from SW 2 4 1 360 000 100 000 000 MSR PO defines the modulo range of the rotary axis Practical modulo range values include n 360 degrees with n 1 2 1162 Minimum DC link voltage 0 0 800 V pk Immedi ately defines the permissible lower limit for the DC link voltage If the DC link voltage falls below the parameterized...

Page 361: ...tly or must be interpreted differently In the parameter list refer to Chapter A 1 and when reading and writing into parameters via PROFIBUS DP there is the dimension system grid MSR or a multiple constant of the MSR Examples in the mm dimension system Distance travel has the units MSR Velocity has the units c MSR min c 1 Acceleration has the units 1000 MSR s2 For the display unit on the front pane...

Page 362: ... mm s2 1 The units are specified as follows in the parameter list refer to Chapter A 1 c MSR min c 1 In the inch dimension system P0100 2 the following units are used for distance velocity and acceleration Table 6 14 Units in the inch dimension system Units for Physical quantity Parameter list A 1 PROFI BUS DP 5 6 7 Display unit 3 2 SimoCom U 3 3 Distance Example 313 5800 cm 10 4 inch 1234567 MSR ...

Page 363: ...t A 1 PROFI BUS DP 5 6 7 Display unit 3 2 SimoCom U 3 3 Distance Example 123 456 degrees mdegrees 123456 MSR 123 456 degrees Degrees 123 456 degrees Velocity Example 4766 17 degrees min 10 mdegrees min 476617 c MSR min 1 4766 17 degrees min degrees min 4766 17 degrees min Acceleration Example 24 degrees s2 degrees s2 24 1000 MSR s2 24 degrees s2 degrees s2 24 degrees s2 1 The units are specified a...

Page 364: ...e P0100 Dimension system P0102 Maximum velocity P0103 Maximum acceleration P0104 Maximum deceleration P0107 Jerk limiting from SW 3 1 P0200 8 Kv factor position loop gain P0201 Backlash compensation P0203 Speed pre control mode P0204 8 Factor speed pre control P0205 8 deadtime Balancing filter speed pre control P0206 8 PT1 P0210 8 Time constant pos ref value filter PT1 P0231 Position act value inv...

Page 365: ...g the correct dimension system so that it isn t necessary to later changeover refer to the following warning information If after SIMODRIVE 611 universal has been first commissioned it is still necessary to changeover the dimension system setting from mm to inch then the following steps must be executed 1 Enter the required dimension system into P0100 2 Carry out a power on During run up it is ide...

Page 366: ...g between a rotary axis degrees and linear axis mm inch Table 6 16 Parameters for the dimension system setting and changeover No Name Min Standard Max Units Effective 0100 Dimension system 1 1 3 PO specifies the dimension system grid MSR which is being used 1 1 MSR 10 3 mm used for linear axes in the metric system 2 1 MSR 10 4 mm used for linear axes in the inch imperial system 3 1 MSR 10 3 degree...

Page 367: ...roach when executing a traversing block and when jogging jog mode Table 6 17 Parameters for the maximum velocity acceleration and deceleration No Name Min Standard Max Units Effective 0102 Maximum velocity 1 000 30 000 000 2 000 000 000 c MSR min Immedi ately defines the maximum velocity of the axis in the Positioning mode 0103 Maximum acceleration 1 100 999 999 1 000 MSR s2 Vset_0 0104 Maximum de...

Page 368: ...ffective 0107 Jerk limiting 0 0 100 000 000 1 000 MSR s3 Vset_0 The duration of the acceleration ramp jerk time TR is calculated from the higher value of the maximum acceleration P0103 the maximum deceleration P0104 and the selected jerk limit ing P0107 v Velocity amax Acceleration higher value from P0103 and P0104 r Jerk TR Jerk time calculated jerk time refer to P1726 TR s amax 103 MSR s2 r 103 ...

Page 369: ...celeration deceleration and jerk limiting P01031 Maximum acceleration 1000 MSR s2 P01041 Maximum deceleration 1000 MSR s2 P01071 Jerk limiting 1000 MSR s3 Which jerk time is effective for acceleration and deceleration 2 000 2 m s2 2 000 2 m s2 100 000 100 m s3 amax 2 m s2 Jerk time 20 ms 8 000 8 m s2 2 000 2 m s2 100 000 100 m s3 amax 8 m s2 Jerk time 80 ms The jerk time of 80 ms is effective for ...

Page 370: ...have the master control PROFIBUS DP The override is entered via the Over control word SimoCom U SimoCom U must have the master control to set an override Table 6 20 Parameter for override via analog input terminal 56 x 14 x No Name Min Standard Max Units Effective 0111 Normalization voltage override 5 0 10 0 12 5 V pk Immedi ately 0112 Normalization override 0 100 255 Immedi ately P0111 defines at...

Page 371: ...ed P0314 ÏÏ ÏÏ ÏÏ ÏÏ ÏÏ ÏÏ Fig 6 13 Overview of the limit switch monitoring functions There is a hardware limit switch for every axis and every approach di rection The HW limit switches must be connected to an input terminal with the following function numbers Plus hardware limit switch function function number 81 Minus hardware limit switch function function number 82 Refer to Chapter 6 4 2 When ...

Page 372: ...is referenced reference point set output signal Only then is it certain that the axis will be immediately stopped if it attempts to move out of the permissible range Note The SW limit switch monitoring is dependent on the axis type as follows For a linear axis or rotary axis with modulo correction the following is valid The software limit switches can be activated via P0314 and set via P0315 and P...

Page 373: ...ed P0118 0 0 standard before SW 4 1 Fault 119 PLUS software limit switch actuated Fault 120 MINUS software limit switch actuated P0118 0 1 from SW 4 1 Warning 849 PLUS software limit switch actuated Warning 850 MINUS software limit switch actuated When a target position is parameterized after a software limit switch the traversing block is not started and fault 101 or 102 is output If an axis is a...

Page 374: ...rning 849 850 from SW 4 1 Bit 0 0 Software limit switch reached with fault 119 120 before SW 4 1 No Name Min Standard Max Units Effective 0314 Activate software limit switch 0 0 1 PrgE The software limit switches can be activated de activated using these parameters 1 Software limit switch active 0 Software limit switch inactive e g this is necessary for a rotary axis 0315 Minus software limit swit...

Page 375: ...logic operation must be externally established between the Reference point set reference point not set output signal and the Cam switching signals 1 2 output signals e g using an external PLC Table 6 22 Parameters for position related switching signals cams No Name Min Standard Max Units Effective 0310 Cam switching position 1 200 000 000 0 200 000 000 MSR Immedi ately 0311 Cam switching position ...

Page 376: ...ash compensation is active after the axis has been referenced for incremental measuring systems the axis has been adjusted for absolute measuring systems In order to compensate the backlash the determined backlash must be specified in P0201 with the correct polarity At each direction of rotation reversal the axis actual value is corrected dependent on the actual traversing direction Backlash Table...

Page 377: ...t approach plus minus P0166 P0166 0 Traversing in the pos direction a comp value is not entered Traversing in the neg direction comp value is immediately entered 1 Traversing in the pos direction comp value is immediately entered Traversing in the neg direction a comp value is not entered 1 Negative direction 0 Positive direction If the reference point is simply set again new command with and with...

Page 378: ...ants as well as backlash play and spring elements in the control loop The required Kv factor is entered in P0200 8 The actual measured Kv factor is displayed in P0031 Table 6 24 Parameters for the position loop gain No Name Min Stan dard Max Units Ef fec tive 0200 8 Kv factor position loop gain 0 0 1 0 300 0 1 000 min Im medi ately The Kv factor defines at which traversing velocity of the axis whi...

Page 379: ... pre control The following prerequisites must be fulfilled to set the speed pre con trol The current speed and position control loop must be optimized After that the speed pre control can be set as follows 1 Set P0203 1 this activates speed pre control 2 Set P0204 8 to 100 this is the standard value 3 P0206 8 Set the approximate value from the sum of P1502 8 time constant speed setpoint filter 1 a...

Page 380: ...r to Chapter 4 6 0206 8 Balancing filter speed pre control PT1 0 0 0 0 100 0 ms Immedi ately allows in addition to P0205 8 the performance of the speed control loop to be simulated us ing a PT1 filter low pass filter allows a possibly active speed setpoint smoothing to be better emulated PT1 0210 8 Time constant position reference value filter 0 0 0 0 1 000 0 ms Immedi ately is the time constant o...

Page 381: ...f motion Table 6 26 Parameters for direction adaptation No Name Min Standard Max Units Effective 0231 Position actual value inversion 0 0 1 PO the control sense of the position controller is established 1 Position actual value inversion 0 No position actual value inversion Note If the control sense of the position controller is not correct then the position actual value must be inverted The direct...

Page 382: ... devi ation is permitted so that the monitoring does not erroneously respond as a result of slight speed fluctuations caused by load changes or by a control loop model error Following error x vmax vmax Velocity v P0318 8 P0318 8 Fig 6 16 Following error When the monitoring function responds the drive is braked down to standstill with the deceleration set in P0104 max deceleration and fault 131 fol...

Page 383: ...ition Position value x Positioning window P0321 Position reference value Position actual value Standstill window P0326 Standstill monitoring time P0325 Single evaluation for the positioning monitoring function From here cyclic evaluation of the standstill monitoring Fig 6 17 Standstill and positioning monitoring When the standstill monitoring function responds the drive is braked down to standstil...

Page 384: ...monitoring time has expired P0325 0 Standstill monitoring is de activated 1 Standstill monitoring is active with this value There are the following differences between the standstill and positio ning monitoring Standstill monitoring zero speed monitoring After the standstill monitoring time has expired the system cycli cally checks whether the axis remains within the standstill window around the t...

Page 385: ... signal Reference position reached 1 signal 0 signal Position value x Positioning window P0321 Position reference value Position actual value Fault Fig 6 18 Positioning monitoring Table 6 29 Explanation of curves a b and c Curve Description a After the target position has been reached in t1 the interpolator starts the positioning monitoring time b From time t2 the position actual value is within t...

Page 386: ... 0321 Positioning window 0 40 20 000 MSR Immedi ately This parameter defines the positioning window within which the position actual value must be located after the positioning monitoring time has expired P0320 0 Positioning monitoring is de activated 1 Positioning monitoring is active with this value Note The following applies when setting the positioning and standstill monitoring Positioning win...

Page 387: ... withdrawn or if the controller is re ena bled Tracking mode 1 so called tracking When the axis specific controller enable is withdrawn terminal 65 x the position reference value of the associated axis continually tracks the position actual value In this status the tracking mode active output signal 1 If the controller is re enabled all additional axis movements start at the actual position which ...

Page 388: ...llowing error monitoring the positioning monitoring and the standstill monitoring are not effective The following parameters provide information about the actual motion status of an axis P0020 Position reference value P0021 Position actual value P0022 Distance to go P0023 Velocity setpoint P0024 Velocity actual value P0025 Effective override P0026 Position act value ext block change from SW 3 1 P0...

Page 389: ...ersing blocks 6 2 5 Referencing for incremental measuring systems For axes with incremental measuring systems each time the system is powered up the position reference to the machine zero point must be established Synchronization is realized for a reference point approach by accepting a specific position value at a known point of the axis Note Before SW 4 1 The encoder must be re referenced if for...

Page 390: ...rk when referencing The reference point approach for these axes is executed in 3 phases When starting the reference point approach the following statuses are available Axis is located in front of the reference cam After the reference point approach is started the axis moves with the reference point approach velocity P0163 in the direction speci fied by P0166 The drive detects the reference cam usi...

Page 391: ...int The reference point coordinate P0160 0 is transferred as the new reference position The reference point set output signal is set to a 1 signal From SW 8 3 the reference point approach homing can be termi nated after the zero mark has been detected refer to Table 6 33 P0160 1 Note If the reference point offset is less than the braking travel of the axis from the reference point shutdown velocit...

Page 392: ...roach the same zero pulse is recognized for synchronization then an incorrect machine zero point is obtained Recommendation Experience has shown that it is best to adjust the reference cam edge required for synchronization at the center between two zero pulses Example when adjusting the reference cam After the reference point approach the distance between the reference cams and the zero pulse can ...

Page 393: ...f and actually at the cam The axis behaves appropriately at the start of the reference point approach and traverses correctly for the reference point approach the reference cam does not extend up to the end of the tra versing range The axis must be traversed into the range determined at start up before the reference point approach is started Reason In this case there are 3 initial conditions in fr...

Page 394: ... is at the reference cam Reference cams Ventry Vshutd RV Start RK Zero mark Axis without ref Axis tra verses moves to the reference point P0161 0 1 Ventry Vshutd RV Start RK Zero mark without ref erence cams P0173 1 Axis tra verses moves to af ter the zero mark P0161 1 1 from SW 8 3 Vshutd RV Start RK HM Zero mark Abbreviations Vappr P0163 reference point approach velocity Vshutd P0164 reference p...

Page 395: ...e axis Note The distance between the zero marks is continually monitored Only encoders are monitored where the pulse number can be divided by 16 or 10 The reference point approach can be started in the positioning mode via the start referencing input signal The input signal should be entered via the input terminal with function number 65 and this must remain set up until the end of the reference p...

Page 396: ...r in the positive or negative direction The following is achieved when the axis reaches the reference point The reference point coordinate P0160 is transferred as the new reference position The reference point set output signal is set to a 1 signal Note If after the second zero point a reference point approach is not required P0161 1 then the absolute position of the current position is calculated...

Page 397: ...pr P0163 reference point approach velocity Vshutd P0164 reference point shutdown velocity Ventry P0165 reference point entry velocity RV P0162 reference point offset RK P0160 reference point coordinate HM P0161 stopping at marks 1 When referencing the actual abs position is not displayed in SimoCom U The following signals are used for the referencing with distance coded measuring system function I...

Page 398: ...P1027 IM configuration encoder P1037 DM configuration encoder P1050 IM reference mark distance for distance coded scales P1051 IM reference mark distance for distance coded rotary encoders P1052 DM reference mark distance for distance coded scales P1053 DM reference mark distance for distance coded rotary encoders P1054 IM difference for distance coded rotary encoders from SW 8 3 P1055 DM differen...

Page 399: ... ratio when changing the gearbox factors Selection parking axis if another EnDat encoder was connected Note SIMODRIVE 611 universal can only identify if the mechanical coupling between the measuring system and mechanical system is released if it is powered up When a parameter set is changed over in operation e g a gear ratio is changed the not adjusted information is lost at power down if save to ...

Page 400: ...l board 4 Test Is the actual value correctly displayed after power on The absolute value encoder is adjusted supported by the operator The following sequence is practical 1 Establish online operation between SimoCom U and the drive 2 Traverse the axis to a known or measured position this is the re quired actual value The axis can be traversed e g using Jogging 1 or Jogging 2 3 Select the referenci...

Page 401: ...easuring systems the second zero mark was found 0162 Reference point offset 200 000 000 2 000 200 000 000 MSR PrgE Incremental measuring system After the reference zero pulse has been identified the axis is moved through this distance The axis has reached the reference point of this position and accepts the reference point coordinate P0160 as new actual value 0163 Reference point approach velocity...

Page 402: ...reference point approach 1 The reference cam is in the negative direction 0 The reference cam is in the positive direction P0166 0 Reference cam Zero pulse for synchronization P0166 1 Reference cam Zero pulse for synchronization Reference point Reference point Search direction Search direction Note For an axis without reference cam P0173 1 referencing is started with phase 2 synchroniz ing with th...

Page 403: ...f the reference cam switching signals in the interpolation clock cycle The measured distance in P0172 can therefore be different at each reference point ap proach 0173 Reference point ap proach without reference cams 0 0 1 PrgE identifies the type of axes which do not require reference cams for referencing These are the following axes Axes that have only one zero mark over the complete traversing ...

Page 404: ... changing the parameter as well as from SIMODRIVE 611 universal itself e g for a parameter set changeover as this signifies that the mechanical coupling between the measuring system and mechanical system has been opened gear box changeover If a series start up is executed copying the parameters from drive x to drive y then the ad justment value is also reset due to the serial number motor measurin...

Page 405: ...ent and therefore incorrect then the axis remains stationary Fault 514 zero mark monitoring direct measuring system is signaled Note This monitoring is only activated if P1052 P1034 1000 can either be divided by 16 or by 10 1053 DM reference mark distance for distance coded rotary encoders from SW 4 1 0 20 000 4294967295 mdegrees PO specifies the basic distance between two fixed reference marks If...

Page 406: ...1 ON Jogging 1 OFF Input signal Jogging 2 ON Jogging 2 OFF Input signal incremental jogging 24 V 24 V P0109 P0123 P0108 P0122 Jog 1 P0108 P0109 Via velocity and increments Via velocity Via velocity and increments Via velocity Jog 2 Fig 6 22 Jogging Via velocity or incrementally Fixed setpoint jogging 1 P0108 t t t Speed n 1 signal 0 signal Input signal jogging 1 ON jogging 1 OFF Fixed setpoint jog...

Page 407: ...able then an appropriate fault is signaled If the position reference value is inverted P0231 P0232 then the direction of rotation also changes in the jogging mode For speed controlled jogging the drive is in the tracking status In this case the velocity setpoint and actual value are formed from the speed controller The following parameters are available for the jogging mode function P0108 Velocity...

Page 408: ... 0 84 1 Deceleration override This allows the deceleration to be influenced referred to P0104 84 63 85 0 85 1 Command Each traversing block must contain a command refer to Table 6 37 1 POSITIONING Standard Block number position velocity Acceleration override deceleration override mode 2 3 ENDLESS TRAVERSING_POS ENDLESS TRAVERSING_NEG Block number velocity Acceleration override deceleration overrid...

Page 409: ...Block memory Memory Description Description Mode Spindle posi tioning from SW 5 1 Block change enable Positioning mode IDs 87 0 87 1 Xxxx Target position via 0 Traversing block running 1 PROFIBUS xXxx 0 END standard 1 CONTINUE WITH STOP 2 CONTINUE FLYING 3 CONTINUE EXTER NAL xxXx 0 ABSOLUTE standard 1 RELATIVE 2 ABS_POS 3 ABS_NEG xxxX 1 SKIP_ BLOCK 87 63 6 Description of the Functions 01 99 not 61...

Page 410: ...085 64 POSITIONING ENDLESS TRAVERSING_POS ENDLESS TRAVERSING_NEG WAITING GOTO SET_O RESET_O FIXED ENDSTOP from SW 3 3 COUPLING_IN from SW 3 3 COUPLING_OUT from SW 3 3 Command parameters P0086 64 x x x x x Mode P0087 64 IDs SKIP BLOCK Positioning mode1 ABSOLUTE RELATIVE ABS_POS from SW 2 4 2 ABS_NEG from SW 2 4 2 x x x x x x x x Block change enable 1 END CONTINUE WITH STOP CONTINUE FLYING CONTINUE ...

Page 411: ...re assigned 0 Inactive initial status 0 1 Memory is being reformatted When reformatting increasing block numbers are written into the blocks at the beginning of the memory Invalid blocks block number 1 are at the end of the memory Note After reformatting has been completed the parameter is automatically reset to 0 Advantages of a reformatted memory When the blocks are displayed via SimoCom U or vi...

Page 412: ...ocks are processed in an increasing sequence of the block numbers e g for blocks with the block change enable condition CONTINUE FLYING The block number must be unique over all traversing blocks otherwise fault 109 block number available twice is output when a traversing block is started A valid block is disabled by entering the block number 1 i e the block information re mains saved unchanged and...

Page 413: ... t Note x Space retainer in the block memory If the programmed velocity in P0082 64 is greater than in P0102 maximum velocity then the axis is limited to the maximum velocity and warning 803 is issued programmed veloc ity maximum velocity For short traversing distances it is possible that the programmed velocity will not be reached 0083 64 Acceleration override 1 100 100 PrgE specifies which overr...

Page 414: ...5 GOTO Jumps can be executed within a sequence of traversing blocks using this com mand The jump destination and the block number are specified in the command parame ter P0086 x Note If the specified block number does not exist then an appropriate fault is signaled when a traversing block is started 6 SET_O 7 RESET_O An output signal can be set or reset using these commands P0086 x command paramet...

Page 415: ...ote The block change enable CONTINUE EXTERNAL can be parameterized in the traversing block COUPLING IN In the COUPLING OUT traversing block a fault is output for CONTINUE EXTERNAL 0086 64 Command parame ters 0 1 65 535 PrgE specifies the additional information required for the following commands Command Additional information WAITING Waiting time in ms GOTO block number SET_O 1 2 3 Set direct outp...

Page 416: ... not processed and is skipped 0087 64 xxXx ABSOLUTE or RELATIVE positioning mode This data defines whether the program position should be interpreted as being absolute as coordinate point or relative as the distance to be moved ABSOLUTE or RELATIVE for linear axis or rotary axis without modulo correction ABSOLUTE The axis moves to the specified position and references itself to the axis zero The s...

Page 417: ...information for a rotary axis with modulo correction P0241 1 the direction of travel is specified along with the reference position ABS_POS from SW 2 4 The rotary axis traverses in the positive direction with respect to the reference position within the modulo range ABS_NEG from SW 2 4 The rotary axis traverses in the negative direction with respect to the reference position within the modulo rang...

Page 418: ...the coupling and then position the slave drive normally 0087 64 xXxx Block change enable CONTINUE FLYING This block change enable has the following properties corresponds to precise stop G64 acc to DIN 66025 The following block is immediately processed when the time to apply the brake is reached For a direction change the axis brakes down to standstill and waits until the position actual value has...

Page 419: ... not requested in the block is output 1 If the signal is not present up to the start of braking then a flying block change is made refer to block change enable CONTINUE FLYING 2 The block is traversed independent of the signal to the end The system only waits for the signal at the end of the block when the signal is detected a block change is executed 3 from SW 5 1 if the signal is not present up ...

Page 420: ...NING ABSOLUTE CONTINUE FLYING 1 200 50 POSITIONING ABSOLUTE CONTINUE EXTERNAL 2 300 100 POSITIONING ABSOLUTE END 100 v t Example Programming 3 traversing blocks Block 1 with CONTINUE EXTERNAL 0 1 signal 0 signal Input signal external block change Block 0 Block 1 Block 2 Block 1 if no signal edge is detected P0110 0 P0110 1 Position actual value in P0026 Note Refer under the index entry Input signa...

Page 421: ...ks Note Prerequisite for activate traversing task All of the enable signals are set and the controlled drive is in the controller enable status refer to Chapter 5 5 Fig 5 8 Previous jog operation must have been fully completed this means that the output signal tracking operation active must be 0 Fct No 70 or PosZsw 0 When starting blocks there must be at least 3 IPO clock cycles between the signal...

Page 422: ...nal Status signal Status signal Status signal 1 Selecting and starting the first traversing block selected via block selection edge of activate traversing task setpoint acknowledgment is set to a 1 signal 2 End of the first positioning operation setpoint acknowledgment is reset reference position reached is set if the actual position is within the defined window drive stationary is set if the spee...

Page 423: ...andstill 1 2 3 OC intermediate stop 4 OC reject traversing task Control signal Control signal Control signal Status signal Status signal Status signal 1 Selecting and starting the traversing block 2 Interrupting the traversing block operating condition intermediate stop is reset the axis is braked using the parameterized deceleration and drive stationary signaled if the limit speed for standstill ...

Page 424: ...ng task 4 OC intermediate stop Control signal Control signal Control signal Status signal Status signal Status signal IPO clock cycles 1 Selecting and starting the traversing block 2 Interrupting the traversing block using reject traversing task operating condition reject traversing task is reset setpoint acknowledgement is reset the axis is braked down to standstill with the maximum deceleration ...

Page 425: ...0001 Actual traversing block block number P0002 Actual traversing block position P0003 Actual traversing block velocity P0004 Actual traversing block acceleration override P0005 Actual traversing block deceleration override P0006 Actual traversing block command P0007 Actual traversing block command parameter P0008 Actual traversing block mode Diagnostics Image of the actual traversing block refer ...

Page 426: ...aversing block is re started in the interpolator In this MDI block only RELATIVE ABSOLUTE positioning operations can be executed and for rotary axes with modulo correction in addition ABS_POS and ABS_NEG In this case only END or CONTINUE EXTERNAL with P0110 2 or 3 are permissible as block change enable condition Activate MDI Activate traversing task Reference position reached MDI active External b...

Page 427: ...arameters are taken from the MDI default block P0091 to P0094 P0097 However if MDI process data are parameterized in P0915 17 and these are also transferred via PROFIBUS DP then the values in parameters P0091 to P0094 and P0097 are not taken into account If CONTINUE EXTERNAL is parameterized as block change enable then actual block parameters of the MDI block entered via PZDs and or MDI default bl...

Page 428: ...on override etc from the de fault block If CONTINUE EXTERNAL block change enable is parameterized in the MDI block then the transfer of the possibly modified block parameter into the running or waiting MDI block is triggered using the external block change signal P0110 defines when the values become effective i e when they are transferred into the interpolator P0110 2 The system only waits for the...

Page 429: ...lock then for a CONTINUE EXTERNAL block change enable positioning is re started from the current actual position with external block change The clock cycles current controller speed controller positioning controller and interpolation clock cycle are for SIMODRIVE 611 universal set as standard and must be increased for a double axis module for two axis operation P1000 P1001 P1009 P1010 If for an MD...

Page 430: ... signal operating condition reject traversing task deletes the programmed MDI block using an input terminal with function number 58 using the PROFIBUS control signal STW1 4 Input signal operating condition intermediate stop holds the MDI block using an input terminal with function number 59 using the PROFIBUS control signal STW1 5 Output signals refer under the index entry output signal digital Th...

Page 431: ...r The coupling is realized for a Position actual value coupling via the angular incremental encoder interface X461 X462 where the direction can be changed over Up to 31 angular incremental encoder inputs can be connected at angular incremental encoder output The terminating resistor should be switched in at the last device node S1 7 and S1 8 Torque coupling via analog inputs X441 X442 or analog ou...

Page 432: ...ber 50207 Depending on the actual requirements it is possible necessary to out put additional process data The normalization of the process data XsollP XistP master drive or Xext slave drive can be parameterized using a numerator denomina tor pair This means that not only is a coupling possible between SIMODRIVE 611 universal drives but also with other bus nodes DP master or DP slave When the inte...

Page 433: ...der in terface as output P0892 Factor angular incr enc pulse no enc pulse no P0893 Angular incremental encoder zero pulse offset Refer to Chapter 6 8 1 terface as output P0890 1 Output pos actual values Refer to Chapter 6 8 1 Parameterize the angular incremental encoder in terface as input P0890 2 Receive position refer P0891 Source external position reference value P0894 Angular incremental encod...

Page 434: ...AIE P0700 1 3 P0890 1 P0891 0 M 3 G M 3 G Actual position value Master drive M 3 G Fig 6 29 Angular incremental encoder interface as position reference value source For a double axis module an internal coupling can be switched in with drive A as master drive and drive B as slave drive P0700 Operating mode P0890 Activates the angular incr enc encoder interface P0891 Source external position referen...

Page 435: ...rror SLG2 RxD PS307 e g SIMATIC S7 300 G PROFIBUS interface P0700 3 P0891 4 Slave drive 2 M 3 G Fig 6 31 DP master e g SIMATIC S7 300 as source for external position reference value Synchronous coupling between several DP slaves of which one must be a master drive M 3 G G PROFIBUS interface P0700 Operating mode P0891 Source external position reference value only P0891 4 possible P0700 3 P0891 4 Sl...

Page 436: ...Xext external position reference value number 50207 QStw status word slave to slave communications number 50117 dXcorExt correction external position reference value number 50209 The process data Xext QStw and dXcorExt are included in standard telegram 109 For a position reference value coupling between SIMODRIVE 611 uni versal drives we recommend that standard telegram 108 is used for the master ...

Page 437: ... Output value position in MSR P0884 P0896 The following applies The output value must be able to be represented using 32 bits This means that the maximum traversing distance that can be repre sented is P0896 P0895 P0884 231 1 231 P0896 P0895 P0884 The standard settings for PROFIBUS DP are P0884 10000 P0895 10000 P0896 10000 MSR m Recommendation Modify the standard setting as follows to achieve the...

Page 438: ...drive also operates with PROFIBUS master drives together which do not support the concept of multiple correction value transfer The only thing that is necessary is that for a setpoint step the control bit and the correction value are correctly set In this case there is a danger that after the telegram has been lost a setpoint step occurs The slave drive corrects the setpoint when the 0 1 edge of t...

Page 439: ...rsing blocks can be programmed with the commands Relative position input WAIT GOTO SET_O RESET_O ENDLESS TRAVERSING_POS ENDLESS TRAVERSING_NEG Additional block change enable circuits are Block change enable END CONTINUE WITH STOP CONTINUE FLYING and CONTINUE EXTERNAL only for P0110 2 The coupling can be configured for speed synchronism position synchronism or an absolute position P0410 1 Speed syn...

Page 440: ...the programmed value is switched to the position reference value received via the angular incremental encoder interface so that a superimposed motion is obtained COUPLING_OUT What happens after COUPLING_OUT The drive switches out the coupling brakes down to standstill and then executes the programmed block change enable Additional block change enable circuits are Block change enable END CONTINUE W...

Page 441: ...cally obtained when the slave drive accelerates due to the different output velocities is no longer reduced to zero The position difference of the two drives is constant in the synchronous phase t v vLA vFA Following error vFA vLA Speed master drive vFA Speed setpoint slave drive Ramp up phase Synchronous phase Braking phase Activate coupling Output signal in synchronism 1 0 1 0 Fig 6 33 Speed syn...

Page 442: ...ave drive P0412 Synchronous offset position P0413 Offset synchronous velocity Ramp up phase Syn chron ous phase Braking phase Activate coupling Output signal in synchronism 1 0 1 0 Offset phase vFA Following error P0412 P0413 in synchronism the following error is less than the following error tolerance set in P0318 8 refer under the index entry Dynamic following error monitoring Fig 6 34 Position ...

Page 443: ...t ically made available to the slave drive The reference point coordinates are communicated to the slave drive once using the input signal set position reference value master drive function number 74 if the source of the external posi tion reference value is either the angular incremental encoder inter face P0891 0 or for double axis modules the motor encoder of drive A P0891 1 The value of P0400 ...

Page 444: ...P0413 Offset synchronous velocity Ramp up phase Syn chron ous phase Braking phase Activate coupling Output signal in synchronism 1 0 1 0 Offset phase vFA In the synchronous phase xFA xLA P0412 P0413 in synchronism the following error is less than the following error tolerance set in P0318 8 refer under the index entry Dynamic following error monitoring Fig 6 35 To absolute position P0410 7 or 8 Re...

Page 445: ...peed vLA P0413 Synchronous phase For coupling in out using the input signal the following applies P0410 1 2 or 7 A traversing program can be started For coupling in out using the traversing block the following applies P0410 3 4 or 8 The traversing program is continued Note The setpoint input via the angular incremental encoder interface switched as input and the setpoint input via the traversing b...

Page 446: ...erwise fault 168 is output overflow buffer memory For slave drives a traversing program cyclically runs with coupling and machining commands Sequence 1 The COUPLING IN command is executed i e the slave drive waits to be synchronized to the master drive 2 When will synchronization start i e when will the coupling be switched in Synchronization is started when the next workpiece has reached the slav...

Page 447: ...g using an additional command POS ABS BERO vLA Master drive LA Slave drive FA P0420 P0412 Traversing program in the slave drive COUPLING IN wait until the next workpiece comes close POS REL relative traversing motion blocks to be processed i e for machining COUPLING OUT POS ABS waiting position retraction to the waiting position GOTO start I0 x FA Synchronization distance xsync Waiting position 0 ...

Page 448: ...t The following is required P0898 must be correctly parameterized for the slave drive The traversing difference between two position reference values is the maximum of half the modulo range so that the direction of mo tion is clear Telegrams may be lost when transferring data via Profibus DP In this case the slave drive must extrapolate a new reference value position from the previous acceleration...

Page 449: ...arning present this then allows the master drive to respond Only relative position data is permissible for traversing blocks when in the coupled mode Fault 165 During an active coupling a block change enable CONTINUE EXTERNAL is only possible with P0110 2 Fault 172 The position of the master drive at which the coupling was re quested is in P0425 0 The following applies for P0410 1 2 or 7 It is not...

Page 450: ...e to precisely determine the position using the fast input I0 x refer under the index entry Input signal digital flying mea surement length measurement The standstill time of the slave drive up to the next workpiece must be at least 1 IPO clock cycle P1010 After COUPLING OUT for the slave drive the drive should re tract to its waiting position as otherwise it will continue to be posi tioned away f...

Page 451: ...ion of the drive group is poor as a result of the different data propagation times There are differences in the position resolution between the indi vidual sources Limitations for a slave axis Warning When superimposing the speed of the master and slave drives a resulting slave drive speed can be obtained which is greater than the maximum speed P0102 For slave axes the speed monitoring in P1147 P1...

Page 452: ...ng is possible for axes with absolute or incremental encoder However the drive with the absolute value encoder must first be adjusted using absolute value setting Fault 176 Master and slave drive with incremental encoder Traversing profile Slave drive encoder incremental permanent coupling possible offset due to soft coupling Phase 1 2 3 4 Zero mark Reference point P0160 Output signal in synchroni...

Page 453: ...point P0160 Output signal in synchronism Synchronization function Zero mark Reference point P0160 P0162 Traversing profile Master drive encoder absolute P0160 Reference point coordinates P0162 Reference point offset Input signal reference cams Fig 6 38 Sequence when passively referencing master drive with absolute value encoder slave drive with incremental encoder If the slave drive with increment...

Page 454: ...coordinates P0162 Reference point offset Fig 6 39 Sequence when passively referencing master drive with incremental encoder and slave drive with absolute value encoder Note For a rigid mechanical coupling between the master and slave axes it is not permissible that P0179 is set to 2 if the slave drive is equipped with an absolute value encoder Otherwise the slave drive would position in absolute t...

Page 455: ...hen the request passive referencing input signal has been detected the slave drive starts to search for the 1 0 edge of the input signal reference cams after which it searches for the zero mark Phase 2 The master drive starts to its reference point The master drive moves to traverse to its reference point During this traversing operation the slave drive continues to search for its zero mark Phase ...

Page 456: ...9 is internally set to 2 4 Save the parameters in the FEPROM 5 Carry out a power on This means that for future referencing the reference point of the slave drive is correctly approached The following secondary conditions apply The slave drive must find its own zero mark during phases 2 and 3 Passive referencing between the master and slave drive is con trolled using the following signals Master dr...

Page 457: ...d out and coupled in again then the slave drive outputs faults 131 and 605 if the master drive has reached its reference point This means that after a reference point approach has been started it is no longer possible to de couple the axes The following parameters are used for the axis coupling function P0179 Mode passive referencing from SW 5 1 P0400 Ref point coordinate master drive from SW 4 1 ...

Page 458: ...th function number 69 using the PROFIBUS control signal STW1 15 or alternatively QStw 1 Output signals refer under the index entry Output signal digital Output signal in synchronism using an output terminal with function number 71 using the PROFIBUS status signal PosZsw 3 Output signal Request passive referencing from SW 5 1 using an output terminal with function number 69 using the PROFIBUS contr...

Page 459: ...ed switched out The slave drive is appropriately braked Output signals Status controller enable 0 Fault present 1 Warning present 0 Faults with stop response STOP IV STOP V STOP VI Block processing is interrupted The slave drive remains closed loop controlled and coupled Output signals Status controller enable 1 Fault present 1 Warning present 0 Warnings with stop response STOP VII No response for...

Page 460: ...ontroller enable 1 STOP I III Master drive T 65 x Axis specific controller enable Operating condition reject traversing task Operating condition intermediate stop Controller enable STOP IV VI STOP VII Output signals Fig 6 40 Example Handling faults in the slave drive through the master drive Faults in the master drive can be just as flexibly handled as the faults in the slave drive which were disc...

Page 461: ... the slave drive using process data MsollExt number 50113 P0882 determines the normalization of process data Msoll and MsollExt The percentage value of the rated motor torque entered into P0882 corresponds to value 16384 in the PROFIBUS interface The polarity of the torque setpoint can be inverted by entering negative values The torque corresponding to 16384 is displayed in Nm in P1725 P0882 rated...

Page 462: ...ve Torque actual value Msoll M 3 M 3 for a rigid coupling Mset operation for a released coupling nset operation Dependent on the mechanical coupling Rigid or quasi rigid connection which can also be released in operation PROFIBUS DP PROFIBUS DP Slave drive Torque setpoint MsollExt PROFIBUS DP PROFIBUS DP Fig 6 41 Example Coupling two drives with master slave to PROFIBUS DP Warning If for a master ...

Page 463: ...owing data should be parameterized in the DP master e g SIMATIC S7 Configuration master drive Number of process data which must match the selected telegrams 4 words PKW 6 words actual values to the DP master 5 words setpoints from the DP master Fig 6 42 Example configuring the master drive for S7 Configuring the slave drive to match the telegram define the slave to slave communication link 4 words...

Page 464: ...lows P0916 6 50114 status word Msoll Check P1252 smoothing Msoll P0915 6 0 and P0916 7 10 0 disable the encoder interface optional PZD1 STW1 ZSW2 PZD1 ZSW1 PZD 4 Setpoint Actual point PZD 4 STW2 PZD 5 MomRed MeldW PZD 5 P0915 1 50001 P0915 4 50003 P0916 1 50002 P0916 4 50004 P0916 5 50102 P0915 5 50101 PZD2 PZD 3 NSOLL_B P0915 2 50007 P0915 3 50007 PZD2 PZD 3 NIST_B P0916 2 50008 P0916 3 50008 PZD...

Page 465: ...lization at the master and slave drive can be influenced using P0882 The following parameters are available for the torque setpoint cou pling function P0607 Analog setpoint terminal 56 x 14 x P0612 Analog setpoint terminal 24 x 20 x P0618 Normalization voltage speed setpoint P0619 Normalization voltage torque setpoint P0620 Normalization voltage torque power reduction P0882 Evaluation torque setpo...

Page 466: ...t using the PROFIBUS control signal MsollExt Input signal torque limit reduction using the PROFIBUS control signal MomRed Output signals refer under the index entry Output signal digital Output signal in synchronism using an output terminal with function number 71 using the PROFIBUS status signal PosZsw 3 Output signal open loop torque controlled operation using the PROFIBUS status signal ZSW1 14 ...

Page 467: ...ocation which when the equalization controller is activated gradually increases along a smoothing characteristic which can be parameterized If different motors are used or if these are installed so that they oppose each other then torque weighting can be parameterized P1490 1 Analog terminal 24 20 is the source for the master slave torque setpoint comparison Master P0626 P0625 P0631 slave P0612 P0...

Page 468: ... 56 14 24 20 nset Torque setpoint Mset SIMODRIVE 611 universal Slave 56 14 75 15 24 20 75 15 SIMODRIVE 611 universal Master P0607 P0608 P0607 P0626 P0625 P0631 P0612 P0619 refers to P1241 T O0 x status controller enable T 65 x Fig 6 47 Axis coupling with 2 single axis modules through analog I O terminals Warning If the master axis is not in the closed loop control mode or if the mechanical couplin...

Page 469: ... analog setpoint terminals 24 x 20 x only for an analog setpoint coupling Slave axis P0612 3 is automatically set if when using the parameterizing and start up tool SimoCom U slave axis with analog coupling is selected in the parameterizing screen form equalization controller for activate equalization controller P0619 5 P0619 refers to P1241 P1241 pre assigned the rated torque Note If P1490 1 and ...

Page 470: ...4 is used to enter the time constant for the PT1 element which ensures that the pre tensioning torque gradually increases pre tensioning force when the equalization controller is activated P1495 Torque weighting equalization controller master If different motors are involved in the closed loop equalization con trol then a torque weighting of the torque setpoint or force weight ing of the force set...

Page 471: ...e master axis The output normalization of the master axis is displayed as follows in the menu view equalization controller Fig 6 49 Display output normalization master axis Setting for the slave axis for an analog coupling The settings in the menu view equalization controller cause the equalization controller to be activated and the input of the slave axis to be set As the motors move in opposite ...

Page 472: ...normalization and the input normalization must match Fig 6 51 Display input normalization slave axis Recommended setting equalization controller Vp equalization controller 0 5 Vp speed controller TN equalization controller 10 TN speed controller When inverting the speed the sign of the torque weighting should be carefully observed Fig 6 52 Inverting the direction of rotation slave axis 6 Descripti...

Page 473: ...st down in a no current condition If the module is enabled using terminal 663 then the enable oper ation takes approx 20 ms 65 A X451 5 65 B X452 5 Axis specific controller enable The controller enable is dependent on the following enable sig nals 1 Terminal 63 pulse enable group specific at the NE and monitoring module 2 Terminal 64 controller enable group specific at the NE or monitoring module ...

Page 474: ...signed this particular function Rule regarding hardware terminal and PROFIBUS signal The hardware terminal has priority over the PROFIBUS signal this means that a signal via a terminal always has priority over the same PROFIBUS signal Notice The terminals may only be parameterized when the drive pulses are canceled If terminal functions are activated however are not connected up then the 0 signal ...

Page 475: ...terminals is displayed in P0678 for diagnostic purposes refer to Chapter 4 5 6 4 3 List of input signals Reader s note The drive receives the input signals listed in the Tables 6 44 and 6 45 either from an input terminal or as control bit from PROFIBUS DP All of the input signals can be found under the index entry Input signal The following must be specified for each signal Fct No The function num...

Page 476: ...irst speed setpoint filter off 25 x x STW2 3 Suppress fault 608 from SW 3 1 26 x x STW2 8 Spindle positioning on from SW 5 1 28 x STW1 15 ON OFF 1 from SW 8 3 31 from SW 8 3 x x STW1 0 Operating condition OFF 2 32 from SW 4 1 x x STW1 1 Operating condition OFF 3 33 from SW 5 1 x x STW1 2 Enable inverter pulse inhibit 34 from SW 4 1 x x STW1 3 Ramp function generator enabled 35 x STW1 4 Selection p...

Page 477: ...er drive from SW 4 1 74 x QStw 0 Invert the angular incr encoder input from SW 3 5 75 x PosStw 7 Reference cams 78 x PosStw 2 Equivalent zero mark 79 x x Flying measurement length measurement from SW 3 1 80 x Plus hardware limit switch NC contact n set from SW 8 1 81 x x Minus hardware limit switch NC contact n set from SW 8 1 82 x x Activate MDI from SW 7 1 83 x SatzAnw 15 Activate angular increm...

Page 478: ...rom SW 6 1 onwards and for P1012 12 1 the fault can also be acknowledged without the prerequi site that the control signal STW1 0 0 The drive however remains in the power on inhibit condition Open loop torque controlled mode 4 x STW1 14 It is possible to toggle between closed loop speed controlled and open loop torque controlled operation via this input signal 1 signal Open loop torque controlled ...

Page 479: ... Note For a 1 signal the integral component of the speed controller is deleted cleared and the integrator is inhibited Parameter set changeover 1st input 20 2nd input 21 3rd input 22 9 10 11 x x x x x x STW2 0 STW2 1 STW2 2 It is possible to toggle between a total of 8 parameter sets using these 3 input signals Parameter set 0 1 2 3 4 5 6 7 1st input weighting 20 0 1 0 1 0 1 0 1 2nd input weightin...

Page 480: ...the function is canceled an analog setpoint can be entered via terminals 56 x 14 and or terminals 24 x 20 In order to ensure that the function changes over in a controlled fashion identified as being simulta neous the switching operation of the inputs must be completed with one interpolation clock cycle P1010 Refer to the status fixed speed setpoint 1st to 4th input output signal in Chapter 6 4 6 ...

Page 481: ...0 signal De activates the function Note Prerequisites to activate the Spindle positioning function n set mode P0700 1 The spindle positioning function is described in Chapter 6 15 from SW 5 1 ON OFF 1 31 from SW 8 3 x x STW1 0 0 1 signal ON state drive ready The prerequisite is that STW1 1 and STW1 2 or the input signals operating condition OFF2 Fct No 32 and operating condition OFF3 Fct No 33 are...

Page 482: ...n again can be defined via P1012 12 P1012 12 1 Power on inhibit for alarm and OFF2 OFF3 0 No power on inhibit Enable inverter pulse inhibit 34 from SW 4 1 x x STW1 3 1 signal Enable inverter Pulse enable ramp up with the setpoint entered 0 signal Pulse inhibit The motor coasts down In closed loop speed controlled operation the drive ready state remains set Ramp function generator enable 35 x STW1 ...

Page 483: ...ssible to change over from one motor encoder unit to another unit using the parking axis function without having to power down the drive Note After the parking axis function has been canceled the following is valid Incremental measuring system The axis must be re referenced refer to Chapter 6 2 5 Absolute measuring system EnDat The axis must be re adjusted refer to Chapter 6 2 7 The adjustment sta...

Page 484: ...ion reject traversing task 58 x STW1 4 This input signal is used as traversing enable to process traversing blocks 1 signal Operating condition for positioning The 1 signal is a prerequisite so that a traversing task can be activated 0 signal The traversing task is rejected When the block is being actively processed the drive brakes with the specified decelera tion P0104 taking into account the de...

Page 485: ...ed loop position control and the standstill monitoring function is activated The actual traversing task is not rejected and is continued for a 0 1 edge Activate traversing task Setpoint acknowledge Setpoint static Reference position reached Drive at standstill 1 2 3 OC intermediate stop 4 OC reject traversing task Control signal Control signal Status signal Control signal Status signal Status sign...

Page 486: ...raversing task must be set to 1 in order to be able to start a block If a traversing task is activated and the secondary conditions are not fulfilled then an appropriate warning is signaled The setpoint acknowledgment output signal is only set if the block was started so that a traversing task can be activated with the next signal edge Activate traversing task edge Setpoint acknowledge Setpoint st...

Page 487: ...x STW1 8 Jogging 2 ON jogging 2 OFF 63 x STW1 9 Using these input signals closed loop speed controlled traversing is possible in the positioning mode without changing the mode For jogging 1 the drive traverses with the speed velocity in P0108 For jogging 2 the drive traverses with the speed velocity P0109 1 signal The drive traverses with the parameterized speed velocity 1 0 signal The drive brake...

Page 488: ...rogram isn t running Output signal drive stationary 1 Axis is referenced Output signal reference point set 1 Refer under the index entry Output signal teach in successful The teach in function is described in Chapter 6 13 Control requested no control requested x x STW1 10 1 signal This input signal must be set so that process data transferred from the PROFIBUS master is accepted by the slave and b...

Page 489: ...trol signal no longer have any effect The external block change is detected depending on the direction The following applies Traversing in a positive direction the 1 0 edge is identified as external block change Traversing in the negative direction the 0 1 edge is identified as external block change The actual value can be inverted using P1011 0 P0231 and P0232 There is no inversion if none or 2 o...

Page 490: ...m and zero mark search are activated An appropriate fault is signaled if a zero mark has not been found up to the 1 0 edge Note The passive referencing function is described in Chapter 6 3 Tracking mode 70 x PosStw 0 The tracking mode for the axis is selected via this input signal 1 signal Selecting tracking operation The axis is switched into the tracking mode if the controller enable is addition...

Page 491: ...tem behaves as if the reference point was not set again Coupling is activated from SW 3 3 72 x PosStw 4 The coupling set via P0410 is activated using this input signal 1 signal No function 0 1 signal Activate coupling The coupling is activated corresponding to P0410 P0410 1 or 2 Coupling is switched in 3 or 4 The signal has no significance 5 or 6 The coupled position is transferred into the queue ...

Page 492: ...rminal with function number 72 or control signal PosStw 4 Input signal activate coupling via I0 x Input terminal I0 x with function number 73 Coupling in Coupling out Note The position when switching in the coupling is displayed in P0425 0 Function number 73 is only effective when assigned to input terminal I0 x The activate coupling via I0 x signal is recognized dependent on the direction refer u...

Page 493: ...1 signal The axis is located at the reference cam 0 signal The axis is not located at the reference cam Equivalent zero mark 79 x x If the encoder zero pulse cannot be evaluated when referencing then a signal supplied from a mounted sensor can be fed via this input as zero mark equivalent 1 signal No significance 1 0 signal When passing the zero mark cam in a positive direction this edge is detect...

Page 494: ... The function is only available for Motion Control with PROFIBUS DP refer under the index entry Encoder interface from SW 3 1 The function is only available for the control board SIMODRIVE 611 universal from Order No 6SN1118 xxxxx 0AA2 and control board SIMODRIVE 611 universal HR This function cannot be executed for spindle positioning active P0125 1 The measuring probe signal is defined depending...

Page 495: ...F or jogging 2 ON jogging 2 OFF and activate angu lar incremental encoder handwheel are switched in Alarm 121 is output The angular incremental encoder handwheel function is described in Chapter 6 8 Angular incremental encoder handwheel evaluation bit 0 from SW 8 1 85 x SatzAnw 11 Angular incremental encoder handwheel evaluation bit 1 from SW 8 1 86 x SatzAnw 12 The factors entered using parameter...

Page 496: ...Motor data set changeover 1st input motor data set changeover 2nd input 1 0 Control signal STW2 11 motor changed over 1 0 Output signals from the SIMATIC S7 Contactor control Motor data set x Motor data set y Output signals Actual motor 1st signal ZSW2 9 Actual motor 2nd signal ZSW2 10 Selects the required motor data set Signal to SIMODRIVE 611 universal The pulse enable is internally withdrawn af...

Page 497: ...er is enabled a higher level control can assume the ramp function generator function If the controller is not enabled the drive ramp function generator is again effective Note Refer to the zero ramp up time input signal Master sign of life from SW 3 1 x x STW2 12 STW2 13 STW2 14 STW2 15 For the Motion Control with PROFIBUS DP function these control signals are used as sign of life 4 bit counter Th...

Page 498: ...ose and additional information on the safe start inhibit is included in Reference PJU SIMODRIVE 611 Configuration Manual Drive Converters Chapter Start inhibit in the drive modules 6 4 5 Freely parameterizable digital output terminals There are 4 freely parameterizable output terminals for each axis A terminal is parameterized by entering the appropriate required func tion number into the assigned...

Page 499: ...l O2 x 0 1 82 Imme diately O3 A X461 10 O3 B X462 10 0683 Signaling function output terminal O3 x 0 5 82 Imme diately A function can be assigned to each output terminal using these parameters The function number from the list of output signals is en tered refer to Chapter 6 4 6 Note The status of the output terminals is displayed in P0698 for diagnostics refer to Chapter 4 5 0699 Inversion Output ...

Page 500: ...t these output signals are represented as not inverted If an output signal inversion has been parameterized then this must be appropriately taken into account when representing the signal The following must be specified for each signal Fct No The function number is required to parameterize the output terminal via the display and operator control unit Operating mode P0700 This specifies in which op...

Page 501: ...22 x x x x x x ZSW2 0 ZSW2 1 ZSW2 2 Motor 1 selected from SW 2 4 Motor 2 selected Motor 3 selected Motor 4 selected 11 12 13 14 x x x x Status fixed speed setpoint from SW 3 1 1st output 20 2nd output 21 3rd output 22 4th output 23 15 16 17 18 x x x x nset nact 20 x ZSW1 8 nset nact 20 x x MeldW 8 Spindle positioning on from SW 5 1 28 x ZSW1 15 Warning present no warning present 29 from SW 3 3 x x...

Page 502: ...osition reached from SW 5 1 59 x MeldW 15 Control requested no control possible x x ZSW1 9 Comparison value reached comparison value not reached x ZSW1 10 Reference position reached outside reference posi tion 60 x ZSW1 10 tion x Meldw 14 Reference point set no reference point set 61 x ZSW1 11 Setpoint acknowledge 62 x ZSW1 12 Teach in executed from SW 4 1 64 x PosZsw 15 Drive stationary drive mov...

Page 503: ...x PosZsw 13 Axis moves forwards 74 x PosZsw 4 Axis moves backwards 75 x PosZsw 5 Minus software limit switch actuated 76 x PosZsw 6 Plus software limit switch actuated 77 x PosZsw 7 Cam switching signal 1 78 x PosZsw 8 Cam switching signal 2 79 x PosZsw 9 Direct output 1 via the traversing block 80 x PosZsw 10 Direct output 2 via the traversing block 81 x PosZsw 11 Velocity limiting active 82 x Po...

Page 504: ...P1418 8 t 1 signal 0 signal nact nact nmin nact nmin nact nmin nact nmin Fixed hysteresis 2 RPM Application The gearbox stage is only mechanically changed over if the speed is less than that set in P1418 8 in order to reduce the stressing on the mechanical system Ramp up completed 2 x x MeldW 0 The end of a ramp up operation is displayed after the speed setpoint has been changed using this out put...

Page 505: ...Mx nset M t t Mx 1 signal 0 signal M Mx P1429 Ramp up completed M Mx Mx P1428 From here evaluation of M Mx Application Using this signal a motor overload condition can be detected in order to be able to introduce an appropri ate response stop the motor or reduce the load Note In the pos mode the ramp up completed state is always signaled i e the delay time in P1429 has already expired The signal M...

Page 506: ...fault is output The motor temperature monitoring function can be disabled enabled using P1601 14 x x P1602 t 1 signal 0 signal Mot x íMot Mot x Mot x Motor temperature Motor overtemperature pre warning Application The user can respond to this message by reducing the load thereby preventing the motor from shutting down with the Motor temperature exceeded fault after the set time has elapsed Heatsin...

Page 507: ... for analog outputs must be entered here refer to Chapter 6 7 under Table 6 56 If the signal number 1 physical address then the address must be entered into P1620 1 of the address range and in P1622 the address this is only relevant for Siemens service activi ties P1622 Address variable message function P1623 Threshold variable message function P1624 Hysteresis variable message function Note The t...

Page 508: ...ected parameter set Parameter set 0 1 2 3 4 5 6 7 1st input weighting 20 0 1 0 1 0 1 0 1 2nd input weighting 21 0 0 1 1 0 0 1 1 3rd input weighting 22 0 0 0 0 1 1 1 1 Note The parameter set changeover function is described in Chapter 6 10 Motor 1 selected from SW 2 4 Motor 2 selected Motor 3 selected Motor 4 selected 11 12 13 14 x x x x The motor changeover contactors are controlled via these outp...

Page 509: ... 21 0 0 1 1 0 0 1 3rd output weighting 22 0 0 0 0 1 1 1 4th output weighting 23 0 0 0 0 0 0 1 Effective fixed speed setpoint P0641 1 P0641 2 P0641 3 to P0641 15 Note The fixed speed setpoint function is described in Chapter 6 1 6 Refer to the Fixed speed setpoint 1st to 4th input output signal in Chapter 6 4 3 nset nact 20 x ZSW1 8 nset nact 20 x x MeldW 8 This output signal is used to display whe...

Page 510: ... 927 refer to Chapter 5 9 0 signal Warning not present DC link monitoring VDC link Vx 30 x x MeldW 4 This output signal is used to display whether the DC link voltage VDC link is less than or greater than the selected DC link undervoltage warning threshold Vx P1604 Vx t 1 signal 0 signal VDC link DC link voltage Vx P1604 VDC link Vx VDC link Vx VDC link Vx VDC link Vx Fault present no fault presen...

Page 511: ...independent of the control signals STW1 0 1 ON OFF 1 STW1 1 1 Operating condition OFF 2 STW1 2 1 Operating condition OFF 3 Note The no fault message is also transferred to the line supply infeed module NE module terminals 72 73 74 From SW 6 1 and for P1012 12 1 a fault can also be acknowledged without STW1 0 0 However the drive then remains in the Power on inhibit state refer to Chapter 5 5 Genera...

Page 512: ...the pulses are inhibited This signal can be evaluated as one of several conditions to control an armature short circuit contactor Power module current not limited from SW 3 1 37 x x MeldW 10 This output signal is used to display whether the power module current is limited via the i2t power module limiting 1 signal Power module current not limited 0 signal Power module current is limited 1 signal 0...

Page 513: ... selection 1st output 20 2nd output 21 3rd output 22 4th output 23 5th output 24 6th output 25 50 51 52 53 54 55 x x x x x x x x x x x x AktSatz 0 AktSatz 1 AktSatz 2 AktSatz 3 AktSatz 4 AktSatz 5 These output signals are used to display which traversing block is being presently processed Block number 0 1 2 3 4 5 31 63 1st output weighting 20 0 1 0 1 0 1 1 1 2d output weighting 21 0 0 1 1 0 0 1 1 ...

Page 514: ... instantaneous traversing velocity and the selected Kv factor A following error window can be defined using P0318 which defines the permissible relative deviation from this calculated value This output signal specifies whether the actual following error is within the following error window defined using P0318 1 signal No following error The actual following error is within the defined following er...

Page 515: ...lave 611U has still not irun up the SimoCom U tool has taken over the master control the clock cycle synchron PROFIBUS no longer operates with clock cycle synchronism for slave to slave communications not all of the links have been established to the publisher from SW 4 1 Comparison value reached comparison value not reached x ZSW1 10 The output signal indicates whether the comparison value set us...

Page 516: ...ignal is not set when the axis stops if the axis is in the closed loop speed controlled jogging mode an ongoing traversing block is interrupted or canceled using intermediate stop or stop which means that the target position has not been reached The signal remains set until a new traversing block is started the axis is traversed in the jogging mode a reference point approach is started a fault ala...

Page 517: ...ignal 0 signal Input signal Activate traversing task edge on off Block processing 1 signal 0 signal Output signal setpoint acknowledgment Example Short traversing blocks Example Long traversing blocks Note Refer to the input signal Activate traversing task edge in Chapter 6 4 3 Teach in executed from SW 4 1 64 x PosZsw 15 This signal indicates whether the teach in function was successfully execute...

Page 518: ...hether the ramp function generator is active The ramp function generator can be switched in switched out e g using the input signal Ramp up time zero 1 signal Ramp function generator inactive 0 signal Ramp function generator active Note If the input signal STW2 4 0 is selected then ZSW2 4 remains at 1 as long as the motor is stationary ZSW2 4 only goes to zero when the motor is moving Actual motor...

Page 519: ... signal Suppressing fault 608 is not active Note Suppressing fault 608 speed controller output limited can be activated as follows via an input terminal with function number 26 via the PROFIBUS control signal STW2 8 Refer under the index entry Input signal suppressing fault 608 from SW 3 1 Traverse to fixed endstop active from SW 3 3 66 x PosZsw 14 This output signal is used to display whether the...

Page 520: ...ero mark This means that for the slave drive the reference cam and zero mark search are activated While the signal is set the slave axis must move over a zero mark otherwise an appropri ate fault is signaled 0 signal The master drive has reached its reference point Note If for a double axis module P0891 B 1 this means that the position actual value from drive A is internally connected to the posit...

Page 521: ...s concerned i e the interpolator outputs the velocity setpoint 0 0 signal A traversing block is being processed in the interpolator i e a velocity setpoint 0 is output Note Together with the status block selection output signal it can be defined as to which traversing block is being processed This output signal is also supplied for the Jogging incremental function Refer under the index entry Posit...

Page 522: ...d minus P0315 refer under the index entry Software limit switch The output signals indicate whether the appropriate software limit switch has been actuated 1 signal The plus or minus software limit switch has been actuated 0 signal Neither the plus nor minus software limit switch has been actuated P0315 P0316 1 signal 0 signal Plus SW limit switch 1 signal 0 signal Minus SW limit switch Limit swit...

Page 523: ...al 1 1 signal 0 signal Actual position value Cam switching signal 2 1 signal 0 signal xact P0310 xact P0310 xact P0311 xact P0311 Signal characteristics for a linear axis P0311 xact mm P0310 Cam switching signal 1 1 signal 0 signal xact degrees Cam switching signal 2 1 signal 0 signal xact P0310 xact P0310 xact P0311 xact P0311 Signal characteristics for a rotary axis with modulo correction from S...

Page 524: ... reset direct output 1 SET_O RESET_O command and command parameter 2 set reset direct output 2 SET_O RESET_O command and command parameter 3 set reset both signals Programming traversing blocks is described in Chapter 6 2 10 Velocity limiting active 82 x PosZsw 1 The output signal indicates whether the velocity is limited The limiting is for example active if the programmed velocity is greater tha...

Page 525: ...gular incremental encoder handwheel function is active 0 signal The angular incremental encoder handwheel function is not active Angular incremental encoder handwheel evaluation bit 0 from SW 8 1 85 x AktSatz 11 Angular incremental encoder handwheel evaluation bit 1 from SW 8 1 86 x AktSatz 12 These 2 status signals can be used to define which angular incremental encoder handwheel evaluation is se...

Page 526: ... B No Name Min Stan dard Max Units Effec tive Input terminals I4 X422 1 0664 Function input terminal I4 0 60 82 Immed I5 X422 2 0665 Function input terminal I5 0 59 82 Immed I6 X422 3 0666 Function input terminal I6 0 58 82 Immed I7 X422 4 0667 Function input terminal I7 0 50 82 Immed I8 X422 5 0668 Function input terminal I8 0 51 82 Immed I9 X422 6 0669 Function input terminal I9 0 52 82 Immed I1...

Page 527: ... optional TERMINAL module from SW 4 1 0 0 3 Immed 0696 Assignment outputs optional TERMI NAL module from SW 4 1 0 0 3 Immed Each input output terminal can be assigned a function using these parameters Note Input terminals The function number from the list of input signals is entered refer to Chapter 6 4 3 The status of the input terminals is displayed in P0678 for diagnostic purposes refer to Chap...

Page 528: ...rminal 56 x 14 x and or terminal 24 x 20 x is used as torque setpoint Open loop torque control is used if the speed controller is implemented in a higher level control or the master slave functionality is used Torque power reduction Mred mode It may be necessary to reduce the maximum drive torque to protect the machine components The following possibilities exist Permanent torque limiting This lim...

Page 529: ...locity override refer under the index entry Override 0612 Analog setpoint terminal 24 x 20 x 0 0 2 Im medi ately 24 x 20 x The parameter defines whether and how the analog setpoint is used at this analog input 0 off 1 nset Mset mode refer to Note 2 Mred mode Note x Space retainer for drive A or B nset Mset mode It is always possible to toggle between nset and Mset mode using the open loop torque c...

Page 530: ...oop torque controlled operation input signal 0 signal P0607 P0612 Speed setpoint via 1 1 T 56 x 14 x and T 24 x 20 x 0 1 T 24 x 20 x 1 0 T 56 x 14 x Offset torque setpoint P0609 P0614 Scaling speed setpoint P0610 P0615 P1401 8 Smoothing time PT1 filter nset analog refer to Chapter 6 1 2 P0618 Inver sion Inver sion P0608 P0613 A D A D 10 V P1240 8 Smoothing time PT1 filter T 56 x T 14 x T 24 x T 20...

Page 531: ... 14 x T 24 x T 20 x 10 V P0620 P0618 P1401 8 Scaling torque power reduction Scaling speed setpoint P1244 P1243 8 Character P1240 8 Offset torque setpoint Mred analog refer to Chapter 6 1 2 istic ncontroller X P1230 P1235 Smoothing time PT1 filter Offset correction nset analog refer to Chapter 6 1 2 nact Fig 6 54 Closed loop speed controlled mode via terminal 56 x 14 x and torque power reduction vi...

Page 532: ...e motor rotates clockwise for a positive setpoint With inversion the motor rotates anti clockwise for a positive setpoint Definition of the direction of rotation When viewing the output shaft the shaft rotates counter clockwise The motor direction of rotation is counter clockwise When viewing the output shaft the shaft rotates clockwise The motor direction of rotation is clockwise 0609 Smoothing t...

Page 533: ...rdware configuration depending on the motor used P0618 Example P0618 9 P1401 8 2000 at 9 V the motor reaches a speed of 2000 RPM U V n rev min P1401 8 Note The maximum useful motor speed set using P1401 8 is taken into account when calculating the speed setpoint This means that P1401 8 acts as a speed limit This is independent of whether the setpoint is entered via a terminal or PROFIBUS 1240 8 Of...

Page 534: ... 0 1 T 24 x 20 x 1 0 T 56 x 14 x Scaling torque setpoint P1241 8 Mset analog refer to Chapter 6 1 2 P0619 Offset torque setpoint P1242 8 P0609 P0614 P0610 P0615 Smoothing time PT1 filter Inver sion Inver sion P0608 P0613 A D A D 10 V Smoothing time PT1 filter T 56 x T 14 x T 24 x T 20 x 10 V Offset correction Offset correction Fig 6 55 Open loop torque control via terminal 56 x 14 x and or termina...

Page 535: ...int Scaling torque setpoint P1243 8 Scaling torque power reduction Character P0609 P0614 P0610 P0615 Smoothing time PT1 filter Inver sion Inver sion P0608 P0613 A D A D 10 V Smoothing time PT1 filter T 56 x T 14 x T 24 x T 20 x 10 V P1244 istic X P1230 P1235 Offset correction Offset correction Fig 6 56 Open loop torque controlled operation via terminal 56 x 14 x and torque power reduction via term...

Page 536: ...0614 Smoothing time terminal 24 x 20 x SRM SLM ARM 0 0 0 0 3 0 1 000 0 ms Imme diately This allows the output of the A D converter to be smoothed using a PT1 filter 0610 Drift offset correction terminal 56 x 14 x 9 999 9 0 0 9 999 9 mV pk Imme diately 0615 Drift offset correction terminal 24 x 20 x 9 999 9 0 0 9 999 9 mV pk Imme diately If for a setpoint input of 0 volt the motor starts to rotate ...

Page 537: ...6 4 Torque power reduction via terminal 24 x 20 x A continuous torque power reduction Mred mode is possible via ana log input 2 terminal 24 x 20 x by entering an analog voltage The reduction is In the constant torque range referred to the 1st torque limit P1230 Constant power range referred to the first power limit P1235 The following characteristics can be set as a function of parameter P1244 usi...

Page 538: ...rs are described in Chapter 6 6 3 0620 Normalization voltage torque power reduc tion SRM ARM Normalization voltage force power reduction SLM 5 0 10 0 12 5 V pk Imme diately 1243 8 Normalization torque power reduction SRM ARM Normalization force power reduction SLM 0 0 100 0 100 0 Imme diately P0620 defines up to which maximum voltage a reduction can be made P1243 8 defines up to which maximum torq...

Page 539: ...hether the reduction is realized with a negative or a positive characteristic 1 Negative characteristic 2 Positive characteristic 1259 from SW 3 7 Torque power reduction mot gen SRM ARM Force power reduction mot gen SLM 0 0 1 Imme diately defines how the torque power reduction or force power reduction is effective depending on the state motoring regenerating 0 Reduction is effective motoring and g...

Page 540: ...rive M 3 M 3 Rigid or quasi rigid connection which can also be released in operation 75 x 15 16 x 15 56 x 14 x 24 x 20 x 56 x 14 x 24 x 20 x I3 x for a rigid coupling Mset mode with the coupling released nset mode Dependent on the mechanical coupling Torque setpoint Signal No 36 Fig 6 57 Example Coupling 2 drives with master slave with analog I O Warning If for a master slave configuration the rig...

Page 541: ...verter normalization P0625 50 5 V twice the rated torque For the slave drives the following settings are necessary Set the analog input Terminal 56 x 14 x P0607 1 nset Mset mode Terminal 24 x 20 x P0612 1 nset Mset mode Set the normalization P0619 5 normalization voltage torque setpoint P1241 rated torque slave motor normalization torque setpoint Set the digital input Function number 4 open loop t...

Page 542: ...nctions FBU 04 05 Edition 6 7 Analog outputs There are two freely parameterizable analog outputs with the following features for each drive Resolution of the DAU D A converter 8 bit Voltage range 10 V to 10 V Update in the speed controller clock cycle P1001 Description 6 Description of the Functions 01 99 ...

Page 543: ...ded in the signal selection list for analog outputs refer to Table 6 56 0628 Offset analog output terminal 75 x 15 128 0 127 Im medi ately 75 A 75 B 15 X441 1 X441 3 X441 5 specifies an offset to the 8 bit output signal Note The signal to be output is shifted by 20 256 V 78 mV by changing the offset by 1 digit P0628 128 10 V P0628 127 10 V 15 X441 5 0631 Overcontrol protection analog output termin...

Page 544: ...cription of P0628 for terminal 75 x 15 0638 Overcontrol protection analog output terminal 16 x 15 0 1 1 Im medi ately Note refer to the description of P0631 for terminal 75 x 15 0639 Smoothing time analog output terminal 16 x 15 0 0 0 0 1 000 0 ms Im medi ately Note refer to the description of P0632 for terminal 75 x 15 0623 Signal No 34 DAU normalization speed actual value SRM ARM DAU normalizati...

Page 545: ...nely normalized Signal No 35 which voltage is obtained when maximum torque at n 0 to nrated power at n nrated is reached Examples P0624 100 10 V Max torque or power P0624 50 5 V Max torque or power 0625 Signal No 36 D A normalization torque setpoint SRM ARM D A normalization force setpoint SLM 200 0 100 0 200 0 Im medi ately defines for the output of torque setpoint finely normalized Signal No 36 ...

Page 546: ...x x 4 24 Apk P1710 8 Speed actual value motor SRM ARM x x P0602 6 24 RPM P1711 Velocity actual value motor SLM x x P0602 6 24 m min P1711 9 Speed setpoint SRM ARM x x P0601 only for controller 6 24 RPM P1711 Velocity setpoint SLM x x only for controller enable 6 24 m min P1711 10 Speed setpoint reference model SRM ARM x x 6 24 RPM P1711 Velocity setpoint reference model SLM x x 6 24 m min P1711 11...

Page 547: ... Bero signal equivalent zero mark bit 11 inverted x x 12 16 24 Absolute speed actual value SRM ARM x x 6 24 RPM P1711 Absolute velocity actual value SLM x x 6 24 m min P1711 25 Slip frequency setpoint x x 8 24 1 s 2000 x 2 800000H x 1s 26 Zero mark signal direct mea suring system x x 17 24 27 28 Reserved 29 Actuator voltage Q input x x 11 24 V P1709 VDC link 2 30 Actuator voltage D input x x 11 24...

Page 548: ...int at terminals 56 x 14 x 24 x 20 x SLM x x 6 m min P1711 38 Signal DAU1 from PROFIBUS PPO x x 0 16 39 Signal DAU2 from PROFIBUS PPO x x 0 16 40 Speed setpoint from PROFIBUS PPO SRM ARM x x 6 24 RPM P1711 Velocity setpoint from PROFIBUS PPO SLM x x 6 24 m min P1711 41 Rotor position finely coarsely synchronized from SW 5 1 0 Still not synchronized 1 Coarsely synchronized 3 Coarsely and finely syn...

Page 549: ...ollowing error dynamic model x x 27 48 MSR MSR 2 11 78 External position reference value from SW 3 5 x P0032 19 48 MSR MSR P0403 P0404 2 11 79 External velocity setpoint from SW 3 5 x 30 48 MSR P1744 80 DSC system deviation from SW 4 1 x P0915 4 32 P1745 81 DSC pre controlled speed motor from SW 4 1 DSC pre control velocity motor from SW 4 1 x P0915 6 32 RPM P1711 82 DSC system deviation from PROF...

Page 550: ...9 3 PROFIBUS distributed inputs DezEing from SW 5 1 x x P1788 x1 8 16 510 3 PROFIBUS message word MeldW from SW 5 1 x x P1789 x2 8 16 511 3 PROFIBUS digital outputs terminals O0 x to O3 x DIG_OUT from SW 5 1 x x P1788 x1 19 16 512 3 PROFIBUS digital inputs terminals I0 x to I3 x DIG_IN from SW 5 1 x x P1789 x2 19 16 513 3 PROFIBUS block selection SatzAnw from SW 5 1 x x P1788 x1 17 16 514 3 PROFIB...

Page 551: ...e 2 G2_XIST2 from SW 7 1 x P1789 x1 8 32 524 3 PROFIBUS encoder 3 posi tion actual value 1 G3_XIST1 from SW 7 1 x P1789 x1 8 32 525 3 PROFIBUS encoder 3 posi tion actual value 2 G3_XIST2 from SW 7 1 x P1789 x1 8 32 Note Abbreviations rms rms value pk Peak value LSB Least significant bit MSR Dimension system grid Signal marking Not marked For SimoCom U the signal is available as standard Marked in ...

Page 552: ... 0 1 ENC Id Iq Induction motor 1FE1 motor flux sensing and closed loop flux control Synchronous motor without 1FE1 motor Iq set Mset KT P1113 Id set 0 Id set Iq set Conversion torque to quadrature axis current nact Vq Vd U V W M 3 Signal No Signal name 2 Current actual value phase U 3 Current actual value phase V 4 Field generating current actual value Id 5 Torque generating current actual value I...

Page 553: ...ed control loop Position controller 75 71 74 72 70 73 76 77 Signal No Signal name 70 Output position controller 71 Pre control speed 72 System deviation position controller input 73 Position actual value 74 Position reference value 75 Velocity setpoint IPO 76 Following error 77 Following error dynamic model Pos ref value filter Balancing filter speed pre control Fig 6 59 Analog signals for the pos...

Page 554: ... 39 40 with shift factor 0 with shift factor 1 with shift factor 8 with shift factor 40 Analog output value MSB Most Significant Bit LSB Least Significant Bit Fig 6 61 Shift factor for analog output of 48 bit signals Shift factor 0 Shift factor 2 200000H 10 0 0 10 0 Output voltage V 000000H 400000H 600000H 800000H A00000H C00000H E00000H FFFFFFH 1st overflow 2nd overflow 3rd overflow 4th overflow ...

Page 555: ...ctor 0 Shift factor 2 200000H 10 0 0 10 0 Output voltage V 000000H 400000H 600000H 800000H A00000H C00000H E00000H FFFFFFH 1st overflow 2nd overflow 3rd overflow 4th overflow Offset 0 V Fine normalization 100 Hexadecimal value Fig 6 63 Analog output voltage without overcontrol protection P0631 P0638 0 6 Description of the Functions 01 99 ...

Page 556: ... output via the interface The actual value can be used by a high level control Notice The control board only supplies correct angular incremental encoder signals after it has completely run up In order that a higher level control does not go into a fault condition the control board must first run up before the angular incremental encoder interface signals can be evaluated The criterion for this is...

Page 557: ... from SW 3 3 only drive A P0891 Angular incremental encoder position actual value coupling internal double axis module 1 Actual value from A internally entered as setpoint for B from SW 3 3 only drive B 0 1 2 P0890 A 0 1 2 0 1 P0891 B 3 Angular incremental encoder interface Drive A Term A A Term A A Term B A Term B A Term R A Term R A Pos act values Pos ref values Pos act values Pos ref values 0 1...

Page 558: ...hifting refer to Table 6 57 Higher level control SIMODRIVE 611 universal Angular incr enc Interface parameterized as angular incr enc interface P0890 1 nset analog Setpoint Actual value Table 6 57 shows for which encoders which signals are output via the angular incremental encoder interface and what can be manipulated nset analog Angular incr enc Interface parameterized as angular incr enc interf...

Page 559: ...ith EnDat ro tating TTL P0892 1 2 3 factor 1 x are output correspond ing to the factor sinu soidal becomes squarewave TTL P0892 4 factor 2 1 from SW 5 1 are output correspond If not pulse number 2n then the signal is present but random this means that it cannot be evaluated Cannot be evaluated as it is a ran dom signal yes yes Encoder with sin cos 1Vpp with EnDat lin ear from SW 5 1 are output cor...

Page 560: ...ng frequency 4 MHz Multiple edges up to approx 2 MHz Useful angular incremental encoder signal max to approx 420 kHz for encoders with 2048 pulses rev max 12300 RPM If the angular incremental encoder interface is to be operated as set point input as pulse direction signal or as forwards reverse signal then the angular incremental encoder interface of another SIMODRIVE 611 universal module may not ...

Page 561: ...pulses 1 pulse A x B x R x Angular incremental encoder signals x space retainer for drive A or B P Pole pair number of the resolver Fig 6 66 Angular incremental encoder signals for resolvers Signal A Signal B A x B x R x 1 zero pulse rev Encoder signals Angular incremental encoder signals x Space retainer for drive A or B 1 pulse 360 90 Fig 6 67 Angular incremental encoder signals for incremental ...

Page 562: ...tainer for drive A or B Fig 6 68 Angular incremental encoder signals for absolute value encoders with sin cos 1Vpp and EnDat interface Note If the absolute value encoder has more than 2n 2048 increments n 11 then one zero mark is output for each 2048 increments This means that encoder pulse number 2048 zero marks are output at the angular incremental encoder interface per motor revolution whereby ...

Page 563: ...lue filter P0401 Coupling factor revolutions master drive P0402 Coupling factor revolutions slave drive P0890 Activates the angular incr enc encoder interface P0895 Number of input pulse periods P0896 Number of dimension system grids P0897 Inversion external position reference value Analog signals refer to Chapter 7 4 3 74 Position reference value 75 Velocity setpoint P0232 P0020 75 xset xIPO Posi...

Page 564: ...ia quadrature signals P0894 0 Pulse direction signal P0894 1 The position reference value is entered via track A and the direction identification via track B 1 signal period 1 segment Track A Track A Track B Track B Positive setpoint input Negative setpoint input thigh tlow ts ta Fig 6 71 Position reference value input via pulse direction signal P0894 1 Forwards backwards signal P0894 2 The positi...

Page 565: ...ly guaranteed that the input signals are correctly identified and processed via the angular incremental encoder interface switched as input if the following input limiting frequencies and signal limits are maintained Table 6 58 Input limiting frequencies and signal limits Input limiting frequency Signal limits Input signal waveform Position controller clock cycle P1009 1 1 ms 2 ms 4 ms Quadrature ...

Page 566: ...nce value P0894 Angular incremental encoder input signal waveform P0895 External position reference value No of increments P0896 Ext position reference value No of dimension system grids P0897 Inversion external position reference value For angular incremental encoder interface as input the following sig nal is available Input signal invert angular increm encoder input from SW 3 5 refer under the ...

Page 567: ...ronic handwheel can be assigned four fac tors using two input terminals These factors are specified in P0900 Bit 1 Bit 0 Handwheel evaluation standard P0900 0 0 0 1 MSR P0900 1 0 1 10 MSR P0900 2 1 0 100 MSR P0900 3 1 1 1000 MSR Sub parameters P0900 0 up to P0900 3 can be optionally assigned factors up between 1 and 10000 Reader s note If the drive is moved using the electronic handwheel then the ...

Page 568: ...ing the input terminal function No 75 Invert angular incremental encoder input i e when the axis is stationary the incremental posi tion reference value is immediately inverted with a 1 signal at the input terminals External inversion position reference value via parameter P0897 i e the inversion of the incremental position reference value with P0897 1 is only effective after power on The followin...

Page 569: ...ncoder handwheel evaluation bit 0 from SW 8 1 using an input terminal with function number 85 using the PROFIBUS control signal SatzAnw 11 Input signal angular incremental encoder handwheel evaluation bit 1 from SW 8 1 using an input terminal with function number 86 using the PROFIBUS control signal SatzAnw 12 Output signals refer under the index entry Output signal digital Output signal angular i...

Page 570: ...erates with the open holding brake output signal The signal can be output as follows Using a freely parameterizable output terminal The required output signal for the control board or the optional TER MINAL module must therefore be assigned function No 35 for the motor holding brake by appropriately parameterizing it Output terminals on the control board 0 x O1 x O2 x and O3 x parameterization ref...

Page 571: ... velocity close holding brake SLM P0853 Brake delay time P0854 Controller inhibit time Note For controller enable Issuing and withdrawing the controller enable is dependent on several internal and external enable signals refer to Chapter 6 4 1 For pulse enable Issuing and withdrawing the pulse enable is dependent on several internal and external enable signals refer to Chapter 6 4 1 Parameter over...

Page 572: ...ler enable is issued the speed controller becomes active when the motor holding brake opens For all other settings the control acts against the brake The following applies Brake opening time P0851 Time to open the holding brake Speed controlled operation Speed setpoint Holding brake Controller enable t ÄÄÄÄÄ ÄÄÄÄÄ t t t t P0851 Brake opening time Time to open the holding brake Output signal status...

Page 573: ...trol is only withdrawn after the brake has closed This prevents an axis from possibly sagging Speed actual value Output signal open holding brake Holding brake Controller enable ÄÄÄÄ ÄÄÄÄ P0854 Controller inhibit time Drive braked actively e g regenerative braking Speed controlled operation Speed setpoint Internal controller enable Note In the example the ramp down time ramp function generator 0 t...

Page 574: ...l value Output signal open holding brake Holding brake Pulse enable ÄÄÄÄÄ ÄÄÄÄÄ ÄÄÄÄÄ t t t t t t The drive coasts down The drive is braked by the motor brake Closed loop speed controlled operation speed setpoint Open loop torque controlled operation torque setpoint Internal controller enable t Output signal status controller enable Time to close the holding brake 1 0 1 0 1 0 1 0 1 0 Fig 6 75 Clos...

Page 575: ...et the parameters for closing the holding brake when withdrawing the controller enable P0852 speed close holding brake P0853 brake delay time The brake delay time P0853 must be harmonized with the speed at which the holding brake closes P0852 P0854 controller inhibit time The controller inhibit time must be harmonized with the time that it takes to close the brake so that the drive cannot drop Exa...

Page 576: ...ndent parameters These parameters have for every parameter set a parameter value which is effective dependent on the selected parameter set Example P1407 8 P gain speed controller ARM SRM P gain velocity controller SLM P1407 0 is effective if parameter set 0 is selected standard P1407 7 is effective if parameter set is selected Table 6 59 Parameter set dependent parameters Parameters for parameter...

Page 577: ...M Offset force setpoint open loop torque contr SLM 1243 0 1243 1 1243 7 x x Normalization torque power reduction ARM SRM Normalization force power reduction SLM 1256 0 1256 1 1256 7 x Ramp function generator ramp up time from SW 2 4 1257 0 1257 1 1257 7 x Ramp function generator ramp down time from SW 2 4 1401 0 1401 1 1401 7 x x Speed for max useful motor speed ARM SRM Velocity for max useful mot...

Page 578: ...action time speed controller IM ARM 1500 0 1500 1 1500 7 Speed setpoint filter ARM SRM to to to x x Speed setpoint filter ARM SRM Velocity setpoint filter SLM 1521 0 1521 1 1521 7 Velocity setpoint filter SLM Note x The parameter is available in this operating mode The parameter is not available in this operating mode x1 for spindle positioning from SW 5 1 Note Only parameter set 0 is parameterize...

Page 579: ...the system to the masses to be moved the parameter set dependent parameters are defined in parameter sets 0 and 1 cor responding to the different loads Input terminal I0 A is to be used to toggle between parameter set 0 and 1 Input terminal Parameter Description I0 A 1st input P0660 9 Changeover xx 2nd input xx Acts just like a 0 signal xx 3rd input xx Acts just like a 0 signal The input terminals...

Page 580: ...atures The motor data sets are changed over using freely parameterizable input terminals 2 P1xxx M P2xxx P3xxx P4xxx 5 6 input Fct No The motor data sets are changed over using freely parameterizable input terminals The pulses are not canceled when changing over Application Adaptation of the motor and controller data e g pulse frequency changeover Refer to Chapter 6 11 3 Max 2 motors each with 2 m...

Page 581: ...2 2102 3102 4102 Motor code number 99 is entered for non catalog motors Note When using several catalog motors the motor data is only valid after first entering the appropriate motor code followed by data save and POWER ON For a motor changeover with gap e g from motor 1 to 3 a motor code number dummy code must be en tered in the intermediate motor data set i e the ap propriate parameter may not h...

Page 582: ...ed limiting 1148 1 2148 1 3148 1 4148 1 Speed at the start of the stall power 1150 2150 3150 4150 P gain flux controller 1151 2151 3151 4151 Integral action time flux controller 1160 2160 3160 4160 Speed at the start of flux sensing 1180 2180 3180 4180 Lower current limit adaptation 1181 2181 3181 4181 Upper current limit adaptation 1182 2182 3182 4182 Factor current controller adaptation 1230 8 2...

Page 583: ...13 2413 3413 4413 Select adaptation speed controller 1417 8 2417 8 3417 8 4417 8 nx for nact nx signal 1418 8 2418 8 3418 8 4418 8 nmin for nact nmin signal 1426 8 2426 8 3426 8 4426 8 Tolerance bandwidth for nset nact signal 1451 8 2451 8 3451 8 4451 8 P gain speed controller IM 1453 8 2453 8 3453 8 4453 8 Integral action time speed controller IM 1458 2458 3458 4458 Current setpoint open loop con...

Page 584: ...t No 13 Motor 3 selected Fct No 14 Motor 4 selected SIMODRIVE 611 universal Note Output terminals with Fct Nos 11 14 are only controlled if P1249 0 Fig 6 78 Input output signals freely parameterizable terminals Status signal Actual motor 1st signal ZSW2 9 Actual motor 2nd signal ZSW2 10 Motor being changed over from SW 3 3 ZSW2 11 SIMODRIVE 611 universal Control signal Motor data set changeover 1s...

Page 585: ...The parameterization of the input output terminals is described as follows for the control board in Chapter 6 4 2 and 6 4 5 for the optional TERMINAL module in Chapter 6 5 A dedicated power module pulse frequency P1100 can be parameteri zed for each motor data set The speed requirement of the motor can be better adapted by changing over the pulse frequency With a higher pulse frequency higher spee...

Page 586: ... 0 0 1 0 1 P2xxx 0 0 1 0 1 0 P3xxx 0 1 0 0 1 1 P4xxx 1 0 0 0 Note The number of contactors which can be controlled for motor changeover is limited by the number of output terminals Output terminals 11 12 13 and 14 are not controlled if P1249 1 SIMODRIVE 611 universal receives a request for changeover if the signal status at one of the two input terminals for motor data set chan geover has changed ...

Page 587: ...on output terminal O10 13 O11 X432 8 P0691 signaling function output terminal O11 14 SIMODRIVE 611 universal T 663 1 Several motors cannot be simultaneously selected as this is interlocked per software The recommended contactor interlocking additionally guarantees that only one motor can be operated at any one time 2 Only necessary for special high speed motors Pulse enable Motor 1 Motor 2 Motor 3...

Page 588: ...r i e the changeover is made with the pulses enabled This version can be used to adapt the motor and controller data The following input output signals are used for this changeover version Table 6 63 Input output terminal signals Input terminal with function No Effective motor data set Output terminal with function No 6 5 141 131 121 111 0 0 P1xxx 0 0 0 0 0 1 P2xxx 0 0 0 0 1 0 P3xxx 0 0 0 0 1 1 P4...

Page 589: ...elect be tween eight drive parameter sets 0 7 The following input output signals are used for this changeover version Table 6 64 Input output terminal signals Input terminal with function No Speed threshold3 Effective motor data set Output terminal with function No 61 52 144 13 124 11 0 n P1247 P1xxx 0 0 0 1 0 n P1247 P2xxx 0 0 0 1 1 n P1248 P3xxx 0 1 0 0 1 n P1248 P4xxx 0 1 0 0 1 If the input ter...

Page 590: ...a circuit configuration high stall torque Assumptions for the example The motor is operated with drive A An optional TERMINAL module is used The changeover is realized via the following input output terminals I8 X422 5 P0668 function input terminal I8 6 O8 X432 5 P0688 signaling function output terminal O8 11 O9 X432 6 P0689 signaling function output terminal O9 13 P1247 700 i e 0 n 700 motor in t...

Page 591: ...g stop is not guaranteed by just opening K1 and K2 This is the reason that for safety related reasons contactor Kx should be used to provide electrical isolation This contactor may only be switched in the no current condition i e the pulse enable must be withdrawn 40 ms before the contactor is opened de energized K2 K1 1 signal operation 0 signal Υ operation Fig 6 81 Recommended circuit Changing o...

Page 592: ...geover using speed thresholds P1247 P1248 Note It is only possible to enable motor changeover in the speed torque setpoint mode P0700 1 1247 Speed threshold motor changeover 1 2 ARM 100 0 100 000 0 100 000 0 RPM Immedi ately 1248 Speed threshold motor changeover 3 4 ARM 100 0 100 000 0 100 000 0 RPM Immedi ately the speed thresholds for the motor changeover are defined with speed threshold P1013 3...

Page 593: ...r is realized using an external control via the motor changeover input signal STW2 11 The output terminals with function numbers 11 12 13 and 14 are not energized 0 Motor changeover via drive The contactors to change over the motor are controlled from the drive via the output terminals with function numbers 11 12 13 and 14 Note The contactors used to change over the motor must be switched in a no ...

Page 594: ...clamping torque must also be specified in this traversing block The following applies Drive Value range and units for the clamping torque clamping force Rotating 1 65 535 0 01 Nm Linear 1 65 535 0 01 N A selectable fixed endstop monitoring window prevents the drive from continuing after the fixed endstop has been reached e g when the fixed endstop breaks off Note When jogging closed loop speed con...

Page 595: ...the programmed velocity The clamping torque clamping force programmed in this block already becomes effective from the starting position i e the axis moves to the fixed endstop with the reduced torque limit force limit The dynamic following error monitoring is not effective when trav eling to the endstop What happens if the fixed endstop is reached before the target position is reached standard ca...

Page 596: ...ak ing travel P0114 1 The status is only reached if it is recognized via the sensor fixed endstop input signal The following applies after the fixed endstop reached status has been recognized The distance to go is deleted The position reference value is tracked The fixed endstop monitoring is activated The controller enable remains active The fixed endstop reached output signal is set Is the progr...

Page 597: ... P0113 0 1 A block change is made The torque limiting is automatically disabled The block change enable is realized as programmed in the block The travel to fixed endstop function is interrupted and if warning 889 is present it is acknowledged if one of the following occurs The next block is processed with the POSITIONING command the jogging mode is selected if previously interrupted with the inpu...

Page 598: ...lock starts The value in P0116 8 is valid both in the positive as well as the neg ative travel directions The window setting must be selected so that a fault is only initiated if the endstop breaks For a hanging axis without mechanical weight equalization when pro gramming the clamping torque and when defining the fixed endstop monitoring window it must be taken into consideration as to whether th...

Page 599: ...signal Block change P0086 64 Fixed endstop sensor input signal Block with command FIXED ENDSTOP Block with command POSITIONING valid if P0114 0 or valid if P0114 1 P0086 64 Command parameter clamping torque P0114 Fixed endstop configuration 2 P0115 8 Fixed endstop maximum following error P0116 8 Fixed endstop monitoring window Monitoring window Positions Start position Programmed end position P011...

Page 600: ...led Offset force setpoint speed controlled The following signals are used for the function traverse to endstop Input signals refer under index entry Input signal digital Fixed endstop sensor input signal using an input terminal with function number 68 using PROFIBUS control signal PosStw 3 Output signals refer under the index entry Output signal digital Fixed endstop reached output signal using an...

Page 601: ...ta must be manually entered to make it a complete travers ing block teach in block become a com plete traversing block P0121 0 For teach in the block defined using P0121 is transferred into the selected block and the position value actual position reference value is overwritten P0087 is not completely transferred but only the position mode and the block enable condition Information as to whether t...

Page 602: ...ing the PROFIBUS control signal PosStw 6 Input signal block selection 1st to 6th input using an input terminal with function number 50 55 using PROFIBUS control signal SatzAnw 0 5 Output signals refer under the index entry Output signal digital Output signal teach in successful using an output terminal with function number 64 using the PROFIBUS status signal PosZsw 15 Note The positions with teach...

Page 603: ...g prerequisites are necessary to use dynamic servo control n set mode Isochronous PROFIBUS DP The position controller gain factor KPC and the system deviation XERR must be included in the PROFIBUS DP setpoint telegram refer to P0915 The position actual value must be transferred to the master in the actual value telegram of PROFIBUS DP via the encoder interface Gx_XIST1 refer to Chapter 5 6 4 When ...

Page 604: ...ion is activated by transferring a value for KPC 0 in the PROFIBUS telegram When DSC is activated the position controller gain in the master should be set again The DSC function is de activated by setting KPC 0 Then only the speed pre control is effective Higher gain factors can be set using DSC This is the reason that the control loop can become unstable when DSC is disabled Before disab ling DSC...

Page 605: ...earch velocity and How the axis approaches the target position The target position can be approached as follows With the actual direction of rotation With a defined direction of rotation clockwise counter clockwise With a motor encoder sin cos 1 Vpp With a motor encoder sin cos 1 Vpp and external zero BERO at the spindle when the gearbox stage is being changed over with direct measuring system spi...

Page 606: ... changeover to the next position via terminals only one bit should be changed when selecting the travers ing block If when the controller is inhibited the spindle is pushed pressed out of a parameterized tolerance window then the position actual value is corrected tracked If the controller is then re enabled the spindle re mains at that particular position It is only re positioned again if spindle...

Page 607: ...k number P0002 Actual traversing block position P0003 Actual traversing block velocity P0004 Actual traversing block acceleration override P0005 Actual traversing block deceleration override P0008 Actual traversing block mode P0020 Position reference value P0021 Position actual value P0024 Velocity actual value P0132 Spindle positioning zero mark difference BERO P0136 Spindle positioning active in...

Page 608: ...BUS DP control word XSP Signal No 50109 W Positioning mode The behavior when approaching the target position is defined in parame ter P0087 The behavior depends on whether the spindle positioning function is already active and the 1st position was approached or not Behavior for nset active Behavior if the 1st target position has already been reached W 0 ABSO LUTE Standard The position is ap proach...

Page 609: ...ng block via termi nal or PROFIBUS DP then the drive rotates according to the ABS_POS mode in the clockwise sense with the max velocity of 3600 degrees min and remains stationary at the 90 degrees position After bit 0 is switched out the axis moves from 90 degrees to 0 de grees The spindle positioning on command must always be present If the command is switched out then the axis rotates at the spe...

Page 610: ...osition In this velocity range the drive brakes to the search velocity v2 The drive traverses to the target position if the zero mark is recognized v1 lowest search velocity P0130 P0082 Minimum from P0133 and P0082 t P1257 P1256 Condition The maximum velocity P0102 must be greater than v2 Fig 6 86 Spindle positioning at n set if the axis was previously referenced Procedure to shift the zero mark a...

Page 611: ... be positioned For multi stage gearboxes the gearbox stage ratios must be taken into account The ratios must be entered via parameter P0237 gearbox revolutions and P0238 load revolutions For parameter set 0 the ra tio of the first gearbox stage can be defined using SimoCom U in the menu screen Mechanical system 1 1 is the basic setting Additional gearbox stage ratios must be entered using the Expe...

Page 612: ...anged to the position specified in the traversing block Output signals refer under the index entry output signal digital The output signals are only effective when selecting spindle posi tion on Output signal spindle positioning on using an output terminal with function number 28 using the PROFIBUS status signal ZSW1 15 Output signal spindle position reached setting a window with P0134 using an ou...

Page 613: ...ion be selected by manually rotating the spindle No 1 Rotate the spindle to the required position 2 Set the actual position as zero position using the SimoCom U menu screen Spindle positioning or set P0127 to 1 Zero mark offset is displayed using P0128 Enter the zero offset value in degrees either directly via P0128 or SimoCom U or enable the controller approach the position and set the actual pos...

Page 614: ...city via P0082 traversing block if necessary increase P0133 5 Max deceleration acceleration P0103 P0104 and input the override via traversing blocks 6 Position controller Kv factor adaptation via P0200 Note Observe the parameter set changeover Save parameters which have been changed Yes End Should positioning be optimized No Fig 6 88 Commissioning example spindle positioning continued 6 Descriptio...

Page 615: ...ected using parameter P1075 Determining the rotor position The rotor position identification routine automatically determines the motor rotor position This means that the motor encoder does not re quire any additional position information from the encoder C D track For linear motors Hall sensors are not required if the limitations and secondary conditions are maintained Passing over the zero mark ...

Page 616: ...or position identification The following limitations secondary conditions apply for the technique based on both saturation and movement This technique can be used for both braked and non braked mo tors The technique cannot be used for motors which are moving The current which is entered must be adequate in order to generate a significant measuring signal The technique can only be started when the ...

Page 617: ...tors can only be operated with Hall sensor boxes or with absolute measuring systems When using an absolute motor measuring system the rotor position identification can only be used to determine the commutation angle offset P1016 The technique can only be started when the controller and pulses are enabled as current must flow through the motor When this technique is used under worst case condition ...

Page 618: ...able P1076 must be reduced Extremely low encoder resolution use an encoder with a higher resolution encoder mounting is not stiff enough improve the mounting Fault 610 rotor position identification unsuccessful and P1734 7 no clear rotor position has been found This can be due to the following reasons the axis cannot freely move e g the motor rotor is locked external forces have disturbed the iden...

Page 619: ...front panel 7 627 7 3 List of faults and warnings 7 628 7 3 1 Fault without a number being displayed 7 628 7 3 2 Error with fault warning number 7 629 7 4 Commissioning functions 7 713 7 4 1 Function generator FG 7 714 7 4 2 Trace function 7 722 7 4 3 Test sockets DAU1 DAU2 7 723 7 4 4 Measurement function 7 726 7 5 V Hz operation diagnostics function 7 727 7 5 1 V Hz operation with induction moto...

Page 620: ...e fault number and supple mentary information For the display unit a change is made between the fault output with E and the supplementary information where only a value is output Starting from the fault display you can changeover into the parame terizing mode using the MINUS key Faults have a higher priority than the warnings Removing faults Remove the cause of the fault Acknowledge the fault is s...

Page 621: ...ed without this prerequisite However the drive then remains in the Power on inhibit state refer to Chapter 5 5 Generating the power on inhibit Fig 5 9 Set the appropriate bus signal e g for the CAN bus from SW 8 1 1 Carry out POWER ON acknowledgment In addition to the POWER ON faults all of the faults which can be acknowledged with RESET FAULT MEMORY are also acknowl edged 2 Set the input terminal...

Page 622: ...cancellation has expired then the pulses are canceled Torque control mode The drive does not actively brake If the speed actual value falls below the value in P1403 shutdown speed pulse cancellation or if the time in P1404 timer stage pulse cancellation has expired then the pulses are canceled STOP III nset 0 The axis is braked closed loop speed con trolled with the maximum deceleration P0104 The ...

Page 623: ...1601 can be suppressed e g faults 508 509 608 etc How can they be suppressed By setting the parameter bit assigned to the fault via P1600 and P1601 Example Fault 608 is to be suppressed set P1601 8 to 1 Can be parame terized P1612 and P1613 from SW 3 3 Refer to Chapter A 1 Faults which can be set This means For these faults either STOP I or STOP II can be set as stop response Which faults can be s...

Page 624: ... fault Code 1 hyphen 1 hyphen there is one fault present A the fault is assigned to drive A 608 is the fault number 2 This is what it looks like if several faults have occurred refer to Fig 7 2 E it involves several faults Code 3 hyphens 3 hyphens several faults are present this is the first which occurred A the fault is assigned to drive A 131 is the fault number Note By pressing the PLUS button ...

Page 625: ...Fig 7 1 Operator control if a fault is available When faults occur they can be handled as shown in the following dia gram using the PLUS MINUS and P keys P Automatically after one minute Acknowledge Parameterizing mode Switch into the parameterizing mode Flashing display Alarm mode Display and operator unit Code for the first fault which occurred E and 3 hyphens Code for an additional fault E and ...

Page 626: ...they can be handled using the MINUS key as shown in the following diagram P Parameterizing mode Switch into the parameterizing mode Flashing display Alarm mode Display and operator unit Symbol for one warning no hyphen Key Automatically after one minute Fig 7 3 Operator action if one warning is present Operator action if one warning is present 7 Fault Handling Diagnostics 01 99 ...

Page 627: ...D is lit on the front panel of the control board it can be interpreted as follows Table 7 4 Significance of the FAULT LED If then The FAULT LED on the front panel of the control board lights up there is at least one fault No 800 the fault number is displayed on the display unit the control board is running up approx 2 sec The LED goes dark after a successful run up a first commissioning is request...

Page 628: ... set to zero Power on inhibit is present for PROFIBUS operation Remove the power on inhibit with A high low high signal change at 65 x or the control bit STW1 0 ON OFF 1 or set bit 12 of parameter 1012 to zero Fault After the controller has been enabled the motor briefly moves Cause Defective power module Fault After the controller has been enabled the motor rotates at max 50 RPM at nset 50 RPM or...

Page 629: ...ependent on the software release 000 Alarm diagnostics not possible Cause Communications to the drive have been interrupted Different versions of the SimoCom U start up and parameterizing tool and the drive Remedy Check the communications to the drive cable interfaces The V_611U Version acc file on the hard disk of the PG PC should be adapted to the drive as follows Exit SimoCom U Delete the V_611...

Page 630: ...atchdog Suppl info X Cause The watchdog timer on the control module has expired The cause is a hardware fault in the time basis on the control module Supplementary information only for siemens internal error diagnostics Remedy Replace control module Acknowledgement POWER ON Stop response STOP II SRM SLM STOP I ARM 004 Stack overflow Suppl info X Cause The limits of the internal processor hardware ...

Page 631: ...nformation only for siemens internal error diagnostics Remedy Carry out RESET or POWER ON If a download is still unsuccessful after several attempts the memory module must be replaced If this is unsuccessful the control module is defective and must be replaced Acknowledgement POWER ON Stop response STOP II SRM SLM STOP I ARM 020 NMI due to cycle failure Cause Basic cycle has failed Possible causes...

Page 632: ... then identifies that no currents are flowing excessive deviation to the theoretical cen ter frequency It is possible that the hardware for the current actual value sensing is defective Remedy Check the plug in connections Check whether the control module is correctly inserted Replace control module Replace the power section Acknowledgement POWER ON Stop response STOP II SRM SLM STOP I ARM 029 Inc...

Page 633: ...n only for siemens internal error diagnostics Remedy Re load drive software Replace control module Acknowledgement POWER ON Stop response STOP II SRM SLM STOP I ARM 032 Incorrect number of current setpoint filters Cause An illegal number of current setpoint filters was entered 4 maxi mum number 4 Remedy Correct number of current setpoint filters P1200 Acknowledgement POWER ON Stop response STOP II...

Page 634: ...ppl info X Cause An error occurred when loading a new firmware release Cause Data transfer error FEPROM memory cell defective Note As the previously used firmware was erased when downloading the drive expects a new firmware download after RESET or POWER ON Supplementary information only for siemens internal error diagnostics Remedy Execute RESET or POWER ON If a download is still unsuccessful afte...

Page 635: ...e 0x400000 Different power section codes P1106 are entered for this 2 axis module Remedy Execute RESET or POWER ON Check whether the control module is correctly inserted in the power module Acknowledgement POWER ON Stop response STOP II SRM SLM STOP I ARM 040 Expected option module is not available Cause The parameterization P0875 expects an option module which is not available on this control mod...

Page 636: ...mains at P0875 2 Acknowledgement POWER ON Stop response STOP II SRM SLM STOP I ARM 042 Internal software error Supplementary info u Cause There is an internal software error Supplementary information only for siemens internal error diagnostics Remedy Execute POWER ON RESET press button R Re load the software into the memory module execute software up date Contact the Hotline Replace control module...

Page 637: ...et position block n plus software limit switch Cause The target position specified in this block lies outside the range limited by P0316 plus software limit switch Remedy Change the target position in the block Set the software limit switches differently Acknowledgement RESET FAULT MEMORY Stop response STOP VI 102 Target position block n minus software limit switch Cause The target position specif...

Page 638: ... The external block change is only permissible with P0110 2 or 3 Block change enable only with END or CONTINUE EXTERNAL For axis couplings For COUPLING_IN COUPLING_OUT via a travers ing block P0410 3 4 or 8 a block change enable with CONTINUE FLYING is not possible Remedy Check and correct P0087 64 P0097 Acknowledgement RESET FAULT MEMORY Stop response STOP VI 106 Block n ABS_POS mode not possible...

Page 639: ...lock number n does not exist Cause A block number was selected which is not available in the program memory or has been suppressed Remedy Select the existing block number Program the traversing block with the selected block number Acknowledgement RESET FAULT MEMORY Stop response STOP VI 111 GOTO in block number n not permissible Cause The step command GOTO may not be programmed for this block numb...

Page 640: ... highest block number does not have END as block step enable Remedy Program this traversing block with block step enable END Program the GOTO command for this traversing block Program additional traversing blocks with higher block number and program the block step enable END highest block number in the last block Acknowledgement RESET FAULT MEMORY Stop response STOP VI 115 Traversing range start r...

Page 641: ...uated the plus software limit switch P0316 for absolute or relative position ing The behavior for software limit switch reached can be set using P0118 0 Remedy Acknowledge fault Move away in the negative direction jog mode Acknowledgement RESET FAULT MEMORY Stop response STOP V 120 MINUS software limit switch actuated Cause For a block with the ENDLOS_NEG command the axis has actuated the minus so...

Page 642: ...ferencing and Jog 1 and Jog 2 input signals a posi tive edge was simultaneously identified Remedy Reset both input signals and re start the required function after the fault has been acknowledged Acknowledgement RESET FAULT MEMORY Stop response STOP V 125 Falling edge of the reference cam not identified Cause When moving away from the reference cams the traversing range limit was reached as the 1 ...

Page 643: ...maximum velocity P0102 is too high to correctly calculate the modulo offset The maximum velocity may only be so high that 90 of the modulo range P0242 can be traveled through within one interpolation cycle P1010 Remedy Reduce maximum velocity P0102 Acknowledgement RESET FAULT MEMORY Stop response STOP V 130 Controller or pulse enable withdrawn in motion Cause Possible causes are One of the followi...

Page 644: ...ing jog button 1 or 2 Then acknowledge the fault Acknowledgement RESET FAULT MEMORY Stop response STOP III 133 Drive located after the plus software limit switch Cause The axis was moved to the plus software limit switch P0316 jog mode The fault can also occur if the software limit switches are inactive if the position actual value exceeds the limit value of 200 000 000 MSR that corresponds to 555...

Page 645: ...and speed cannot be displayed This factor depends on the following parameters Spindle pitch P0236 for linear axes Gearbox ratio P0238 8 P0237 8 Remedy Check the above mentioned parameters and correct Acknowledgement RESET FAULT MEMORY Stop response STOP II 137 Conv factor pos contr output parameter set d cannot be represented Cause The conversion factor in the position controller between the follo...

Page 646: ...op response STOP III 141 Plus hardware limit switch Cause A 1 0 edge was identified at the Plus hardware limit switch input sig nal Remedy Return the drive into the traversing range using jog button 1 or 2 Then acknowledge the fault Acknowledgement RESET FAULT MEMORY Stop response STOP III 142 Input I0 x not parameterized as equivalent zero mark Cause When entering an external signal as equivalent...

Page 647: ... 146 Fixed endstop axis outside the monitoring window Cause In the Fixed endstop reached status the axis has moved outside the defined monitoring window Remedy Check P0116 8 fixed endstop monitoring window Check mechanical system Acknowledgement RESET FAULT MEMORY Stop response STOP II 147 Enable signals withdrawn at the fixed endstop Cause Possible causes are One of the following enable signals w...

Page 648: ...t Supplementary info 0 Limit exceeded after the coupling factors P0401 P0402 identified i e P0032 200 000 000 MSR Supplementary info 1 Limit exceeded after the coupling factors P0401 P0402 identified i e P0032 P0402 P0401 200 000 000 MSR Remedy Return the external position reference value to the value range Then acknowledge the fault Acknowledgement RESET FAULT MEMORY Stop response STOP II 151 Ext...

Page 649: ...ion actual value Xact No 50206 Lower limit fallen below 1xx Position correction value dxKorr No 50210 Upper limit exceeded 2xx Position correction value dxKorr No 50210 Lower limit fallen below Remedy Move drive back e g by jogging in the representable traversing range Adapt the lower and upper limit to the required traversing range using P884 and P896 Acknowledgement RESET FAULT MEMORY Stop respo...

Page 650: ...eased during the traversing job Cause The coupling was disconnected while a traversing task was running Remedy First exist the traversing task and then disconnect the coupling Acknowledgement RESET FAULT MEMORY Stop response STOP III 165 Absolute positioning block not possible Cause Traversing blocks with absolute position data are not permitted while the axis coupling is activated Remedy Correct ...

Page 651: ...rigger missed Cause Occurs for couplings with queue functionality Synchronizatin is requested using the KOPPLUNG_ON command and it is identified that the position at which the coupling is switched in has already bee passed Remedy Ensure that the slave drive was stationary for at least 1 IPO clock cycle P1010 before the coupling for the next element in the position memory must be switched in Acknow...

Page 652: ... Set angular encoder interface P0890 P0891 Acknowledgement RESET FAULT MEMORY Stop response STOP IV 175 Passive referencing not realized Supplementary info u Cause While the master drive corrects the zero mark offset the slave drive must pass over a zero mark Supplementary information 0 Reference cam not found 1 Reference cam not left 2 Zero reference pulse not found Remedy Ensure that the cam of ...

Page 653: ... 1 or output terminal function 69 Slave drive read in via STW1 15 QStw 1 or input terminal function 69 Acknowledgement RESET FAULT MEMORY Stop response STOP II 180 Teach in without reference point Cause Teach in only possible for a referenced axis Remedy Request reference axis and teach in Acknowledgement RESET FAULT MEMORY Stop response STOP IV 181 Teach in block invalid Cause The specified teach...

Page 654: ...unction the positioning mode P0087 is not valid Remedy Program traversing block positioning as absolute absolute positive or absolute negative Acknowledgement RESET FAULT MEMORY Stop response STOP II 186 Spindle cannot be referenced supplementary info d Cause For the Spindle positioning function an error has occurred while posi tioning Supplementary info Significance 0 The distance between the las...

Page 655: ...reds position of the supplementary info contains the parmeter set involved Remedy Check and correct specified parameters Acknowledgement RESET FAULT MEMORY Stop response STOP II 188 Spindle positioning P d illegal Cause Spindle positioning requires the following parameteriation P0241 1 P0100 3 Remedy Correct the specified parameter or cancel spindle positioning by setting P0125 to 0 Acknowledgemen...

Page 656: ...se The maximum search velocity for spindle positioning is greater than the maximum motor speed Remedy Reduce parameter P0133 or reduce the velocity in the traversing block Acknowledgement RESET FAULT MEMORY Stop response STOP II 193 Zero mark not found Cause The zero mark encoder or equivalent zero mark e g BERO was not found Gearbox ratio mechanical system was not correctly parameter ized using p...

Page 657: ...meter P338 Supplementary information Warning number Remedy Change the input signals or suppress the fault using P338 Acknowledgement RESET FAULT MEMORY Stop response STOP II 501 Measuring circuit error absolute current Cause 1 The smoothed absolute current P1254 current monitoring time constant is greater than 120 of the permissible power section current P1107 2 For an active rotor position identi...

Page 658: ...er or motor Acknowledgement POWER ON Stop response parameterizable 505 Meas circ error motor meas syst abs track Cause 1 The motor absolute track CD track is monitored for an interrupted conductor For optical encoders the absolute track supports the evalu ation of the mechanical position within one motor revolution 2 For absolute encoders with EnDat interface this fault displays an initialization ...

Page 659: ...eplace control module Exchange the encoder or motor Acknowledgement POWER ON Stop response parameterizable 508 Zero mark monitoring motor measuring system Cause The measured rotor position fluctuates between 2 encoder zero marks encoder lines may have been lost Note The encoder monitoring function can be disabled using P1600 8 Remedy Use the original Siemens pre assembled encoder cables better scr...

Page 660: ...ledgement RESET FAULT MEMORY Stop response parameterizable 512 Measuring circuit error direct measuring system Cause The encoder signal level is too low faulted incorrect shielding or the cable breakage monitoring function has responded Remedy Use the original Siemens pre assembled encoder cables better screening Check for sporadic interruptions loose contact e g due to cable drag movements For to...

Page 661: ...connectors between the encoder and control module Replace control module Replace encoder Acknowledgement POWER ON Stop response parameterizable 514 Zero mark monitoring direct measuring system Cause A fluctuation in the measured values has occurred between 2 encoder zero marks encoder pulses may have been lost Note The encoder monitoring can be disabled using P1600 14 Remedy Use the original Sieme...

Page 662: ...al Check fan if required replace Maintain the minimum clearance above and below the power section refer to the Configuration Manual Acknowledgement POWER ON Stop response parameterizable 591 Pos contr clock cycle not equal to DP clock cycle mas ter applic clock cycle Cause For a 2 axis module one axis is in the n set mode and one axis in the positioning mode For the axis in the n set mode a positi...

Page 663: ...ore consecutive failures than permitted The permissible sign of life errors are specified using P0879 bits 2 0 configuration 0x02 The Global Control telegram to synchronize the clock cycles has failed in operation for several consecutive DP clock cycles or in several DP clock cycles has violated the time grid specified using the parameteriz ing telegram refer to times Tdp and Tpllw If the complete...

Page 664: ...assive axis Acknowledgement RESET FAULT MEMORY Stop response STOP II 596 PROFIBUS Connection to the publisher u inter rupted Cause Cyclic data transfer between this slave and a slave to slave commu nications publisher was interrupted as cyclic telegrams were missing Examples Bus connection interrupted Publisher failure Master runs up again The response monitoring Watchdog for this slave was de act...

Page 665: ...o times Tdp and Tpllw over several consecutive DP clock cycles If the complete DP communications continuously fails in addition fault 599 is output at the latest after the watchdog monitoring time specified when the bus was configured Remedy Check whether communications is briefly or continuously interrupted Check whether the PROFIBUS master can operate in clock cycle synchronism and the Global Co...

Page 666: ...on although it is not controlled by the master used Check whether the equidistant DP clock cycle transferred with the parameterizing telegram was actually set and activated at the master Check whether the time Tdx defined in the master software corresponds to the actual data transfer time to all of the slaves and is less than the configured time To 125us Acknowledgement RESET FAULT MEMORY Stop res...

Page 667: ... to non parameterized motor data set Cause An attempt was made to change over to a motor data set which was not parameterized Remedy Parameterizing motor data set Acknowledgement RESET FAULT MEMORY Stop response parameterizable 604 Motor encoder is not adjusted Cause For an EnDat motor measuring system it was identified that the serial number does not match that saved i e the encoder has still not...

Page 668: ...ET FAULT MEMORY Stop response parameterizable 607 Current controller output limited Cause The entered setpoint cannot be impressed in the motor although the maximum voltage has been entered The cause could be that the motor is not connected or a phase is missing Remedy Check the connecting cable motor drive converter phase missing Check the motor contactor DC link voltage present Check the DC link...

Page 669: ...ion is entered Diagnostics using P1717 0 No torque 100 Full torque Remedy Check connecting cable motor converter phase missing exchanged Check the motor contactor Check the torque reduction P1717 DC link voltage present Check the DC link voltage check that the screws are tight Unblock the motor Is the motor encoder connected Check the motor encoder cable screen Is the motor grounded PE connection ...

Page 670: ... no of encoder pulses Encoder defective Motor cable defective or not properly attached Shield on motor encoder cable is not connected Defective control module Remedy Enter correct encoder data replace encoder Check the encoder pulse number P1005 Attach motor cable correctly or replace Connect the motor encoder cable screen Reduce the speed setpoint input P1401 Replace control module Acknowledgemen...

Page 671: ...ter phase missing Check the motor contactor DC link voltage present Check the DC link busbar check that the screws are tight Use monitoring function in the power section has responded RESET by powering off powering on Replace the power section or control module if P1075 3 To 1 The motor is not correctly connected The motor power connection must be checked To 2 Remove disturbing external forces e g...

Page 672: ...ion routine if P1075 3 Increase the parameterized load mass P1076 Check the maximum permissible motion P1020 and if required increase Reduce the current rotor position identification P1019 If the current and speed controller clock cycle have low values 62 5 micro seconds then it maybe necessary to increase P1019 Acknowledgement RESET FAULT MEMORY Stop response parameterizable 612 Illegal current d...

Page 673: ...2 alarm threshold motor overtemperature 120 degrees C P1603 timer motor temperature alarm 240 s P1607 shutdown limit motor temperature 155 degrees C P1608 fixed temperature 0 degrees C P1608 0 Temperature sensing active P1608 0 Fixed temperature active If the temperature monitoring is exclusively realized using an external PLC a fixed temperature must be entered into P1608 e g 80 degrees C This di...

Page 674: ...onitoring P1602 alarm threshold motor overtemperature 120 degrees C P1603 timer motor temperature alarm 240 s P1607 shutdown limit motor temperature 155 degrees C P1608 fixed temperature 0 degrees C P1608 0 temperature sensing active P1608 0 fixed temperature active If the temperature monitoring is exclusively realized using an external PLC a fixed temperature must be entered into P1608 e g 80 deg...

Page 675: ...lace control module Acknowledgement RESET FAULT MEMORY Stop response parameterizable 616 DC link undervoltage Cause The DC link voltage has exceeded the permissible lower limit P1162 Remedy Check whether the line supply voltage is available Check whether the pulsed resistor is overloaded Acknowledgement RESET FAULT MEMORY Stop response parameterizable 617 DC link overvoltage Cause The DC link volt...

Page 676: ...Cause An error occurred at the first start up with calculate controller data Under fault conditions the parameters for the current controller flux controller and speed controller could not be optimally assigned Remedy Read out the detailed error cause from P1080 and remove the cause Then initiate calculate controller data again with P1080 1 Repeat this operation until no error is displayed in P108...

Page 677: ...05 Invalid position controller cycle Cause The monitoring function identified a position controller cycle P1009 outside the permissible limits Remedy Enter a valid value in P1009 Permissible values for P1009 lie between 32 1 ms and 128 4ms Further the position control cycle must be a integral multiple of the speed control cycle Acknowledgement POWER ON Stop response STOP II SRM SLM STOP I ARM 706 ...

Page 678: ...position controller or interpolation cycle Cause For a 2 axis module the position controller clock cycle P1009 or the interpolation clock cycle P1010 is different for the two axes Remedy Check P1009 P1010 and set the input values for both drives the same Acknowledgement POWER ON Stop response STOP II SRM SLM STOP I ARM 716 Invalid torque constant Cause The ratio between the rated torque and rated ...

Page 679: ...l be processed correctly Acknowledgement RESET FAULT MEMORY Stop response STOP II SRM SLM STOP I ARM 721 Spindle speed too high Cause The modulo value can no longer be correctly calculated as a result of the high spindle speed and the interpolation clock cycle P1010 Remedy Shorten the interpolation clock cycle If possible increase the modulo range of the rotary axis P0242 Calculating the spindle s...

Page 680: ...STOP II SRM SLM STOP I ARM 725 Invalid encoder pulse number Cause The encoder pulse number of the motor measuring system P1005 is set to zero Remedy Harmonize the encoder pulse number of the motor measuring system in P1005 to the encoder used The indirect motor measuring system must always be configured for synchronous and induction motors ex ception Induction motor operation Standard setting 2 04...

Page 681: ...e determined from the motor code P1102 Acknowledgement POWER ON Stop response STOP II SRM SLM STOP I ARM 729 Invalid motor stall current Cause The motor stall current P1118 is less than or equal to zero Remedy Determine the stall current of the motor used and enter in P1118 Third party motor The stall current should be determined from a motor data sheet Siemens motor The stall current is determine...

Page 682: ...then P0612 must be parameterized with the value 3 Remedy P0612 3 or P1490 not equal to 1 Acknowledgement POWER ON Stop response STOP II SRM SLM STOP I ARM 739 Incorrect axis number equalization controller Cause If the equalization controller is parameterized with P1490 2 two active axes must be available on the module Remedy P1490 equal to 1 coupling via analog terminals or Activate the 2nd axis o...

Page 683: ...esponding to the type of motor and the control module Synchronous motor P1147 resolver pole pair number must be less than the limiting frequency of the control module 12 bit 25402 RPM 14 bit 6350 RPM Induction motor min P1146 P1465 resolver pole pair number must be less than the limiting frequency of the control module 12 bit 25402 RPM 14 bit 6350 RPM Acknowledgement POWER ON Stop response STOP II...

Page 684: ...othing Cause The hysteresis of the speed for the current setpoint smoothing P1246 may not be greater than the threshold speed of the hysteresis P1245 as otherwise a negative lower speed would be obtained Remedy P1246 standard value 50 RPM must be entered lower than the threshold for the speeddependent setpoint smoothing P1245 standard value 4 000 RPM Acknowledgement RESET FAULT MEMORY Stop respons...

Page 685: ... 760 Pole pair width scale graduations cannot be repre sented internally Cause For linear motors the equivalent internal pole pair number and inter nal encoder pulse number are calculated from the pole pair width and grid division In this case the encoder pulse number must be an integer multiple of one or x pole pair widths This error message is output if the pole pair width grid division x up to ...

Page 686: ...emental measuring systems with sin cos 1 Vpp without EnDat interface and for linear measuring systems with sin cos 1 Vpp with En Dat interface a zero pulse offset cannot be set via P0893 Remedy Set P0893 angular encoder zero pulse offset to 0 Acknowledgement POWER ON Stop response STOP II SRM SLM STOP I ARM 764 Multiple assignment of terminal A or B P0890 Cause When selecting 3 in P0890 from drive...

Page 687: ...2 P1001 31 25 microseconds Speed setpoint filter 2 P1521 0 01 P1517 1 2 P1001 31 25 microseconds Acknowledgement RESET FAULT MEMORY Stop response STOP II SRM SLM STOP I ARM 768 Numerator bandwidth twice the blocking frequency Cause The numerator bandwidth of a current or speed setpoint filter is greater than twice the bandstop frequency This alarm is only generated for the general bandstop if the ...

Page 688: ... 1 P1211 2 P1210 Current setpoint filter 2 P1214 2 P1213 Current setpoint filter 3 P1217 2 P1216 Current setpoint filter 4 P1220 2 P1219 Acknowledgement RESET FAULT MEMORY Stop response STOP II SRM SLM STOP I ARM 770 Format error Cause The calculated bandstop filter coefficients cannot be represented in the internal format Remedy Change filter setting Acknowledgement RESET FAULT MEMORY Stop respon...

Page 689: ...Supplementary info u Cause Incorrect parameterization of the SSI absolute value encoder Supplementary info 0x1 0x11 indirect direct measuring system The single turn resolution cannot be 0 Supplementary info 0x2 0x12 indirect direct measuring system The number of parameterized bits is greater than the telegram length Supplementary info 0x3 0x13 indirect direct measuring system For linear encoders i...

Page 690: ... SLM STOP I ARM 779 Motor moment of inertia motor d invalid Cause The motor moment of inertia P1117 is incorrect less than equal to zero Remedy Enter the valid motor moment of inertia for the motor used in P1117 Third party motor The motor moment of inertia should be determined from a motor data sheet Siemens motor The characteristic motor data should be determined from the motor code P1102 Acknow...

Page 691: ...eakage reactance P1140 or the magnetizing reactance P1141 of the motor is incorrect less than equal to zero Remedy Determine the stator rotor leakage reactance and magnetizing reac tance of the motor used and enter in P1139 P1140 and P1141 Third party motor The values should be determined from a motor data sheet Siemens motor The values are determined from the motor code P1102 Acknowledgement RESE...

Page 692: ...AULT MEMORY Stop response STOP II SRM SLM STOP I ARM 785 No load current motor d invalid Cause The no load current P1136 of the motor ARM is incorrect less than equal to zero Remedy Determine the no load current of the motor used ARM and enter into P1136 Third party motor The no load current should be determined from a motor data sheet Siemens motor The no load current is determined from the motor...

Page 693: ...for drive A The hardware does not permit this setting Remedy Set P0891 to 0 for drive A Acknowledgement POWER ON Stop response STOP II SRM SLM STOP I ARM 789 Setpoint transfer SimoCom U drive interrupted Cause The setpoint transfer from SimoCom U to the drive was interrupted i e there is no longer an online connection The Master Control was re turned to the drive Communication between the two comm...

Page 694: ...lue operating mode no longer possible Remedy For supplementary info 1 Select valid operating mode P0700 0 For supplementary info 2 Select Nset operating mode or use a positioning module For supplementary info 3 Use a firmware release which supports this operating mode For supplementary info 4 Select Positioning operating mode Acknowledgement POWER ON Stop response STOP I 791 TTL encoder interface ...

Page 695: ...o 2 De activate the direct measuring system for drive A P0250 P0879 12 0 or Switch drive B inactive P0700 0 For supplementary info 3 De activate the direct measuring system for drive A P0250 P0879 12 0 or Commission the motor measuring system for drive A Acknowledgement POWER ON Stop response STOP I 793 Angular encoder signal waveform different for drive A and B Cause The input signal waveform for...

Page 696: ... run up or when the pulses are inhibited Remedy Power up the drive converter if the motor runs at a reduced speed Acknowledgement POWER ON Stop response STOP I 798 Measured value memory active Cause The measured value memory was active during power up Remedy Run up again Acknowledgement POWER ON Stop response STOP I 799 FEPROM backup and HW Reset required Cause Parameters were re calculated Parame...

Page 697: ...creases in proportion to speed Remedy Ensure that the drive is at a standstill or take into account a higher in accuracy of the zero pulse Acknowledgement not required Stop response STOP VII 804 Controller enable or on off 1 edge or on off 2 3 miss ing Cause When starting a traversing block the controller enable has not been set or the controller enable is missing during a traversing program when ...

Page 698: ...required Stop response STOP VII 806 OC reject traversing task missing Cause When starting a traversing block the operating condition reject tra versing task input signal is not set Remedy Set the operating condition reject traversing task input signal and then re start the traversing block Acknowledgement not required Stop response STOP VII 807 OC intermediate stop missing Cause When starting a tr...

Page 699: ...could be too high due to incorrect motor data Check the temperature sensor Check the motor fan Acknowledgement not required Stop response STOP VII 815 Power module temperature pre alarm Cause The heatsink temperature of the power section is sensed using a ther mosensor on the main heatsink If the overtemperature condition re mains then the drive shuts down after approx 20 s Remedy Improve the driv...

Page 700: ...her Check that the power section for the axis spindle is adequate otherwise use a higher rating module Pulse frequency too high refer to the Configuration Manual Check P1260 and P1261 Acknowledgement not required Stop response STOP VII 827 Fieldbus is not in the data exchange state Cause The bus interface is still not in the data exchange state or data ex change was interrupted Causes The master h...

Page 701: ...quidistant global control frame although clock synchronism has been selected via the bus configuration The master uses another equidistant DP clock cycle than was transferred to the slave in the parameterizing telegram The master does not increment its sign of life in the configured time grid Tmapc Remedy Check master application and bus configuration Check the consistency between the clock cycle ...

Page 702: ...ed in the DPV1 header without there being an isochron block ID 0x04 20 Fail_Safe state 1 bit 6 IsoM_Req state 3 bit 4 or Prm_Structure state 3 bit3 missing in the DPV1 header although an isochron block ID 0x04 is available 21 The time Tdx is greater than To 125us or greater than Tdp 250us 22 The time Tpllw is greater than 1us 23 Slave to slave communication access target address and length do not ...

Page 703: ...n firmware and option module 6 For active data exchange a new configuration was received with different length 7 Configuration contained unknown S7 ID 19 More PZD s have been configured than the maximum permissible 20 The configurtion contains an unknown special character only axis separators are permitted 22 Target offset of slave to slave communications access exceeds the maximum number of PZDs ...

Page 704: ...nchronous with the master Cause The PROFIBUS is in a data transfer status data exchange and has been selected via the parameterizing frame of synchronous operation It could not yet be synchronized to the clock preset by the master resp to the master sign of life Causes The master does not send an equidistant global control frame although clock synchronism has been selected via the bus configuratio...

Page 705: ...tchdog is de activated activate the response monitoring for this slave via Drive ES Acknowledgement not required Stop response STOP VII 840 Teach in for running traversing program Cause Teach in was requested during a running traversing program Remedy Exit the traversing program and re request teach in Acknowledgement not required Stop response STOP VII 841 Teach in for relative block Cause The tr...

Page 706: ...position ing The behavior for software limit switch reached can be set using P0118 0 Remedy Move away in the negative direction jogging Move away in the negative direction using the traversing block Acknowledgement not required Stop response STOP VII 850 MINUS software limit switch actuated Cause For a block with the ENDLOS_NEG command the axis has actuated the minus software limit switch P0315 fo...

Page 707: ... parameterized with a lower value than the lower current limit P1180 Adaption is de activated when the parameterizing error is output Remedy P1181 must contain a higher value than P1180 Acknowledgement not required Stop response STOP VII 867 Generator mode Response voltage shutdown threshold Cause The sum of the values in P1631 P1632 is greater than the value in P1633 Remedy Appropriately change P...

Page 708: ...g is valid T a r where a Acceleration higher value from P0103 and P0104 r Jerk P0107 Remedy Increase jerk P0107 Reduce maximum acceleration P0103 or maximum deceleration P0104 Acknowledgement not required Stop response STOP VII 871 Induction motor operation drive converter frequency motor not permissible Cause In induction motor operation selected by P1465 P1146 drive con verter frequencies of 4 o...

Page 709: ...n the actual mode Remedy Change P0700 operating mode or enter a suitable function number in P0888 or P0660 P0661 etc Acknowledgement not required Stop response STOP VII 877 Output function u not permissible in the actual oper ating mode Cause The function number used as output may not be used in the actual operating mode Remedy Change P0700 operating mode or enter a suitable function number in P06...

Page 710: ...d although the direct measuring system is not activated P0879 12 Remedy Correct P0915 17 Acknowledgement not required Stop response STOP VII 882 PZD configuring Double word signal number in P0915 u invalid Cause For signals with double words length 32 bits the corresponding sig nal identifier must be configured twice for adjacent process data The following subparameter must therefore also be param...

Page 711: ... torque greater than 16x rated torque Cause The parameterized pre tensioning torque P1493 is greater than 16x the standstill torque SRM rated motor torque ARM and standstill force SLM of the motor Note refer to the index entry Limits Remedy Reduce pre tensioning torque P1493 Acknowledgement not required Stop response STOP VII 889 Fixed endstop axis has not reached the clamping torque Cause The axi...

Page 712: ...if the coupled axis has fallen below 200 of the braking travel up to the MINUS software limit switch Remedy Traverse the master drive so that this coupling axis goes into the per missible traversing range Acknowledgement not required Stop response STOP VII 893 Function 73 only effective at terminal I0 x Cause The terminal function 73 Coupling on I0 is only effective at terminal I0 x Remedy Assign ...

Page 713: ...r speeds entered via PROFIBUS DP are added when the function generator starts Note The analog inputs can be disabled via P0607 0 for terminal 56 x 14 x or P0612 0 for terminal 24 x 20 x Note For a SIMODRIVE 611 universal control board only 1 function generator or 1 measuring function can be started at the same time i e either for drive A or B The SimoCom U parameterization and start up tool can in...

Page 714: ...nction generator is active then traversing motion is not monitored The following must be observed when starting the function generator The function generator is started as follows Setting P1800 1 The function generator is immediately started Setting P1800 2 from SW 8 1 The function generator is started in synchronism e g for gantry axes if in the n set mode the PROFIBUS control word STW1 8 1 The f...

Page 715: ...d using this PROFIBUS control word then the drive is braked with the deceleration set in P1813 Abort As soon as one of the function generator starting conditions is no longer fulfilled the drive is braked along the current limit or coasts down when the pulse enable is withdrawn Further the function generator is stopped if erroneous parameter ization is executed during operation Note The control st...

Page 716: ...ed 9 Incorrect waveform or the waveform was changed while the FG was active 10 The pulse width is negative or greater than the period 11 The bandwidth is less than 1 Hz or greater than the maximum possible bandwidth for a sampling time of 0 125 ms the maximum possible bandwidth is 4000 Hz 15 The 2nd amplitude for the staircase waveform is too high 16 The commissioning function was not started or w...

Page 717: ... control loop is closed and all of the higher level control loops are open The function generator output is the current setpoint in the speed controller clock cycle When starting and stopping the acceleration deceleration is limited by the ramp function generator of the function generator as well as by the ramp function gener ator in the speed setpoint channel The maximum value from the ramp up ra...

Page 718: ...th P1811 Period P1810 Limit P1808 Ramp up time P1813 Ramp up time 2 Staircase Start Offset 2nd amplitude Amplitude Period Limiting Ramp up time Parameter list Offset P1807 Amplitude P1806 2 amplitude P1809 Period P1810 Limit P1808 Ramp up time P1813 Start 3 Triangular Offset Amplitude Period Limiting Ramp up time Parameter list Offset P1807 Amplitude P1806 Period P1810 Limit P1808 Ramp up time P18...

Page 719: ...or limiting 0 0 100 0 1 600 0 Immedi ately defines the limit of the signal to be output The units are dependent on P1804 if then P1804 1 2 the units are referred to P1103 rated motor current P1804 3 the units are referred to P1400 rated motor speed Note The limit is effective symmetrically around the zero point For P1804 2 disturbance torque mode the limit only acts on the current setpoint but not...

Page 720: ...lerates or decelerates brakes to the required speed In this case the parameter refers to P1400 rated speed P1813 P1400 required speed required ramp up time The following applies Example Rated speed nrated 3000 RPM P1400 The drive should accelerate up to 500 RPM in 20 ms P1813 3000 500 20 ms 120 ms Additional waveforms are available using the appropriate parameteriza tion Example For the triangular...

Page 721: ...es itself from the starting point Start Offset 2nd amplitude Limiting Period Fig 7 6 Staircase waveform with amplitude 0 and offset amplitude 2 Amplitude 0 P1806 0 Benefits Reversing is possible A higher 2nd amplitude is selected from a basic velocity ampli tude The traversing profile periodically repeats itself This means that when optimizing the control loop the effect can be immediately monitor...

Page 722: ...n the bit mask from SW 5 1 A trigger is initiated as soon as one of the bits in the bit mask changes X Y scaling Automatic and selectable Using the scaling a sub range can be specified for the abscissa x axis and ordinate y axis so that a section can be displayed It is possible to zoom in using an appropriately set scaling factor Signal measurement via cursor This means that the signals can be ana...

Page 723: ...resolution is 8 bit Thus only an 8 bit section can be output from a 24 48 bit signal The shift factor defines how finely the se lected signal is quantized Module specific The test sockets are provided for each module i e they can be acti vated and de activated from each drive Only one drive can output one value at a test socket Signal selection list The signals which can be output via the test soc...

Page 724: ...set which is added to the 8 bit output signal The signal to be output is shifted by 5 256 V 19 5 mV by changing the offset by 1 digit P1822 128 0 V P1822 0 2 5 V P1822 127 5V M DAU2 1826 Status test socket 1 0 1 1 Imme diately 5 V 2 5 V 0 V of the measuring signal 0 V defines the status of the test socket for this drive 0 Test socket is inactive 1 Test socket is active As always only one drive can...

Page 725: ... 0 LSB 47 MSB Bit 7 8 39 40 with shift factor 0 with shift factor 1 with shift factor 8 with shift factor 40 Analog output value MSB Most Significant Bit LSB Least Significant Bit Fig 7 9 Shift factor for analog output of 48 bit signals Shift factor 0 Shift factor 2 200000H 0 V 2 5 V 5 V Output voltage V 000000H 400000H 600000H 800000H A00000H C00000H E00000H FFFFFFH 1st overflow 2nd overflow 3rd ...

Page 726: ... determine the measured values for graphic display of the time and fre quency characteristics of drives and closed loop control functions Test signal generator Test duration Ttest Meas value selection max 3 Meas value 1 Meas value 2 Meas value 3 Speed setpoint Current setpoint Actual current value Speed actual value Setpoint 0 Speed controller Current regulator Control loop Meas buffer 2 Meas buff...

Page 727: ...ith induction motors ARM For V Hz operation it is first necessary to carry out the standard com missioning for an induction motor with motor selection to obtain practi cal pre assignment values default values for all of the parameters If a motor measuring system is not used then no encoder must be selected as the encoder type As unlisted motors are generally used for simple sensorless no en coder ...

Page 728: ...ccount the pole pair number which is determined from the rated motor frequency and rated motor speed This means the synchronous frequency associated with the speed set point is output no slip compensation 430 V P1134 P1132 P1127 U V f 1 s Fig 7 12 V Hz characteristic ARM The ramp up time can be set via P1125 7 5 2 V Hz operation with synchronous motors SRM For synchronous motors V Hz operation is ...

Page 729: ... constant P1125 Ramp up time 1 for V Hz operation P1400 Rated motor speed P1401 Speed for the max useful motor speed P1405 Monitoring speed motor The speed setpoint conversion into the frequency to be used as refe rence is obtained from the pole pair number 430 V P1114 U V P1112 x 1000 60 f 1 s Fig 7 13 V Hz characteristic SRM Generally only speeds up to approx 25 of the rated speed can be reached...

Page 730: ...46 1127 Voltage at f 0 V Hz operation ARM 0 0 2 0 20 0 V pk Imme diately When V Hz operation is activated and at 0 frequency the voltage which is output is increased by the value in this parameter Note The parameter is preset when carrying out the calculate controller data function 7 6 Spare parts Table 7 11 Terminals for SIMODRIVE 611 universal Designation Terminals Item number Order No MLFB X421...

Page 731: ...rotating synchronous motors A 859 A 3 2 List of permanent magnet synchronous motors with field weakening 1FE1 2SP1 PE spindle A 865 A 3 3 List of permanent magnet synchronous motors without field weakening build in torque motors 1FW6 from SW 6 1 A 871 A 3 4 List of linear synchronous motors A 873 A 3 5 List of induction motors A 878 A 4 Encoder list A 885 A 4 1 Encoder code A 885 A 4 2 Encoder ada...

Page 732: ...t Valid for motors none all SRM rotating synchronous ARM rotating induction SLM synchronous linear RO Read Only can only be read immed is effective immediately when changed PO POWER ON when changed becomes effective after POWER ON PrgE End of program is effective if none of the programs block processing are active Vsoll_0 Velocity setpoint zero Effective for a velocity setpoint 0 Information on ef...

Page 733: ...d Note refer to the index entry Traversing blocks or P0082 64 0004 Actual traversing block acceleration override Min Standard Max Unit Data type Effective Unsigned16 RO in the Positioning mode and for the Spindle positioning function it specifies the pro grammed acceleration override of the traversing block being processed Note refer to the index entry Traversing blocks or P0083 64 0005 Actual tra...

Page 734: ...absolute actual position 0022 Distance to go Min Standard Max Unit Data type Effective MSR Integer32 RO in the positioning mode and for the Spindle positioning function displays the distance to go The distance to go is the difference up to the end of the actual traversing block P0001 0023 Velocity setpoint Min Standard Max Unit Data type Effective c MSR min Integer32 RO in the positioning mode and...

Page 735: ...on position controller input Min Standard Max Unit Data type Effective MSR Integer32 RO in the positioning mode and for the Spindle positioning function displays the actual system deviation reference value actual difference at the position controller input Note refer to the index entry Kv factor or Analog signals for the position control loop 0031 Actual Kv factor position loop gain Min Standard M...

Page 736: ...blocks e g for blocks with the block step enable CONTINUE FLYING are processed in the increasing sequence of the block numbers The block number must be unique over all traversing blocks Note refer to the index entry Traversing blocks 0081 64 Position Min Standard Max Unit Data type Effective 200000000 0 200000000 MSR Integer32 PrgE specifies the target position in the traversing block The target p...

Page 737: ...ormation is required in a traversing block Note refer to the index entry Traversing blocks or Command dependent block information 0086 64 Command parameter Min Standard Max Unit Data type Effective 0 1 65535 Unsigned16 PrgE specifies the supplementary block information required for the following commands Command Additional information WAIT Waiting time in ms GOTO Block number SET_O 1 2 3 Set direc...

Page 738: ...ition in the MDI traversing block The value entered here is used if the position is not entered as cycle process data refer to P0915 via PROFIBUS The target position is approached dependent on P0097 mode positioning modoe Note The parameter is not effective for Vset_0 if P0110 3 and P0097 U3WX are set The parameter becomes effective when the signal edge of the digital input signal external block c...

Page 739: ... the acceleration override is not entered as cycle process data refer to P0915 via PROFIBUS Note The parameter is not effective for Vset_0 if P0110 3 and P0097 U3WX are set The parameter becomes effective when the signal edge of the digital input signal external block change changes and if MDI is not entered via PROFIBUS DP control words STW refer under the index entry traversing blocks 0097 MDI m...

Page 740: ...ry Position control 0104 Maximum deceleration Min Standard Max Unit Data type Effective 1 100 999999 1000MSR s2 Unsigned32 Vsoet_0 defines the maximum deceleration on the axis spindle when braking The effective deceleration can be programmed in the traversing block via an override P0084 64 Note refer to the index entry Position control 0107 Jerk limiting 3 1 Min Standard Max Unit Data type Effecti...

Page 741: ...or the signal and when this is identified the block is changed from SW 5 1 Note A change made to P0110 is not accepted after v_set 0 but only at the end of the program when the traversing program is restarted refer to the index entry block step enable CONTINUE EXTERNAL 0111 Normalization voltage override Min Standard Max Unit Data type Effective 5 0 10 0 12 5 V pk Floating Point immed defines at w...

Page 742: ...Travel to endstop 0114 Fixed endstop configuration 2 3 3 Min Standard Max Unit Data type Effective 0 0 1 Unsigned16 immed defines how the system can switch into the status fixed endstop 0 Above following error The status is automatically reached if the following error exceeds the value set in P0115 8 1 via input signal The status is only reached if it is identified via the input signal Fixed endst...

Page 743: ...signals 0 to 63 Enter the block number via P0120 Note refer under the index entry Teach in 0121 Teach in standard block 4 1 Min Standard Max Unit Data type Effective 1 1 63 Integer16 immed specifies which traversing block is used as teach in in the standard block The standard block contains additional block data which are not contained for teach in 1 Not a standard block Only the position value is...

Page 744: ...nction into the mode n set on off 0 De activate spindle positioning 1 Activate spindle positioning Note refer under the index entry Spindle positioning 0126 Spindle positioning zero mark tol window BERO 5 1 Min Standard Max Unit Data type Effective 0 7200 360000 MSR Unsigned32 immed specifies the zero tolerance window in degrees which is monitored by the spindle position ing in order to secure in ...

Page 745: ...Effective 0 2000 20000 MSR Unsigned32 immed If the spindle is pushed out of this positioning window in degrees with the controller inhibited after the controller is enabled the axis is re positioned as defined in the traversing block If the spindle remains in the positioning window it is positioned through the shortest distance Note refer under the index entry Spindle positioning 0132 Spindle posi...

Page 746: ... Integer32 immed specifies the position value which is set as the actual axis position after referencing or adjust ment Note The range for an absolute value encoder is limited to 2048 revolutions The value which was entered into P0160 is limited to this value and after POWER ON is overwritten with another value remainder of division by 2048 refer under the index entry Referencing adjusting 0161 St...

Page 747: ... type Effective 1000 300000 2000000000 c MSR min Unsigned32 PrgE Between synchronizing with the first zero pulse zero reference pulse and reaching the refer ence point the axis moves with this velocity Note refer to the index entry Reference point approach 0166 Reference cam approach direction Min Standard Max Unit Data type Effective 0 0 1 Unsigned16 PrgE defines in which direction the reference ...

Page 748: ...ata type Effective 0 0 1 Unsigned16 PrgE 0 Reference cam available 1 No reference cam available Note refer to the index entry Reference point approach 0174 Referencing mode position measuring system Min Standard Max Unit Data type Effective 1 1 2 Unsigned16 immed 1 Incremental measuring system available 2 Incremental measuring system with equivalent zero mark available e g BERO at input terminal I...

Page 749: ...ast response to a setpoint actual value difference following error is low Note The following diagnostic parameters are available P0029 following error P0030 system deviation position controller input P0031 actual Kv factor position loop gain refer to the index entry Kv factor or Diagnostics of the motion status 0201 Backlash compensation Min Standard Max Unit Data type Effective 20000 0 20000 MSR ...

Page 750: ...e refer to the index entry speed feedforward control 0231 Position actual value inversion Min Standard Max Unit Data type Effective 0 0 1 Unsigned16 PO the control sense of the position controller is established 1 Position actual value inversion 0 No position actual value inversion If the position controller control sense is not OK then the position actual value must be in verted The direction of ...

Page 751: ...vated Note refer to the index entry rotary axis with modulo offset 0242 Modulo range rotary axis SRM ARM 2 4 Min Standard Max Unit Data type Effective 1 360000 100000000 MSR Unsigned32 PO SRM ARM defines the modulo range of the rotary axis Practical modulo range values are n 360 degrees with n 1 2 Note refer to the index entry rotary axis with modulo offset 0250 Activate direct measuring system SR...

Page 752: ...ype Effective 0 1000 200000000 MSR Unsigned32 immed defines the maximum deviation between the measured and the calculated position actual value before an error is output 1 The dynamic following error monitoring is active with this value 0 Monitoring is de activated Note refer to the index entry Dynamic following error monitoring 0320 Position monitoring time Min Standard Max Unit Data type Effecti...

Page 753: ...xample When starting a traversing block the input signal Operating conditions reject travers ing task is not set 0 No output 1 A warning is output 2 Fault 196 is output with the warning number as supplementary information This involves signal combinations which result in warnings 804 805 806 807 808 809 840 845 0400 Reference point coordinates master drive 4 1 Min Standard Max Unit Data type Effec...

Page 754: ...200000000 MSR Integer32 immed defines an offset between the slave drive and the synchronous position to the master drive Note If P0412 is changed it becomes effective the next time that the coupling is switched in refer under the index entry axis couplings 0413 Offset synchronous velocity 3 3 Min Standard Max Unit Data type Effective 1000 30000000 2000000000 MSR Integer32 immed defines with which ...

Page 755: ... display the unfiltered summed setpoint for speed or velocity of the motor 0602 Actual motor speed ARM SRM Velocity actual value motor SLM Min Standard Max Unit Data type Effective m min Floating Point RO SLM rpm Floating Point RO SRM ARM is used to display the unfiltered actual value for speed or velocity of the motor 0603 Motor temperature Min Standard Max Unit Data type Effective C Integer16 RO...

Page 756: ... 3 0 1000 0 ms Floating Point immed ARM 0 0 0 0 1000 0 ms Floating Point immed SRM SLM This allows the output value of the A D converter to be smoothed using a PT1 filter 0610 Drift offset correction term 56 x 14 x Min Standard Max Unit Data type Effective 9999 9 0 0 9999 9 mV pk Floating Point immed If the motor erroneously rotates when a speed setpoint of 0 V is entered a voltage offset can be a...

Page 757: ... speed Note Max permissible actual speed for synchronous motors Minimum from 1 2 x P1400 and P1147 Max permissible actual speed for induction motors Minimum from P1146 and P1147 refer to the index entry Ramp function generator From SW 2 4 this parameter is replaced by P1256 8 P0616 8 P1256 8 0617 8 Ramp function generator ramp down time Min Standard Max Unit Data type Effective 0 0 2 0 600 0 s Flo...

Page 758: ...200 0 Floating Point immed If signal number 34 actual motor speed finely normalized is selected for the analog output when the maximum speed is reached the following voltage is output as a function of parameter P0623 P0623 100 1 0 10 V 10 V P0623 50 0 5 10 V 5 V The following is valid for the maximum speed Max permissible actual speed for synchronous motors Minimum from 1 2 x P1400 and P1147 Max p...

Page 759: ... offset for the 8 bit output signal Note refer to the index entry Analog outputs 0629 Segment address analog output term 75 x 15 Min Standard Max Unit Data type Effective 0 0 2 Unsigned16 immed Note Internal Siemens 0630 Offset address analog output term 75 x 15 Min Standard Max Unit Data type Effective 0 0 FFFFFF Hex Unsigned32 immed Note Internal Siemens 0631 Bias protection analog output term 7...

Page 760: ...6 x 15 Min Standard Max Unit Data type Effective 0 0 FFFFFF Hex Unsigned32 immed Note Internal Siemens 0638 Bias protection analog output term 16 x 15 Min Standard Max Unit Data type Effective 0 1 1 Unsigned16 immed Note refer to the description of P0631 for terminal 75 x 15 0639 Smoothing time analog output terminal 15 x 15 Min Standard Max Unit Data type Effective 0 0 0 0 1000 0 ms Floating Poin...

Page 761: ...t supplied 0651 Read and write protection Min Standard Max Unit Data type Effective 0 0 10 Hex Unsigned16 immed This defines which parameters can be read visible and which can be written into 0 Parameters can be read for standard installation startup operator prompting 1 Parameters for standard installation startup operator prompting can be read and written into 2 All parameters can be read 4 All ...

Page 762: ...able setpoint activate traversing task edge Bit 7 Reset fault memory Bit 8 Jog 1 ON OFF Bit 9 Jog 2 ON OFF Bit 10 Control requested no control requested Bit 11 Start referencing cancel referencing Bit 12 Open holding braking as test do no open Bit 13 Ramp up time zero for controller enable external block change Bit 14 Torque controlled operation Bit 15 Spindle positioning on request passive refere...

Page 763: ...t switch plus Bit 17 Hardware limit switch minus Bit 18 Fixed speed setpoint 1st input block selection 1st input Bit 19 Fixed speed setpoint 2nd input block selection 2nd input Bit 20 Fixed speed setpoint 3rd input block selection 3rd input Bit 21 Fixed speed setpoint 4th input block selection 4th input Bit 22 Block selection 5th input Bit 23 Block selection 6th input Note Signal in speed torque s...

Page 764: ...ed torque setpoint in positioning 1 signal 0 signal 0657 Image output signals Part 2 Min Standard Max Unit Data type Effective Hex Unsigned32 RO is an image of selected output signals terminal and PROFIBUS signals Bit 0 Status parameter set 1st output Bit 1 Status parameter set 2nd output Bit 2 Status parameter set 3rd output Bit 3 First speed setpoint filter inactive Bit 4 Ramp function generator...

Page 765: ...rwards Bit 17 Axis moves backwards Bit 18 Minus software limit switch actuated Bit 19 Plus software limit switch actuated Bit 20 Cam switching signal 1 Bit 21 Cam switching signal 2 Bit 22 Direct output 1 via traversing block Bit 23 Direct output 2 via traversing block Bit 25 Power module current not limited Bit 28 Pulses enabled Bit 29 Position reached Bit 30 Spindle position 2 reached Bit 31 Tea...

Page 766: ...rminal I2 x on the control module The function number from the List of input signals is entered Note refer to the index entry Terminals term I0 x to I3 x or List of the input signals 0663 Function of input terminal I3 x Min Standard Max Unit Data type Effective 0 4 86 Unsigned16 immed defines the function of input terminal I3 x on the control module The function number from the List of input signa...

Page 767: ...le The function number from the List of input signals is entered Note refer to the index entry Terminals term I4 to I11 or List of the input signals 0669 Function of input terminal I9 Min Standard Max Unit Data type Effective 0 52 86 Unsigned16 immed defines the function of input terminal I9 on the optional TERMINAL module The function number from the List of input signals is entered Note refer to...

Page 768: ...inals can only be assigned to a drive once Prerequisite for the assignment P0875 1 Assignment outputs Refer to P0696 0678 Image of the input terminals Min Standard Max Unit Data type Effective Hex Unsigned16 RO The signal statuses of the input terminals are displayed using these parameters bit 15 t 63 t 48 bit 14 t 663 bit 13 t 64 bit 12 t 65 x bit 11 t I11 bit 10 t I10 bit 9 t I9 bit 8 t I8 bit 7...

Page 769: ...ule The function is entered from the List of output signals Note refer to the index entry Terminals term O0 x to O3 x or List of the output signals 0684 Signaling function output terminal O4 Min Standard Max Unit Data type Effective 0 72 87 Unsigned16 immed defines the function of output terminal O4 x on the optional TERMINAL module The function is entered from the List of output signals Note refe...

Page 770: ...tput signals Note refer to the index entry Terminals term O4 to O11 or List of the output signals 0690 Signaling function output terminal O10 Min Standard Max Unit Data type Effective 0 53 87 Unsigned16 immed defines the function of output terminal O10 on the optional TERMINAL module The function is entered from the List of output signals Note refer to the index entry Terminals term O4 to O11 or L...

Page 771: ...Bit x 1 output terminal is inverted Bit x 0 output terminal is not inverted Example P0699 0003 Term O1 x and O0 x are output inverted Note Non assigned bits are displayed with 0 Terminals O4 to O11 are on the optional TERMINAL module 0700 Operating mode Min Standard Max Unit Data type Effective 0 1 3 Unsigned16 PO 0 Drive inactive only drive B This means a double axis module can only be operated w...

Page 772: ... SimoCom U start up tool 1 Signal the motor type write into P1102 motor code 2 Writing 4 into P0659 drive carries out defaults 3 Write into all of the parameters listed in parameter P0731 4 Write 2 into P0659 pre assign motor LT data calculate controller data 5 Write into all parameters listed in parameter P0730 minus the parameters listed in P0731 0731 250 Parameters required before start up 6 1 ...

Page 773: ...ype Effective 0 0 31 Unsigned16 PO In an RS485 group each drive must be assigned a unique drive number for addressing using this parameter 0 The drive is not available in the RS485 group 1 to 31 The drive has this valid drive number Note The drive number must be unique within the complete group refer to the index entry SimoCom U via serial interface 0803 Adjacent drive number Min Standard Max Unit...

Page 774: ...g brake ARM SRM Motor velocity close holding brake SLM Min Standard Max Unit Data type Effective 0 0 10 0 100000 0 m min Floating Point immed SLM 0 0 500 0 100000 0 rpm Floating Point immed SRM ARM Note refer to P0853 0853 Brake delay time Min Standard Max Unit Data type Effective 10 0 400 0 600000 0 ms Floating Point immed P0852 and P0853 form the criterion for withdrawing the output signal Open ...

Page 775: ...firmware P0870 UVWX U 0 Drive type is SIMODRIVE 611 universal x Reserved for another drive type x 1 to 15 V 0 Firmware for speed control 1 Firmware for positioning W reserved X 1 Module 2 axis for resolvers 2 Module 2 axis for encoders with sin cos 1 Vpp 3 Module 1 axis for resolvers 4 Module SIMODRIVE 611 universal E 2 axis for encoders with sin cos 1 Vpp 5 Module HR 2 axis for encoders with sin ...

Page 776: ...5 Third party module corresponding to the published interface spec from SW 4 1 0873 Option module version Min Standard Max Unit Data type Effective Hex Unsigned16 RO displays the version of the respective option module 0875 Expected option module type Min Standard Max Unit Data type Effective 0 0 255 Unsigned16 PO displays which option module is expected due to the parameters set During first star...

Page 777: ...e profile Bit 1 P915 P916 cannot be changed for P922 0 Bit 1 0 P915 P916 cannot be written into if P922 is greater than 0 this is in conformance with the profile Bit 1 0 P915 P916 can also be written into if P922 is greater than 0 this is not in conformance with the profile Bit 2 No of Value Length for string variables Bit 2 1 For string variables in the DPV1 parameter response the length of bytes...

Page 778: ...11 1 Sub index in the high byte compatible to PROFIdrive Bit 11 0 Sub index in the low byte standard for SIMODRIVE Bit 12 Activate direct measuring system encoder 2 for the encoder interface from SW 3 3 Bit 13 Incr motor measuring system with without equivalent zero mark Bit 13 1 Incremental motor measuring system with equivalent zero mark available e g BERO at input terminal I0 x Bit 13 0 Increme...

Page 779: ...RM defines the normalization of the torque and force setpoint when using PROFIBUS DP Note P0882 is a percentage value referred to the rated motor torque The parameter affects the pro cess data MsetExt external torque setpoint in the input direction and Mset torque setpoint in the output direction 4000Hex or 16384 dec in the control word corresponds to the percentage entered in P0882 refer under th...

Page 780: ...ed in for drive A as input for the incremental position reference value The incremental position actual value from drive A is output at the angular encoder interface from drive B if P0890 B is 0 P0890 3 is only possible for drive A from SW 3 3 4 Encoder interface enabled as input for TTL encoders encoder 3 from SW 3 1 Note The terminating resistor must be set for the angular encoder interface swit...

Page 781: ...P 4096 1 P 2048 0 P 1024 1 P 512 2 P 256 3 P 128 Encoder with sin cos 1Vpp defines the factor by which the encoder resolution is reduced encoder pulse number or mea suring length grid spacing before the signals quadrature signals are visible via the angular encoder output 0 1 1 scale 1 1 2 scale 2 1 4 scale 3 1 8 scale 4 Doubling from SW 5 1 with SIMODRIVE 611 universal HR Note P Resolver pole pai...

Page 782: ...l 1 Pulse direction signal 2 Forwards reverse signal Note refer to the index entry Angular encoder interface 0895 External position reference value no of increments 3 3 Min Standard Max Unit Data type Effective 1 10000 8388607 Unsigned32 PO together with P0896 defines for couplings the ratio between the input increments and di mension system grids Note P0895 input pulses at the angular encoder cor...

Page 783: ... axis couplings 0899 8 Enter angular incremental encoder direction 8 1 Min Standard Max Unit Data type Effective 0 0 2 Unsigned16 immed defines in which direction the angular incremental encoder interface pulses are permitted 0 positive and negative direction 1 only the positive direction 2 only the negative direction Note refer to the index entry Angular encoder interface 0900 4 Angular increment...

Page 784: ...om SW 4 1 50101 Torque reduction MomRed 50103 Analog output T 75 x 15 DAU1 50105 Analog output T 16 x 15 DAU2 50107 Digital outputs T O0 x to O3 x DIG_OUT 50109 Target position for spindle positioning XSP n set operation from SW 5 1 50111 Distributed inputs DezEing from SW 4 1 50113 External torque setpoint MsollExt n set operation from SW 4 1 50117 Control word slave to slave communications QStw ...

Page 785: ...6 Encoder 2 position actual value 2 G2_XACT2 n set operation from SW 3 3 50018 Encoder 3 status word G3_ZSW n set operation 50019 Encoder 3 position actual value 1 G3_XACT1 n set operation 50020 Encoder 3 position actual value 2 G3_XACT2 n set operation 50102 Message word MeldW 50104 Analog input T 56 x 14 ADU1 50106 Analog input T 24 x 20 ADU2 50108 Digital inputs T I0 x to I3 x DIG_IN 50110 Util...

Page 786: ... 1 and encoder 2 from SW 4 1 101 The frame has the same structure as in SW 2 4 102 Standard frame 102 n set interface with encoder 1 103 Standard telegram 103 speed setpoint interface with encoder 1 and encoder 2 from SW 3 3 104 Standard frame 104 n set interface with encoder 1 and encoder 3 105 Standard telegram 105 n set interface with DSC and encoder 1 from SW 4 1 106 Standard telegram 106 n se...

Page 787: ...ciated with a fault Fault code P0945 65 fault number P0947 65 fault time P0948 65 and fault value P0949 65 For reset fault memory the fault code previously entered into P0945 is shifted by 8 indices The description of the faults how they can be acknowledged as well as a list of all the faults is provided in Section Fault handling diagnostics This parameter is reset at POWER ON If this parameter is...

Page 788: ...on of the PROFIdrive profile refer to the index entry PROFIBUS DP evaluate faults 0949 65 Fault value Min Standard Max Unit Data type Effective Unsigned32 RO The supplementary information about a fault which has occurred is entered into this parameter Note The description of the faults how they can be acknowledged as well as a list of all the faults is provided in Section Fault handling diagnostic...

Page 789: ...Warnings 832 847 Min Standard Max Unit Data type Effective Hex Unsigned16 RO The parameter displays which warning s is are present Bit 15 warning 847 Bit 0 warning 832 Note Bit x 1 Alarm yyy present Bit x 0 The alarm assigned to the bit is not present refer to the index entry PROFIBUS DP evaluate warnings 0956 Warnings 848 863 Min Standard Max Unit Data type Effective Hex Unsigned16 RO The paramet...

Page 790: ...ning 911 Bit 0 warning 896 Note Bit x 1 Alarm yyy present Bit x 0 The alarm assigned to the bit is not present refer to the index entry PROFIBUS DP evaluate warnings 0960 Warnings 912 927 Min Standard Max Unit Data type Effective Hex Unsigned16 RO The parameter displays which warning s is are present Bit 15 warning 927 Bit 0 warning 912 Note Bit x 1 Alarm yyy present Bit x 0 The alarm assigned to ...

Page 791: ...E HR 2 axis with 1Vpp encoder positioning 1120 SIMODRIVE 611 universal HR 2 axis with 1Vpp encoder n set 1121 SIMODRIVE 611 universal HR 2 axis with 1Vpp encoder positioning 1122 SIMODRIVE 611 universal HR 2 axis with resolver n set 1123 SIMODRIVE 611 universal HR 2 axis with resolver positioning 1124 SIMODRIVE 611 universal HR 1 axis with resolver n set 1125 SIMODRIVE 611 universal HR 1 axis with...

Page 792: ... type Effective 0 0 2 Unsigned16 immed a POWER ON RESET can be requested on the control board 0 Output status 1 Request POWER ON RESET 2 Request preparation for POWER ON RESET The DP master can check as follows whether the power on reset was executed write 2 into P0972 and read back the value write 1 into P0972 POWER ON RESET is requested Read P0972 after communications have been established P0972...

Page 793: ...drive profile Refer under the index entry Encoder interface 0980 999 Number list_1 6 1 Min Standard Max Unit Data type Effective Unsigned16 RO All of the parameter numbers defined in the drive are saved in parameters 980 989 from sub index 1 The arrays are assigned consecutively without any gaps If a sub index contains a zero then this is the end of the list of defined parameters If a sub index co...

Page 794: ...non cyclic communication PROFIdrive then the indices have been shifted Index 1 corresponds to Index 0 etc in the description of the PROFIdrive profile 0984 2 Number list_5 6 1 Min Standard Max Unit Data type Effective Unsigned16 RO All of the parameter numbers defined in the drive are saved in parameters 980 989 from sub index 1 The arrays are assigned consecutively without any gaps If a sub index...

Page 795: ... etc in the description of the PROFIdrive profile 0988 2 Number list_9 6 1 Min Standard Max Unit Data type Effective Unsigned16 RO All of the parameter numbers defined in the drive are saved in parameters 980 989 from sub index 1 The arrays are assigned consecutively without any gaps If a sub index contains a zero then this is the end of the list of defined parameters If a sub index contains the p...

Page 796: ... active standard before SW 3 1 Bit 9 Deadtime adjustment position ref value coupling via PROFIBUS DP from SW 4 1 Bit 9 1 Same deadtime behavior as the slave drive standard from SW 4 1 Prerequisite Drive is not a slave drive P891 1 Output of position reference value XsollP 50208 Bit 9 0 Minimum deadtime behavior standard before SW 4 1 1005 IM encoder pulse number SRM ARM Min Standard Max Unit Data ...

Page 797: ...Position controller cycle Min Standard Max Unit Data type Effective 32 32 128 31 25µs Unsigned16 PO Position controller clock cycle time TLR P1009 x 31 25 microseconds Note The position controller clock cycle must be an integer multiple of the speed controller clock cycle refer to the index entry Clock cycles 1010 Interpolation cycle Min Standard Max Unit Data type Effective 64 128 640 31 25µs Uns...

Page 798: ...eplaces the coarse synchronization The zero mark must still be adjusted shift or via P1017 Bit 13 Fine position identification Bit 13 1 Identify fine position Bit 13 0 No fine position identification Note This bit has no significance for EnDat encoders The rotor position identification replaces the coarse synchronization using Hall sensors or a C D track The zero mark neither has to be present nor...

Page 799: ...withdrawing the controller enable via terminal 65 x or PROFIBUS control signal STW1 0 ON OFF1 Bit 12 0 No power on inhibit Bit 13 Status signals ZSW1 according to the PROFIdrive profile only PROFIBUS operation Bit 13 1 Power on inhibit signal is formed independently of the status of the ready signal PROFIdrive definition The power up inhibit signal is only set when the pulses have been cancelled a...

Page 800: ...in Standard Max Unit Data type Effective 0 0 1 Unsigned16 PO SRM the permanently excited spindle PE spindle 1FE1 motor is activated de activated for this drive 1 Permanently excited spindle is activated 0 PE spindle is de activated Note refer to the index entry Permanently excited spindle 1016 Commutation angle offset SRM SLM Min Standard Max Unit Data type Effective 360 0 0 0 360 0 Degree Floatin...

Page 801: ...1026 P1017 is automatically set to 1 Switch in the controller and pulse enable The angular offset is automatically entered into P1016 and the encoder serial number of the encoder into P1025 and P1026 Fault 799 save parameters in FEPROM and HW RESET required is displayed Save parameters in the FEPROM and carry out a HW RESET Absolute measuring system EnDat encoder with 1FN3 linear motor if a rotor ...

Page 802: ...ting the function several times as test via P1736 Note Also refer under the index entry PE spindle or Linear motor 1020 Maximum rotation rotor position identification SRM Maximum movement rotor position identification SLM Min Standard Max Unit Data type Effective 0 0 5 0 30 0 mm Floating Point immed SLM 0 0 10 0 90 0 Degree Floating Point immed SRM defines the distance which has been traveled duri...

Page 803: ...nected or incorrect encoder cable Bit 12 TIMEOUT for measured value read Bit 13 CRC error or parity error Bit 15 Defective measuring encoder Note IM Indirect measuring system motor encoder Bit 7 and 13 1 Incremental and absolute track do not match ERN incremental encoder system EQN absolute encoder system 1024 IM grid spacing SLM Min Standard Max Unit Data type Effective 0 20000 8388607 nm Unsigne...

Page 804: ...ses for rotor position identification Note Also refer under the index entry PE spindle or Linear motor 1030 DM actual value sensing configuration 3 3 Min Standard Max Unit Data type Effective 0 0 FFFF Hex Unsigned16 PO allows the actual value sensing to be configured for a direct measuring system Bit 2 Resolver resolution Bit 2 1 Resolver resolution 14 bits Bit 2 0 Resolver resolution 12 bits Bit ...

Page 805: ...k for ERN1387 encoder erroneous or EQN encoder connected or incorrectly parameterized not on EQN P1027 3 Bit 10 Protocol cannot be exited Bit 11 No encoder connected or incorrect encoder cable Bit 12 TIMEOUT for measured value read Bit 13 CRC error parity bit Bit 15 Defective measuring encoder Note DM Direct measuring system Diagnostics for indirect measuring system IM motor encoder refer to P1023...

Page 806: ...M SLM Note DM Direct measuring system 1039 DM serial number high part SRM SLM 3 3 Min Standard Max Unit Data type Effective 0 0 FFFF Hex Unsigned16 PO SRM SLM Note DM Direct measuring system 1040 DM pole pair number resolver 3 3 Min Standard Max Unit Data type Effective 0 1 64 Unsigned16 PO specifies the pole pair number of the resolver used Examples Resolver pole pair number 2p 1 1 speed 2p 2 2 s...

Page 807: ...ST2 for reference mark or flying measurement 1045 Encoder 2 fine resolution absolute track G2_XIST2 3 3 Min Standard Max Unit Data type Effective 0 9 11 Unsigned16 PO defines how many fine resolution bits are transferred for the PROFIBUS encoder interface This parameter applies for the fine resolution of process data G2_XIST2 when reading the ab solute value Note The parameter is only valid for th...

Page 808: ...toring direct measuring system is sig naled Note DM Direct measuring system This monitoring is only activated if P1052 P1034 1000 can either be divided by 16 or by 10 1053 DM ref mark distance for distance coded rotary enc 4 1 Min Standard Max Unit Data type Effective 0 20000 4294967295 mDegree Unsigned32 PO specifies the basic distance between two fixed reference marks If the control recognizes t...

Page 809: ...ment of inertia RLI SRM 6 1 Load mass RLI SLM Min Standard Max Unit Data type Effective 0 0 0 0 10000 0 kg Floating Point immed SLM 0 0 0 0 500 0 kgm2 Floating Point immed SRM defines the additional moment of inertia SRM or additional mass SLM which is used to set the controller parameters for the motion based rotor position identification 1077 Integral action time RLI controller SRM SLM 6 1 Min S...

Page 810: ... error code is written into it When an error occurs the parameters for the current controller flux controller and speed con troller could not be optimally pre assigned The standard values were entered After the cause of the error is resolved the function can be re started 1081 Calculate equivalent circuit diagram data ARM Min Standard Max Unit Data type Effective 0 0 1 Integer16 immed ARM Procedur...

Page 811: ...to 1 Note At the end of the calculation the parameter is automatically reset to 0 or an error code is written into it refer to P1080 1083 Function selection motor data optimization ARM Min Standard Max Unit Data type Effective 1 1 4 Unsigned16 immed ARM the function number for motor data optimization is entered 1 Calculate leakage inductance and rotor resistance 2 Calculate no load current and mag...

Page 812: ... 1099 Limiting factor power section currents 2 4 Min Standard Max Unit Data type Effective Floating Point RO displays the limiting factor for the power section currents P1108 P1109 P1111 as a function of the pulse frequency P1100 Note refer to the index entry Power section currents 1100 Pulse width modulation frequency Min Standard Max Unit Data type Effective 2000 0 3200 0 8000 0 Hz Floating Poin...

Page 813: ...tervenes with P1605 1606 1106 Power section code number Min Standard Max Unit Data type Effective 0 0 65535 Unsigned16 PO The power section code number defines the power section used Power section without automatic identification The module code must be selected from a table and at first start up entered into P1106 refer under index entry power section code Power section with automatic identificat...

Page 814: ...r pulse frequencies is displayed in P1099 Note refer to the index entry Power section currents 1109 Limiting current power section S6 RMS Min Standard Max Unit Data type Effective A rms Floating Point RO before SW 2 4 the following is valid displays the limiting current of the power section in S6 duty I S6 in A RMS at the selected pulse frequency P1100 from SW 2 4 the following is valid displays t...

Page 815: ...ted torque rated current RMS for synchronous motors with permanent excitation SLM The force constant is the quotient of the rated force rated current RMS for linear per manent magnet synchronous motors 1114 Voltage constant SRM SLM Min Standard Max Unit Data type Effective 0 0 0 0 10000 0 Vs m Floating Point PO SLM 0 0 0 0 10000 0 V RMS Floating Point PO SRM SRM The voltage constant is measured as...

Page 816: ... 3000 0 8000 0 µs Floating Point immed ARM 0 0 2000 0 8000 0 µs Floating Point immed SRM SLM 1122 Motor current limit SRM Min Standard Max Unit Data type Effective 0 0 0 04 500 0 A rms Floating Point PO SRM 1123 8 Load moment of inertia ARM SRM 2 4 Load weight SLM Min Standard Max Unit Data type Effective 0 0 0 0 500 0 kg Floating Point immed SLM 0 0 0 0 9 99999 kgm2 Floating Point immed SRM ARM A...

Page 817: ...it Data type Effective 0 0 0 0 1500 0 kW Floating Point PO ARM 1132 Rated motor voltage ARM Min Standard Max Unit Data type Effective 0 0 380 0 5000 0 V RMS Floating Point PO ARM 1134 Rated motor frequency ARM Min Standard Max Unit Data type Effective 0 0 50 0 3000 0 Hz Floating Point PO ARM 1135 Motor no load voltage ARM Min Standard Max Unit Data type Effective 0 0 0 0 500 0 V RMS Floating Point...

Page 818: ... 0 8000 0 100000 0 rpm Floating Point immed ARM 0 0 120 0 100000 0 m min Floating Point immed SLM 0 0 7000 0 100000 0 rpm Floating Point immed SRM specifies the maximum permissible motor speed or motor velocity refer under the index entry Limits 1148 Threshold speed stall power ARM Min Standard Max Unit Data type Effective rpm Floating Point RO ARM The rated output is reduced from the Threshold sp...

Page 819: ...C link is measured in the I R module and is transferred as analog signal to the SIMODRIVE 611 universal via the unit bus for evaluation 1162 Min DC link voltage Min Standard Max Unit Data type Effective 0 0 800 V pk Unsigned16 immed defines the permissible DC link voltage lower limit Fault 616 is output if this limit is fallen be low 1163 Max DC link voltage Min Standard Max Unit Data type Effecti...

Page 820: ...imit adap tion refer under the index entry Current controller adaption 1181 Upper current limit adaption SRM SLM Min Standard Max Unit Data type Effective 0 0 100 0 100 0 Floating Point immed SRM SLM Note Description refer to P1180 1182 Factor current controller adaption SRM SLM Min Standard Max Unit Data type Effective 1 0 100 0 100 0 Floating Point immed SRM SLM Note Description refer to P1180 1...

Page 821: ... must be assigned The current setpoint filters are described in References FBA Description of Functions Drive Functions Section DD2 1202 8 Natural frequency current setp filter 1 Min Standard Max Unit Data type Effective 0 0 2000 0 8000 0 Hz Floating Point immed Note The current setpoint filters are described in References FBA Description of Functions Drive Functions Section DD2 1203 8 Damping cur...

Page 822: ...Drive Functions Section DD2 1209 8 Damping current setp filter 4 Min Standard Max Unit Data type Effective 0 05 1 0 5 0 Floating Point immed Note The current setpoint filters are described in References FBA Description of Functions Drive Functions Section DD2 1210 8 Blocking freq current setp filter 1 Min Standard Max Unit Data type Effective 1 0 3500 0 7999 0 Hz Floating Point immed Note The curr...

Page 823: ...Drive Functions Section DD2 1216 8 Blocking freq current setp filter 3 Min Standard Max Unit Data type Effective 1 0 3500 0 7999 0 Hz Floating Point immed Note The current setpoint filters are described in References FBA Description of Functions Drive Functions Section DD2 1217 8 Bandwidth current setp filter 3 Min Standard Max Unit Data type Effective 5 0 500 0 7999 0 Hz Floating Point immed Note...

Page 824: ...ata type Effective 1 0 100 0 100 0 Floating Point immed Note The current setpoint filters are described in References FBA Description of Functions Drive Functions Section DD2 1224 8 BSF natural frequency current setpoint filter 3 3 1 Min Standard Max Unit Data type Effective 1 0 100 0 100 0 Floating Point immed Note The current setpoint filters are described in References FBA Description of Functi...

Page 825: ...t SLM if the closed loop speed control is active pos operation and nset operation with speed setpoint input The pa rameter has no effect if in the nset mode open loop torque controlled operation was selected Note refer under the index entry weight compensation 1241 8 Normalization of torque setpoint ARM SRM Normalization of force setpoint SLM Min Standard Max Unit Data type Effective 1 0 10 0 5000...

Page 826: ...1246 Hysteresis speeddependent M_set smoothing ARM SRM Hysteresis velocity dependent F_set smoothing SLM Min Standard Max Unit Data type Effective 0 0 3 0 1000 0 m min Floating Point immed SLM 0 0 50 0 1000 0 rpm Floating Point immed SRM ARM Note is described in References FBA Description of Functions Drive Functions Section DD2 1247 Speed threshold motor changeover 1 2 ARM 2 4 Min Standard Max Un...

Page 827: ...1249 0 The output terminals 11 12 13 and 14 are not energized if P1249 1 1250 Frequency limit act current smoothing Min Standard Max Unit Data type Effective 0 0 100 0 8000 0 Hz Floating Point immed PT1 filter for the current actual value display The parameter is used to smooth the following displays P1708 torque generating current Iq P1718 torque generating current Iq A from SW 3 1 PROFIBUS statu...

Page 828: ...46 and P1147 Max permissible actual speed for linear motors From P1147 refer to the index entry Ramp function generator 1259 Torque power reduction mot gen ARM SRM 3 7 Force power reduction mot gen SLM Min Standard Max Unit Data type Effective 0 0 3 Hex Unsigned16 immed defines if the torque power de rating or force power de rating depends on whether the drive is motoring generating Bit 0 Torque p...

Page 829: ...ent x P1099 limiting factor power section currents refer to the index entry i2t power section limiting 1264 i2t actual utilization factor 4 1 Min Standard Max Unit Data type Effective Floating Point RO is used for the i2t power section limiting to display the actual utilization The difference to 100 specifies how much reserve is available The current limit is reduced for a utilization of 100 Note ...

Page 830: ...e pulse suppression control via P1403 and P1404 is ineffective when the motor holding brake is activated P0850 1 1404 Timer pulse suppression Min Standard Max Unit Data type Effective 0 0 5000 0 100000 0 ms Floating Point immed ARM 0 0 100 0 100000 0 ms Floating Point immed SRM SLM After the controller enable has been withdrawn and after this delay the gating pulses of the power transistors are ca...

Page 831: ... adaptation speed ARM SRM Lower adaption velocity motor SLM Min Standard Max Unit Data type Effective 0 0 0 0 100000 0 m min Floating Point immed SLM 0 0 0 0 100000 0 rpm Floating Point immed SRM ARM Note Refer under the index entry Speed controller adaption 1412 Upper adaptation speed ARM SRM Upper adaption speed motor SLM Min Standard Max Unit Data type Effective 0 0 0 0 100000 0 m min Floating ...

Page 832: ...ARM The threshold speed or the threshold velocity SLM for the output signal n_act n_min is de fined using this parameter 1421 8 Time constant integrator feedback n controller Min Standard Max Unit Data type Effective 0 0 0 0 1000 0 ms Floating Point immed The integrator of the speed controller is re parameterized via a feedback element to a PT1 filter 1st order lowpass characteristics The PT1 filt...

Page 833: ...loating Point immed The parameter defines the time after which the evaluation for the output signal M M_x is started after run up Note refer to the index entry Output signal M less than M_x 1451 8 P gain speed controller AM ARM Min Standard Max Unit Data type Effective 0 0 0 3 9999 999 Nm s rad Floating Point immed ARM the P gain of the speed controller is set in IM operation operation without enc...

Page 834: ...force equalization controller SLM Min Standard Max Unit Data type Effective 200 0 0 0 200 0 N Floating Point PO SLM 200 0 0 0 200 0 Nm Floating Point PO SRM ARM enters a pre tension torque or pre tension force SLM which acts with switch in delay via a PT1 element P1494 1494 Time const pre tens torque equal cntr ARM SRM 7 1 Time constant pre tensioning force equalization contr SLM Min Standard Max ...

Page 835: ...ow pass bandstop 1 Bandstop filter parameters P1514 8 P1515 8 P1516 8 0 Low pass filter parameters P1502 8 P1506 8 P1507 8 Bit 1 Filter 2 Low pass bandstop 1 Bandstop filter parameters P1517 8 P1518 8 P1519 8 0 Lowpass filter parameters P1503 8 P1508 8 P1509 8 Bit 8 Filter 1 Low pass PT1 PT2 1 PT1 low pass filter parameter P1502 8 0 PT2 low pass filter parameters P1506 8 P1507 8 Bit 9 Filter 2 Low...

Page 836: ...7 5 0 Floating Point immed Note The filter can be switched out switched in via the First speed setpoint filter off input signal The speed setpoint filters are described in References FBA Description of Functions Drive Functions Section DD2 1508 8 Natural frequency speed setpoint filter 2 ARM SRM Natural frequency velocity setpoint filter 2 SLM Min Standard Max Unit Data type Effective 10 0 2000 0 ...

Page 837: ...0 7999 0 Hz Floating Point immed Note The speed setpoint filters are described in References FBA Description of Functions Drive Functions Section DD2 1518 8 Bandwidth speed setpoint filter 2 ARM SRM Bandwidth velocity setpoint filter 2 SLM Min Standard Max Unit Data type Effective 5 0 500 0 7999 0 Hz Floating Point immed Note The speed setpoint filters are described in References FBA Description o...

Page 838: ...r EQN 2048 pulses revolution 0 ms Incremental encoder ERN 2048 pulses revolution 0 ms Note refer to the index entry Encoder adaptation Resolver Default 12 bit resolution ARM 2 ms SRM SLM 0 8 ms Default 14 bit resolution ARM 2 ms SRM SLM 0 2 ms 1600 Suppressible faults 1 Min Standard Max Unit Data type Effective 0 0 7FFF Hex Unsigned16 immed The following faults can be suppressed using these bits B...

Page 839: ...rm threshold is exceeded only an appropriate alarm is output which disappears when the temperature threshold is fallen short off If the overtemperature condition remains longer than the time set in P1603 then this results in fault 614 The monitoring function can be enabled disabled via P1601 14 The temperature monitoring functions with without pre alarm P1602 P1603 or P1607 are not mutually restri...

Page 840: ...or temperature Min Standard Max Unit Data type Effective 0 155 200 C Unsigned16 immed defines the shutdown limit for the motor temperature monitoring without pre alarm When this temperature threshold is exceeded the drive is shut down the pulses canceled and fault 613 output Note The monitoring function can be enabled disabled via P1601 13 The temperature monitoring functions with without pre alar...

Page 841: ...hibit If bit 1 is disabled then this can destroy the power module SIMODRIVE 611 1613 Shutdown response faults 2 3 3 Min Standard Max Unit Data type Effective 0 7FCE 3FFFF Hex Unsigned32 immed ARM 0 100 3FFFF Hex Unsigned32 immed SRM SLM defines how the system responds to the listed faults Bit 1 AD conversion error terminal 56 14 or terminal 24 20 fault 601 Bit 2 Open loop torque controlled operati...

Page 842: ...Bit 1 0 Address space X Bit 2 Comparison signed Bit 2 1 Comparison with sign Bit 2 0 Comparison without sign Note Parameterize variable message function in the selection box with SimoCom U Refer under the index entry Variable message function 1621 Signal number variable signaling function Min Standard Max Unit Data type Effective 0 0 530 Unsigned16 immed Note Parameterize variable message function...

Page 843: ...n 1650 Diagnostics control Min Standard Max Unit Data type Effective 0 0 FFFF Hex Unsigned16 immed allows the diagnostic functions to be configured Bit 0 Min max memory Bit 0 1 Enable the Min Max memory function Bit 0 0 Disable the min max memory function Bit 1 Segment min max memory Bit 1 1 Segment Y min max memory Bit 1 0 Segment X Min Max memory Bit 2 Comparison signed Bit 2 1 Comparison signed...

Page 844: ...monitor function 1657 Value display monitor Min Standard Max Unit Data type Effective Hex Unsigned32 RO Displays the contents of the address in P1655 P1656 1658 Value input monitor Min Standard Max Unit Data type Effective 0 0 FFFFFF Hex Unsigned32 immed Note Internal Siemens 1659 Value acceptance monitor Min Standard Max Unit Data type Effective 0 0 1 Unsigned16 immed Note Internal Siemens 1701 D...

Page 845: ...mens 1710 Significance current representation Min Standard Max Unit Data type Effective µA pk Floating Point RO Note Internal Siemens 1711 Significance speed representation ARM SRM Significance velocity representation SLM Min Standard Max Unit Data type Effective m min Floating Point RO SLM rpm Floating Point RO SRM ARM Note Internal Siemens 1712 Significance rotor flux representation ARM Min Stan...

Page 846: ...time Min Standard Max Unit Data type Effective ms Unsigned16 RO Note Internal Siemens 1724 Diagnosis rotational accuracy monitor Min Standard Max Unit Data type Effective Unsigned16 RO Note Internal Siemens 1725 Normalization of torque setpoint ARM SRM 2 4 Normalization of force setpoint SLM Min Standard Max Unit Data type Effective N Floating Point RO SLM Nm Floating Point RO SRM ARM specifies th...

Page 847: ...gnificant result Remedy Increase current P1019 2 Current was not able to be reduced again in time during the measurement Remedy Check armature inductance P1116 and if required increase 3 The motor moved during the measurement more than permitted in P1020 Remedy Increase permissible rotation P1020 or reduce current P1019 4 Current rise is too low the motor is possibily not correctly connected Remed...

Page 848: ...x Unit Data type Effective 0 0 1 Unsigned16 immed SRM SLM To check the rotor position identification using this test function the difference between the cal culated rotor position angle and that currently used by the control can be determined 1 The rotor position identification test has been activated the difference is entered in P1737 0 The test has been completed initial status Note refer under ...

Page 849: ... Data type Effective c MSR min Floating Point RO SLM c MSR min Floating Point RO SRM ARM Note Internal Siemens 1744 Weighting velocity representation external Min Standard Max Unit Data type Effective c MSR min Floating Point RO SLM c MSR min Floating Point RO SRM ARM Note Internal Siemens 1745 Weighting following error representation DSC Min Standard Max Unit Data type Effective mm Floating Point...

Page 850: ...ing data etc 1784 97 PROFIBUS configuration data received 3 1 Min Standard Max Unit Data type Effective Hex Unsigned16 RO is an image of the configuration data received by the DP slave The sub parameter with index 0 contains the number of valid bytes of the configuration frame 0 no configuration data available with index 1 the 1st byte includes the configuration data with index 2 the 2nd byte incl...

Page 851: ...ords 0 no PKW data available 4 PKW data available with index 1 of the PKE word PKE Parameter identification with index 2 of the IND word IND Sub index sub parameter number array index with index 3 of the most significant PWE word PWE Parameter value with index 4 of the least significant PWE word Note refer to the index entry PKW area 1788 17 Processed data received via PROFIBUS Min Standard Max Un...

Page 852: ...stem 1794 Option mod PROFIBUS Version initial progr loader 3 1 Min Standard Max Unit Data type Effective Unsigned32 RO indicates which version of the initializer is on the option module Example P1794 10104 V01 01 04 is available 1795 Option module PROFIBUS Version firmware Min Standard Max Unit Data type Effective Unsigned32 RO displays the firmware version on the option module Example P1795 10104...

Page 853: ...he index entry Function generator 1808 Function generator limitation Min Standard Max Unit Data type Effective 0 0 100 0 1600 0 Floating Point immed Note refer to the index entry Function generator 1809 Function generator 2nd amplitude staircase Min Standard Max Unit Data type Effective 1600 0 7 0 1600 0 Floating Point immed Note refer to the index entry Function generator 1810 Function generator ...

Page 854: ...30 Unsigned16 immed The parameter defines which signal is output via test socket 1 The signal number from the signal selection list for analog outputs must be entered Note refer to the index entry Test sockets 1821 Shift factor test socket 1 Min Standard Max Unit Data type Effective 0 6 47 Unsigned16 immed defines the shift factor with which the analog signal is manipulated An 8 bit window of the ...

Page 855: ... P1826 0 and test socket 2 active P1836 1 refer to the index entry Test sockets 1830 Signal number test socket 2 Min Standard Max Unit Data type Effective 0 14 530 Unsigned16 immed Description refer to that for P1820 1831 Shift factor test socket 2 Min Standard Max Unit Data type Effective 0 12 47 Unsigned16 immed Description refer to that for P1821 1832 Offset test socket 2 Min Standard Max Unit ...

Page 856: ...SN112x 1Ax0x 0FAx 10 1 200 70 140 85 110 127 6SN112x 1Ax0x 0JAx 112 1 300 100 100 120 150 193 6SN112x 1Ax0x 0KAx 12 1 400 140 210 200 250 257 Note rms rms value pk Peak value x Space retainer for the Order No In Continuous current IS6 Current for max 4 min for S6 load duty cycle Imax Peak current 1 At higher pulse frequencies P1100 In Imax and IS6 must be reduced to protect the power module The fo...

Page 857: ... step if the power module is no longer being operated above the load limit imax P1260 iS6 P1261 in t 10 s 20 s i t 4 s 8 s i i2t limit for the following motors 1FT6 1FK6 1FNx i2t limit for the following motors 1PHx 1FE1 Range without current limiting Range of the limited current Range without current limiting Range of the limited current P1261 in imax 4 min 8 min Note imax P1108 current limit powe...

Page 858: ...rameters which have to be set P1260 i2t limiting limit current power module S6 P1261 i2t limiting rated power module current These parameters are preset to protect the power module It may be possible to protect the motor against continuous over load by reducing the parameter values Parameters used for diagnostics P1262 i2t time in limiting P1263 actual i2t limit factor P1264 i2t actual utilization...

Page 859: ...0 1 6 2 80 1FK6042 6AF7x xxxx 2201 3000 3 2 2 80 1FK6043 7AH7x xxxx 2311 4500 3 1 4 50 1FK6043 7AK7x xxxx 2314 6000 3 1 6 40 1FK6044 7AF7x xxxx 2211 3000 4 0 4 50 1FK6044 7AH7x xxxx 2312 4500 4 0 6 30 1FK6060 6AF7x xxxx 2202 3000 6 0 4 30 1FK6061 7AF7x xxxx 2212 3000 6 4 6 10 1FK6061 7AH7x xxxx 2313 4500 6 4 8 00 1FK6063 6AF7x xxxx 2203 3000 11 0 7 90 1FK6064 7AF7x xxxx 2213 3000 12 0 11 00 1FK606...

Page 860: ... 50 1FK7060 5AH7x xxxx 2520 4500 6 0 6 20 1FK7061 7AF7x xxxx 2565 3000 6 4 6 10 1FK7061 7AH7x xxxx 2566 4500 6 4 8 00 1FK7063 5AF7x xxxx 2502 3000 11 0 8 00 1FK7063 5AH7x xxxx 2521 4500 11 0 12 00 1FK7064 7AF7x xxxx 2567 3000 12 0 11 00 1FK7064 7AH7x xxxx 2568 4500 12 0 15 00 1FK7080 5AF7x xxxx 2503 3000 8 0 4 80 1FK7080 5AH7x xxxx 2522 4500 8 0 7 40 1FK7082 7AF7x xxxx 2569 3000 14 0 10 60 1FK7083...

Page 861: ...xx 1406 6000 6 0 7 60 1FT6062 xWF7x xxxx 1270 3000 10 2 6 90 1FT6062 xWH7x xxxx 1370 3000 10 2 9 70 1FT6062 xWK7x xxxx 1470 6000 10 2 12 90 1FT6064 xAC7x xxxx 1103 2000 9 5 4 20 1FT6064 xAF7x xxxx 1205 3000 9 5 6 10 1FT6064 xAH7x xxxx 1303 4500 9 5 9 00 1FT6064 xAK7x xxxx 1407 6000 9 5 12 00 1FT6064 xWF7x xxxx 1272 3000 16 2 10 30 1FT6064 xWH7x xxxx 1372 4500 16 2 15 40 1FT6064 xWK7x xxxx 1472 600...

Page 862: ...xxx 1461 6000 35 0 44 00 1FT6086 xWF7x xxxx 1284 3000 47 0 34 00 1FT6086 xWH7x xxxx 1382 4500 47 0 52 00 1FT6086 xWK7x xxxx 1486 6000 47 0 59 00 1FT6102 xAB7x xxxx 1001 1500 27 0 8 70 1FT6102 xAC7x xxxx 1108 2000 27 0 12 10 1FT6102 xAF7x xxxx 1210 3000 27 0 16 90 1FT6102 xAH7x xxxx 1308 4500 27 0 24 10 1FT6105 xAB7x xxxx 1002 1500 50 0 16 00 1FT6105 xAC7x xxxx 1109 2000 50 0 21 40 1FT6105 xAF7x xx...

Page 863: ... 69 00 1FT6132 xWB7x xxxx 1273 1500 155 0 58 00 1FT6132 xWD7x xxxx 1274 2500 155 0 92 00 1FT6134 xAB7x xxxx 1005 1500 95 0 27 00 1FT6134 xAC7x xxxx 1112 2000 95 0 36 00 1FT6134 xSB7x xxxx 1143 1500 140 0 44 00 1FT6134 xSC7x xxxx 1162 2000 140 0 58 00 1FT6134 xSF7x xxxx 1263 3000 140 0 83 00 1FT6134 xWB7x xxxx 1275 1500 200 0 73 00 1FT6134 xWD7x xxxx 1276 2500 200 0 122 00 1FT6136 xAB7x xxxx 1006 1...

Page 864: ...rtia kgm2 1118 Motor standstill current A rms 1122 Motor limiting current A rms 1128 Optimum load angle Degr 1136 No load motor current this is only rele vant for SRM with field weakening A rms 1142 Speed at the start of field weakening is only relevant for SRM with field weaken ing RPM 1145 Stall torque reduction factor is only rele vant for SRM with field weakening 1146 Maximum motor speed RPM 1...

Page 865: ...12500 13 0 30 0 1FE1052 4WN11 xxxx 2806 30000 8000 13 0 20 0 1FE1052 4WN51 xxxx 2819 30000 8000 13 0 20 0 1FE1052 6LK00 xxxx 2808 12000 9000 12 0 22 0 1FE1052 6WK10 xxxx 2809 15000 7500 18 0 37 0 1FE1052 6WN00 xxxx 2811 12000 6000 16 0 22 0 1FE1052 6WN10 xxxx 2805 12000 5500 20 0 30 0 1FE1052 6WY10 xxxx 2812 6000 3000 18 0 13 5 1FE1053 4WN11 xxxx 2824 30000 7900 20 0 29 0 1FE1054 6LR00 xxxx 2815 8...

Page 866: ... 2825 20000 3500 42 0 42 0 1FE1082 4WN51 xxxx 2908 12000 3500 42 0 42 0 1FE1082 4WP11 xxxx 2809 15000 2700 42 0 30 0 1FE1082 4WR11 xxxx 2890 11000 2000 42 0 24 0 1FE1082 4WR31 xxxx 2910 11000 2000 42 0 24 0 1FE1082 6WP10 xxxx 2891 8500 5000 65 0 65 0 1FE1082 6WQ11 xxxx 2911 9000 4300 65 0 60 0 1FE1082 6WS10 xxxx 2912 6000 3600 65 0 45 0 1FE1082 6WS30 xxxx 2913 6000 3600 65 0 45 0 1FE1082 6WW11 xxx...

Page 867: ...000 4400 65 0 60 0 1FE1093 4WM11 xxxx 2924 18000 3500 75 0 64 0 1FE1093 4WN01 xxxx 2844 16000 3800 65 0 51 0 1FE1093 4WN10 xxxx 2825 6500 3300 75 0 60 0 1FE1093 4WN11 xxxx 2820 16000 3300 75 0 60 0 1FE1093 6WN10 xxxx 2802 7000 3500 100 0 83 0 1FE1093 6WS10 xxxx 2846 4000 2000 100 0 53 0 1FE1093 6WS30 xxxx 2926 4000 2000 100 0 53 0 1FE1093 6WV11 xxxx 2847 7000 1600 100 0 43 0 1FE1093 6WV31 xxxx 292...

Page 868: ...x 2858 6000 1200 200 0 60 0 1FE1112 6LW01 xxxx 2893 7000 1800 70 0 29 0 1FE1113 6LU01 xxxx 2894 7000 1800 105 0 43 0 1FE1114 6LU11 xxxx 2859 6500 1500 135 0 45 00 1FE1114 6WR11 xxxx 2860 6500 2000 200 0 108 0 1FE1114 6WR31 xxxx 2933 6500 2000 200 0 108 0 1FE1114 6WT10 xxxx 2861 3300 1400 200 0 84 0 1FE1114 6WT11 xxxx 2855 6500 1400 200 0 84 0 1FE1114 6WT31 xxxx 2934 6500 1400 200 0 84 0 1FE1114 6W...

Page 869: ... 1300 585 0 150 0 1FE1147 8WN11 xxxx 2904 5500 1200 820 0 200 0 1FE1147 8WS11 xxxx 2905 3500 750 820 0 130 0 1FE1147 8WQ11 xxxx 2939 4200 950 820 0 158 0 1FE1147 8WQ31 xxxx 2940 4200 950 820 0 158 0 1FE1147 8WS11 xxxx 2905 3500 750 820 0 130 0 2SP1202 1HAxx xxxx 2954 15000 2700 42 0 30 0 2SP1202 1HBxx xxxx 2955 18000 3500 42 0 42 0 2SP1204 1HAxx xxxx 2956 15000 3000 84 0 60 0 2SP1204 1HBxx xxxx 29...

Page 870: ... resistance phase value rotating field inductance Lrotating field 1 5 Lphase Ω 1116 Armature inductance mH 1117 Motor moment of inertia kgm2 1118 Motor standstill current A rms 1122 Motor limiting current A rms 1128 Optimum load angle from SW 3 3 Degr 1136 Motor short circuit current A rms 1142 Speed at the start of field weakening RPM 1145 Stall standstill torque reduction factor 1146 Maximum mot...

Page 871: ...Parameters for permanent magnet synchronous motors without field weakening Parameters No Name Units Value 1102 Motor code number 1999 1103 Rated motor current A rms 1104 Maximum motor current A rms 1112 Motor pole pair number 1113 Torque constant Nm A 1114 Voltage constant V rms 1115 Armature resistance phase value rotating field inductance Lrotating field 1 5 Lphase Ω 1116 Armature inductance mH ...

Page 872: ...onous motors without field weakening continued Parameters No Value Units Name 1142 Speed at the start of field weakening RPM 1145 Stall standstill torque reduction factor 1146 Maximum motor speed RPM 1180 Lower current limit current controller adapta tion 1181 Upper current limit current controller adapta tion 1182 Factor current controller adaptation 1400 Rated motor speed RPM A Lists 01 99 ...

Page 873: ... 1FN1184 5xF7x xxxx 3024 200 7920 1FN1186 5xF7x xxxx 3025 200 10600 1FN1244 5xF7x xxxx 3026 200 10900 1FN1246 5xF7x xxxx 3027 200 14500 1FN1072 3xF7x xxxx 3031 200 1720 1FN1076 3xF7x xxxx 3032 200 3450 2 1FN1124 5AC7x xxxx 3201 145 9700 2 1FN1184 5AC7x xxxx 3202 145 15840 2 1FN1122 5xC7x xxxx 3203 145 6500 2 1FN1126 5xC7x xxxx 3204 145 13000 2 1FN1186 5xC7x xxxx 3205 145 21200 2 1FN1244 5xC7x xxxx...

Page 874: ...0 4WC0x xxxx 3412 282 3300 1FN3150 5WC0x xxxx 3413 282 4120 1FN3300 2WB0x xxxx 3414 176 3450 1FN3300 2WC0x xxxx 3415 297 3450 1FN3300 2WG0x xxxx 3416 805 3450 1FN3300 3WC0x xxxx 3417 297 5170 1FN3300 3WG0x xxxx 3418 836 5170 1FN3300 4WB0x xxxx 3419 176 6900 1FN3300 4WC0x xxxx 3420 297 6900 1FN3450 2WC0x xxxx 3421 275 5180 1FN3450 2WE0x xxxx 3422 519 5180 1FN3450 3WB0x xxxx 3423 164 7760 1FN3450 3W...

Page 875: ...8 282 1650 2 1FN3150 1WE0x xxxx 3609 534 1650 2 1FN3150 2WC0x xxxx 3610 282 3300 2 1FN3150 3WC0x xxxx 3611 282 4940 2 1FN3150 4WC0x xxxx 3612 282 6600 2 1FN3150 5WC0x xxxx 3613 282 8240 2 1FN3300 2WB0x xxxx 3614 176 6900 2 1FN3300 2WC0x xxxx 3615 297 6900 2 1FN3300 2WG0x xxxx 3616 805 6900 2 1FN3300 3WC0x xxxx 3617 297 10340 2 1FN3300 3WG0x xxxx 3618 836 10340 2 1FN3300 4WB0x xxxx 3619 176 13800 2...

Page 876: ...C0x xxxx 3632 254 20700 2 1FN3600 4WB0x xxxx 3633 155 27600 2 1FN3600 4WB5x xxxx 3634 215 27600 2 1FN3600 4WC0x xxxx 3635 254 27600 2 1FN3900 2WB0x xxxx 3636 160 20700 2 1FN3900 2WC0x xxxx 3637 253 20700 2 1FN3900 4WB0x xxxx 3638 160 41400 2 1FN3900 4WB5x xxxx 3639 203 41400 2 1FN3900 4WC0x xxxx 3640 253 41400 Unlisted motors 3999 Note x Space retainer for the Order No 2 1FN There are two motors c...

Page 877: ... 2 I0 1104 Maximum motor current A rms Imax 2 Imax 1113 Force constant N A F 2 F 1114 Voltage constant Vs m kE kE 1115 Armature resistance Ω RA 0 5 RA 1116 Armature inductance mH LA 0 5 LA 1117 Motor weight kg mM 2 mM 1118 Motor standstill current A rms I0 2 I0 1146 Maximum motor velocity m min vmax vmax 1170 Pole pair width mm 2τp 2τp 1180 Lower current limit current controller adaptation 1181 Up...

Page 878: ...29 1500 21 0 85 0 1PH2128 4WF4x xxxx 330 1500 25 0 101 0 1PH2143 4WF4x xxxx 331 1500 30 0 101 0 1PH2147 4WF4x xxxx 332 1500 38 0 116 0 1PH2182 6WC4x xxxx 333 750 11 8 37 0 1PH2184 6WP4x xxxx 334 600 14 5 56 0 1PH2186 6WB4x xxxx 335 500 18 3 65 0 1PH2188 6WB4x xxxx 336 500 23 6 78 0 1PH2254 6WB4x xxxx 337 500 28 8 117 0 1PH2256 6WB4x xxxx 338 500 39 3 119 0 1PH4103 4NF2x xxxx 300 1500 7 5 26 0 1PH4...

Page 879: ...NZ0x xxxx 141 1500 8 0 24 0 1PH6133 4NB4x xxxx 132 500 4 25 27 0 1PH6133 4NB8x xxxx Y 200 500 4 25 17 0 1PH6133 4NB8x xxxx D 201 500 4 2 17 0 1PH6133 4NF0x xxxx 111 1500 11 0 29 0 1PH6133 4NF4x xxxx 112 1500 11 0 33 0 1PH6133 4NG0x xxxx 136 2000 14 5 33 0 1PH6133 4NG4x xxxx 113 2000 14 5 40 0 1PH6135 4NF0x xxxx 114 1500 15 0 38 0 1PH6135 4NG4x xxxx 116 2000 20 0 53 0 1PH6135 xNF4x xxxx 115 1500 15...

Page 880: ...4NF4x xxxx 129 1500 37 0 102 0 1PH6167 4NG0x xxxx 138 2000 45 0 89 0 1PH6167 4NG4x xxxx 130 2000 45 0 97 0 1PH6167 xNF0x xxxx 128 1500 37 0 85 0 1PH6168 4NF0x xxxx 142 1500 40 0 85 0 1PH6186 4NB4x xxxx 160 500 22 0 66 0 1PH6206 4NB4x xxxx 162 500 32 0 96 0 1PH6186 xNE4x xxxx 163 1250 42 0 84 0 1PH6186 4NF4x xxxx 164 1500 50 0 100 0 1PH6206 xNE4x xxxx 165 1250 63 0 122 0 1PH6206 4NF4x xxxx 166 1500...

Page 881: ...1PH7186 xxTxx xxxx 425 500 29 6 106 0 1PH7101 xxFxx xxxx 426 1500 3 7 10 0 1PH7103 xxGxx xxxx 427 2000 7 0 17 5 1PH7105 xxFxx xxxx 428 1500 7 0 17 5 1PH7107 xxFxx xxxx 429 1500 9 0 22 5 1PH7103 xxDxx xxxx 430 1000 3 7 9 6 1PH7103 xxFxx xxxx 431 1500 5 5 13 0 1PH7107 xxDxx xxxx 432 1000 6 3 17 1 1PH7107 xxGxx xxxx 433 2000 10 5 24 8 1PH7133 xxFxx xxxx 434 1500 15 0 33 0 1PH7133 xxFxx xxxx 435 1500 ...

Page 882: ...xLxx 473 1000 17 0 40 7 1PH7137 xxFxx xLxx 474 1500 22 0 54 0 1PH7137 xxGxx xLxx 475 2000 28 0 58 6 1PH7163 xxBxx xLxx 476 500 12 0 28 2 1PH7163 xxDxx xLxx 477 1000 22 0 52 7 1PH7163 xxFxx xLxx 478 1500 30 0 70 3 1PH7163 xxGxx xLxx 479 2000 36 0 82 3 1PH7167 xxBxx xLxx 480 500 16 0 35 5 1PH7167 xxDxx xLxx 481 1000 28 0 68 3 1PH7167 xxFxx xLxx 482 1500 37 0 77 8 1PH7167 xxGxx xLxx 483 2000 41 0 88 ...

Page 883: ...0 1500 7 5 23 0 1PM6105 xxF8x xxxx D 611 4000 7 5 24 0 1PM6133 xxF8x xxxx Y 612 1500 11 0 41 0 1PM6133 xxF8x xxxx D 613 4000 11 0 41 0 1PM6137 xxF8x xxxx Y 614 1500 18 5 56 0 1PM6137 xxF8x xxxx D 615 4000 18 5 56 0 1PM6138 xxF8x xxxx Y 616 1500 22 0 58 0 1PM6138 xxF8x xxxx D 617 4000 22 0 57 0 2SP1253 8xAxx 0xxx 340 4000 13 2 29 0 2SP1253 8xAxx 0xxx 341 1800 13 2 28 0 2SP1253 8xAxx 1xxx 342 1800 1...

Page 884: ...ance of the series reactor mH 1129 cos phi power factor 1130 Rated motor power kW 1132 Rated motor voltage V 1134 Rated motor frequency Hz 1135 Motor no load voltage V 1136 Motor no load current A rms 1137 Stator resistance cold Ω 1138 Rotor resistance cold Ω 1139 Stator leakage reactance Ω 1140 Rotor leakage reactance Ω 1141 Magnetizing reactance Ω 1142 Speed at the start of field weakening RPM 1...

Page 885: ...der list A 4 1 Encoder code The motor encoder being used is identified by its encoder code in P1006 If encoder systems are used which are not marketed by SIEMENS third party encoder encoder code 99 then additional parameters must be manually set corresponding to the measuring system manufacturer s data refer to Table A 12 A Lists 01 99 ...

Page 886: ...P1008 31 1PH2 1FE1 SIZAG 2 6FX2001 8RA03 1D 1E 1G3 Voltage signals sin cos 1Vpp 512 pulses revolution P1011 P1008 En coder with sin cos Incremental encoders mounted 32 1PH2 1FE1 SIMAG H 6FX2001 6RB01 4xx03 Voltage signals sin cos 1Vpp 256 pulses revolution P1011 P1008 with sin cos 1Vpp 33 1PH2 1FE1 SIMAG H 6FX2001 6RB01 5xx03 Voltage signals sin cos 1Vpp 400 pulses revolution P1011 P1008 34 1PH2 1...

Page 887: ...n coder with TTL signal4 1LAx 1PHx e g 1XP8001 2 P1011 P1005 P1027 Special Unlisted re solver Resolver 2p 1 speed to resolver 12p 6 speed P1011 P1018 P1027 Special cases Lin ear en Incre men tal 99 1FN1 1FN3 e g LS 186 LS 4842 P1011 P1024 en cod ers Abso lute 1FN3 e g LC 1811 P1024 P1027 Distance coded measuring system e g ERA 780C RON 785C2 P1027 P1037 P1050 P1051 P1052 P1053 1 x Space retainer f...

Page 888: ...01 0AA From SW 6 1 for SIMODRIVE 611 universal HR it is possible to set the resolver resolution Resolver resolution 14 bit P1011 2 1 indirect measuring system P1030 2 1 direct measuring system Resolver resolution 12 bit P1011 2 0 indirect measuring system P1030 2 0 direct measuring system Fault message 749 from SW 7 1 is output if the following conditions are not fulfilled A 14 bit resolution was ...

Page 889: ...eter list Attachment A 1 An indirect measuring system is commissioned by entering a code number into P1006 If an encoder is used which is not saved in the firmware then the data according to Table 4 14 must be entered Refer to the parameter overview Chapter A 1 for the significance of parameters P1005 P1021 P1022 and P1024 For SIMODRIVE 611 universal when a direct measuring system is used it must ...

Page 890: ...P1022 P1024 Parameter for direct measuring system DM from SW 3 3 P1007 P1037 3 P1037 4 P1037 14 15 P1031 P1032 P1034 mental Rotary x 0 0 type Increme Linear 0 1 x Encoder typ te EnDat Rotary A 1 0 x A A Enc Absolute Linear 1 1 x A Note x Input required No input required A Display 0 or 1 The parameter bit must be set like this For an absolute value encoder P1037 3 1 the drive can automatically dete...

Page 891: ...ns module Central Processing Unit Clear To Send Signal that it is clear to send for serial data interfaces Digital Analog Converter Digital Analog Converter DC link Direct measuring system encoder 2 Distributed Periphery I O DP controller with integrated 8031 core DP master Class 1 or Class 2 Dual port RAM Dynamic memory non buffered Differential Resolver Function Software which is linked in to th...

Page 892: ...e coupled via PROFIBUS Feed drive Flash EPROM Memory which can be read and written into Fast Fourier Transformation Function generator Fine InterPOlator Enable voltage 24 V Reference for the enable voltage Global Control Telegramm Broadcast Telegramm Master device file describes the features of a DP slave Hardware Abbreviation for a hexadecimal number Hardware limit switches Input Commissioning Fi...

Page 893: ...lue Numerical Control Line supply infeed Not in List Speed setpoint Output Operating condition Optical Link Plug Bus connector for fiber optic cables Machine Readable Product Designation Order No Parameter Personal Computer Memory Card International Association Position reached and stop Protective extra low voltage Programming device Parameter identification Part of a PKW Parameter identification ...

Page 894: ...function generator Read Only Standard bus system for drives Abbreviation for the parameterizing telegram set param this is sent from the master to the slave when establishing the bus Shift factor Synchronous linear motor Software Siemens PROFIBUS Controller 3 Rotating synchronous motor Interface Synchronous serial interface Gating unit Control word Part of a PZD Software limit switch Terminals Unc...

Page 895: ... Reserved SIMODRIVE 611 universal Description of Functions FBU 04 05 Edition Peak to peak voltage Machine tools Position actual value Position setpoint value Status word Part of a PZD Vpp WZM xact xset ZSW B List of Abbreviations 02 02 ...

Page 896: ...B B 896 Siemens AG 2005 All Rights Reserved SIMODRIVE 611 universal Description of Functions FBU 04 05 Edition B List of Abbreviations 02 02 Space for your notes ...

Page 897: ... B2 Order No E86 060 K6710 A101 B2 7600 English SITOP power Power Supplies Catalog KT 10 1 2002 Order No E86060 K2410 A101 A4 SIMODRIVE 611 universal and POSMO Catalog DA 65 4 2001 Order No E86060 K5165 A401 A1 SIMATIC Products for Totally Integrated Automation and Micro Automation Catalog ST 70 Order No E86 060 K4670 A111 A8 Order No E86 060 K4670 A111 A8 7600 English MOTION CONNECT Connections S...

Page 898: ...alog IK PI 2005 Industrial Communications and Field Devices Order No of the bound edition E86060 K6710 A101 B4 Order No of the loose leaf edition E86060 K6710 A100 B4 PROFIBUS DP DPV1 IEC 61158 Basic Information Tips and Tricks for Users Hüthig Manfred Popp 2nd edition ISBN 3 7785 2781 9 PROFIBUS DP Fast Entry PROFIBUS User Organisation e V Manfred Popp Order No 4 071 Decentralization with PROFIBU...

Page 899: ...131 Karlsruhe September 1997 Edition Order No 3 071 PDP PROFIBUS Installation Guidelines Installation Guidelines for PROFIBUS FMS DP Installation and Wiring Recommendation for RS 485 Transmission Version 1 0 Order No 2 111 German 2 112 English Manufacturer Service Documentation SIMODRIVE 611 MASTERDRIVES VC MC 10 03 Edition Configuration Manual General Section Induction Servomotors Order No 6SN1 1...

Page 900: ... Order No 6SN1 197 0AA80 1BP1 DB1 Operational Messages Alarm Reactions DD1 Diagnostic Functions DD2 Speed Control Loop DE1 Extended Drive Functions DF1 Enable Commands DG1 Encoder Parameterization DL1 Linear Motor MD DM1 Calculation of Motor Power Section Parameters and Controller Data DS1 Current Control Loop DÜ1 Monitoring Functions Limits SIMODRIVE 611 universal SIMODRIVE 611 universal E Descri...

Page 901: ...C Motors for Main Spindle Drives Order No 6SN1 197 0AC00 0BP5 SIMODRIVE 06 02 Edition Configuration Manual Linear Motors 1FN1 1FN3 ALL General Information on Linear Motors 1FN1 Linear Motors 1FN1 1FN3 Three phase Linear Motors 1FN3 CON Connection System Order No 6SN1 197 0AB70 0BP4 SIMODRIVE 611 MASTERDRIVES MC 03 04 Edition Configuration Manual Synchronous Servomotors Contents General Section 1FT...

Page 902: ...ndle Drives 1PM4 and 1PM6 Order No 6SN1 197 0AD03 0BP0 SIMODRIVE 611 A 611 D SimoPro 3 1 Program for Configuring Machine Tool Drives Order No 6SC6 111 6PC00 0AA Ordering location WK Fürth SIMATIC S7 300 2002 Edition Installation Manual Technological Functions Reference Manual CPU Data HW Description Order No 6ES7 398 8AA03 8AA0 SIMATIC S7 300 03 97 Edition Manual STEP 7 Fundamentals V 3 1 Order No...

Page 903: ...on Certificates Note An excerpt is provided from the certification of the PROFIBUS User Organization e V and the certification of the Safe Standstill function The complete certification for the Safe standstill function can be found as follows Reference PJU SIMODRIVE 611 Configuration Manual Drive Converters D ...

Page 904: ...D D 904 Siemens AG 2005 All Rights Reserved SIMODRIVE 611 universal Description of Functions FBU 04 05 Edition Fig D 1 Certificate PROFIBUS D Certificates 02 02 ...

Page 905: ...Siemens AG 2005 All Rights Reserved SIMODRIVE 611 universal Description of Functions FBU 04 05 Edition Fig D 2 Certificate Safe standstill function German Zertifikat Funktion Sicherer Halt D Certificates 02 02 ...

Page 906: ...D D 906 Siemens AG 2005 All Rights Reserved SIMODRIVE 611 universal Description of Functions FBU 04 05 Edition Fig D 3 Certificate Safe standstill function English D Certificates 02 02 ...

Page 907: ...Functions FBU 04 05 Edition Note Attached is an excerpt from the EC Declaration of Conformity for SIMODRIVE 611 universal The complete EC Declaration of Conformity can be found as follows Reference EMC EMC Configuring Guidelines EC Declaration of Conformity D Certificates 02 02 08 02 ...

Page 908: ...D D 908 Siemens AG 2005 All Rights Reserved SIMODRIVE 611 universal Description of Functions FBU 04 05 Edition Fig D 4 EC Declaration of Conformity D Certificates 02 02 08 02 ...

Page 909: ...D D 909 Siemens AG 2005 All Rights Reserved SIMODRIVE 611 universal Description of Functions FBU 04 05 Edition Fig D 5 Annex A17 to the Declaration of Conformity excerpt D Certificates 02 02 08 02 ...

Page 910: ...D D 910 Siemens AG 2005 All Rights Reserved SIMODRIVE 611 universal Description of Functions FBU 04 05 Edition Fig D 6 Annex A18 to the Declaration of Conformity excerpt D Certificates 02 02 08 02 ...

Page 911: ...D D 911 Siemens AG 2005 All Rights Reserved SIMODRIVE 611 universal Description of Functions FBU 04 05 Edition Fig D 7 Annex A21 to the Declaration of Conformity excerpt D Certificates 02 02 08 02 ...

Page 912: ...D D 912 Siemens AG 2005 All Rights Reserved SIMODRIVE 611 universal Description of Functions FBU 04 05 Edition Fig D 8 Annex A22 to the Declaration of Conformity excerpt D Certificates 02 02 08 02 ...

Page 913: ...D D 913 Siemens AG 2005 All Rights Reserved SIMODRIVE 611 universal Description of Functions FBU 04 05 Edition Fig D 9 Annex A23 to the Declaration of Conformity excerpt D Certificates 02 02 08 02 ...

Page 914: ...All Rights Reserved SIMODRIVE 611 universal Description of Functions FBU 04 05 Edition Annex C to the EC Declaration of Conformity No E002 Fig D 10 Annex C to the EC Declaration of Conformity excerpt D Certificates 02 02 08 02 ...

Page 915: ...log outputs 2 75 6 542 Analog signals for the current and speed control loop 6 552 for the position control loop 6 553 Angular incremental encoder interface 2 77 6 556 as an output 6 558 as input from SW 3 3 6 563 6 567 Handwheel connection 6 567 Terminating resistor 1 39 Any gearbox ratio from SW 8 1 6 357 Automatic controller setting 6 336 Automatic power module identification 4 137 Axis couplin...

Page 916: ...75 Tracking operation 6 387 Velocity maximal 6 367 Velocity override 6 370 Closed loop speed controlled operation 6 530 Coding the mini connectors 2 67 Command dependent block information 6 410 Commissioning Build in torque motors 4 167 Checklist for 4 117 Direct measuring system from SW 3 3 4 196 First 4 116 Induction motor with TTL encoder from SW 8 1 4 197 Linear motors 4 172 PE spindle 4 155 P...

Page 917: ...he 7 segment display 7 624 Digital inputs for control board 2 76 6 474 for the optional TERMINAL module 2 79 6 526 Digital outputs for control board 2 77 6 498 for the optional TERMINAL module 2 79 6 526 if all do not function 2 77 2 79 Dimension system 6 365 Dimension system grid MSR 6 361 6 365 Direct measuring system A 889 Direct measuring system from SW 3 3 4 193 Direction adaptation 6 381 Dis...

Page 918: ...r 7 714 Function overview 1 27 Function initiating parameters 4 131 G GSD 5 281 H Hardware limit switch n set mode 6 345 limit switch pos mode 6 371 parameterizing 4 137 Hardware limit switch n set mode 6 345 pos mode 6 371 Help for the reader vii Holding brake 6 570 Hotline v I i2t power module limiting from SW 3 1 A 857 IM operation 4 141 Image Input signals 4 136 Input terminals 4 136 Output si...

Page 919: ...s hardware limit switch NC contact 6 494 Ramp function generator enabled 6 482 Ramp function generator start ramp function generator stop 6 495 Ramp up time zero 6 479 Reference cams 6 493 Request passive referencing from SW 5 1 6 490 Reset the fault memory 6 478 Selection parking axis 6 483 Set reference point 6 491 Setpoint setting master drive from SW 4 1 6 492 Spindle positioning on from SW 5 ...

Page 920: ...ni connector 2 67 Monitoring functions 6 341 Monitoring when positioning Dynamic monitoring of following errors 6 382 Positioning monitoring 6 385 Standstill monitoring zero speed moni toring 6 383 Motor 1 25 A 859 Motor changeover from SW 2 4 6 580 Motor code 4 138 for linear synchronous motors A 873 for permanent magnet synchronous mo tors with field weakening 1FE1 A 865 for permanent magnet syn...

Page 921: ...ibit speed controller 6 508 M less than M x 6 505 MDI active from SW 7 1 6 524 Minus software limit switch actuated 6 522 Motor being changed over from SW 3 3 6 518 Motor overtemperature pre warning 6 506 Motor selected from SW 2 4 6 508 n act less than n min 6 504 n act less than n x 6 505 n set is equal to n act 6 509 No following error following error 6 514 No OFF 2 present OFF 2 present 6 513 ...

Page 922: ...y and operator unit 3 89 via PROFIBUS 5 287 Parameterizing a direct measuring system A 889 Parameterizing indirect measuring systems A 889 Parameters for diagnostics 4 134 Function initiating 4 131 Motor data set dependent 6 581 Parameter set dependent 6 576 with bit number vii with sub parameters vii with 64 traversing block dependent vii 6 411 with 8 parameter set dependent vii 6 576 Parking axi...

Page 923: ...217 5 224 MsollExt from SW 4 1 5 217 5 227 NSOLL_A 5 217 5 223 NSOLL_B from SW 3 1 5 217 5 223 nsoll l 5 223 SatzAnw 5 217 SatzAnw from SW 4 1 5 229 STW1 5 217 5 220 STW2 5 217 5 222 XERR from SW 4 1 5 217 5 224 XSP from SW 4 1 5 217 5 226 Status words ADU1 5 219 5 236 ADU2 5 219 5 236 AktSatz from SW 4 1 5 219 5 240 Ausl 5 219 5 237 DIG_IN from SW 3 1 5 219 5 237 G1_XIST1 from SW 3 1 5 219 5 243 ...

Page 924: ...5 219 5 241 Pwirk 5 219 5 238 QZsw 5 239 QZsw from SW 4 1 5 219 UZK1 from SW 8 3 5 219 5 241 XistP from SW 3 1 5 219 5 242 XsollP from SW 4 1 5 220 5 242 ZSW1 5 219 5 234 ZSW2 5 219 5 235 PROFIBUS DP Commissioning 5 285 Diagnostics and troubleshooting 5 289 Encoder interface from SW 3 1 5 243 Evaluating faults 5 290 Evaluating warnings 5 291 Example Operate drive 5 271 Example Reading parameters 5...

Page 925: ... 30 SIMODRIVE 611 universal E 1 43 Control elements 1 52 Features 1 43 Front panel 1 45 Terminals and interfaces 1 46 What is different with respect to SIMODRIVE 611 universal 1 55 Slave to slave communications from SW 4 1 5 314 Slave to slave communications from SW 4 1 5 314 Software limit switches 6 372 Speed Controller 6 332 Adaptation 6 338 Automatic setting 6 336 Optimization 6 336 Speed cont...

Page 926: ...n torque motors A 871 Parameters for PE spindles A 870 Parameters for SLM A 877 Parameters for SRM A 864 What is an unlisted motor 4 130 Using the manual vii V V Hz operation with Induction motor ARM 7 727 Synchronous motor SRM 7 728 Variable signaling function 6 507 Versions of the control board 1 32 of the option modules 1 32 Vertical axes 6 598 VP module 4 154 W Warnings 7 620 Evaluating via PR...

Page 927: ...acturer Service Documentation Description of Functions Order No 6SN1197 0AB20 1BP2 Edition 04 05 Should you notice any printing errors when reading this publication please notify us on this sheet Suggestions for improvement are also welcome To SIEMENS AG A D MC BMS Postfach 3180 D 91050 Erlangen Tel Fax 49 0 180 5050 222 Hotline Fax 49 0 9131 98 2176 email motioncontrol docu erlf siemens de Telefa...

Page 928: ......

Page 929: ...gn Guidelines SINUMERIK SIROTEC SIMODRIVE Configuration Manual AC Motors for Main Spindle Drives Synchronous Build in Motors 1FE1 Configuration Manual Linear Motors 1FN1 1FN3 SIMODRIVE Description of Functions SIMODRIVE 611 universal SIMODRIVE 611 universal E Control Components for Closed Loop Speed Control and Positioning SIMODRIVE 611 universal SIMODRIVE SIROTEC SINUMERIK SIMODRIVE General Docum...

Page 930: ... without prior notice Order No 6SN1197 0AB20 1BP2 Printed in the Federal Republic of Germany Siemens AG Automation and Drives Motion Control Systems Postfach 3180 D 91050 Erlangen Bundesrepublik Deutschland www siemens com motioncontrol ...

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