Siemens SIMOTICS S-1FL6 Operating Instructions Manual Download Page 238

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Control functions

7.5 Internal position control (IPos)

SINAMICS V90, SIMOTICS S-1FL6

236

Operating Instructions, 04/2019, A5E36037884-007

7.5

Internal position control (IPos)

7.5.1

Setting mechanical system

By parameterizing the mechanical system, the link between the physical moving part and the

length unit (LU) is established.

The unit of the fixed position setpoint is the Length Unit (LU). All subsequent position

setpoint, related speed value, and acceleration value will maintain the LU as the unit in

internal position control mode.
Taking a ball screw system for example, if the system has a pitch of 10 mm/revolution

(10000 µm/revolution) and the resolution of the length unit is 1 µm (1 LU = 1 µm), one load

revolution corresponds to 10000 LU (p29247 = 10000).

Note
If the value of p29247 increases by N times, the values of p2542, p2544 and p2546 should

increase by N times accordingly. Otherwise, the fault F7450 or F7452 occurs.

Relevant parameters

Parameter

Range

Default

Unit

Description

p29247

1 to

2147483647

10000

LU per load revolution

p29248

1 to 1048576

Load revolutions

p29249

1 to 1048576

Motor revolutions

Summary of Contents for SIMOTICS S-1FL6

Page 1: ...SINAMICS V90 SIMOTICS S 1FL6 ...

Page 2: ......

Page 3: ...rain USS Modbus interface 04 2019 A5E36037884 007 Preface Fundamental safety instructions 1 General information 2 Mounting 3 Connecting 4 Commissioning 5 Basic operator panel BOP 6 Control functions 7 Safety Integrated function 8 Tuning 9 Parameters 10 Diagnostics 11 Appendix A ...

Page 4: ... personnel qualified for the specific task in accordance with the relevant documentation in particular its warning notices and safety instructions Qualified personnel are those who based on their training and experience are capable of identifying risks and avoiding potential hazards when working with these products systems Proper use of Siemens products Note the following WARNING Siemens products ...

Page 5: ...of the documents and describes how to find all the SINAMICS V90 documents from the website SINAMICS V90 V ASSISTANT Online Help Describes how to perform fast commissioning and diag nostics for the SINAMICS V90 drives via the SINAMICS V ASSISTANT engineering tool Target group This manual provides information about the SINAMICS V90 servo system for planners operators mechanical engineers electrical ...

Page 6: ...ntal suitability of these third party products You can use equivalent products from other manufacturers Siemens does not accept any warranty for the properties of third party products Compliance with the General Data Protection Regulation Siemens respects the principles of data protection in particular the data minimization rules privacy by design For this product this means The product does not p...

Page 7: ...ernal impact on the product not explicitly assumed by Siemens Device drives motors damages due to use of the improper cable that you made yourself Improper handling abuse or use in unsuitable conditions or in environments not described in product catalogs or manuals or in any separately agreed upon specifications Causes not attributable to the product itself Abuse of the product in a manner in whi...

Page 8: ... regulations Systems machines and equipment that may present a risk to life or property Systems that require a high degree of reliability such as systems that supply gas water or electricity or systems that operate continuously 24 hours a day Other systems that require a similar high degree of safety Never use the product for an application involving risk to life or property without first ensuring...

Page 9: ...OTION CONNECT 300 cables and connectors 45 2 5 2 Setpoint cables and connectors 48 2 5 3 Connectors used on the drive front panel 48 2 5 4 External 24 V DC power supply 49 2 5 5 Fuse Type E combination motor controller 50 2 5 6 Braking resistor 51 2 5 7 Line filter 52 2 5 8 Micro SD card SD card 58 2 5 9 Replacement fans 58 2 6 Function list 59 2 7 Technical data 61 2 7 1 Technical data servo driv...

Page 10: ...1 2 DOs 128 4 3 2 Pulse train inputs encoder outputs PTIs PTOs 132 4 3 2 1 PTIs 132 4 3 2 2 PTOs 133 4 3 3 Analog inputs outputs AIs AOs 133 4 3 3 1 AIs 133 4 3 3 2 AOs 134 4 3 4 Standard application wiring factory setting 136 4 3 4 1 Pulse train input position control PTI 136 4 3 4 2 Fast pulse train input position control Fast PTI 138 4 3 4 3 Internal position control IPos 140 4 3 4 4 Speed cont...

Page 11: ...rameters to default 202 6 5 4 Transferring data drive to SD 203 6 5 5 Transferring data SD to drive 203 6 5 6 Updating firmware 204 6 5 7 Adjusting AI offsets 205 6 5 8 Adjusting an absolute encoder 207 7 Control functions 209 7 1 Compound controls 209 7 2 General functions 211 7 2 1 Servo ON 211 7 2 2 Motor direction of rotation 212 7 2 3 300 overload capacity 213 7 2 4 Over travel 214 7 2 5 Stop...

Page 12: ...t 259 7 6 4 Torque limit 259 7 6 5 Zero speed clamp 259 7 6 6 Ramp function generator 260 7 7 Torque control T 261 7 7 1 Torque setpoint 261 7 7 1 1 Torque control with external analog torque setpoint 262 7 7 1 2 Torque control with fixed torque setpoint 263 7 7 2 Direction and stop 263 7 7 3 Speed limit 263 7 8 Communicating with the PLC 264 7 8 1 USS communication 264 7 8 2 Modbus communication ...

Page 13: ...ions 309 8 4 1 Safe Torque Off STO 309 8 4 2 Forced dormant error detection 312 9 Tuning 313 9 1 Controller overview 313 9 2 Tuning mode 315 9 3 One button auto tuning 316 9 4 Real time auto tuning 321 9 5 Manual tuning 325 9 6 Resonance suppression 326 9 7 Low frequency vibration suppression 329 9 8 Gain switching 330 9 8 1 Gain switching using an external digital input signal G CHANGE 331 9 8 2 ...

Page 14: ...1 Power terminal assembly 411 A 1 1 2 Encoder connector assembly 412 A 1 1 3 Brake terminal assembly 413 A 1 1 4 Setpoint connector assembly 413 A 1 2 Assembly of cable connectors on the motor side 414 A 1 2 1 Power connector assembly 414 A 1 2 2 Encoder connector assembly 417 A 1 2 3 Brake connector assembly 421 A 2 Motor selection 422 A 2 1 Selection procedure 422 A 2 2 Parameter description 423...

Page 15: ...upply circuits are de energized 6 Ensure that the motors cannot move 7 Identify all other dangerous energy sources e g compressed air hydraulic systems or water Switch the energy sources to a safe state 8 Check that the correct drive system is completely locked After you have completed the work restore the operational readiness in the inverse sequence WARNING Risk of electric shock and fire from s...

Page 16: ...igh voltages can be present at open exposed parts which when touched can result in death or severe injury Ground the device in compliance with the applicable regulations WARNING Electric shock due to connection to an unsuitable power supply When equipment is connected to an unsuitable power supply exposed components may carry a hazardous voltage Contact with hazardous voltage can result in severe ...

Page 17: ...hen the equipment is in a voltage free state unless it has been explicitly stated that they can be opened in operation WARNING Electric shock due to residual charges in power components Because of the capacitors a hazardous voltage is present for up to 5 minutes after the power supply has been switched off Contact with live parts can result in death or serious injury Wait for 5 minutes before you ...

Page 18: ...rve the data on EMF emission provided in the product documentation WARNING Active implant malfunctions due to permanent magnet fields Even when switched off electric motors with permanent magnets represent a potential risk for persons with heart pacemakers or implants if they are close to converters motors If you have a heart pacemaker or implant maintain a minimum distance of 2 m When transportin...

Page 19: ...uate ventilation clearances can cause overheating of components with subsequent fire and smoke This can cause severe injury or even death This can also result in increased downtime and reduced service lives for devices systems Ensure compliance with the specified minimum clearance as ventilation clearance for the respective component NOTICE Overheating due to inadmissible mounting position The dev...

Page 20: ...uct documentation before commissioning Carry out a safety inspection for functions relevant to safety on the entire system including all safety related components Ensure that the safety functions used in your drives and automation tasks are adjusted and activated through appropriate parameterizing Perform a function test Only put your plant into live operation once you have guaranteed that the fun...

Page 21: ... of motors Comply with the specified cooling requirements for the motor WARNING Fire due to incorrect operation of the motor When incorrectly operated and in the case of a fault the motor can overheat resulting in fire and smoke This can result in severe injury or death Further excessively high temperatures destroy motor components and result in increased failures as well as shorter service lives ...

Page 22: ...terials e g conductive foam rubber of aluminum foil Only touch components modules and devices when you are grounded by one of the following methods Wearing an ESD wrist strap Wearing ESD shoes or ESD grounding straps in ESD areas with conductive flooring Only place electronic components modules or devices on conductive surfaces table with ESD surface conductive ESD foam ESD packaging ESD transport...

Page 23: ...s and components should only be connected to an enterprise network or the Internet if and to the extent such a connection is necessary and only when appropriate security measures e g using firewalls and or network segmentation are in place For additional information on industrial security measures that can be implemented please visit Industrial security https www siemens com industrialsecurity Sie...

Page 24: ...in your system that may lead to death serious injury and property damage Keep the software up to date Incorporate the automation and drive components into a holistic state of the art industrial security concept for the installation or machine Make sure that you include all installed products into the holistic industrial security concept Protect files stored on exchangeable storage media from malic...

Page 25: ...mage X ray ionizing radiation and cosmic radiation 2 Unusually high temperatures including open flames as well as emissions of light noise particles gases etc can occur inside and outside the components under fault conditions caused by for example Component failure Software errors Operation and or environmental conditions outside the specification External influences damage 3 Hazardous shock volta...

Page 26: ...Fundamental safety instructions 1 5 Residual risks of power drive systems SINAMICS V90 SIMOTICS S 1FL6 24 Operating Instructions 04 2019 A5E36037884 007 ...

Page 27: ...on three phase power network only 2 1 Scope of delivery 2 1 1 Drive components Components in SINAMICS V90 200 V variant drive package Component Illustration Rated power kW Outline dimen sion Width x Height x Depth mm Frame size Article number SINAMICS V90 single three phase 200 V 0 1 0 2 45 x 170 x 170 FSA 6SL3210 5FB10 1UA2 6SL3210 5FB10 2UA2 0 4 55 x 170 x 170 FSB 6SL3210 5FB10 4UA1 0 75 80 x 17...

Page 28: ...rticle number SINAMICS V90 three phase 400 V 0 4 60 x 180 x 200 FSAA 6SL3210 5FE10 4UA0 0 75 1 0 80 x 180 x 200 FSA 6SL3210 5FE10 8UA0 6SL3210 5FE11 0UA0 1 5 2 0 100 x 180 x 220 FSB 6SL3210 5FE11 5UA0 6SL3210 5FE12 0UA0 3 5 5 0 7 0 140 x 260 x 240 FSC 6SL3210 5FE13 5UA0 6SL3210 5FE15 0UA0 6SL3210 5FE17 0UA0 Connectors For FSAA For FSA For FSB and FSC Shielding plate For FSAA and FSA For FSB and FS...

Page 29: ... Operating Instructions 04 2019 A5E36037884 007 27 Drive rating plate example Drive name Pollution degree and overvoltage crite ria Power input QR code Power output Product serial number Rated motor power Rated short circuit current Article number Copper wire Part number ...

Page 30: ...General information 2 1 Scope of delivery SINAMICS V90 SIMOTICS S 1FL6 28 Operating Instructions 04 2019 A5E36037884 007 Article number explanation example ...

Page 31: ...General information 2 1 Scope of delivery SINAMICS V90 SIMOTICS S 1FL6 Operating Instructions 04 2019 A5E36037884 007 29 Serial number explanation example ...

Page 32: ...t mm Article number SIMOTICS S 1FL6 low inertia 0 05 0 1 20 1FL6022 2AF21 1 1 1FL6024 2AF21 1 1 0 2 0 4 30 1FL6032 2AF21 1 1 1FL6034 2AF21 1 1 0 75 1 0 40 1FL6042 2AF21 1 1 1FL6044 2AF21 1 1 1 5 2 0 50 1FL6052 2AF21 0 1 1FL6054 2AF21 0 1 1 5 2 0 50 1FL6052 2AF21 2 1 1FL6054 2AF21 2 1 User documentation SIMOTICS S 1FL6 Servo Motors Installation Guide Note For the SH50 motors with a multi turn absol...

Page 33: ...e number SIMOTICS S 1FL6 high inertia 0 4 0 75 45 1FL6042 1AF61 1 1FL6044 1AF61 1 0 75 1 0 1 5 1 7 5 2 0 65 1FL6061 1AC61 1 1FL6062 1AC61 1 1FL6064 1AC61 1 1FL6066 1AC61 1 1FL6067 1AC61 1 2 5 3 5 5 0 7 0 90 1FL6090 1AC61 1 1FL6092 1AC61 1 1FL6094 1AC61 1 1FL6096 1AC61 1 Straight connectors with a fixed outlet direction 0 Angular connectors with a flexible outlet direction 2 User docu mentation SIM...

Page 34: ...9 A5E36037884 007 Motor rating plate example Motor type Degree of protection Article number Motor operating mode Serial number Stall current Rated torque Rated current Stall torque Holding brake Rated voltage Motor ID Rated power Weight Encoder type and resolution Maximum speed Thermal class Rated speed ...

Page 35: ...General information 2 1 Scope of delivery SINAMICS V90 SIMOTICS S 1FL6 Operating Instructions 04 2019 A5E36037884 007 33 Article number explanation ...

Page 36: ...1 0 64 0 2 3000 30 32 2AF21 1 1 FB10 2UA2 1 27 0 4 3000 34 2AF21 1 1 FB10 4UA1 FSB 2 39 0 75 3000 40 42 2AF21 1 1 FB10 8UA0 FSC 3 18 1 3000 44 2AF21 1 1 FB11 0UA1 FSD 4 78 1 5 3000 50 52 2AF21 0 1 1 FB11 5UA0 CK31 BL02 10 6 37 2 3000 54 2AF21 0 1 1 FB12 0UA0 4 78 1 5 3000 50 52 2AF21 2 2 1 FB11 5UA0 CK32 BL03 12 6 37 2 3000 54 2AF21 2 2 1 FB12 0UA0 Incremental encoder TTL 2500 ppr A Incremental en...

Page 37: ... 0 4 3000 45 42 1AF61 0 1 FE10 4UA0 FSAA CL01 BL02 10 2 39 0 75 3000 44 1AF61 0 1 FE10 8UA0 FSA 3 58 0 75 2000 65 61 1AC61 0 1 FE11 0UA0 4 78 1 0 2000 62 1AC61 0 1 7 16 1 5 2000 64 1AC61 0 1 FE11 5UA0 FSB CL11 8 36 1 75 2000 66 1AC61 0 1 9 55 2 0 2000 67 1AC61 0 1 FE12 0UA0 11 9 2 5 2000 90 90 1AC61 0 1 16 7 3 5 2000 92 1AC61 0 1 FE13 5UA0 FSC 23 9 5 0 2000 94 1AC61 0 1 FE15 0UA0 33 4 7 0 2000 96 ...

Page 38: ...42 1AF61 2 1 FE10 4UA0 FSAA CL02 BL03 2 39 0 75 3000 44 1AF61 2 1 FE10 8UA0 FSA 3 58 0 75 2000 65 61 1AC61 2 1 FE11 0UA0 4 78 1 0 2000 62 1AC61 2 1 7 16 1 5 2000 64 1AC61 2 1 FE11 5UA0 FSB CL12 8 36 1 75 2000 66 1AC61 2 1 9 55 2 0 2000 67 1AC61 2 1 FE12 0UA0 11 9 2 5 2000 90 90 1AC61 2 1 16 7 3 5 2000 92 1AC61 2 1 FE13 5UA0 FSC 23 9 5 0 2000 94 1AC61 2 1 FE15 0UA0 33 4 7 0 2000 96 1AC61 2 1 FE17 0...

Page 39: ... connected motor is smaller than that of the drive make sure that the actual load of the motor is within the overload capacity of the drive For more information see Section 300 overload capacity Page 213 For this kind of application you need to consult with the Siemens service before operating Note Before your commissioning check the motor ID in the drive p29000 and make sure that the value is tha...

Page 40: ...information 2 3 Product overview SINAMICS V90 SIMOTICS S 1FL6 38 Operating Instructions 04 2019 A5E36037884 007 2 3 Product overview SINAMICS V90 servo drives SINAMICS V90 200 V variant FSA and FSB FSC and FSD ...

Page 41: ...General information 2 3 Product overview SINAMICS V90 SIMOTICS S 1FL6 Operating Instructions 04 2019 A5E36037884 007 39 SINAMICS V90 400V variant FSAA and FSA FSB and FSC ...

Page 42: ...rview SINAMICS V90 SIMOTICS S 1FL6 40 Operating Instructions 04 2019 A5E36037884 007 SIMOTICS S 1FL6 servo motors Low inertia motors Note For the SH50 motors with a multi turn absolute encoder only angular connector version is available ...

Page 43: ...al information 2 4 System configuration SINAMICS V90 SIMOTICS S 1FL6 Operating Instructions 04 2019 A5E36037884 007 41 High inertia motors with straight connectors High inertia motors with angular connectors ...

Page 44: ...ither to a Siemens controller like S7 200 S7 1200 or S7 200 SMART or to a third party controller Absolute position information can be read from the servo drive by the PLC via RS485 port A configuration software tool SINAMICS V ASSISTANT can be installed on a PC The PC can communicate with SINAMICS V90 servo drive with a USB cable for performing parameter settings trial run status display monitorin...

Page 45: ...General information 2 4 System configuration SINAMICS V90 SIMOTICS S 1FL6 Operating Instructions 04 2019 A5E36037884 007 43 FSD on the three phase power network ...

Page 46: ...rsonal injury or damage to property Route a second PE conductor with the cross section of the supply system lead in parallel to the protective earth via separate terminals or use a copper protective earth conductor with a cross section of 10 mm2 Terminals for equipotential bondings that exist in addition to terminals for PE conductors must not be used for looping through the PE conductors To ensur...

Page 47: ...01 Low inertia 4 0 75 0LL12 Brake cable 5BK02 2 0 75 0LL52 Incremental encoder cable 2CT20 3 2 0 20 2 2 0 25 0SB14 0SL12 Absolute encoder cable 2DB20 3 2 0 20 2 2 0 25 0DB12 Power cable 5CK31 For low inertia motors of 1 5 kW to 2 kW Low inertia with straight connect ors High inertia with straight connect ors 4 2 5 0LL11 5CL01 For high inertia motors of 0 4 kW to 1 kW 4 1 5 0LL11 5CL11 For high ine...

Page 48: ...a with angular connect ors 4 2 5 0LL13 5CL02 For high inertia motors of 0 4 kW to 1 kW 4 1 5 5CL12 For high inertia motors of 1 5 kW to 7 kW 4 2 5 Brake cable 5BL03 2 0 75 0LL53 Incremental encoder cable 2CT12 3 2 0 22 2 2 0 25 0SB14 0SL13 Absolute encoder cable 2DB12 For low inertia motors of 1 5 kW to 2 kW 3 2 0 22 2 2 0 25 0DB13 2DB10 For high inertia motors of 0 4 kW to 7 kW 3 2 0 22 2 2 0 25 ...

Page 49: ... Illustration Article No 6FX2003 0LL13 0LL53 0SL13 0DB13 Pin type Crimping Crimping Crimping Crimping Qty per pack age 5 5 5 5 Illustration Cable connectors drive side Article No 6FX2003 0SB14 Pin type Soldering Qty per pack age 30 Illustration 1 Mind the pin type when assembling the cable connectors Do not solder on the crimping type connectors or crimp the soldering type connectors For more info...

Page 50: ...s of interface X8 on the existing SINAMICS V90 servo drive The wire color of the setpoint cable exposed side and X8 pin definitions see Section Control status interface X8 Page 119 2 5 3 Connectors used on the drive front panel If you need a new connector that used on the drive front panel you can order a connector kit from Siemens Connector kits Illustration Used for SINAMICS servo drive Article ...

Page 51: ...r with a brake the minimum voltage of 24 V DC 10 must be available at the connector on the motor side in order to guarantee that the brake reliably opens If the maximum voltage of 24 VDC 10 is exceeded then the brake could re close The voltage drop along the brake feeder cable must be taken into consideration The voltage drop ΔU for copper cables can be approximately calculated as follows ΔU V 0 0...

Page 52: ... A 2 8 to 4 230 240 3 4 1EA10 0 2 3NA3 801 6 A 6 A 2 8 to 4 230 240 3 4 1EA10 FSB 0 4 3NA3 803 10 A 10 A 2 8 to 4 230 240 3 4 1EA10 FSC 0 75 3NA3 805 16 A 20 A 5 5 to 8 230 240 2 1HA10 FSD 1 0 3NA3 805 16 A 20 A 7 to 10 230 240 3 1JA10 1 5 3NA3 810 25 A 25 A 10 to 16 230 240 5 4AA10 2 0 3NA3 810 25 A 25 A 10 to 16 230 240 5 4AA10 1 The above types for Type E combination motor controllers are liste...

Page 53: ...rge protective devices device shall be a Listed Surge protective device Category code VZCA and VZCA7 Rated nominal voltage 480 277 VAC 50 60 Hz 3 phase 120 208 VAC 50 60 Hz 1 3 phase Clamping voltage VPR 2000 V IN 3kA min MCOV 508 VAC SCCR 65 kA Suitable for Type 2 SPD application Clamping shall be provided between phases and also between phase and ground 2 5 6 Braking resistor The SINAMICS V90 ha...

Page 54: ...80 VAC FSAA 533 1 2 30 2 4 FSA 160 4 100 8 FSB 70 9 1 229 18 3 FSC 27 23 7 1185 189 6 Note When selecting a braking resistor you must take into account the factors such as braking inertia deceleration time speed variation and braking period according to your specific application and technology The resistance of the selected braking resistor must not be lower than the minimum resistance listed abov...

Page 55: ...90 Rated current A Article number Degree of protection 3 phase 200 VAC to 240 VAC FSA 5 6SL3203 0BE15 0VA0 IP20 FSB FSC FSD 12 6SL3203 0BE21 2VA0 3 phase 380 VAC to 480 VAC FSAA 5 6SL3203 0BE15 0VA0 IP20 FSA FSB 12 6SL3203 0BE21 2VA0 FSC 20 6SL3203 0BE22 0VA0 Outline dimensions mm Filter used on the single phase power network ...

Page 56: ...ngle phase power network Rated current 18 A Rated voltage Single phase 200 VAC to 240 VAC 15 to 10 Line frequency 50 60 Hz 10 to 10 Product standard IEC 61800 5 1 Power loss 1 2 W Weight 0 9 kg Package size H W D 230 mm 95 mm 90 mm Filter used on the three phase power network Rated current 5 A 12 A 20 A Rated voltage Three phase 200 VAC to 480 VAC 15 to 15 Three phase 380 VAC to 480 VAC 15 to 15 L...

Page 57: ... 0 5 1 0 5 0 10 30 CM dB 50 80 70 45 35 20 DM dB 50 75 65 55 55 40 Rated current 12 A Noise frequency MHz 0 15 0 5 1 0 5 0 10 30 CM dB 65 80 75 45 35 20 DM dB 60 70 70 60 50 30 Rated current 18 A Noise frequency MHz 0 15 0 5 1 0 5 0 10 30 CM dB 32 70 82 88 81 90 DM dB 40 67 68 72 69 59 Rated current 20 A Noise frequency MHz 0 15 0 5 1 0 5 0 10 30 CM dB 60 70 65 45 35 20 DM dB 55 65 60 50 45 40 ...

Page 58: ...tructions 04 2019 A5E36037884 007 Connecting example Filter used on the single phase power network SINAMICS V90 Rated current A Max tightening torque Nm Wire gauge AWG Stripping length L mm 200 V variant 6SL3210 5FB 10 1UA2 18 1 5 14 to 12 8 10 2UA2 10 4UA1 18 to 16 10 8UA0 14 to 12 ...

Page 59: ...urrent A Tightening torque Nm Wire gauge AWG Stripping length L mm 200 V variant 6SL3210 5FB 10 1UA2 5 0 7 to 0 8 14 to 12 8 10 2UA2 10 4UA1 22 to 20 10 8UA0 18 to 16 11 0UA1 12 0 7 to 0 8 16 to 14 11 5UA0 14 to 12 12 0UA0 400 V variant 6SL3210 5FE 10 4UA0 5 0 7 to 0 8 15 to 13 8 10 8UA0 11 0UA0 11 5UA0 12 0 7 to 0 8 15 to 14 12 0UA0 13 5UA0 20 0 7 to 0 8 11 to 10 15 0UA0 17 0UA0 ...

Page 60: ...2AA0 For the servo drives with firmware version V1 04 00 or higher you can select high quality micro SD cards SD cards with a maximum capacity of 32 GB from manufacturers such as Kingston or SanDisk For the servo drives with earlier firmware version you can select high quality micro SD cards SD cards with a maximum capacity of 2 GB from manufacturers such as KINGMAX Kingston or SanDisk 2 5 9 Repla...

Page 61: ...n opera tion beforehand PTI Gain switching Page 330 Switches between gains during motor rotation or stop with an external signal or internal parameters to reduce noise and positioning time or improve the operation stability of a servo system PTI IPos S Fast PTI PI P switching Page 334 Switches from PI control to P control with an external signal or internal parameters to suppress overshooting duri...

Page 62: ...Defines a multiplier factor for input pulses PTI IPos Fast PTI Basic operator panel BOP Page 187 Displays servo status on a 6 digit 7 segment display PTI IPos S T Fast PTI External braking resistor DCP R1 Page 168 An external braking resistor can be used when the internal braking resistor is insufficient for regenerative energy PTI IPos S T Fast PTI Digital inputs outputs DIs DOs Page 122 Control ...

Page 63: ...tection motor overtemperature protection IGBT overtemper ature protection 3 Overvoltage criteria Category III Certification Speed control mode Speed control range Analog speed command 1 2000 internal speed command 1 5000 Analog speed command input 10 V DC to 10 V DC rated speed Torque limit Set through a parameter or the analog input command 0 V DC to 10 V DC max torque Position control mode Max i...

Page 64: ...tions Surrounding air temperature Operation 0 C to 45 C without power derating 45 C to 55 C with power derating Storage 40 C to 70 C Ambient humidity Operation 90 non condensing Storage 90 non condensing Operating environment Indoors without direct sunlight free from corrosive gas combustible gas oil gas or dust Altitude 1000 m without power derating Degree of protection IP 20 Degree of pollution ...

Page 65: ... 10 2UA2 10 4UA1 10 8UA0 11 0UA1 11 5UA0 12 0UA0 Frame size FSA FSA FSB FSC FSD FSD FSD Rated output current A 1 2 1 4 2 6 4 7 6 3 10 6 11 6 Max output current A 3 6 4 2 7 8 14 1 18 9 31 8 34 8 Max supported motor power kW 0 1 0 2 0 4 0 75 1 0 1 5 2 Output frequency Hz 0 to 330 Cooling method Self cooled Fan cooled Outline dimensions W x H x D mm 45 x 170 x 170 55 x 170 x 170 80 x 170 x 195 95 x 1...

Page 66: ...ass PELV 1 The values here are calculated at rated load 2 When SINAMICS V90 works with a motor with a brake the voltage tolerance of 24 VDC power supply must be 10 to 10 to meet the voltage requirement of the brake 2 7 1 2 SINAMICS V90 400 V variant General technical data Parameter Description Overload capability 300 Control system Servo control Dynamic brake Built in Protective functions Earthing...

Page 67: ...rque limit Set through a parameter or the analog input command 0 V DC to 10 V DC max torque Torque control mode Analog torque command input 10 V DC to 10 V DC max torque input impedance 10 kΩ to 12 kΩ Speed limit Set through a parameter or the analog input command 0 V DC to 10 V DC max rated speed Environmental conditions Surrounding air temperature Operation 0 C to 45 C without power derating 45 ...

Page 68: ...eshold of 820 V DC and an undervoltage threshold of 320 V DC 3 SINAMICS V90 does not support motor overtemperature protection Motor overtemperature is calculated by I2t and protected by the output current from the drive Specific technical data Order No 6SL3210 5FE 10 4UA0 10 8UA0 11 0UA0 11 5UA0 12 0UA0 13 5UA0 15 0UA0 17 0UA0 Frame size FSAA FSA FSA FSB FSB FSC FSC FSC Rated output current A 1 2 ...

Page 69: ... A 1 5 2 6 3 8 6 6 9 8 13 8 15 8 16 5 Power supply capacity kVA 1 7 3 0 4 3 7 6 11 1 15 7 18 0 18 9 Inrush current A 8 0 8 0 8 0 4 0 4 0 2 5 2 5 2 5 24 VDC power supply Voltage V 24 15 to 20 2 Maximum current A When using a motor without a brake 1 6 A When using a motor with a brake 1 6 A motor holding brake rated current See Section Technical data servo motors Page 73 Ripple caused by the rectifi...

Page 70: ...Protection degree of shaft IP 65 with shaft oil seal Type of construction IM B5 IM V1 and IM V3 Positive rotation Clockwise default setting in servo drives Certification 1 This lifetime is only for reference When a motor keeps running at rated speed under rated load replace its bearing after 20 000 to 30 000 hours of service time Even if the time is not reached the bearing must be replaced when un...

Page 71: ... ms 10 10 15 35 Maximum number of emergency stops 2000 2 Weight With brake 0 7 0 9 1 5 1 9 3 7 4 2 6 8 7 0 4 8 0 8 2 4 Without brake 0 5 0 6 1 0 1 5 2 8 3 4 5 4 5 5 4 6 6 6 7 4 1 When the surrounding temperature is between 30 C and 40 C the 1FL605 motor will have a power derating of 10 2 Restricted emergency stop operation is permissible Up to 2000 braking operations for the motors of 0 05 kW to 1...

Page 72: ...General information 2 7 Technical data SINAMICS V90 SIMOTICS S 1FL6 70 Operating Instructions 04 2019 A5E36037884 007 Torque Speed characteristics ...

Page 73: ...f states when a motor can operate for a short duration if its effective torque is larger than the rated torque For the motors with different rated and maximum speeds the output torque will decline at a faster rate after the speed exceeds the rated speed The feature in short term operating area varies with power supply voltages The continuous operating area becomes smaller and the voltage consumpti...

Page 74: ...g to IEC 60034 14 Shock resistance m s2 25 continuous in axial direction 50 continuous in radial direction 250 in a short time of 6 ms Bearing lifetime h 20000 1 Paint finish Black Protection degree of shaft IP 65 with shaft oil seal Type of construction IM B5 IM V1 and IM V3 Positive rotation Clockwise default setting in servo drives Certification 1 This lifetime is only for reference When a moto...

Page 75: ... 2 15 3 22 6 29 9 47 4 69 1 90 8 134 3 Moment of inertia with brake 10 4 kgm2 3 2 5 7 9 1 16 4 1 3 5 2 16 4 23 7 31 0 56 3 77 9 99 7 143 2 Recommended load to motor inertia ratio Max 10 Max 5 Max 5 Operating tempera ture C 0 to 40 without power derating Storage temperature C 20 to 65 Maximum noise level dB 65 70 70 Oil seal lifetime h 5000 Encoder lifetime h 20000 4 Degree of protection IP65 with ...

Page 76: ...ature is between 30 C and 40 C the 1FL6096 motors with brake will have a power derating of 10 2 The former value indicates the data for high inertia motors with straight connectors the latter value indicates the data for high inertia motors with angular connectors 3 Restricted emergency stop operation is permissible Up to 2000 braking operations can be executed with 300 rotor moment of inertia as ...

Page 77: ...General information 2 7 Technical data SINAMICS V90 SIMOTICS S 1FL6 Operating Instructions 04 2019 A5E36037884 007 75 Torque Speed characteristics ...

Page 78: ...aximum speeds the output torque will decline at a faster rate after the speed exceeds the rated speed The feature in short term operating area varies with power supply voltages The continuous operating area becomes smaller and the voltage consumptions grows larger when the cables in the major loop exceed 20 meters For 1FL6096 motors the maximum speed can be ensured when the line supply voltage is ...

Page 79: ...he following table Surrounding temperatures and installation altitudes are rounded off to 5 C and 500 m respectively Power derating as a function of the installation altitude and ambient temperature Installation altitude above sea level m Surrounding temperature in C 30 30 to 40 45 50 55 1000 1 07 1 00 0 96 0 92 0 87 1500 1 04 0 97 0 93 0 89 0 84 2000 1 00 0 94 0 90 0 86 0 82 2500 0 96 0 90 0 86 0...

Page 80: ...adius dynamic mm 155 Oil resistance EN60811 2 1 fulfilled Flame retardant EN60332 1 1 to 1 3 fulfilled Certification RoHS CE RoHS RoHS Specific technical data Cable used for 200 V variant servo drive low inertia motor of 0 05 kW to 1 kW Rated voltage V 220 24 24 Cross section of cores mm2 4 x 0 75 3 x 2 x 0 20 2 x 2 x 0 25 2 x 0 75 Outer diameter mm ø 6 7 0 4 ø 7 2 0 3 ø 6 1 0 3 Degree of protecti...

Page 81: ...OTION CONNECT 300 Encoder Cable MOTION CONNECT 300 Brake Cable Outer diameter mm ø 7 8 0 3 For high inertia motors of 0 4 kW to 1 kW ø 9 0 0 4 For low inertia motors of 1 5 kW to 2 kW and high inertia motors of 1 5 kW to 7 kW ø 6 9 0 3 ø 6 0 0 3 Degree of protection motor side only IP65 Bending cycles 1000000 Maximum acceleration 3 m s2 maximum speed 40 m min ...

Page 82: ...facturer The CE Declaration of Conformity is held on file available to the competent authorities at the following address SINAMICS V90 drive Siemens AG Digital Factory Motion Control Frauenauracher Straße 80 DE 91056 Erlangen Germany SIMOTICS S 1FL6 motor Siemens AG Digital Factory Motion Control Industriestraße 1 DE 97615 Bad Neustadt a d Saale Germany ...

Page 83: ...conditions If condensation or conductive pollution can be excluded at the installation site a lower degree of control cabinet protection may be permitted WARNING Death or severe personal injury from harsh installation environment A harsh installation environment can jeopardize personal safety and equipment Do not install the drive and the motor in an area subject to inflammables or combustibles wa...

Page 84: ...ounting and horizontal mounting Other drives support vertical mounting only Mount the drive in a shielded cabinet by observing the mounting orientation and clearance specified in the following illustrations Mounting orientation NOTICE Overheating due to inadmissible mounting orientation If you use an inadmissible mounting orientation the drives can overheat and therefore be damaged Always observe ...

Page 85: ...erated to 80 when one of the following conditions is satisfied The surrounding temperature is 0 C to 45 C and the mounting clearance is less than 10 mm In this case the minimum mounting clearance should not be less than 5 mm The surrounding temperature is 45 C to 55 C In this case the minimum mounting clearance should not be less than 20 mm Note When mounting the drive in the cabinet you need to c...

Page 86: ...Mounting 3 1 Mounting the drive SINAMICS V90 SIMOTICS S 1FL6 84 Operating Instructions 04 2019 A5E36037884 007 3 1 2 Drill patterns and outline dimensions SINAMICS V90 200 V variant unit mm ...

Page 87: ...Mounting 3 1 Mounting the drive SINAMICS V90 SIMOTICS S 1FL6 Operating Instructions 04 2019 A5E36037884 007 85 ...

Page 88: ...Mounting 3 1 Mounting the drive SINAMICS V90 SIMOTICS S 1FL6 86 Operating Instructions 04 2019 A5E36037884 007 SINAMICS V90 400 V variant unit mm ...

Page 89: ...Mounting 3 1 Mounting the drive SINAMICS V90 SIMOTICS S 1FL6 Operating Instructions 04 2019 A5E36037884 007 87 ...

Page 90: ...el it is permissible to connect the drive to any of the line supplies that are specified for it For the installation altitude higher than 2000 m and lower than 5000 m above see level you must connect the drive to any of the specified line supplies either via an isolating transformer or with a grounded neutral point 3 2 Mounting the motor NOTICE Damage to the encoder due to shocking Shocks at the m...

Page 91: ...ructions so it can be installed in three orientations as shown in the following figure Note When configuring the IM V3 type of construction you need to pay particular attention to the permissible axial force weight force of the drive elements and the necessary degree of protection SIMOTICS S 1FL6 Low inertia servo motors unit mm Shaft height 20 mm Rated power Rated torque a L L1 LE 0 05 kW 0 16 Nm...

Page 92: ... Instructions 04 2019 A5E36037884 007 Shaft height 30 mm Rated power Rated torque a L L1 LE 0 2 kW 0 64 Nm 39 5 98 132 5 27 0 4 kW 1 27 Nm 39 5 123 157 5 52 Shaft height 40 mm Rated power Rated torque a L L1 LE 0 75 kW 2 39 Nm 48 139 178 3 40 1 0 kW 3 18 Nm 48 158 8 198 1 60 ...

Page 93: ... 1FL6 Operating Instructions 04 2019 A5E36037884 007 91 Shaft height 50 mm with straight connectors Shaft height 50 mm with angular connectors Rated power Rated torque a b b1 L L1 1 5 kW 4 78 Nm 195 143 5 177 5 192 226 2 0 kW 6 37 Nm 219 167 5 201 5 216 250 ...

Page 94: ...4 007 SIMOTICS S 1FL6 high inertia servo motors unit mm Shaft height 45 mm with the incremental encoder and straight connectors Shaft height 45 mm with the incremental encoder and angular connectors Rated power Rated torque K K1 a b b1 0 4 kW 1 27 Nm 154 5 201 169 5 15 61 5 0 75 kW 2 39 Nm 201 5 248 216 5 ...

Page 95: ...ructions 04 2019 A5E36037884 007 93 Shaft height 45 mm with the absolute encoder and straight connectors Shaft height 45 mm with the absolute encoder and angular connectors Rated power Rated torque K K1 a b b1 0 4 kW 1 27 Nm 157 203 5 172 15 61 5 0 75 kW 2 39 Nm 204 250 5 219 ...

Page 96: ... encoder and angular connectors Rated power Rated torque K K1 a b b1 0 75 kW 3 58 Nm 148 202 5 163 15 69 5 1 0 kW 4 78 Nm 181 164 1 235 5 219 1 196 179 5 1 1 5 kW 7 16 Nm 181 235 5 196 1 75 kW 8 36 Nm 214 268 5 229 2 0 kW 9 55 Nm 247 301 5 262 1 The former value indicates the dimension for high inertia motors with straight connectors the latter value indicates the dimension for high inertia motors...

Page 97: ...oder and angular connectors Rated power Rated torque K K1 a b b1 0 75 kW 3 58 Nm 151 205 5 166 15 69 5 1 0 kW 4 78 Nm 184 167 5 1 238 5 222 1 199 182 5 1 1 5 kW 7 16 Nm 184 238 5 199 1 75 kW 8 36 Nm 217 271 5 232 2 0 kW 9 55 Nm 250 304 5 265 1 The former value indicates the dimension for high inertia motors with straight connectors the latter value indicates the dimension for high inertia motors w...

Page 98: ... Shaft height 90 mm with the incremental encoder and straight connectors Shaft height 90 mm with the incremental encoder and angular connectors Rated power Rated torque K K1 a b b1 2 5 kW 11 9 Nm 189 5 255 210 5 33 98 5 3 5 kW 16 7 Nm 211 5 281 236 5 5 0 kW 23 9 Nm 237 5 307 262 5 7 0 kW 33 4 Nm 289 5 359 314 5 ...

Page 99: ...7884 007 97 Shaft height 90 mm with the absolute encoder and straight connectors Shaft height 90 mm with the absolute encoder and angular connectors Rated power Rated torque K K1 a b b1 2 5 kW 11 9 Nm 197 263 218 33 98 5 3 5 kW 16 7 Nm 223 289 244 5 0 kW 23 9 Nm 249 315 270 7 0 kW 33 4 Nm 301 367 322 ...

Page 100: ... no liquid water oil etc can penetrate into the motor When installing the motor horizontally make sure that the cable outlet faces downward to protect the motor from ingress of oil or water NOTICE Damage to the absolute encoder due to the magnetic interference from the magnetic field The magnetic interference from the magnetic field can cause a damage to the absolute encoder To avoid magnetic inte...

Page 101: ...M5 120 x 100 x 40 mm 4 7 Nm 1FL604 4 x M6 120 x 100 x 40 mm 8 Nm 1FL605 4 x M8 120 x 100 x 40 mm 20 Nm High inertia motors 1FL604 4 x M6 270 x 270 x 10 mm 8 Nm Steel 1FL606 4 x M8 390 x 390 x 15 mm 20 Nm 1FL609 4 x M12 420 x 420 x 20 mm 85 Nm 3 2 3 Attaching output elements Reduce the bending torque load applied to the shaft and the bearing by appropriately arranging the output elements Mount the ...

Page 102: ...y balanced The motors have been balanced with half a feather key For motor dimension see Section Mounting orientation and dimensions Page 89 3 2 4 Motor heating conditions The rated motor specifications are continuous allowable values at a surrounding air temperature of 40 C when the motor is installed with a steel flange When the motor is mounted on a small surface the motor temperature may rise ...

Page 103: ...motor power cable line supply cable and brake cable used must all be shielded cables For terminal box connection make sure that the clearances in air between non insulated live parts are at least 5 5 mm Cables connected may not come into contact with rotating mechanical parts WARNING Risk of electric shock and fire from a network with an excessively high impedance Excessively low short circuit cur...

Page 104: ...ective earth conductor shall comply with the local safety regulations for high leakage current equipment WARNING Electric shock due to touching PE connectors When the equipment is working hazardous touch current can be present at the PE connectors if touched this can result in death or severe personal injury Do not touch the PE connector during operation or within a certain period since power disc...

Page 105: ...ial area unless the appropriate noise suppression measures have been adopted The SINAMICS V90 drives have been tested in accordance with the emission requirements of the category of C2 domestic environment The conductive emissions and radiated emissions are in compliance with the standard of EN 55011 and reached Class A For a radiated emission test an external AC filter between the mains supply an...

Page 106: ...ional safety of drives and can therefore put people in danger or lead to property damage If you come closer than around 20 cm to the drives switch off any radios or mobile phones Note Failure to meet the EMC requirements resulting from failure to observe the wiring instruction Failure to meet the EMC requirements because you do not observe the wiring instruction In order to meet EMC requirements a...

Page 107: ...ecting 4 1 System connection SINAMICS V90 SIMOTICS S 1FL6 Operating Instructions 04 2019 A5E36037884 007 105 4 1 3 System connection diagrams SINAMICS V90 200 V variant FSB on the single phase power network ...

Page 108: ...ller Line filter option Setpoint cable 50 pins 1 m 24 V DC power supply option Setpoint cable with terminal block 50 pins 0 5 m External braking resistor option see Braking resistor Page 51 for selec tion Encoder cable Extertal relay third party device Shielding plate in V90 package SIMOTICS S 1FL6 servo motor Hose clamp attached on Siemens pow er cable Serial cable RS485 Power cable Mini USB cabl...

Page 109: ...Connecting 4 1 System connection SINAMICS V90 SIMOTICS S 1FL6 Operating Instructions 04 2019 A5E36037884 007 107 FSD on the three phase power network ...

Page 110: ...ller Line filter option Setpoint cable 50 pins 1 m 24 V DC power supply option Setpoint cable with terminal block 50 pins 0 5 m External braking resistor option see Braking resistor Page 51 for selec tion Encoder cable Extertal relay third party device Shielding plate in V90 package SIMOTICS S 1FL6 servo motor Hose clamp attached on Siemens pow er cable Serial cable RS485 Power cable Mini USB cabl...

Page 111: ...Connecting 4 1 System connection SINAMICS V90 SIMOTICS S 1FL6 Operating Instructions 04 2019 A5E36037884 007 109 SINAMICS V90 400 V variant FSB on the three phase power network ...

Page 112: ...ler option Setpoint cable 50 pins 1 m Line filter option Setpoint cable with terminal block 50 pins 0 5 m 24 V DC power supply option Encoder cable External braking resistor option see Braking resistor Page 51 for selec tion Shielding plate in V90 package SIMOTICS S 1FL6 servo motor Hose clamp attached on Siemens pow er cable Serial cable RS485 Power cable Mini USB cable Brake cable SD card ...

Page 113: ...ith the shielding plate To ensure better EMC effects you are recommended to strip the brake cable and the encoder cable and connect the cable shields to earth as shown in the figure A and figure B Make sure that the shielding plate the drive and the motor are properly grounded Connecting the cable shields for power cable and brake cable 1 Connect the power cable and brake cable and strip the cable...

Page 114: ...r brake cable from the motor side to facilitate cable connection The following illustrations take high inertia motors with the incremental encoder for example to show how to adjust the cable directions Low inertia motors with a shaft height of 50 mm and high inertia motors with straight connectors Note Rotating the connectors After connecting the cable to the motor you can rotate the incremental e...

Page 115: ...g cables on the motor side When clamping cables on the motor side observe the following requirements The way of clamping the cable must be fully examined so that bending stress and cable s own weight stress are not applied to the cable connection For use in any application where the servo motor moves fix the cables power cable encoder cable and brake cable supplied with the servo motor and flex th...

Page 116: ...2 FSC 0 52 mm2 FSD 1 kW 0 82 mm2 FSD 1 5 kW to 2 kW 2 08 mm2 400 V variant L1 Line phase L1 L2 Line phase L2 L3 Line phase L3 Recommended minimum cable cross section FSAA and FSA 1 5 mm2 FSB and FSC 2 5 mm2 Note For 200 V variant servo drive when using the FSA FSB and FSC on the single phase power network you can connect the power supply to any two connectors of L1 L2 and L3 Assembling the line su...

Page 117: ...semble the line supply connector to the drive and tighten the fixing screws on the connector and then attach the cable to the connector 200 V variant For FSA and FSB For FSC and FSD 400 V variant For FSAA and FSA You can attach the line supply cable with the same method for 200 V variant drives of frame sizes FSC and FSD For FSB and FSC The FSB and FSC servo drives are equipped with barrier termin...

Page 118: ...nt U Motor phase U V Motor phase V W Motor phase W Recommended minimum cable cross section FSAA and FSA 1 5 mm2 FSB and FSC 2 5 mm2 Power connector motor side Illustration Pin No Signal Color Description Low inertia motor shaft height 20 mm 30 mm and 40 mm 1 U Black Phase U 2 V Black Phase V 3 W Black Phase W 4 PE Yellow green Protective earthing Low inertia motor shaft height 50 mm High inertia m...

Page 119: ...h angular connectors Attaching the motor power cable CAUTION Risk of injury due to improper cable connection When attaching the motor power cable to a motor power connector that has not been fixed on the drive you can injure your fingers Make sure you first assemble the motor power connector to the drive and tighten the fixing screw on the connector and then attach the cable to the connector 200 V...

Page 120: ...and FSA You can attach the motor power cable with the same method for 200 V variant drives of frame sizes FSC and FSD For FSB and FSC The FSB and FSC servo drives are equipped with barrier terminals for motor power connection You can fix the motor power cable on the servo drives by using the M4 screws with a tightening torque of 2 25 Nm 19 91 lbf in ...

Page 121: ...DR socket Pulse train inputs PTI Pulse train encoder outputs PTO 1 2 26 27 Position setpoint with pulse train input High speed 5 V differential pulse train input RS485 Maximum frequency 1MHz Signal transmission of this channel has better noise immunity 1 PTIA_D Gray Pink High speed 5 V differential pulse train input A 2 PTIA_D Red Bule High speed 5 V differential pulse train input A 26 PTIB_D Whit...

Page 122: ...utput Z signal reference ground open collector output 42 43 Encoder Zero phase pulse output with high speed 5 V differential signals 42 PTOZ Gray Red High speed 5 V differential pulse train en coder output Z 43 PTOZ Pink Red High speed 5 V differential pulse train en coder output Z 24 PTO and PTI_D reference ground 24 M Brown Red PTO and PTI_D reference ground Digital inputs outputs 3 DI_COM Green...

Page 123: ...ut channel 2 positive 22 AI2 Brown Blue Analog input channel 2 negative 45 AO_M Gray Black Analog output ground 46 AO1 Pink Black Analog output channel 1 47 AO_M Blue Black Analog output ground 48 AO2 Red Black Analog output channel 2 Refer to the following table for the original definitions of the above pins with an asterisk wherein DO4 to DO6 are used for the servo drive to support the wiring of...

Page 124: ...rs Default signals values Index 0 PTI Index 1 IPos Index 2 S Index 3 T Index 9 Fast PTI 5 DI1 p29301 1 SON 1 SON 1 SON 1 SON 1 SON 6 DI2 p29302 2 RESET 2 RESET 2 RESET 2 RESET 2 RESET 7 DI3 p29303 3 CWL 3 CWL 3 CWL 3 CWL 8 EGEAR1 8 DI4 p29304 4 CCWL 4 CCWL 4 CCWL 4 CCWL 9 EGEAR2 9 DI5 p29305 5 G CHANGE 5 G CHANGE 12 CWE 12 CWE 5 G CHANGE 10 DI6 p29306 6 P TRG 6 P TRG 13 CCWE 13 CCWE 19 SLIM1 11 DI...

Page 125: ...ge 1 0 Clockwise over travel limit positive limit 1 condition for operation 1 0 quick stop OFF3 X 4 CCWL Edge 1 0 Counter clockwise over travel limit negative limit 1 condition for operation 1 0 quick stop OFF3 X 5 G CHANGE Level Gain change between the first and the second gain parameter set 0 the first gain parameter set 1 the second gain parameter set X 6 P TRG Level Edge 0 1 In PTI Fast PTI mo...

Page 126: ...ion of TLIM1 and TLIM2 can select four torque limit sources one external torque limit three internal torque limits TLIM2 TLIM1 0 0 internal torque limit 1 0 1 external torque limit analog input 2 1 0 internal torque limit 2 1 1 internal torque limit 3 X 11 TLIM2 Level 12 CWE Level Enable clockwise rotations 1 Enable clockwise rotation ramp up 0 Disable clockwise rotation ramp down X X X 13 CCWE Le...

Page 127: ...signal can select two torque setpoint sources one external torque setpoint one fixed torque setpoint 0 external torque setpoint analog input 2 1 fixed torque setpoint X X X X 19 SLIM1 Level Speed limit selection A combination of SLIM1 to SLIM2 can select four speed limit sources one external speed limit three internal speed limits SLIM2 SLIM1 0 0 internal speed limit 1 0 1 external speed limit ana...

Page 128: ...e 0 1 Step to the fixed position setpoint 1 0 1 start step action X X X X Note X means that the DI signal is not effective for this control mode although the value can be modified Note When working in the torque control mode the torque setpoint equals to 0 if CWE and CCWE are at the same status For more information please refer to section Direction and stop Page 263 Note Invalid circumstances for ...

Page 129: ... For example if you set p29300 1 to force the signal SON to a logical high signal DI1 can then be assigned to other desired signals Note The parameter p29300 has higher priority than the DIs The bit 6 of p29300 is used for quick stop You are not allowed to modify it when the drive is in S ON state Wiring The digital inputs support both PNP and NPN types of wirings You can find detailed information...

Page 130: ...in position range X X 4 ZSP Zero speed detection 1 motor speed zero speed can be set with parameter p2161 0 motor speed zero speed hysteresis 10 rpm 5 SPDR Speed reached 1 the actual motor speed has nearly internal hysteresis 10 rpm reached the speed of the in ternal speed command or analog speed com mand The speed approaching range can be set via parameter p29078 0 the speed difference between th...

Page 131: ...ult 100 max 300 0 the motor has not reached the overload level 10 WARNING 1 Warning 1 condition satisfied 1 the parameterizable warning 1 condition has been satisfied 0 the parameterizable warning 1 condition has not been satisfied See the note below on warning condition settings 11 WARNING 2 Warning 2 condition satisfied 1 the parameterizable warning 2 condition has been satisfied 0 the parameter...

Page 132: ...te X means that the DO signal is not effective for this control mode and the value cannot be modified Assigning warning signals to digital outputs You can assign two groups of warning signals to digital outputs with parameters p29340 first group of warning signals active and p29341 second group of warning signals active Setting p29340 p29341 Warning conditions 1 Overload protection load factor is ...

Page 133: ...L6 Operating Instructions 04 2019 A5E36037884 007 131 Wiring The digital outputs 1 to 3 only support the wiring of the NPN type as illustrated below The digital outputs 4 to 6 support the wiring of both the NPN and the PNP types as illustrated below NPN wiring PNP wiring ...

Page 134: ...drive 24 V single end pulse train input High speed 5 V differential pulse train input RS485 When using the 24 V single end PTI When using the 5 V differential PTI Note Only one channel can be used The 24 V single end PTI is the factory setting of the SINAMICS V90 servo drives When you choose to use the high speed 5 V differential PTI RS485 you must change the value of parameter p29014 from 1 to 0 ...

Page 135: ...the open collector When using the open collector 4 3 3 Analog inputs outputs AIs AOs 4 3 3 1 AIs SINAMICS V90 has two analog input terminals The input voltage at each analog input varies with control modes Pin No Analog input Input voltage Control mode Function 19 20 Analog input 1 0 V to 10 V PTI Not used 0 V to 10 V Fast PTI Not used 0 V to 10 V IPos Not used 10 V to 10 V S Speed setpoint refere...

Page 136: ...wo analog outputs You can find detailed information about these two analog outputs from the table below Pin No Analog output Output voltage Function 46 Analog output 1 10 V to 10 V Analog output 1 for monitoring 48 Analog output 2 10 V to 10 V Analog output 2 for monitoring Parameterization Two parameters p29350 selects signal sources for AO1 and p29351 selects signal sources for AO2 are used to s...

Page 137: ...060 3 Torque setpoint reference 3 r0333 4 DC bus voltage reference 1000 V 5 Pulse input frequency reference 1 k 6 Pulse input frequency reference 10 k 7 Pulse input frequency reference 100 k 8 Pulse input frequency reference 1000 k 9 Remaining number of pulses reference 1 k 10 Remaining number of pulses reference 10 k 11 Remaining number of pulses reference 100 k 12 Remaining number of pulses refe...

Page 138: ... X8 SINAMICS V90 SIMOTICS S 1FL6 136 Operating Instructions 04 2019 A5E36037884 007 4 3 4 Standard application wiring factory setting 4 3 4 1 Pulse train input position control PTI Standard wiring for pulse train input position control mode ...

Page 139: ...d the NPN types For detailed information about these two wiring types see Section DOs Page 128 The 24 V power supplies in the connection diagram are as follows 1 24 V power supply for SINAMICS V90 All the PTO signals must be connected to the controller with the same 24 V power supply as SINAMICS V90 2 Isolated digital input power supply It can be the controller power supply 3 Isolated digital outp...

Page 140: ...l status interface X8 SINAMICS V90 SIMOTICS S 1FL6 138 Operating Instructions 04 2019 A5E36037884 007 4 3 4 2 Fast pulse train input position control Fast PTI Standard wiring for fast pulse train input position control mode ...

Page 141: ...d the NPN types For detailed information about these two wiring types see Section DOs Page 128 The 24 V power supplies in the connection diagram are as follows 1 24 V power supply for SINAMICS V90 All the PTO signals must be connected to the controller with the same 24 V power supply as SINAMICS V90 2 Isolated digital input power supply It can be the controller power supply 3 Isolated digital outp...

Page 142: ...cting 4 3 Control status interface X8 SINAMICS V90 SIMOTICS S 1FL6 140 Operating Instructions 04 2019 A5E36037884 007 4 3 4 3 Internal position control IPos Standard wiring for internal position control mode ...

Page 143: ...supporting both the PNP and the NPN types For detailed information about these two wiring types see Section DOs Page 128 The 24 V power supplies in the connection diagram are as follows 1 24 V power supply for SINAMICS V90 All the PTO signals must be connected to the controller with the same 24 V power supply as SINAMICS V90 2 Isolated digital input power supply It can be the controller power supp...

Page 144: ...Connecting 4 3 Control status interface X8 SINAMICS V90 SIMOTICS S 1FL6 142 Operating Instructions 04 2019 A5E36037884 007 4 3 4 4 Speed control S Standard wiring for speed control mode ...

Page 145: ...tion about these two wiring types see Section DOs Page 128 The 24 V power supplies in the connection diagram are as follows 1 24 V power supply for SINAMICS V90 All the PTO signals must be connected to the controller with the same 24 V power supply as SINAMICS V90 2 Isolated digital input power supply It can be the controller power supply 3 Isolated digital output power supply It can be the contro...

Page 146: ...Connecting 4 3 Control status interface X8 SINAMICS V90 SIMOTICS S 1FL6 144 Operating Instructions 04 2019 A5E36037884 007 4 3 4 5 Torque control T Standard wiring for torque control mode ...

Page 147: ...tion about these two wiring types see Section DOs Page 128 The 24 V power supplies in the connection diagram are as follows 1 24 V power supply for SINAMICS V90 All the PTO signals must be connected to the controller with the same 24 V power supply as SINAMICS V90 2 Isolated digital input power supply It can be the controller power supply 3 Isolated digital output power supply It can be the contro...

Page 148: ...e drive and the PLC All of the connection examples shown in this section are made based on factory default settings for digital inputs outputs You can assign different digital inputs outputs based on your actual requirement 4 3 5 1 SIMATIC S7 200 SMART Pulse train input position control PTI When connecting to different axes the outputs are different The diagram below takes the connection with axis...

Page 149: ...nect to axis 1 the outputs are DO a 1 and DO a 7 When connect to axis 2 the outputs are DO a 3 and DO b 0 The resistor R3 200 Ohm to 500 Ohm is required only if the speed for searching the zero position exceeds 300 rpm The resistor R 200 Ohm to 500 Ohm recommended power 5 W is required only if the PTI input frequency exceeds 100 KHz ...

Page 150: ...re different The diagram below takes the connection with axis 0 for example 1 When connect to axis 1 the outputs are DO a 1 and DO a 7 When connect to axis 2 the outputs are DO a 3 and DO b 0 The resistor R3 200 Ohm to 500 Ohm is required only if the speed for searching the zero position exceeds 300 rpm The resistor R 200 Ohm to 500 Ohm recommended power 5 W is required only if the PTI input frequ...

Page 151: ...Connecting 4 3 Control status interface X8 SINAMICS V90 SIMOTICS S 1FL6 Operating Instructions 04 2019 A5E36037884 007 149 Internal position control IPos ...

Page 152: ...Connecting 4 3 Control status interface X8 SINAMICS V90 SIMOTICS S 1FL6 150 Operating Instructions 04 2019 A5E36037884 007 Speed control S ...

Page 153: ...Connecting 4 3 Control status interface X8 SINAMICS V90 SIMOTICS S 1FL6 Operating Instructions 04 2019 A5E36037884 007 151 Torque control T ...

Page 154: ... A5E36037884 007 4 3 5 2 SIMATIC S7 200 Pulse train input position control PTI The resistor R3 200 Ohm to 500 Ohm is required only if the speed for searching the zero position exceeds 300 rpm The resistor R 200 Ohm to 500 Ohm recommended power 5 W is required only if the PTI input frequency exceeds 100 KHz ...

Page 155: ...019 A5E36037884 007 153 Fast pulse train input position control Fast PTI The resistor R3 200 Ohm to 500 Ohm is required only if the speed for searching the zero position exceeds 300 rpm The resistor R 200 Ohm to 500 Ohm recommended power 5 W is required only if the PTI input frequency exceeds 100 KHz ...

Page 156: ...Connecting 4 3 Control status interface X8 SINAMICS V90 SIMOTICS S 1FL6 154 Operating Instructions 04 2019 A5E36037884 007 Internal position control IPos ...

Page 157: ...Connecting 4 3 Control status interface X8 SINAMICS V90 SIMOTICS S 1FL6 Operating Instructions 04 2019 A5E36037884 007 155 Speed control S ...

Page 158: ...Connecting 4 3 Control status interface X8 SINAMICS V90 SIMOTICS S 1FL6 156 Operating Instructions 04 2019 A5E36037884 007 Torque control T ...

Page 159: ...36037884 007 157 4 3 5 3 SIMATIC S7 1200 Pulse train input position control PTI The resistor R3 200 Ohm to 500 Ohm is required only if the speed for searching the zero position exceeds 300 rpm The resistor R 200 Ohm to 500 Ohm recommended power 5 W is required only if the PTI input frequency exceeds 100 KHz ...

Page 160: ...04 2019 A5E36037884 007 Fast pulse train input position control Fast PTI The resistor R3 200 Ohm to 500 Ohm is required only if the speed for searching the zero position exceeds 300 rpm The resistor R 200 Ohm to 500 Ohm recommended power 5 W is required only if the PTI input frequency exceeds 100 KHz ...

Page 161: ...Connecting 4 3 Control status interface X8 SINAMICS V90 SIMOTICS S 1FL6 Operating Instructions 04 2019 A5E36037884 007 159 Internal position control IPos ...

Page 162: ...Connecting 4 3 Control status interface X8 SINAMICS V90 SIMOTICS S 1FL6 160 Operating Instructions 04 2019 A5E36037884 007 Speed control S ...

Page 163: ...Connecting 4 3 Control status interface X8 SINAMICS V90 SIMOTICS S 1FL6 Operating Instructions 04 2019 A5E36037884 007 161 Torque control T ...

Page 164: ... if the positive and negative poles of the 24 V power supply are connected inversely Unexpected drop of the hanging axis can cause material damages and personal injuries Make sure that the 24 V power supply is correctly connected WARNING Material damages and personal injuries by the drop of a hanging axis Unexpected drop of the hanging axis can cause material damages and personal injuries It is no...

Page 165: ...ply and STO cable terminals The procedure of assembling a 24 V power cable terminal or an STO cable terminal is the same as that for a power cable terminal on the drive side of the V90 200 V servo drives For more information see Section Assembly of cable terminals connectors on the drive side Page 411 Plugging the 24 V power supply and STO cables ...

Page 166: ...t the EMC requirements The encoder cable must be shielded to meet the EMC requirements Encoder interface drive side Illustration Pin Signal name Description 1 Biss_DataP Absolute encoder data signal positive 2 Biss_DataN Absolute encoder data signal negative 3 Biss_ClockN Absolute encoder clock signal negative 4 Biss_ClockP Absolute encoder clock signal positive 5 P5V Encoder power supply 5 V 6 P5...

Page 167: ...ply 5 V M Power supply 0 V 8 M Power supply 0 V Clock_N Inverted clock 9 A Phase A Data_N Inverted data 10 B Phase B Shielding Grounding 11 R Phase R Note The pin11 to pin15 of the abso lute encoder connector are not connected 12 Shielding Grounding Illustration Pin Incremental encoder TTL 2500 ppr Absolute encoder single turn 21 bit Absolute encoder 20 bit 12 bit multi turn Signal Description Sig...

Page 168: ...AMICS V90 SIMOTICS S 1FL6 166 Operating Instructions 04 2019 A5E36037884 007 Internal structure of encoder cable 6FX3002 2CT 6FX3002 2DB Wiring of encoder cable Low inertia motor shaft height 20 mm 30 mm and 40 mm 6FX3002 2CT20 6FX3002 2DB20 ...

Page 169: ...V90 SIMOTICS S 1FL6 Operating Instructions 04 2019 A5E36037884 007 167 Low inertia motor shaft height 50 mm High inertia motor shaft height 45 mm 65 mm and 90 mm 6FX3002 2CT10 6FX3002 2CT12 6FX3002 2DB10 6FX3002 2DB12 Twisted pair wires Shielding ...

Page 170: ...d R2 For more information about how to connect the external braking resistor see Section System connection diagrams Page 105 4 7 Motor holding brake The motor holding brake is used to prevent the moving load from unwanted motions for example falling under the influence of gravity when the servo system is deactivated for example the servo power is shut off The servo motor can move because of its ow...

Page 171: ... Brake 2 Brake Phase Brake Low inertia motor shaft height 50 mm High inertia motor shaft height 45 mm 65 mm and 90 mm Straight connectors Angular connectors 1 Brake Phase Brake 2 Brake Phase Brake Signal status The following table describes the states of various interfaces and components when the brake works 200 V variant Status MBR DO Brake control Brake Relay Motor brake function Motor shaft Bra...

Page 172: ...eter Range Factory set ting Unit Description p29330 1 to 14 1 RDY Assignment of digital output 1 p29331 1 to 14 2 FAULT Assignment of digital output 2 p29332 1 to 14 3 INP Assignment of digital output 3 p29333 1 to 14 5 SPDR Assignment of digital output 4 p29334 1 to 14 6 TLR Assignment of digital output 5 p29335 1 to 14 8 MBR Assignment of digital output 6 Note Refer to Section Digital inputs out...

Page 173: ... suppress the surge voltage or surge current generated by an ON OFF action of the relay RY Varistor V used for the power supply of the brake Note All the following data on a varistor is provided based on the low inertia motors with a rated power of 2 kW however the data is also applicable to the low inertia motors of other power ranges Consider the following current time and voltage time character...

Page 174: ...e 1 Motor holding brake according to sequence control SON 2 Motor holding brake always open 3 SIEMENS internal use p1216 ms 0 to 10000 Motor depend ent Motor holding brake opening time p1217 ms 0 to 10000 Motor depend ent Motor holding brake closing time You can configure the holding brake with the parameter p1215 according to the actual application When you set p1215 1 the motor holding brake is ...

Page 175: ...ay closing time NOTICE Motor brake service life shortened due to the improper use The motor brake is used for holding purpose only Frequent emergency stops with the motor brake will shorten its service life Unless absolutely necessary do not apply the motor brake as an emergency stop or deceleration mechanism Braking sequence The operating principle of the holding brake is configured during motor ...

Page 176: ...e PLCs through the RS485 interface over the USS or Modbus protocol Pin assignment Illustration Pin Signal name Description 1 Reserved Do not use 2 Reserved Do not use 3 RS485 RS485 differential signal 4 Reserved Do not use 5 M Ground to internal 3 3 V 6 3 3 V 3 3 V power supply for internal signal 7 Reserved Do not use 8 RS485 RS485 differential signal 9 Reserved Do not use Type 9 pin Sub D female...

Page 177: ...nging axis in prevention of an unexpected drop In addition make sure that the 24 V power supply is correctly connected NOTICE Firmware damage due to drive power off during data transfer Switching off the 24 VDC power supply for the drive during data transfer from the micro SD card SD card to the drive can cause damage to the drive firmware Do not switch off the drive power supply when the data tra...

Page 178: ...alled on a PC and runs on the Windows operating system It communicates with the SINAMICS V90 servo drive with a USB cable To ensure the stability of online commissioning Siemens recommends you to use a shielded USB cable of no longer than 3 m with ferrite cores on both ends With SINAMICS V ASSISTANT you can change drive parameters and monitor drive working states in online mode For more informatio...

Page 179: ...ponents well grounded Refer to Connecting Page 101 2 Switch on the 24 VDC power supply 3 Check the servo motor type If the servo motor has an incremental encoder input the motor ID p29000 If the servo motor has an absolute encoder the servo drive can identify the servo motor automatical ly Fault F52984 occurs when the servo motor is not identi fied You can find the motor ID from the motor rating p...

Page 180: ... to ensure normal operation Refer to Standard application wiring factory setting Page 136 and Connection examples with PLCs Page 146 3 Switch on the 24 VDC power supply 4 Check the servo motor type If the servo motor has an incremental encoder input the motor ID p29000 If the servo motor has an absolute encoder the servo drive can identify the servo motor automatical ly Fault F52984 occurs when th...

Page 181: ...d speed limitation Refer to Torque control T Page 261 and Speed control S Page 256 11 Configure necessary digital input signals by setting the following parameters p29301 0 DI1 p29302 0 DI2 p29303 0 DI3 p29304 0 DI4 p29305 0 DI5 p29306 0 DI6 p29307 0 DI7 p29308 0 DI8 The factory settings for PTI mode are p29301 0 1 SON p29302 0 2 RESET p29303 0 3 CWL p29304 0 4 CCWL p29305 0 5 G CHANGE p29306 0 6 ...

Page 182: ...trol mode by viewing value of the parameter p29003 Set p29003 9 for Fast PTI control mode Refer to Compound controls Page 209 6 Save the parameter and restart the servo drive to apply the setting of the pulse train input position con trol mode 7 Select a setpoint pulse train input form by setting pa rameter p29010 p29010 0 default pulse direction positive logic p29010 1 AB track positive logic p29...

Page 183: ...int pulse train from the command device and then the servo motor starts running Use a low pulse frequency at first to check the direction and speed of rotation 18 The system commissioning in pulse train input position control mode ends You can check the system performance If it is not satis fied you can adjust it Refer to Tuning Page 313 5 5 Commissioning in internal position control mode IPos Ste...

Page 184: ...g modes p29241 0 incremental p29241 1 absolute For modular axis there are four positioning modes p29241 0 incremental p29241 1 absolute p29241 2 absolute positive only for a rotary axis with modulo correction p29241 3 absolute negative only for a rotary axis with modulo correction Refer to Selecting a positioning mode abso lute incremental Page 239 10 Configure the fixed position setpoint p2617 0 ...

Page 185: ...o Referencing Page 241 14 Set the pulse train encoder output Refer to PTO function Page 234 15 Save parameters with the BOP 16 Switch on the line supply 17 Clear faults and alarms Refer to Diagnostics Page 383 18 Trigger the digital signal SON to be high level 19 Select a fixed position setpoint by configuring the digital inputs POS1 POS2 and POS3 then start positioning with the triggering signal ...

Page 186: ...e by setting p29003 2 Refer to Compound controls Page 209 6 Save the parameter and restart the servo drive to apply the setting of the speed control mode 7 Configure speed setpoint You can select the external analog speed setpoint or one of seven fixed speed setpoints by configuring the digital signals SPD3 SPD2 and SPD1 SPD3 SPD2 SPD1 0 0 0 external analog speed setpoint analog input 1 0 0 1 fixe...

Page 187: ...s Page 146 3 Switch on the 24 VDC power supply 4 Check the servo motor type If the servo motor has an incremental encoder input the motor ID p29000 If the servo motor has an absolute encoder the servo drive can identify the servo motor automatically Fault F52984 occurs when the servo motor is not identified You can find the motor ID from the motor rating plate Go to Motor components Page 30 for de...

Page 188: ...ET p29308 3 19 SLIM1 Refer to Digital inputs outputs DIs DOs Page 122 12 Save parameters with the BOP 13 Switch on the line supply 14 Clear faults and alarms Refer to Diagnostics Page 383 15 Enable the CWE or CCWE and Change SON status to be high level 1 then the servo motor starts running according to configured torque setpoint The actual torque of the servo motor can be viewed from the BOP opera...

Page 189: ... BOP 6 6 1 BOP overview The SINAMICS V90 servo drive is designed with a Basic Operator Panel BOP on the front panel of the servo drive You can use the BOP for the following operations Standalone commissioning Diagnosis Parameter access Parameter settings Micro SD card SD card operations Drive restart ...

Page 190: ...the status indications in the table below Status indicator Color Status Description RDY Off 24 V control board power supply is missing Green Continuously lit The drive is in S ON state Red Continuously lit The drive is in S OFF state or in startup state Flash at 1 Hz Alarms or faults occurs COM Off Communication with PC is not active Green Flash at 0 5 Hz Communication with PC is active Flash at 2...

Page 191: ...he case of multiple alarms Axxxxx Alarm code In the case of multiple alarms Rxxxxx Parameter number Read only parameter Pxxxxx Parameter number Editable parameter P xxxxx Parameter number Editable parameter the dot means that at least one parameter has been changed In xx Indexed parameter Figure after In indicates the number of indi ces For example In 01 means that this indexed parameter is 1 xxx ...

Page 192: ...ro SD card SD card Refer to Transferring data drive to SD Page 203 sd dr Upload data from micro SD card SD card to drive Refer to Transferring data SD to drive Page 203 Update Update firmware Refer to Updating firmware Page 204 A OFF1 Adjust AI1 offset Refer to Adjusting AI offsets Page 205 A OFF2 Adjust AI2 offset Refer to Adjusting AI offsets Page 205 ABS The zero position has not been set Refer...

Page 193: ...191 Display Example Description Remarks DCxxx x Actual DC link voltage Exxxxx Position following error run The motor is running Con The communication between the SINAMICS V ASSISTANT and the servo drive is established In this case the BOP is protected from any operations except clearing alarms and ac knowledging faults ...

Page 194: ...icro SD card SD card Transfers data micro SD card SD card to drive Updates firmware UP button Navigates to the next item Increases a value JOG in CW clockwise DOWN button Navigates to the previous item Decreases a value JOG in CCW counter clockwise SHIFT button Moves the cursor from digit to digit for single digit editing including the digit of positive negative sign Note When the sign is edited _...

Page 195: ...structions 04 2019 A5E36037884 007 193 6 2 Parameter structure The overall parameter structure of the BOP is designed as follows Note There is no ABS menu function for a servo motor with an incremental encoder The ABS menu function is only available for a servo motor with an absolute encoder ...

Page 196: ...orque DC voltage Actual position Position following error If servo enable signal is available actual drive speed is displayed by default otherwise S OFF servo off is displayed With p29002 you define which of the following drive operating status data is to be displayed on the BOP Parameter Range Default Unit Description p29002 0 to 4 0 0 Actual speed 1 DC voltage 2 Actual torque 3 Actual position 4...

Page 197: ...ailable P 0A basic P 0B gain adjustment P 0C speed control P 0D torque control P 0E position control P 0F I O P All all parameters Read only parameters All r parameters under the Data menu are read only parameters You can only read values of these parameters Parameters with index Some parameters have several indices Each index has its own meaning and corresponding value Parameters without index Al...

Page 198: ... Basic operations SINAMICS V90 SIMOTICS S 1FL6 196 Operating Instructions 04 2019 A5E36037884 007 6 4 1 Editing parameters You can edit a parameter value in two methods Method 1 change the value directly with the UP or DOWN button ...

Page 199: ...0 SIMOTICS S 1FL6 Operating Instructions 04 2019 A5E36037884 007 197 Method 2 move the cursor to a digit with the SHIFT button then change the digit value with the UP or DOWN button Note The parameters p1414 and p1656 cannot be changed using the SHIFT button ...

Page 200: ...2 Viewing parameters To view a parameter proceed as follows 6 4 3 Searching parameters in P ALL menu If you do not know which group that a parameter belongs to you can search for in the P ALL menu Note Invalid parameter number If the input parameter number is unavailable the nearest parameter number to the input value is displayed ...

Page 201: ...BOP functions available Jog Update firmware Save parameter set in drive Adjust AI1 offset Restore parameter values to default Adjust AI2 offset Copy parameter set from drive to a micro SD card SD card Adjust absolute encoder NOTE This function is available only when the servo motor with an absolute encoder is connected Copy parameter set from a micro SD card SD card to drive ...

Page 202: ...1 JOG Note The digital signal EMGS must be kept at high level 1 to ensure normal operation With the Jog function you can run the connected motor and view Jog speed or Jog torque Jog in speed example Jog in torque example NOTICE Exit the Jog mode after completing Jog run The servo motor cannot run if the servo drive is in the Jog mode ...

Page 203: ... proceed as follows Note Plugging or unplugging the micro SD card SD card will cause saving failure Do not plug or unplug the micro SD card SD card during saving otherwise the saving operation will fail Note If a micro SD card SD card has been inserted the parameter set will be saved onto the micro SD card SD card simultaneously All signal functions become inactive during the saving process Use th...

Page 204: ...etting parameters to default This function is used to reset all parameters to their default values To use this function proceed as follows Note You must save the parameter set after setting the parameter set to the default values otherwise the default values will not be saved to drive ROM Reference Saving parameters RAM to ROM Page 201 ...

Page 205: ...the micro SD card SD card will cause transferring failure Do not plug or unplug the micro SD card SD card during transferring otherwise the transferring operation will fail Note Write protection function is not supported by SINAMICS V90 Data in the micro SD card SD card will be overwritten even if the write protection function of the micro SD card SD card is enabled 6 5 5 Transferring data SD to d...

Page 206: ...t restart the servo drive to apply the changes 6 5 6 Updating firmware With the firmware update function of the BOP you can update the drive firmware To do this you have to store proper firmware files on a micro SD card SD card and insert it into the micro SD card SD card slot After that proceed as follows After you have updated the firmware you need to set parameters to their default values Refer...

Page 207: ... card SD card is the same with the current firmware of the servo drive only a restart is performed Try to update the firmware again using proper firmware files If the failure persists contact your local distributor Note Update the firmware by restarting the drive After inserting the micro SD card SD card with proper firmware files you can also update the firmware by restarting the drive 6 5 7 Adju...

Page 208: ...AI2 offset Note Save parameter Offset value is set into parameter p29042 for AI2 or parameter p29061 for AI1 You must perform parameter saving after the automatic adjustment of AI offset Parameter range p29042 and p29061 range from 0 5 V to 0 5 V A value that is out of this range causes an alarm Refer to chapter Parameter list Page 341 ...

Page 209: ...e when you are using a servo motor with the absolute encoder Stop the servo motor You must stop the servo motor before adjusting the absolute encoder With the BOP function menu ABS you can set the current position of an absolute encoder to the zero position To do this proceed as follows Note Save parameter The position value is set in parameter p2525 You must save the parameters after setting the ...

Page 210: ...Basic operator panel BOP 6 5 Auxiliary functions SINAMICS V90 SIMOTICS S 1FL6 208 Operating Instructions 04 2019 A5E36037884 007 ...

Page 211: ...ge mode PTI S Control change mode IPos S Control change mode PTI T Control change mode IPos T Control change mode S T 1 Default control mode Selecting a control mode You can select a control mode by directly setting parameter p29003 Parameter Range Default Unit Description p29003 0 to 8 0 Basic control modes 0 Pulse train input position control mode 1 Internal position control mode 2 Speed control...

Page 212: ...working in torque control mode for a certain period of time the fault code F7493 might appear on the drive BOP This however will not cause the motor to stop The motor remains operative under this circumstance and you can clear the fault code manually Note Fault F52904 occurs when the control mode is changed via p29003 You must save the parameter and then re power on the servo drive to apply releva...

Page 213: ... OFF state Servo motor is not ready to run Relevant parameter settings Parameter Value setting Description p29301 1 Signal SON signal number 1 is assigned to digital input 1 DI1 p29300 bit 0 1 Set signal SON at a high level forcedly Note Refer to Section Digital inputs outputs DIs DOs Page 122 for detailed information about DI parameterization Refer to Chapter Parameters Page 341 for detailed info...

Page 214: ...etpoint The polarity of output signals like pulse train encoder output PTO and analog monitoring remains unchanged at a reversal of direction Parameter Value Description Setpoint Positive Negative p29001 0 CW is forward direction factory setting Analog monitoring PTO Analog monitoring PTO 1 CCW is forward direction Analog monitoring PTO Analog monitoring PTO Note After modifying parameter p29001 t...

Page 215: ...tions 04 2019 A5E36037884 007 213 7 2 3 300 overload capacity SINAMICS V90 servo drives can work with 300 overload capacity for a specific time period The following diagrams show in details 200 V variant servo drive Without load With load 400 V variant servo drive Without load With load ...

Page 216: ...ersing range WARNING Danger to life or malfunctions of the machine due to the motor travelling over the distance limit In T control mode the motor travels over the distance limit if you only acknowledge the fault without returning the axis to a position within the valid traversing range In S control mode the motor travels over the distance limit if you only acknowledge the fault without returning ...

Page 217: ...fter that DI CCWL X8 8 factory setting Falling edge 1 0 The servo motor has travelled to the counter clockwise travel limit and has an quick stop after that Relevant parameter settings Parameter Value setting Description p29303 3 Signal CWL signal number 3 is assigned to DI3 p29304 4 Signal CCWL signal number 4 is assigned to DI4 p29300 bit 1 1 Set signal CWL at a high level or rising edge forcedl...

Page 218: ...ting Description DI SON X8 5 factory setting Rising edge 0 1 Power circuit is powered on and the servo drive is ready to run Falling edge 1 0 Motor ramps down SON in T mode Signal type Signal name Pin assign ment Setting Description DI SON X8 5 factory setting Rising edge 0 1 Power circuit is powered on and the servo drive is ready to run Falling edge 1 0 Motor coasts down Quick stop OFF3 The quic...

Page 219: ...d the lower torque limit Function behavior in PTI Fast PTI control mode You can configure the function of travelling to fixed stop by setting the following parameter When the fixed stop is reached the drive sets the digital output torque limit reached TLR Parameter Range Default Unit Description p29045 0 to 1 0 0 Travel to fixed stop is inactive 1 Travel to fixed stop is active Signal type Signal ...

Page 220: ...stop function 2 Set the required torque limit The smaller value of the following two torque limits will be the active one Example Internal torque limit TLM1 p29050 0 300 Positive torque limit p29051 0 300 Negative torque limit Overall torque limit p1520 100 Nm Positive overall torque limit p1521 150 Nm Negative overall torque limit Actual torque limit 300 1 27 Nm 3 81 Nm 3 Servo on the motor and i...

Page 221: ... braking point of the axis that is the target position is placed inside the workpiece The preset torque limit is effective from the start i e travel to fixed stop also occurs with a reduced torque The preset acceleration and deceleration overrides and the current speed override are also effective When the fixed stop is reached the drive sets the digital output torque limit reached TLR Note F7452 i...

Page 222: ...away from the fixed stop Fixed stop is not reached If the brake application point is reached without the fixed stop reached status being detected then the fault F07485 Fixed stop is not reached is output with fault reaction OFF1 the torque limit is canceled and the drive cancels the traversing block Overview of important parameters p2617 0 7 Traversing block position p2618 0 7 Traversing block vel...

Page 223: ...status to check whether the fixed stop is reached Fixed stop is reached If the actual position following error exceeds the value set in parameter p2634 fixed stop is reached Fixed stop is not reached After the fixed stop is reached if the axis leaves the fixed stop and exceeds the monitoring window p2635 the speed setpoint is set to 0 and fault F7484 occurs If the brake application point is reache...

Page 224: ...or the setpoint pulse train input 24 V single end pulse train input High speed 5 V differential pulse train input RS485 You can select one of these two channels by setting the parameter p29014 Parameter Range Default Unit Description p29014 0 to 1 1 0 High speed 5 V differential pulse train input RS485 1 24 V single end pulse train input The position pulse train inputs come from either of the foll...

Page 225: ...logic are supported Pulse train input form Positive logic 0 Negative logic 1 Forward CW Reverse CCW Forward CW Reverse CCW AB track pulse Pulse Direction You can select one of the setpoint pulse train input forms by setting the parameter p29010 Parameter Range Default Unit Description p29010 0 to 3 0 0 Pulse Direction positive logic 1 AB track positive logic 2 Pulse Direction negative logic 3 AB t...

Page 226: ...window in position range p29332 1 to 13 3 Digital output 3 assignment DO configuration Signal type Signal name Pin assignment Setting Description DO INP X8 32 factory setting 1 Number of droop pulses is in the preset in position range parameter p2544 0 Droop pulses are beyond the in position range 7 3 5 Smoothing function With the smoothing function the position characteristics curve from the puls...

Page 227: ...ion A Incremental encoder 2500 ppr 10000 M Absolute encoder 21 bit single turn 2097152 L Absolute encoder 20 bit 12 bit multi turn 1048576 Electronic gear With the function of electronic gear you can define the motor revolutions according to the number of setpoint pulses and sequentially define the distance of mechanical movement The minimum traveling distance of load shaft according to one setpoi...

Page 228: ...gear p29012 1 1 to 10000 1 The second numerator of electronic gear p29012 2 1 to 10000 1 The third numerator of electronic gear p29012 3 1 to 10000 1 The forth numerator of electronic gear p29013 1 to 10000 1 The denominator of electronic gear These four electronic gear ratios can be selected with the combination of the digital input signals EGEAR1 and EGEAR2 refer to Section DIs Page 123 EGEAR2 E...

Page 229: ...m Ball screw Disc table 1 Identify mechanism Pitch of ball screw 6 mm Deduction gear ratio 1 1 Rotary angle 360o Deduction gear ratio 1 3 2 Identify the encoder resolution 10000 10000 3 Define LU 1 LU 1 μm 1 LU 0 01o 4 Calculate the travel distance per load shaft revolution 6 0 001 6000 LU 360o 0 01o 36000 LU 5 Calculate the electronic gear ratio 1 6000 1 1 10000 10000 6000 1 36000 1 3 10000 10000...

Page 230: ... be used to allow or inhibit positioning operation according to pulse train input setpoint 0 positioning according to pulse train input setpoint 1 inhibit pulse train input setpoint Timing diagram DI configuration The signal P TRG is the factory setting of DI6 Signal type Signal name Pin assign ment Setting Description DI P TRG X8 10 factory setting High level 1 Inhibit pulse train input setpoint ...

Page 231: ...tive speed limit hysteresis speed p2162 or the negative speed limit hysteresis speed p2162 Go to List of faults and alarms Page 387 for information about the acknowledgment of this fault Note If the drive is working with external speed limit the system continues to work automatically after you repower on the 24 VDC power supply which is shut off unexpected for the drive In this case do not touch t...

Page 232: ...9071 2 210000 to 0 210000 rpm Internal speed limit 3 neg ative 1 1 Note After the motor is commissioned p1082 p1083 p1086 p29070 and p29071 set to the maximum speed of the motor automatically External speed limit Select an external speed limit by setting the following parameters Parameter Value range Default Unit Description p29060 6 to 210000 3000 rpm Scaling for analog speed setpoint maximum spe...

Page 233: ...r sources an overall torque limit is also available for all control modes The overall torque limit takes effect when an quick stop OFF3 happens In this case the servo drive brakes with a maximum torque Parameter Range Default Unit Description p1520 1000000 00 to 20000000 00 0 Nm Overall torque limit positive p1521 20000000 00 to 1000000 00 0 Nm Overall torque limit negative Internal torque limit S...

Page 234: ...nalog torque limit scaling value corresponding to 10 V 0 1 p29041 1 is the scaling of analog input 2 For example if p29041 1 is 100 the relationship between torque limit value and analog input is shown as follows In this case analog input of 5 V corresponds to 50 of rated torque and 10 V corresponds to 100 of rated torque Torque limit reached TLR When the generated torque has nearly internal hyste...

Page 235: ...ar mode by setting p29242 You can select a clear mode by setting the parameter p29242 Parameter Range Default Unit Description p29242 0 to 2 0 0 do not clear droop pulses 1 clear droop pulses with the high level 2 clear droop pulses with the rising edge Clearing droop pulses with DI signal CLR You can clear the droop pulses with the DI signal CLR after p29242 is set The signal CLR is the factory s...

Page 236: ...n absolute encoder is used you must adjust the absolute encoder with the BOP menu function ABS For more information about the ABS menu function see Section Adjusting an absolute encoder Page 207 7 3 12 PTO function Function A pulse train encoder output PTO which provides pulse signals can transmit the signals to the controller to realize a closed loop control system inside the controller or transm...

Page 237: ...PTO direction with parameter p29033 Note When using the PTO function the drive will output some pulses before the motor servo on if you executing the following operations Default the drive with the BOP instruction Configure the motor ID on the drive Note When you use the PTO electronic gear ratio function zero mark will not be generated PTO zero mark Make the servo motor rotate for more than one r...

Page 238: ...on value will maintain the LU as the unit in internal position control mode Taking a ball screw system for example if the system has a pitch of 10 mm revolution 10000 µm revolution and the resolution of the length unit is 1 µm 1 LU 1 µm one load revolution corresponds to 10000 LU p29247 10000 Note If the value of p29247 increases by N times the values of p2542 p2544 and p2546 should increase by N ...

Page 239: ...s from one group of position data Fixed position setpoint Corresponding parameters Parameter Description Fixed position setpoint 1 p2617 0 Fixed position setpoint 1 P_pos1 p2618 0 Speed of fixed position setpoint 1 P_pos_spd1 p2572 IPos maximum acceleration p2573 IPos maximum deceleration Fixed position setpoint 2 p2617 1 Fixed position setpoint 2 P_pos2 p2618 1 Speed of fixed position setpoint 2 ...

Page 240: ...etpoint 7 P_pos_spd7 p2572 IPos maximum acceleration p2573 IPos maximum deceleration Fixed position setpoint 8 p2617 7 Fixed position setpoint 8 P_pos8 p2618 7 Speed of fixed position setpoint 8 P_pos_spd8 p2572 IPos maximum acceleration p2573 IPos maximum deceleration Parameter settings Parameter Range Default Unit Description p2617 0 7 2147482648 to 2147482647 0 LU Fixed position setpoint 1 to 8...

Page 241: ...9241 0 to 3 0 Absolute or incremental positioning mode 0 incremental 1 absolute 2 absolute positive only for a rotary axis with modulo correction 3 absolute negative only for a rotary axis with modulo correction NOTICE Pre conditions for using the absolute mode The absolute mode can be used only after the axis has been referenced for incremental measuring system Refer to Section Referencing Page 2...

Page 242: ... you must perform the referencing operation again 7 5 5 Backlash compensation Generally backlash occurs when the mechanical force is transferred between a machine part and its drive If the mechanical system was to be adjusted designed so that there was absolutely no backlash this would result in high wear Thus backlash can occur between the machine component and the encoder For axes with indirect ...

Page 243: ...Range Default Unit Description p2583 200000 to 200000 0 LU Backlash compensation p2604 0 to 1 0 Set signal source for start direction of searching cam 0 start in positive direction 1 start in negative direction 7 5 6 Referencing Referencing modes If the servo motor has an incremental encoder totally five referencing modes are available Setting reference point with the digital input signal REF Exte...

Page 244: ...es are available You can select the different referencing modes with parameter p29240 When p29240 1 to 4 the referencing process can only be implemented before you use the ABS function Once the ABS function is implemented the four referencing modes are not available any more Note p29240 can be modified only when the drive is in IPos mode Setting reference point with the digital input signal REF p2...

Page 245: ...irection CW or CCW for searching the reference cam is defined by p2604 When the reference cam is reached signal REF 0 1 the servo motor decelerates to standstill After that the servo motor accelerates again to the speed specified in p2608 and the running direction is opposite to the direction defined by p2604 Then the signal REF should be switched off 1 0 When the servo motor reaches the first zer...

Page 246: ...ing the zero mark p2611 1 to 40000000 300 1000 LU mi n Speed for searching reference point 2 Configure signals SREF and REF Refer to Chapter Digital inputs outputs DIs DOs Page 122 for reference 3 Trigger SREF to a rising edge to start referencing Note During the referencing if SREF is OFF the referencing stops 4 If the servo motor reaches the reference point the signal REFOK if configured is outp...

Page 247: ...147482648 to 2147482647 0 LU Sets the position value for the reference point coordinate p2600 2147482648 to 2147482647 0 LU Reference point offset p2604 0 to 1 0 Sets signal source for start direction of searching 0 start in positive direction 1 start in negative direction p2608 1 to 40000000 300 1000 LU mi n Speed for searching zero mark p2609 0 to 2147482647 20000 LU Maximum distance for searchi...

Page 248: ...speed specified in p2605 to find the reference cam The direction CCW for searching the reference cam is defined by p2604 When the signal CCWL is detected 1 0 the servo motor decelerates to standstill with maximum deceleration After that the servo motor accelerates again to the speed specified in p2608 and the running direction CW is opposite to the direction defined by p2604 The signal CCWL switch...

Page 249: ...fset p2604 1 0 to 1 0 Sets signal source for start direction of searching 0 start in positive direction CW 1 start in negative direction CCW p2605 1 to 40000000 5000 1000 LU mi n Speed for searching the cam p2606 0 to 2147482647 21474826 47 LU Maximum distance for searching the cam p2608 1 to 40000000 300 1000 LU mi n Speed for searching zero mark p2609 0 to 2147482647 20000 LU Maximum distance fo...

Page 250: ...cified in p2608 and the running direction CCW is opposite to the direction defined by p2604 The signal CWL switches to high level 0 1 When the servo motor finds the first zero mark it starts to travel towards the reference point defined in p2600 with the speed specified in p2611 When the servo motor reaches the reference point p2599 the signal REFOK is output Switch off the signal SREF 1 0 and the...

Page 251: ...to 40000000 5000 1000 LU mi n Speed for searching the cam p2606 0 to 2147482647 21474826 47 LU Maximum distance for searching the cam p2608 1 to 40000000 300 1000 LU mi n Speed for searching zero mark p2609 0 to 2147482647 20000 LU Maximum distance for searching the zero mark p2611 1 to 40000000 300 1000 LU mi n Speed for searching reference point 1 When p29240 4 the direction for searching the re...

Page 252: ...witch p2581 2147482648 to 2147482647 2147482648 LU Positive software position limit switch p2582 0 to 1 0 Activation of software limit switch 0 deactivate 1 activate 7 5 8 Speed limit Refer to Speed limit Page 229 for details 7 5 9 Torque limit Refer to Torque limit Page 230 for details 7 5 10 Selecting a fixed position setpoint and starting positioning In the IPos mode two methods are available t...

Page 253: ...l mode the signals POS1 and POS2 are default assignments of DI7 and DI8 while the signal POS3 is not assigned Signal type Signal name Pin assignment Description DI POS1 X8 11 Select a fixed position setpoint DI POS2 X8 12 DI POS3 To be assigned Note Configuration of POS3 If the POS3 is not assigned to any DI its status is assumed to be 0 which means only the following fixed position setpoints can ...

Page 254: ...signal STEPB is enabled the servo motor at a rising edge of STEPB traverses to previous fixed position setpoint If the signal STEPH is enabled the servo motor at a rising edge of STEPH traverses to the fixed position setpoint 1 Note The servo drive can respond to the rising edge of the signal STEPF STEPB or STEPH only when the servo motor is at a standstill If the servo motor is at fixed position ...

Page 255: ...ue in r2521 is limited to 232 places When position tracking is deactivated p29243 0 Encoder actual position value range actual single turn resolution When position tracking is activated p29243 1 Encoder actual position value range actual single turn resolution virtual multi turn resolution p29244 Tolerance window The tolerance window is preset to a quarter of one encoder revolution After switching...

Page 256: ...th load gear can be reproduced Mechanical gear configuration If you are using a mechanical gear between the motor and the load and using an absolute encoder to process the position control an offset occurs depending on the gear ratio between the zero position of the encoder and the load whenever encoder overflow occurs Note If the ratio between the multi turn resolution and the modulo range p29246...

Page 257: ...ach encoder overflow there is a load side offset of 1 3 load revolution after three encoder overflows the motor and load zero position coincide again The position of the load can no longer be clearly reproduced after one overflow In this case if you activate the position tracking function set p29243 1 and set the virtual multi turn p29244 24 the gear ratio is calculated with the encoder actual pos...

Page 258: ... setpoint 2 p1002 0 1 1 Fixed speed setpoint 3 p1003 1 0 0 Fixed speed setpoint 4 p1004 1 0 1 Fixed speed setpoint 5 p1005 1 1 0 Fixed speed setpoint 6 p1006 1 1 1 Fixed speed setpoint 7 p1007 Refer to DIs Page 123 for more information about the digital signals SPD1 SPD2 and SPD3 7 6 1 1 Speed control with external analog speed setpoint In the S mode when the digital input signals SPD1 SPD2 and SP...

Page 259: ...r you repower on the 24 VDC power supply which is shut off unexpected for the drive In this case do not touch the equipment Offset adjustment for analog input 1 Offset exists for the input voltage from the analog input 1 You have two methods to adjust such offset Automatic adjustment with BOP function refer to Adjusting AI offsets Page 205 for details Manual input of an offset value p29061 Paramet...

Page 260: ...speed setpoint 3 0 1 1 p1004 210000 to 210000 0 rpm Fixed speed setpoint 4 1 0 0 p1005 210000 to 210000 0 rpm Fixed speed setpoint 5 1 0 1 p1006 210000 to 210000 0 rpm Fixed speed setpoint 6 1 1 0 p1007 210000 to 210000 0 rpm Fixed speed setpoint 7 1 1 1 7 6 2 Direction and stop Two digital input signals are used to control motor direction and run stop CWE clockwise enable CCWE counter clockwise e...

Page 261: ...t signal ZSCLAMP is used to activate this function When both motor speed setpoint and motor actual speed are below the parameterized threshold level and signal ZSCLAMP is logic 1 the motor is locked Drive exits from clamping state either when the motor speed setpoint is above the threshold level or when the signal ZSCLAMP is logic 0 Parameter settings Parameter Range Default Unit Description p2907...

Page 262: ...etpoint changes and thus helps prevent load surges during drive operation The ramp up time p1120 and ramp down time p1121 can be used to set acceleration and deceleration ramps separately This allows a smoothed transition in the event of setpoint changes The maximum speed p1082 is used as the reference value for calculating the ramp up and ramp down times You can see the properties of the ramp fun...

Page 263: ...amp up time p1121 0 to 999999 1 s Ramp function generator ramp down time p1130 0 to 30 0 s Ramp function generator initial rounding off time p1131 0 to 30 0 s Ramp function generator final rounding off time 7 7 Torque control T 7 7 1 Torque setpoint Two sources are available for torque setpoint External setpoint analog input 2 Fixed setpoint p29043 These two resources can be selected with the digi...

Page 264: ...g input value of 10 V corresponds to 50 of the rated torque Parameter Range Default Unit Description p29041 0 0 to 100 100 Scaling for analog torque setpoint corre sponding to 10 V Note The value of analog input 2 can be monitored through parameter p29351 Offset adjustment for analog input 2 Offset exists for the input voltage from the analog input 2 The motor can run at a very low speed even the ...

Page 265: ...used to control motor direction and run stop CWE clockwise enable CCWE counter clockwise enable The following table shows you in details Signal Fixed torque setpoint Analog torque setpoint CCWE CWE polarity polarity 0 V 0 0 0 0 0 0 0 1 CW CW CCW 0 1 0 CCW CCW CW 0 1 1 0 0 0 0 Note In S mode or T mode when the servo motor is ready to run signal CWE or CCWE is a must to start running the motor For m...

Page 266: ...l Telegram format The telegram format is shown as follows STX LGE ADR PKE IND PWE PWE BCC STX start of text LGE length ADR slave address PKE parameter ID IND sub index PWE parameter value BCC block check character Relevant parameters You can access the following parameters by USS Parameter Description Parameter Description p1001 Fixed speed setpoint 1 r0020 Speed setpoint smoothed p1002 Fixed spee...

Page 267: ...protocol by parameter p29007 p29007 0 no protocol p29007 1 USS protocol p29007 2 Modbus protocol Set the transmission baud rate by parameter p29009 5 4800 baud 6 9600 baud 7 19200 baud 8 38400 baud 9 57600 baud 10 76800 baud 11 93750 baud 12 115200 baud 13 187500 baud Set control mode for the drive Save the parameters and restart the drive Access the parameters via USS For IPos control mode you ca...

Page 268: ...dbus function code FC3 and written via Modbus function code FC6 single register or FC16 multiple registers Supported function codes The SINAMICS V90 supports only three function codes If a request with an unknown function code is received an error message is returned FC3 Read holding registers When a message with FC 0x03 is received then four bytes of data are expected that is FC3 has four bytes o...

Page 269: ...er 40100 Control word PTI IPos S T Fast PTI R W 1 Process data 1 re ceive word PZD1 40101 Speed setpoint S R W 0x4000 hex 100 motor rated speed Process data 2 re ceive word PZD2 40102 MDI position setpoint high word IPos R W LU 1 2147482648 to 2147482647 Process data 3 re ceive word PZD3 40103 MDI position setpoint low word IPos R W LU 1 Process data 4 re ceive word PZD4 40104 MDI speed setpoint h...

Page 270: ...DI 6 R 1 HIGH LOW r0722 5 40246 DI 7 R 1 HIGH LOW r0722 6 40247 DI 8 R 1 HIGH LOW r0722 7 40248 DI 9 R 1 HIGH LOW r0722 8 40249 DI 10 R 1 HIGH LOW r0722 9 40260 AI 1 R 100 300 0 to 300 0 40261 AI 2 R 100 300 0 to 300 0 40280 40281 Enable DI simulation high part low part R W 1 HIGH LOW p0795 40282 40283 Setpoint DI simulation high part low part R W 1 HIGH LOW p0796 40300 Power stack code num ber R ...

Page 271: ... 3 R 1 0 to 65535 40404 Failure number index 4 R 1 0 to 65535 40405 Failure number index 5 R 1 0 to 65535 40406 Failure number index 6 R 1 0 to 65535 40407 Failure number index 7 R 1 0 to 65535 40408 Alarm number R 1 0 to 65535 40601 DS47 Control R W 40602 DS47 header R W 40603 DS47 data 1 R W 40722 DS47 data 120 R W 40800 40801 Fixed position setpoint 1 R W LU 1 2147482648 to 2147482647 p2617 0 4...

Page 272: ...0 p2572 40882 40883 IPos maximum deceler ation R W 1000 LU s2 1 1 to 2000000 p2573 40884 40885 IPos jerk limiting R W 1000 LU s3 1 1 to 100000000 p2574 40886 40887 IPos reference point coordinate value R W LU 1 2147482648 to 2147482647 p2599 40900 Fixed speed setpoint 1 R W 0x4000 hex 100 motor rated speed 210000 000 to 210000 00 p1001 40901 Fixed speed setpoint 2 R W 0x4000 hex 100 motor rated sp...

Page 273: ...teger data in the Modbus protocol it is necessary to convert the drive parameters before transmitting them This is done by scaling so that a parameter which has a position after decimal point is multiplied by a factor to get rid of the fractional part The scaling factor is as defined in the above table 7 8 2 2 Cyclic communication Operating steps Description Comment Configure the RS485 bus address...

Page 274: ...eed to set the desired target slave address on the PLC side For example if you want to send the message to slave 1 you need to set the slave address to 1 on the PLC side Write the control word via PLC Note Bit 10 of the register 40100 must be set to 1 to allow the PLC to control the drive You need to trigger a rise edge for OFF1 to enable SON sta tus for the motor and OFF2 and OFF3 must be set to ...

Page 275: ... to all slaves you need to set the slave address to 0 to use the broadcast mode 9 Write the control word you desired via the register 40100 Note Bit 10 of the register 40100 must be set to 1 to allow the PLC to control the drive You need to trigger a rise edge for OFF1 to enable SON status for the motor and OFF2 and OFF3 must be set to 1 The step must be executed when you enable SON for the first ...

Page 276: ...or rated speed Example 2 This example shows the operating procedures when no control word p29008 2 is used in S control mode 1 Set RS485 bus address for the drive p29004 1 2 Select the Modbus protocol by p29007 p29007 2 3 Select Modbus control source by p29008 p29008 2 4 Set the transmission baud rate by p29009 p29009 8 38400 baud 5 Set the drive work mode to S control mode 6 Save the parameters a...

Page 277: ...rs 40280 40281 and 40282 40283 10 Write the speed setpoint via the register 40101 Note You can calculate the actual speed value with the scale factor Value 0x4000 repre sents the value of 100 motor rated speed Therefore 0x2000 represents half of the motor rated speed Example 3 This example shows the operating procedures when we use the setpoint and control word from Modbus p29008 1 as the Modbus c...

Page 278: ... to send the message to all slaves you need to set the slave address to 0 to use the broadcast mode 9 Write the control word you desired via the register 40100 Note Bit 10 of the register 40100 must be set to 1 to allow the PLC to control the drive You need to trigger a rise edge for OFF1 to enable SON 0 1 status for the motor and OFF2 and OFF3 must be set to 1 The step must be executed when you e...

Page 279: ...n setpoint low word Status data 40110 Status word Status word Status word Status word 40111 Actual speed Actual speed Actual speed Actual speed 40112 Actual position high word Actual position high word 40113 Actual position low word Actual position low word Definition of the register 40100 Bit PTI Fast PTI control mode IPos control mode Signals Description Signals Description 0 SON_OFF1 Rising edg...

Page 280: ... 11 Reserved Reserved 12 Reserved Reserved 13 Reserved SREF Start referencing act as REF for refer ence mode 0 14 Reserved Reserved 15 Reserved Reserved Bit S control mode T control mode Signals Description Signals Description 0 SON_OFF1 Rising edge to enable SON pulses can be enabled 0 OFF1 braking with ramp function generator then pulse cancellation ready to power up SON_OFF1 Rising edge to enab...

Page 281: ...when you use the setpoint and control word from Modbus as the Modbus control source p29008 1 They can only be enabled by Modbus control word while cannot be enabled by external DI terminals PTI Fast PTI control mode SON IPos control mode SON SREF REF for reference mode 0 S control mode SON CWE CCWE T control mode SON Note In IPos control mode when the relative positioning mode is selected the meth...

Page 282: ...s 40281 and 40283 Digital input DI1 DI2 DI3 DI4 DI5 DI6 DI7 DI8 DI9 DI10 Register 40281 p0795 Bit 0 Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 Bit 6 Bit 7 Bit 8 Bit 9 Register 40283 p0796 Bit 0 Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 Bit 6 Bit 7 Bit 8 Bit 9 Set the simulation mode for DIs with register 40281 Bit 0 to bit 9 of register 40281 can be used to set the simulation mode for DI1 to DI 10 For example if you want ...

Page 283: ...et the setpoint for DI1 with register 40283 to enable the DI signal In S control mode DI1 is assigned with SON by default so we need to trigger a rising edge to enable the SON signal Set bit 0 0 for register 40283 and then set the bit to 1 A rising edge is triggered The motor is now in S ON state 7 8 2 3 Acyclic communication The SINAMICS V90 servo drive supports acyclic communication via data set...

Page 284: ...ex Unsigned16 07 hex Unsigned32 08 hex FloatingPoint 0A hex OctetString 0D hex TimeDifference 34 hex TimeOfDay without date indication 35 hex TimeDifference with date indication 36 hex TimeDifference without date indication 41 hex Byte 42 hex Word 43 hex Double word 44 hex Error Number of index values or for a negative response number of error values 4 Value of the 1st Index or for a negative resp...

Page 285: ...e below formats the response when the drive has executed the change request Data block Byte n Bytes n 1 n Header Reference identical to a change request 02 hex change request successful 0 02 hex ID of drive objects at V90 always 2 Number of parameters identical to a change request 2 The table below formats the response when the drive was not able to completely execute the change request Data block...

Page 286: ...h no master control 0F hex Text array does not exist although the parameter value is available the request is made to a text array that does not exist 11 hex Request cannot be executed due to the operating state access is not possible for temporary reasons that are not specified 14 hex Inadmissible value change request with a value that is within the limits but which is illegal for other permanent...

Page 287: ...er the other Header In addition to the slave address enter the transfer type the start address and the number of the following registers in the header User data You control the access in the user data via register 40601 In register 40602 you define the acyclic access as well as the length of the request data Register 40603 contains the request reference which is defined by the user and the access ...

Page 288: ...nd paramter number p1120 40610 Second parameter subindex 0 Write the PLC command from registers 40601 to 40610 The table below formats a response for successful read operation Byte Description Header 01 h 03 h 20 h 0 1 2 Slave address Function code read Number of following data bytes 20 h 32 bytes 16 registers User data 0002 h 2F0E h 8001 h 0202 h 0301 h 0001 h 0801 h 4142 h 6666 h 3 4 5 6 7 8 9 1...

Page 289: ...tes 16 registers User data 0001 h 2F00 h 0004 h 3 4 5 6 7 8 40601 Check value 1 request is processed 40602 Function 2F h 47 response length 0 fault 40603 Error code 0004 Response Not Ready response has still not been issued Example Set p1121 11 28 and p29130 2 The table below formats a request to write the parameter values of p1121 and p29130 from slave number 1 Byte Description Header 01 h 10 h 0...

Page 290: ...608 Attribute number of elements of the second parameter 40609 Second paramter number p29130 40610 Second parameter subindex 0 40611 Format number of values of the first parameter 40612 First parameter value 11 28 41347AE1 h 40613 First parameter value 40614 Format number of values of the second parameter 40615 Second parameter value 2 Write the PLC command from registers 40601 to 40615 The table ...

Page 291: ...nse for unsuccessful write operation write request still not completed Byte Description Header 01 h 03 h 20 h 0 1 2 Slave address Function code read Number of following data bytes 20 h 32 bytes 16 registers User data 0001 h 2F00 h 0004 h 3 4 5 6 7 8 40601 DS47 Control 1 request is processed 40602 Function 2F h 47 response length 0 fault 40603 Error code 0004 Response Not Ready response has still n...

Page 292: ...n system you can perform motion control task immediately after the servo system is powered on which means you do not have to carry out referencing or zero position operation beforehand Restrictions The absolute position system cannot be configured under the following conditions Internal position control IPos Speed control S Torque control T Fast pulse train input position control Fast PTI Control ...

Page 293: ...ure relative parameters 1 Set PTI input parameters p29010 to p29014 2 Set electrical gear p29012 and p29013 Referencing with the BOP or SINAMICS V ASSISTANT 1 Run the servo motor for a proper distance 2 Adjust the absolute encoder with the BOP menu function ABS or SINAMICS V ASSISTANT NOTE You must perform the referencing operation under the following conditions System setup is performed The servo...

Page 294: ...ill status and alarm status through the digital output of the servo drive 3 If there is no alarm and the motor is in standstill status the PLC sends a data request to the servo drive through the RS485 cable 4 In response to the data request from PLC the servo drive transmits calibration status p2507 0 3 of encod er to the PLC Transmit the absolute position data to the PLC 1 If the absolute encoder...

Page 295: ...al equipment without restricting industrial production and the use of machines more than is necessary The protection of man and environment must be assigned equal importance in all countries which is it is important that rules and regulations that have been internationally harmonized are applied This is also designed to avoid distortions in the competition due to different safety requirements in d...

Page 296: ...ssed in the Standards using different terms In IEC EN 61508 IEC EN 62061 Safety Integrity Level SIL and EN ISO 13849 1 Categories and Performance Level PL 8 1 2 Safety of machinery in Europe The EU Directives that apply to the implementation of products are based on Article 95 of the EU contract which regulates the free exchange of goods These are based on a new global concept new approach global ...

Page 297: ... this sense Key here is the listing in the official journal of the commission of the European Parliament and Council The European Safety of Machines standard is hierarchically structured It is divided into A standards basic standards B standards group standards C standards product standards Type A standards basic standards A standards include basic terminology and definitions relating to all types...

Page 298: ...d draft standards are available on the Internet at the following address http www newapproach org Recommendation Due to the rapid pace of technical development and the associated changes in machine concepts the standards and C standards in particular should be checked to ensure that they are up to date Please note that the application of a particular standard may not be mandatory provided that all...

Page 299: ...es see comment 1 and max up to PL d All architectures and max up to SIL 3 F C standards combined with A standards or C standards combined with A standards and B standards X See comment 2 X See comment 3 X indicates that the point is covered by this standard Comment 1 Designated architectures are described in Annex B of EN ISO 13849 1 and provide a simplified basis for the quantification Comment 2 ...

Page 300: ...omplex control systems known as functional decomposition The safety functions derived from the risk analysis are sub divided into sub safety functions which are then assigned to real devices sub systems and sub system elements Both the hardware and software are covered EN 62061 also describes the requirements placed on implementing application programs A safety related control system comprises dif...

Page 301: ...n of EN 61508 or EN 61800 5 2 Simple devices and subsystems Application of EN 62061 EN 62061 does not include information about non electric systems The standard provides detailed information on implementing safety related electrical electronic and programmable electronic control systems EN ISO 13849 1 must be applied for non electric systems Note Function examples Details of simple sub systems th...

Page 302: ... and the creation of documentation covering all phases of the safety related lifecycle of the E E PES 8 1 2 7 Risk analysis assessment Risks are intrinsic in machines due to their design and functionality For this reason the Machinery Directive requires that a risk assessment be performed for each machine and if necessary the level of risk reduced until the residual risk is less than the tolerable...

Page 303: ...s of safety related control functions in addition to structural measures To implement these control functions special requirements must be taken into account graded according to the magnitude of the risk These are described in EN ISO 13849 1 or in the case of electrical controllers particularly programmable electronics in EN 61508 or EN 62061 The requirements regarding safety related controller co...

Page 304: ...l Safety and Health Act OSHA from 1970 regulates the requirement that employers must offer a safe place of work The core requirements of OSHA are specified in Section 5 Duties The requirements of the OSH Act are managed by the Occupational Safety and Health Administration also known as OSHA OSHA employs regional inspectors who check whether or not workplaces comply with the applicable regulations ...

Page 305: ...ses NFPA 79 states as a basic requirement that these must be listed if they are to be used to implement and execute safety related functions If this requirement is fulfilled then electronic controls and communication buses can also be used for Emergency Stop functions Stop Categories 0 and 1 refer to NFPA 79 9 2 5 4 1 4 Like EN 60204 1 NFPA 79 no longer specifies that the electrical energy must be...

Page 306: ...ch an important role as it does in the US Instead of legal requirements to apply standards have been defined an administrative recommendation to apply JIS Japanese Industrial Standard is in place Japan bases its approach on the European concept and uses basic standards as national standards see table Japanese standards ISO IEC number JIS number Comment ISO12100 1 JIS B 9700 1 Earlier designation T...

Page 307: ...ISO12100 1 JIS B 9700 1 Earlier designation TR B 0008 ISO12100 2 JIS B 9700 2 Earlier designation TR B 0009 ISO14121 1 EN1050 JIS B 9702 ISO13849 1 JIS B 9705 1 ISO13849 2 JIS B 9705 1 IEC 60204 1 JIS B 9960 1 Without annex F or route map of the Euro pean foreword IEC 61508 0 to 7 JIS C 0508 IEC 62061 JIS number not yet assigned 8 1 5 Equipment regulations In addition to the requirements of the gu...

Page 308: ...function can be controlled via terminals For the details about STO wiring refer to the chapter 24 V power supply STO Page 162 8 3 System features 8 3 1 STO functional safety data The STO functional safety data of SINAMICS V90 is as follows Applied standards IEC 61508 IEC 62061 ISO 13849 1 Type A Safety Integrity Level SIL 2 Hardware Fault Tolerance HFT 1 Probability of Failure per Hour PFH 5 10 8 ...

Page 309: ...ly constructs and configures the machine plant A careful and thorough acceptance test must then be performed by qualified personnel and the results documented Implements and validates all the measures required in accordance with the machine plant risk analysis by means of the programmed and configured Safety Integrated functions or by other means The use of Safety Integrated does not replace the m...

Page 310: ...ise personal injury or device damage occur No personnel is present within the danger zone Before allowing anybody to re enter the danger zone you should test steady control response by briefly moving the drives in forward and reverse direction To use Safety Integrated functions you need to make sure that the system has completely powered up 8 3 4 Probability of failure of the safety function Proba...

Page 311: ...r machine and where necessary apply suitable countermeasures WARNING Personal injury or device damage resulting from the simultaneous failure of two power transistors in the inverter Simultaneous failure of two power transistors one in the upper and the other offset in the lower inverter bridge in the drive may cause brief movement of the drive which can result in a personal injury or device damag...

Page 312: ...rive will not have any relevance for safety WARNING Personal injury or device damage resulting from the unexpected movement of the motor after the energy feed is disconnected The motor may has a undesirably move once the energy feed has been disconnected This may lead to a personal injury or device damage Take appropriate measures to ensure that the motor does not undesirably move in this case e g...

Page 313: ...1 STO2 High level High level Safe The servo motor can normally run when you power on the servo drive Low level Low level Safe The servo drive starts up normally but the servo motor cannot run High level Low level Unsafe Fault F1611 occurs and servo motor coasts down OFF2 Low level High level Unsafe Fault F1611 occurs and servo motor coasts down OFF2 Selecting deselecting Safe Torque Off The follow...

Page 314: ...ther in manual mode or by the automated process A timer ensures that forced dormant error detection is carried out as quickly as possible 8760 hours for the forced dormant error detection Once this time has elapsed an alarm is output and remains present until forced dormant error detection is carried out The timer returns to the set value each time the STO function is deactivated When the appropri...

Page 315: ...s of these three control loops is as follows Current loop speed loop position loop Since the current loop of SINAMICS V90 servo drive already has a perfect frequency width it is only necessary for you to adjust the speed loop gain and the position loop gain Servo gains Position loop gain Position loop gain directly influences the response level of the position loop If the mechanical system does no...

Page 316: ... be increased If the load inertia ratio is very high or the mechanical system has a resonance factor it must be guaranteed that the speed loop integral time constant is big enough otherwise the mechanical system may have a resonance Parameter Range Default Unit Description p29121 0 0 to 100000 15 ms Speed loop integral time 1 p29121 1 0 to 100000 20 ms Speed loop integral time 2 p29022 1 to 10000 ...

Page 317: ...ge Default Unit Description p29021 0 to 5 0 0 Auto tuning is disabled manual tuning without changing servo gains relevant pa rameters 1 One button auto tuning Identify the ratio of load moment of inertia and auto matically adjust servo gains accordingly 3 Real time auto tuning Identify the ratio of load moment of inertia and automati cally adjust servo gains in real time 5 Auto tuning is disabled ...

Page 318: ...d parameters when the tuning is completed and the drive performance is acceptable Tuning with SINAMICS V ASSISTANT You are recommended to perform tuning with the engineering tool SINAMICS V ASSISTANT For more information refer to SINAMICS V ASSISTANT Online Help 9 3 One button auto tuning Note The function is valid for firmware version V1 04 00 and higher Note Before using the one button auto tuni...

Page 319: ...button auto tuning SINAMICS V90 SIMOTICS S 1FL6 Operating Instructions 04 2019 A5E36037884 007 317 One button auto tuning procedure Proceed as follows to perform one button auto tuning for the SINAMICS V90 servo drive ...

Page 320: ...2 1 to 10000 1 Ratio of load moment of inertia p29023 0 to 0xffff 0x0007 One button auto tuning configuration p29025 0 to 0x003f 0x0004 Overall tuning configuration p29026 0 to 5000 2000 ms Test signal duration p29027 0 to 30000 0 Limit rotation position of the motor p29028 0 0 to 60 0 7 5 ms Pre control time constant Parameter p29028 is available when the multi axis interpolation function is acti...

Page 321: ...uning process completes successfully bit 0 of parameter p29300 will be set to 0 automatically or remain unchanged 0 which means the drive is in S OFF state Note Do not use the JOG function when you use the one button tuning function Note After the one button tuning is activated no operation will be allowed except the servo off and quick stop with the digital input EMGS With one button auto tuning ...

Page 322: ...mp of current notch filter 2 denominator p1665 0 5 to 16000 1000 Hz Natural frequency of current notch filter 2 numerator p1666 0 0 to 10 0 01 Damp of current notch filter 2 numerator p1668 0 5 to 16000 1000 Hz Natural frequency of current notch filter 3 denominator p1669 0 001 to 10 0 3 Damp of current notch filter 3 denominator p1670 0 5 to 16000 1000 Hz Natural frequency of current notch filter...

Page 323: ...rs Pre conditions for the real time auto tuning The drive must be controlled by the host controller The machine actual load moment of inertia is different when the machine moves to the different positions Make sure that the motor has multiple accelerations and decelerations Step command is recommended Machine resonance frequency changes when the machine is running Real time auto tuning procedure P...

Page 324: ...021 0 to 5 0 Selection of a tuning mode 0 disabled 1 one button auto tuning 3 real time auto tuning 5 disable with default controller parame ters p29022 1 to 10000 1 Ratio of load moment of inertia p29024 0 to 0xffff 0x004c Real time auto tuning configuration p29025 0 to 0x003f 0x0004 Overall tuning configuration p29028 0 0 to 60 0 7 5 ms Pre control time constant Parameter p29028 is available whe...

Page 325: ...c factor with p29020 1 to obtain the different dynamic performance after p29022 has been tuned and accepted by the drive After servo on the real time auto tuning function will always effective for the servo drive If you want to end or interrupt the real time auto tuning process set the drive to the servo off state then set p29021 to 0 The following relevant parameters can be continuous set in real...

Page 326: ...ime auto tuning is activated do not change other auto tuning related control filter parameters since these parameters can be set automatically and your changes will not be accepted Note The real time auto tuning may not be performed properly if the following conditions are not satisfied Accelerate the motor for 100 ms or more with the acceleration torque The acceleration deceleration torque is 15 ...

Page 327: ...g results you can disable the auto tuning function by setting the parameter p29021 and manually perform tuning p29021 5 auto tuning function is disabled and all control parameters are reset to tuning default values p29021 0 auto tuning function is disabled without changing control parameters Procedure for manual tuning Follow the procedure below to perform manual tuning ...

Page 328: ... maximum deceleration p29110 0 0 00 to 300 00 Motor de pendent 1000 mi n Position loop gain 1 p29120 0 0 to 999999 Motor de pendent Nms rad Speed loop gain 1 p29121 0 0 to 100000 15 ms Speed loop integral time 1 p29111 0 00 to 200 00 0 00 Position loop feed forward gain 9 6 Resonance suppression The resonance suppression function is filter notch filter function It detects mechanical resonance at a...

Page 329: ...rs with real machine characteristic Four current setpoint filters can be activated at most Parameter Range Default Unit Description p1663 0 5 to 16000 1000 Hz Natural frequency of current notch filter 2 denominator p1664 0 001 to 10 0 3 Damp of current notch filter 2 denominator p1665 0 5 to 16000 1000 Hz Natural frequency of current notch filter 2 numerator p1666 0 0 to 10 0 01 Damp of current no...

Page 330: ...ression by manually setting the following parameters Parameter Range Default Unit Description p1663 0 5 to 16000 1000 Hz Natural frequency of current notch filter 2 denominator p1664 0 001 to 10 0 3 Damp of current notch filter 2 denominator p1665 0 5 to 16000 1000 Hz Natural frequency of current notch filter 2 numerator p1666 0 0 to 10 0 01 Damp of current notch filter 2 numerator p1668 0 5 to 16...

Page 331: ...activation 0 disable 1 enable p31581 0 to 1 0 Vibration suppression filter type 0 filter type rugged 1 filter type sensitive p31585 0 5 to 62 5 1 Hz Vibration suppression filter frequency p31586 0 to 0 99 0 03 Vibration suppression filter damp Operating steps Step Description Comment Set the drive to S OFF state Select the filter type by p31581 Vibration suppression filter type 0 filter type rugge...

Page 332: ...using position setpoint frequency Gain switching using actual speed You can select one of the five modes by setting parameter p29130 Parameter Value Description p29130 0 default The function of gain switching is disabled Only the first group of gains is valid and the function of PI to P switching of speed controller is enabled 1 Gain switching using digital input signal G CHANGE When G CHANGE is 0...

Page 333: ...t group of gains is selected 1 The second group of gains is selected Parameter settings p29130 1 Parameter Range Default Unit Description p29110 0 0 00 to 300 00 Motor de pendent 1000 mi n Position loop gain 1 p29110 1 0 00 to 300 00 1 00 1000 mi n Position loop gain 2 p29120 0 0 to 999999 Motor de pendent Nms rad Speed loop gain 1 p29120 1 0 to 999999 0 3 Nms rad Speed loop gain 2 p29121 0 0 to 1...

Page 334: ...121 0 0 to 100000 15 ms Speed loop integral time 1 p29121 1 0 to 100000 20 ms Speed loop integral time 2 p29131 0 to 2147483647 100 LU Position deviation threshold for automatically triggering gain switching p29139 8 to 1000 20 ms Time constant to smooth the switching be tween gain sets Timing diagram 9 8 3 Gain switching using position setpoint frequency Parameter settings p29130 3 Parameter Rang...

Page 335: ...ets Timing diagram 9 8 4 Gain switching using actual speed Parameter settings p29130 4 Parameter Range Default Unit Description p29110 0 0 00 to 300 00 Motor de pendent 1000 mi n Position loop gain 1 p29110 1 0 00 to 300 00 1 00 1000 mi n Position loop gain 2 p29120 0 0 to 999999 Motor de pendent Nms rad Speed loop gain 1 p29120 1 0 to 999999 0 3 Nms rad Speed loop gain 2 p29121 0 0 to 100000 15 m...

Page 336: ...seconds The function of PI P switching is used to switch from PI Proportional Integral control of speed controller to P Proportional control With this function you can shorten the position setting time for the position control mode avoid overshooting of actual speed value during acceleration or deceleration for the speed control mode avoid unnecessary torque when the target position is at a mechan...

Page 337: ...le setting value 4 Acceleration is higher than a parameterizable setting value 5 Pulse deviation is higher than a parameterizable setting value Example Without the function of PI P switching With the function of PI P switching Example 1 If the PI P switching is not used the speed of the motor may overshoot or undershoot due to torque saturation during acceleration or deceleration The mode switchin...

Page 338: ...value Unit Description p29140 0 to 5 1 Switches PI control to P control using torque setpoint p29141 0 to 300 200 default Torque threshold for automatically triggering PI to P switch p29120 0 0 to 999999 0 3 default Nms rad Speed loop gain 1 p29121 0 0 to 100000 15 default ms Speed loop integral time 1 Note Speed setpoint For detailed information about speed setpoint refer to Configuring speed set...

Page 339: ...lected 1 The second group of gains is selected Speed control mode Signal Pin assignment Setting Description G CHANGE To be assigned 0 The first group of gains is selected 1 The second group of gains is selected Parameter settings Parameter Value range Setting value Unit Description p29140 0 to 5 2 Switches PI control to P control using an external digital input signal G CHANGE p29120 0 0 to 999999...

Page 340: ...o 5 3 Switches PI control to P control using speed setpoint p29142 0 to 210000 2000 default rpm Speed threshold for automatically triggering PI to P switch p29120 0 0 to 999999 0 3 default Nms rad Speed loop gain 1 p29121 0 0 to 100000 15 default ms Speed loop integral time 1 Note For detailed information about speed setpoint refer to Configuring speed setpoint Page 256 9 9 4 PI P switching using ...

Page 341: ...256 Acceleration For detailed information about acceleration refer to Setting fixed position setpoint Page 237 of the internal position control mode 9 9 5 PI P switching using pulse deviation The speed loop is switched from PI control to P control when the pulse deviation exceeds the preset value p29144 Parameter settings Parameter Value range Setting value Unit Description p29140 0 to 5 5 Switche...

Page 342: ...Tuning 9 9 PI P switching SINAMICS V90 SIMOTICS S 1FL6 340 Operating Instructions 04 2019 A5E36037884 007 ...

Page 343: ... making parameterization effective Two conditions are possible IM Immediately Parameter value becomes effective immediately after changing RE Reset Parameter value becomes effective after repower on Can be changed This indicates when the parameter can be changed Two states are possible U Run Can be changed in the Running state when the drive is in S ON state The RDY LED lights up green T Ready to ...

Page 344: ...32 bit unsigned integer FloatingPoint32 Float 32 bit floating point number Parameter groups The SINAMICS V90 parameters are divided into the following groups Parameter group Available parameters Parameter group display on the BOP Basic parameters p290xx Gain adjustment parameters p291xx Speed control parameters p10xx to p14xx p21xx Torque control parameters p15xx to p16xx Position control paramete...

Page 345: ...29496729 5 0 U32 IM T U Description Sets the simulation mode for digital inputs Bit 0 to bit 9 set the simulation mode for DI 1 to DI 10 Bit 0 terminal eval Bit 1 simulation Note If a digital input is used as signal source for the function STO then it is not permissible to select the simulation mode and this is rejected This parameter is not saved when data is backed up p0796 Digital inputs simula...

Page 346: ... 210000 000 100 00 rpm Float IM T Description Sets the speed velocity for Jog 1 Jogging is level triggered and allows the motor to be incremen tally moved Note The parameter values displayed on the BOP are integers p1082 Maximum speed 0 000 210000 000 1500 00 0 rpm Float IM T Description Sets the highest possible speed Notice After the value has been modified no further parameter modifications can...

Page 347: ...g off time 0 000 30 000 0 000 s Float IM T U Description Sets the final rounding off time for the extended ramp generator The value applies to ramp up and ramp down Note Rounding off times avoid an abrupt response and prevent damage to the mechanical system p1215 Motor holding brake con figuration 0 3 0 I16 IM T Description Sets the holding brake configuration Dependency Refer to p1216 p1217 p1226...

Page 348: ...ssed If the brake control is not activated the following applies When the threshold is undershot the pulses are suppressed and the drive coasts down Dependency Refer to p1215 p1216 p1217 p1227 Notice For reasons relating to the compatibility to earlier firmware versions a parameter value of zero in indices 1 to 31 is overwritten with the parameter value in index 0 when the drive boots Note Standst...

Page 349: ...ke is activated pulse cancellation is additionally delayed by the brake closing time p1217 p1414 Speed setpoint filter acti vation 0000 bin 0011 bin 0000 bin U16 IM T U Description Setting for activating de activating the speed setpoint filter Dependency The individual speed setpoint filters are parameterized as of p1415 Note The drive unit displays the value in hex format To know the logic high l...

Page 350: ...1415 Note This parameter is only effective if the speed filter is set as a general filter p1421 Speed setpoint filter 2 type 0 2 0 I16 IM T U Description Sets the type for speed setpoint filter 2 Dependency PT1 low pass p1422 PT2 low pass p1423 p1424 General filter p1423 p1426 p1422 Speed setpoint filter 2 time constant 0 00 5000 00 0 00 ms Float IM T U Description Sets the time constant for the s...

Page 351: ... when setting the upper torque limit p1520 0 can result in the motor accelerating in an uncontrollable fashion Notice The maximum value depends on the maximum torque of the connected motor p1521 Torque limit lower 20000000 00 1000000 00 0 00 Nm Float IM T U Description Sets the fixed lower torque limit Danger Positive values when setting the lower torque limit p1521 0 can result in the motor accel...

Page 352: ...0 0 Hz Float IM T U Description Sets the denominator natural frequency for current setpoint filter 3 PT2 general filter Dependency Current setpoint filter 3 is activated via p1656 2 and parameterized via p1668 p1671 p1669 Current setpoint filter 3 denominator damping 0 001 10 000 0 300 Float IM T U Description Sets the denominator damping for current setpoint filter 3 Dependency Current setpoint f...

Page 353: ...ndwidth for the signal n_act n_max Note For a negative speed limit the hysteresis is effective below the limit value and for a positive speed limit above the limit value If significant overshoot occurs in the maximum speed range for example due to load shedding you are advised to increase the dynamic response of the speed controller if possible If this is insufficient the hyste resis p2162 can be ...

Page 354: ...ion is located within the standstill window and if required an appropriate fault is output Dependency Refer to p2542 p2545 and F07450 Note The following applies for the setting of the standstill and positioning monitoring time Standstill monitoring time p2543 positioning monitoring time p2545 p2544 LR positioning window 0 214748364 7 40 LU U32 IM T U Description Sets the positioning window for the...

Page 355: ...y is active in all of the operating modes of the basic positioner The maximum velocity for the basic positioner should be aligned with the maximum speed velocity of the speed velocity controller p2572 IPos maximum accelera tion 1 2000000 Motor de pendent 100 0 LU s U32 IM T Description Sets the maximum acceleration for the basic positioner function IPos Note The maximum acceleration appears to exh...

Page 356: ...h in the positive direction of travel Dependency Refer to p2580 p2582 p2582 EPOS software limit switch activation 0 U32 Bina ry IM T Description Sets the signal source to activate the software limit switch Dependency Refer to p2580 p2581 Caution Software limit switch effective Axis is referenced Software limit switch ineffective Modulo correction active Search for reference is executed Notice Targ...

Page 357: ...nced axis or for flying referencing p2604 is not relevant but instead the history of the axis Refer to p2604 p2599 EPOS reference point coordinate value 2147482648 214748264 7 0 LU I32 IM T U Description Sets the position value for the reference point coordinate This value is set as the actual axis position after referencing or adjustment Dependency Refer to p2525 p2600 EPOS search for refer ence ...

Page 358: ...activated with a time delay due to inter nal factors This is the reason that the reference cam should be adjusted in this center between two zero marks and the approach velocity should be adapted to the distance between two zero marks Note The velocity override is not effective when traversing to the zero mark p2609 EPOS search for refer ence max distance ref cam and zero mark 0 214748264 7 20000 ...

Page 359: ...ssage is output p2692 MDI acceleration over ride fixed setpoint 0 100 100 000 100 000 Float IM T U Description Sets a fixed setpoint for the acceleration override Note The percentage value refers to the maximum acceleration p2572 p2693 MDI deceleration over ride fixed setpoint 0 100 100 000 100 000 Float IM T U Description Sets a fixed setpoint for the deceleration override Note The percentage val...

Page 360: ...drive to the controller PLC Note Changes only become effective after power on The parameter isn t influenced by default function p29005 Braking resistor capacity percentage alarm thresh old 1 100 100 Float IM T Description Alarm triggering threshold for the capacity of the internal braking resistor Alarm number A52901 p29006 Line supply voltage 200 480 400 230 V U16 IM T Description Nominal Line s...

Page 361: ...ion 0 16777215 0 U32 IM T Description The number of setpoint pulses per motor revolution The servo motor rotates for one revolution when the number of the setpoint pulses reaches this value When this value is 0 the number of required setpoint pulses is decided by the electronic gear ratio p29012 0 3 PTI Numerator of elec tronic gear 1 10000 1 U32 IM T Description The numerator of the electronic ge...

Page 362: ... Mode selection 0 5 0 I16 IM T Description Selection of a tuning mode 0 Disabled 1 One button auto tuning 3 Real time auto tuning 5 Disable with default controller parameters p29022 Tuning Ratio of total inertia moment to motor inertia moment 1 00 10000 00 1 00 Float IM T U Description Ratio of total inertia moment to servo motor inertia moment p29023 Tuning One button auto tuning configuration 0 ...

Page 363: ...st dynamic re sponse p29025 Tuning Configuration overall 0 0x003f 0x0004 U16 IM T Description Overall configuration of auto tuning apply for both one button and real time auto tuning Bit 0 For significant differences between the motor and load moment of inertia or for low dynamic perfor mance of the controller then the P controller becomes a PD controller in the position control loop As a conseque...

Page 364: ...ue is 0 the number of required output pulses is decided by the electronic gear ratio p29031 PTO Numerator of elec tronic gear 1 214700000 0 1 U32 IM T Description The numerator of the electronic gear ratio for the output pulses For detailed information about the calculation of a numerator refer to the SINAMICS V90 Operating Instruc tions or use the SINAMICS V ASSISTANT to do the calculation p29032...

Page 365: ...t as the source of the torque setpoint by configuring the digital input signal TSET p29045 PTI activate travel to fixed stop 0 1 0 I16 IM T Description Activate deactivate travel to fixed stop function under PTI control mode 1 Travel to fixed stop is active 0 Travel to fixed stop is inactive p29050 0 2 Torque limit upper 150 300 300 Float IM T Description Positive torque limit Three internal torqu...

Page 366: ... 0 when both the setpoint speed and the actual speed are below this threshold p29078 Speed reach threshold 0 0 100 0 10 rpm Float IM T Description Speed reached range deviation between setpoint and motor speed p29080 Overload threshold for output signal triggering 10 300 100 Float IM T Description Overload threshold for the output power p29090 Offset Adjustment for Analog output 1 0 50 0 50 0 00 V...

Page 367: ...the digital input signal G CHANGE or setting relevant condition parameters The first speed loop integral time is the default setting Dependency The parameter value will be set to default after configuring a new motor ID p29000 p29130 Gain switching Mode selection 0 4 0 I16 IM T Description Selects gain switching mode 0 Disabled 1 Switch through DI G CHANG 2 Position deviation as switch condition 3...

Page 368: ...selected Switch from the first group of control parameters to the second group when the actual motor speed is larger than the threshold Switch from the second group of control parameters to the first group when the actual motor speed is smaller than the threshold p29139 Gain switching time con stant 8 1000 20 ms Float IM T Description Time constant for gain switching Set this parameter to avoid fr...

Page 369: ...30000 LU U32 IM T Description Triggers pulse deviation threshold for PI P switching If the PI P switching function is enabled and this condition is selected Switch from the PI control to the P control when the actual pulse deviation is larger than the threshold Switch from the P control to the PI control when the actual pulse deviation is smaller than the threshold p29230 MDI direction selection 0...

Page 370: ...9247 Mechanical gear LU per revolution 1 214748364 7 10000 U32 IM T Description LU per load revolution p29248 Mechanical gear Numer ator 1 1048576 1 U32 IM T Description Load Motor Load revolutions p29249 Mechanical gear denom inator 1 1048576 1 U32 IM T Description Load Motor Motor revolutions p29250 PTI absolute position mode enable 0 1 0 U32 RE T Description Absolute position mode enable 1 Enab...

Page 371: ...ption Defines the function of digital input signal DI1 1 SON 2 RESET 3 CWL 4 CCWL 5 G CHANGE 6 P TRG 7 CLR 8 EGEAR1 9 EGEAR2 10 TLIM1 11 TLIM2 12 CWE 13 CCWE 14 ZSCLAMP 15 SPD1 16 SPD2 17 SPD3 18 TSET 19 SLIM1 20 SLIM2 21 POS1 22 POS2 23 POS3 24 REF 25 SREF 26 STEPF 27 STEPB 28 STEPH Index 0 DI1 for the control mode 0 1 DI1 for the control mode 1 2 DI1 for the control mode 2 3 DI1 for the control ...

Page 372: ...gital input signal DI3 Index 0 DI3 for the control mode 0 1 DI3 for the control mode 1 2 DI3 for the control mode 2 3 DI3 for the control mode 3 4 8 Reserved 9 DI3 for the control mode 9 p29304 0 9 Digital input 4 assignment 0 28 0 3 4 9 9 I16 IM T Description Defines the function of digital input signal DI4 Index 0 DI4 for the control mode 0 1 DI4 for the control mode 1 2 DI4 for the control mode...

Page 373: ... 8 Reserved 9 DI6 for the control mode 9 p29307 0 9 Digital input 7 assignment 0 28 0 7 1 21 2 15 3 18 9 7 I16 IM T Description Defines the function of digital input signal DI7 Index 0 DI7 for the control mode 0 1 DI7 for the control mode 1 2 DI7 for the control mode 2 3 DI7 for the control mode 3 4 8 Reserved 9 DI7 for the control mode 9 p29308 0 9 Digital input 8 assignment 0 28 0 10 1 22 2 16 3...

Page 374: ...ut signal DO3 p29333 Digital output 4 assign ment 1 15 5 I16 IM T Description Defines the function of digital output signal DO4 p29334 Digital output 5 assign ment 1 15 6 I16 IM T Description Defines the function of digital output signal DO5 p29335 Digital output 6 assign ment 1 15 8 I16 IM T Description Defines the function of digital output signal DO6 p29340 Warning 1 assigned for digital output...

Page 375: ...ue reference 3 r0333 2 Speed setpoint reference p29060 3 Torque setpoint reference 3 r0333 4 DC bus voltage reference 1000 V 5 Pulse input frequency reference 1k 6 Pulse input frequency reference 10k 7 Pulse input frequency reference 100k 8 Pulse input frequency reference 1000k 9 Remaining number of pulses reference 1k 10 Remaining number of pulses reference 10k 11 Remaining number of pulses refer...

Page 376: ...ay of the motion sequence The total motion sequence is extended by the time period Td Td 1 fd 1 The sensitive VIBSUP filter has a higher sensitivity to frequency offsets compared with the rugged filter type but results in a lower delay of the motion sequence The total motion sequence is extended by half the time period Td 2 Td 1 fd p31585 VIBSUP Filter frequency fd 0 5 62 5 1 Hz Float 32 IM T Desc...

Page 377: ... Notice This smoothed signal is not suitable for diagnostics or evaluation of dynamic operations In this case the unsmoothed value should be used Note Smoothing time constant 100 ms The signal is not suitable as a process quantity and may only be used as a display quantity The absolute current actual value is available smoothed r0027 and unsmoothed r0029 Current actual value field generating smoot...

Page 378: ...x offset p1532 the following applies demanded torque M_max offset M_set total actual torque limit M_max offset M_max lower effective For the actual torque limit 0 the following applies r0033 100 For the actual torque limit 0 the following applies r0033 0 r0034 Motor utilization thermal Float Description Displays the motor utilization from motor temperature model 1 I2t or 3 r0037 0 1 9 Power unit t...

Page 379: ...ge exceeds the threshold specified here the drive unit is tripped due to DC link overvoltage Dependency Refer to F30002 r0311 Rated motor speed rpm Float Description Displays the rated motor speed rating plate r0333 Rated motor torque Nm Float Description Displays the rated motor torque IEC drive unit Nm NEMA drive unit lbf ft r0482 0 2 Encoder actual position value Gn_XIST1 U32 Description Displa...

Page 380: ... Displays the number of faults that have occurred Dependency Refer to r0949 Note The buffer parameters are cyclically updated in the background Fault buffer structure general principle r0945 0 r0949 0 actual fault case fault 1 r0945 7 r0949 7 actual fault case fault 8 r0945 8 r0949 8 1st acknowledged fault case fault 1 r0945 15 r0949 15 1st acknowledged fault case fault 8 r0945 56 r0949 56 7th ack...

Page 381: ...24 0 6 3 Alarm value I32 Description Displays additional information about the active alarm as integer number Dependency Refer to r2124 Note The buffer parameters are cyclically updated in the background The structure of the alarm buffer and the assignment of the indices is shown in r2122 r2521 0 3 LR position actual value LU I32 Description Displays the actual position actual value determined by ...

Page 382: ...t Description Displays the OA version Index 0 Firmware version 1 Build increment number r29400 Internal control signal status indicating U32 Description Control signal status identifiers Bit 0 SON Bit 1 RESET Bit 2 CWL Bit 3 CCWL Bit 4 G CHANGE Bit 5 P TRG Bit 6 CLR Bit 7 EGEAR1 Bit 8 EGEAR2 Bit 9 TLIM1 Bit 10 TLIM2 Bit 11 CWE Bit 12 CCWE Bit 13 ZSCLAMP Bit 14 SPD1 Bit 15 SPD2 Bit 16 SPD3 Bit 17 T...

Page 383: ...ndicating U32 Description Indicates the status of DO signals Bit 0 RDY Bit 1 FAULT Bit 2 INP Bit 3 ZSP Bit 4 SPDR Bit 5 TLR Bit 6 SPLR Bit 7 MBR Bit 8 OLL Bit 9 WARNING1 Bit 10 WARNING2 Bit 11 REFOK Bit 12 CM_STA Bit 13 RDY_ON Bit 14 STO_EP r29979 Index of actual electronic gear U32 Description Displays the status of position loop Bit 0 to Bit 1 Actual EGear index ...

Page 384: ...Parameters 10 2 Parameter list SINAMICS V90 SIMOTICS S 1FL6 382 Operating Instructions 04 2019 A5E36037884 007 ...

Page 385: ...ust be acknowledged once the cause has been remedied Status via control unit and LED RDY Status via MODBUS status word PZD1 1 fault status Entry in the fault buffer Alarms Are identified by Axxxxx Have no further effect on the drive The alarms are automatically reset once the cause has been remedied No acknowledgement is required Status via Control Unit and LED RDY Entry in the alarm buffer Genera...

Page 386: ...ATELY the fault disappears immediately after eliminating its cause PULSE INHIBIT The fault can only be acknowl edged with a pulse inhibit The same options are available for acknowledg ing as described under acknowledgment with IMMEDIATELY The first fault in the case of multiple faults Non first fault in the case of multiple faults Alarm Single alarm Slow flashing in red NONE no reaction Self ackno...

Page 387: ... V90 SIMOTICS S 1FL6 Operating Instructions 04 2019 A5E36037884 007 385 BOP operations for faults and alarms To view faults or alarms proceed as follows Faults Alarms To exit from fault or alarm display proceed as follows Faults Alarms ...

Page 388: ...not eliminate the cause s of the fault it can appear again after no button operation for five seconds Make sure that you have eliminated the cause s of the fault You can acknowledge faults using RESET signal For details of the signal refer to DIs Page 123 You can acknowledge faults on the SINAMICS V ASSISTANT For details refer to SINAMICS V ASSISTANT Online Help ...

Page 389: ... Reaction OFF2 Acknowledgement POWER ON An exception occurred during an operation with the FloatingPoint data type Carry out a POWER ON power off on for all components Upgrade firmware to the latest version Contact the Hotline F1002 Internal software error Reaction OFF2 Acknowledgement IMMEDIATELY An internal software error has occurred Carry out a POWER ON power off on for all components Upgrade ...

Page 390: ...ster control Reaction OFF3 Acknowledgement IMMEDIATELY For active PC master control no sign of life was received within the monitoring time Contact the Hotline F1611 SI CU Defect detect ed Reaction OFF2 Acknowledgement IMMEDIATELY The drive integrated Safety Integrated SI function on the Control Unit CU has detected an error and initiated an STO Make sure that the high level duration of the input ...

Page 391: ...upted Check the input for master control by PLC Check the master control by PLC signal and if required switch in Check the data transfer via the fieldbus master drive F7403 Lower DC link voltage threshold reached Reaction OFF1 Acknowledgement IMMEDIATELY The DC link voltage monitoring is active and the lower DC link voltage threshold was reached in the Operation state Check the line supply voltage...

Page 392: ... data sheet measure the stator re sistance e g using a multimeter and if required again identify the values using the stationary motor data identification With pole position identification activated check the procedure for pole position identification and force a new pole posi tion identification procedure by means of de selection followed by selection F7420 Drive Current set point filter natural ...

Page 393: ...eference point coor dinate value For a motor with an absolute encoder the maximum permissible encoder range is calcu lated by the following formula For multiturn encoders 4096 p29247 2 For singleturn encoders p29247 2 F7447 Load gear Position tracking maximum actual value exceeded Message class Applica tion technological function faulted 17 Reaction NONE Acknowledgement IMMEDIATELY When the positi...

Page 394: ... high Reaction OFF1 Acknowledgement IMMEDIATELY The difference between the position set point and position actual value following error dynamic model is greater than the tolerance p2546 The value of p2546 is too small The gain of position loop is too small The drive torque or accelerating capac ity exceeded Position measuring system fault Position control sense incorrect Mechanical system locked E...

Page 395: ... is inconsistent Reaction OFF1 OFF2 OFF3 Acknowledgement IMMEDIATELY The traversing block does not contain vaild information Alarm value Number of the traversing block with invaild information Check the traversing block and where rele vant take into consideration alarms that are present F7475 EPOS Target posi tion start of traversing range Reaction OFF1 OFF2 OFF3 Acknowledgement IMMEDIATELY The ta...

Page 396: ...elected Check the control F7490 Enable signal with drawn while traversing Reaction OFF1 Acknowledgement IMMEDIATELY For a standard assignment another fault may have occurred as a result of withdrawing the enable signals The drive is in the switching on inhibit ed state for a standard assignment Set the enable signals or check the cause of the fault that first occurred and then re sult for a standa...

Page 397: ...ncoders the maximum possible absolute position LU is calculated as fol lows Motor encoder with position tracking IPos p29247 p29244 PTI 1048576 p29012 X p29244 p29013 Motor encoder without position tracking For multiturn encoders IPos p29247 p29248 4096 p29249 PTI 1048576 p29012 X 4096 p29013 For singleturn encoders IPos p29247 p29248 p29249 PTI 1048576 p29012 X p29013 F7599 Encoder 1 Adjust ment ...

Page 398: ...unit not ready Reaction OFF2 Acknowledgement IMMEDIATELY After an internal power on command the infeed or drive does not signal ready be cause of one of the following reasons Monitoring time is too short DC link voltage is not present Associated infeed or drive of the signal ing component is defective Ensure that there is a DC link voltage Check the DC link busbar Enable the in feed Replace the as...

Page 399: ...e length Power unit defective Line phase interrupted Check the motor data if required carry out commissioning Modify speed loop Kp p29120 position loop Kv p29110 Check the motor circuit configuration star delta Check the power cable connections Check the power cables for short circuit or ground fault Check the length of the power cables Replace power unit Check the line supply phases Check the ext...

Page 400: ...ty cycle Check the motor and power unit rated currents F30011 Line phase failure in main circuit Reaction OFF2 Acknowledgement IMMEDIATELY At the power unit the DC link voltage rip ple has exceeded the permissible limit value Possible causes A line phase has failed The 3 line phases are inadmissibly unsymmetrical The fuse of a phase of a main circuit has ruptured A motor phase has failed Check the...

Page 401: ...ault or a short circuit The pre charging circuit is possibly defective Check the line supply voltage at the input terminals F30036 Internal overtemper ature Reaction OFF2 Acknowledgement IMMEDIATELY The temperature inside the drive converter has exceeded the permissible temperature limit Insufficient cooling fan failure Overload Surrounding temperature too high Check whether the fan is running Che...

Page 402: ...oder internal error Reaction ENCODER Acknowledgement PULSE INHIBIT The absolute encoder fault word supplies fault bits that have been set Check the encoder cable connection and make sure the cables are routed in com pliance with EMC Check the motor temperature Replace the motor encoder F31112 Error bit set in the serial protocol Reaction ENCODER Acknowledgement PULSE INHIBIT The encoder sends a se...

Page 403: ...sk is dirty or there are strong ambient magnetic fields F31150 Initialization error Reaction ENCODER Acknowledgement PULSE INHIBIT Encoder functionality is not operating cor rectly Check the encoder type used incremen tal absolute and the encoder cable If relevant note additional fault messages that describe the fault in detail F52903 Fault inconsistence between fault status and fault buffer React...

Page 404: ...e newly commissioned parameters to the drive ROM F52981 Absolute encoder motor mismatched Reaction OFF1 Acknowledgement IMMEDIATELY Connected absolute encoder motor cannot be operated The servo drive in use does not support the Motor ID Use a suitable absolute encoder motor F52983 No encoder detected Reaction OFF1 Acknowledgement IMMEDIATELY The servo drive in use does not support encoderless oper...

Page 405: ...as detected when evaluating the parameter files saved in the non volatile memory Because of this under certain circumstances several of the saved pa rameter values were not able to be ac cepted Save the parameterization in SINAMICS V ASSISTANT using the Copy RAM to ROM function or on the BOP This overwrites the incorrect parameter files in the non volatile memory and the alarm is withdrawn A1774 T...

Page 406: ... tolerance range after precharging has been completed The following applies for the tolerance range 1 16 p29006 r0026 1 6 p29006 Note The fault can only be acknowledged when the drive is switched off Check the parameterized supply voltage and if required change it p29006 Check the line supply voltage See also p29006 Line supply voltage A7012 Motor temperature model 1 3 overtemperature The motor te...

Page 407: ...rrect the traversing block Change software limit switch minus p2580 A7470 EPOS Traversing block target position soft ware limit switch plus In the traversing block the specified abso lute target position lies outside the range limited by the software limit switch plus Correct the traversing block Change software limit switch plus p2581 A7471 EPOS Traversing block target position outside the modulo...

Page 408: ...ve Encoderless operation is active due to a fault Remove the cause of a possible encoder fault Carry out a POWER ON power off on for all components A7582 Position actual value preprocessing error An error has occurred during the position actual value preprocessing Check the encoder for the position actual value preprocessing Refer to F52931 A7585 P TRG or CLR active In the PTI mode or a compound m...

Page 409: ...essary A30031 Hardware current limiting in phase U Hardware current limit for phase U re sponded The pulsing in this phase is in hibited for one pulse period Closed loop control is incorrectly pa rameterized Fault in the motor or in the power ca bles The power cables exceed the maxi mum permissible length Motor load too high Power unit defective Note Alarm A30031 is always output if for a power un...

Page 410: ...s alarm threshold The heat capacity reaches the threshold p29005 of the braking resistor capacity Change the external braking resistor Increase deceleration time A52902 Quick stop EMGS missing Implement servo on when the digital input EMGS is switched off Switch on the digital input EMGS and then implement servo on A52932 PTO max limit For incremental encoder when PTO fre quency exceeds 280K drive...

Page 411: ...ired therefore Siemens provides the instructions for assembling cables and connectors However Siemens does not guarantee that cables you made yourself meet the CE standards and EMC requirements When you made cables yourself you need to observe the assembly procedures in this section Besides you need to prepare appropriate tools raw cables and Siemens connectors according to the cable technical dat...

Page 412: ... remove the outer sheath of the cables make sure that all conductors are smooth and straight Processing unused pins on the connectors To avoid the short circuiting between the shielding wire and the unused pin on the connector cover all unused pins with heat shrinkable tubes Connecting cable shields When you assemble the drive side encoder connectors the cable shields must be connected to the grou...

Page 413: ...FSD 400 V variant FSAA FSA 1 Remove the outer sheath of the cable 2 Remove the insulation from the wire 3 Insert the stripped end into the cable end sleeve 4 Crimp the cable end sleeve using a crimp tool for end sleeves 400 V variant FSB FSC 1 Remove the outer sheath of the cable 2 Remove the insulation from the wire 3 Insert the stripped end into the spade terminal 4 Crimp the spade terminal usin...

Page 414: ... drive side are the same NOTICE Drive damage caused by short circuiting between the shielding wire and the unused pin on the encoder connector The shielding wire may inadvertently be short circuited to the unused pin on the to be assembled encoder connector This can cause damage to the drive When assembling the connector exercise caution when connecting the shielding cable to the encoder connector...

Page 415: ...ons 04 2019 A5E36037884 007 413 A 1 1 3 Brake terminal assembly The assembly of a brake terminal follows the procedure as described for a power terminal of the 200 V variant servo drive See Section Power terminal assembly Page 411 for details A 1 1 4 Setpoint connector assembly ...

Page 416: ...setpoint connector The shielding wire may inadvertently be short circuited to the unused pin on the to be assembled setpoint connector This can cause damage to the drive When assembling the connector exercise caution when connecting the shielding cable to the setpoint connector A 1 2 Assembly of cable connectors on the motor side A 1 2 1 Power connector assembly Power cable used for low inertia mo...

Page 417: ...endix A 1 Cable assembly SINAMICS V90 SIMOTICS S 1FL6 Operating Instructions 04 2019 A5E36037884 007 415 Power cable used for motors with straight connectors low inerita motors SH50 and high inertia motors ...

Page 418: ...endix A 1 Cable assembly SINAMICS V90 SIMOTICS S 1FL6 416 Operating Instructions 04 2019 A5E36037884 007 Power cable used for motors with angular connectors low inerita motors SH50 and high inertia motors ...

Page 419: ...dix A 1 Cable assembly SINAMICS V90 SIMOTICS S 1FL6 Operating Instructions 04 2019 A5E36037884 007 417 A 1 2 2 Encoder connector assembly Incremental encoder cable used for low inertia motors SH20 SH30 SH40 ...

Page 420: ...Appendix A 1 Cable assembly SINAMICS V90 SIMOTICS S 1FL6 418 Operating Instructions 04 2019 A5E36037884 007 Absolute encoder cable used for low inertia motors SH20 SH30 SH40 ...

Page 421: ...ndix A 1 Cable assembly SINAMICS V90 SIMOTICS S 1FL6 Operating Instructions 04 2019 A5E36037884 007 419 Encoder cable used for motors with straight connectors low inerita motors SH50 and high inertia motors ...

Page 422: ...ons 04 2019 A5E36037884 007 Encoder cable used for motors with angular connectors low inerita motors SH50 and high inertia motors Note No matter which type of the encoder connectors is incremental or absolute the assembly procedures for them are the same if they have the same look ...

Page 423: ...motors with straight connectors low inertia motors SH50 and high inertia motors The assembly of a brake terminal follows the procedure as described for an encoder connector used for motors with straight connectors See Section Encoder connector assembly Page 417 for details Brake cable used for motors with angular connectors low inertia motors SH50 and high inertia motors The assembly of a brake te...

Page 424: ...s as acceleration time ta constant motion time tu deceleration time td stopping time ts cycle time tc and travel distance L 3 Calculate load inertia and inertia ratio The inertia ratio can be obtained by dividing the load inertia by the rotor inertia of the selected motor The unit of inertia is x 10 4 kg m2 4 Calculate the speed Calculate the speed according to the travel distance acceleration tim...

Page 425: ...nism types W Mass kg Pb Ball screw lead m F External force N η Mechanical efficiency μ Friction coefficient g Gravitational acceleration 9 8 m s2 W Mass kg Pd Belt transmission lead m F External force N η Mechanical efficiency μ Friction coefficient g Gravitational acceleration 9 8 m s2 Effective torque It refers to the continuous effective load torque converted into the equivalent value on the se...

Page 426: ...Mechanism Equation Axis of rotation on center W Mass kg a Length m b Width m Axis of rotation on center W Mass kg D1 External diameter m D2 Internal diameter m Axis of rotation off center W Mass kg a Length m b Width m R Rotational diameter m Axis of rotation off center W Mass kg D Workpiece diameter m R Rotational diameter m Conveyor W Mass kg D Pulley wheel diameter m Ball screw W Mass kg P Lead...

Page 427: ...a Jc 20 x 10 6 kg m2 refer to the supplier s product catalog 1 Ball screw weight Bw ρ x π x Bd 2 2 x Bl 19 85 kg 2 Load inertia Jl Jc Jb Jc 1 8 x Bw x Bd2 W x Bp2 4π2 5 61 x 10 3 kg m2 3 Preselection If a 1000 W motor is selected Jm motor inertia 1 57 x 10 3 kg m2 Therefore Jl Jm inertia ratio 3 57 5 times 4 Maximum rotational speed Vmax maximum travelling speed 2L ta 2tu td 5 89 m s Nmax maximum ...

Page 428: ...7884 007 A 3 Replacing fans Proceed as illustrated below to remove the fan from the drive To re assemble the fan proceed in reverse order When re assembling the fan make sure that the arrow symbol in the illustration on the fan points to the drive rather than the fan housing Replacing the fan example ...

Page 429: ...ting the RS485 interface 174 Connecting the SIMATIC S7 1200 For fast pulse train input position control Fast PTI 158 For internal position control IPos 159 For pulse train input position control PTI 157 For speed control S 160 For torque control T 161 Connecting the SIMATIC S7 200 For fast pulse train input position control Fast PTI 153 For internal position control IPos 154 For pulse train input ...

Page 430: ...ery directive 294 Main circuit wirings Connecting the motor power U V W 116 Motor holding brake 168 Relevant parameters 172 Motor rating plate 32 Motor selection method 422 Mounting the motor Motor dimensions 92 Mounting orientation 89 N NFPA 79 303 NRTL 303 O Operating display 194 OSHA 302 Over travel 214 Overview of absolute position system 290 Restrictions 290 Overview of SINAMICS V90 BOP funct...

Page 431: ...on 207 Speed control mode Direction and stop 258 External speed setpoint 256 Offset adjustment 257 Parameter settings for fixed speed setpoint 258 Ramp function generator 260 Speed setpoint 256 Zero speed clamp 259 Speed limit 229 Overall speed limit 229 Standards for implementing safety related controllers 296 Stopping method at servo OFF 216 Coast down OFF2 216 Quick stop OFF3 216 Ramp down OFF1...

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