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Siemens simovert masterdrives, Compendium

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Siemens simovert masterdrives Compendium Download Page 627

02.2004 

Communication / CBC CANopen Communication Board 

Siemens AG 

6SE7087-6QX70 (Version AD) 

SIMOVERT MASTERDRIVES 

Compendium Motion Control  

8.5-69

 

The Profile Velocity mode is implemented in the basic unit on 
MASTERDRIVES without F01. It corresponds to simple speed-
controlled operation. 
Profile Velocity mode is defined by the following objects 

♦ 

Acceleration or deceleration can be set via objects 6083h 
(profile_acceleration) and 6084h (profile_deceleration). 

♦ 

The target velocity for speed-controlled operation is transferred to 
the MASTERDRIVES via object 60FFh (target_velocity). 

♦ 

The transmitted setpoint and actual velocity can be read out via 
objects 606Bh (velocity_demand_value) and 606Ch 
(velocity_actual_value).  

♦ 

The actual speed in increments per second can be read out via 
object 6069h. Object 606Ah is a read-only object. The actual speed 
value is always supplied by the position encoder. 

On a MASTERDRIVES MC without F01, objects 2200.01 (P205 rated 
velocity), 2200.02 (P353.01 reference speed before decimal point) and 
2200.03 (P353.02 reference speed after decimal point) are read out as 
the converter is booting.  
As a result, there is no need to write any objects. The CBC has all 
necessary information to normalize setpoints and actual values 
correctly. 
If, however, a factor of 10 must be introduced because, for example, 
the speed setpoint is too high, a value raised by a factor of 10 can be 
written to object 2200.01. 
The drive is normalized to µm. 
The entry in object 2200.01 defines the transfer format for setpoints and 
actual values. After the CBC has booted, the value from parameter 
P205 is stored in this object, i.e. in mm/min. To increase the setpoints 
even further, it is possible to re-normalize them to e.g. m/min by writing 
them to object 2200.01. The MASTERDRIVES is not aware that re-
normalization has taken place. The value from object 2200.01 is not 
passed to the MASTERDRIVES.  
The setpoint is specified in LU/min as defined according to object 
2200.01h and may deviate from the quantity normalized in the drive by 
P205. The unit of length LU is specified by the position-feedback 
scaling factor. 
The actual values are returned in object 2200.01h depending on the 
normalization. 
The setpoint is wired to parameter P212 (source setpoint control). 
 

Profile Velocity 
mode without F01 

Example 

Summary of Contents for simovert masterdrives

Page 1: ...Compendium Edition AN simovert masterdrives Motion Control ...

Page 2: ......

Page 3: ...s can be parameterized with the PMU OP1S operator control panels or with a PC and the DriveMonitor software package If you need more detailed information about specific parameters connectors or binectors you can find a parameter list with a connector and binector list added onto the end plus an overview of the data set parameters assignment of the indices in the appendix Volume 2 of the Compendium...

Page 4: ...thus be specified in by means of P401 i1 ramp up ramp down times 3 sec For further parameterization see the following Notes on how to proceed further Notes on how to proceed further You should always refer to the function diagrams first graphic illustration of functions before carrying out further parameterization process data control values setpoints and actual values functions etc or diagnosis T...

Page 5: ...find detailed descriptions of the technology specific fault messages of the unit for job management AUTOMATIC BLOCK U591 and the GMC FBs in Appendix A 3 Parameterization of the unit by means of downloading if data backup is provided The parameter settings to be entered for your application are available stored in the OP1S or as a DriveMonitor file 3 1 Start up if data protection provided a Paramet...

Page 6: ...y hazardous situation which if not avoided will result in death serious injury and considerable damage to property indicates a potentially hazardous situation which if not avoided could result in death serious injury and considerable damage to property used with the safety alert symbol indicates a potentially hazardous situation which if not avoided may result in minor or moderate injury used with...

Page 7: ...problems arise which are not covered sufficiently for the purchaser s purposes the matter should be referred to the local SIEMENS sales office The contents of this documentation shall not become part of or modify any prior or existing agreement commitment or relationship The sales contract contains the entire obligation of SIEMENS AG The warranty contained in the contract between the parties is th...

Page 8: ... e g as a result of HW and or SW errors in the sensors controller actuators and connection system Reaction times of the controller and the drive Operation and or ambient conditions not compliant with the specification Errors in parameterization programming wiring and installation Use of radio units mobile phones in the direct vicinity of the controller External influences damage 2 Extraordinary te...

Page 9: ...0 mm per revolution this corresponds to a maximum linear motion of approximately 1 6 mm Example synchronous linear motor For a synchronous linear motor the movement can be a maximum of one pole width For a linear motor this corresponds to the following distances 1FN3 20 mm For a 1 encoder system encoder faults are detected by various HW and SW monitoring functions It is not permissible that these ...

Page 10: ...s present in the vicinity of the product These are for example EMF Directive 2004 40 EEC and standards EN 12198 1 to 3 pertinent to the European Economic Area EEA as well as accident prevention code BGV 11 and the associated rule BGR 11 Electromagnetic fields of the German employer s liability accident insurance association pertinent to Germany These state that a hazard analysis must be drawn up f...

Page 11: ...sensing is required SAFETY NOTICE This inverter SIMOVERT MASTERDRIVES is an open type IP20 component In case of failure exceptional high temperatures including open fire within and outside the inverter as well as emissions of light noise particles or gas can appear caused by e g Component malfunctions Software errors Operating and or ambient conditions not within the scope of the specification Ext...

Page 12: ...ations MOTION CONTROL Function Blocks and Parameters Compendium Parameterization Parameterizing Steps Functions Communication Technology Option F01 Control Word and Status Word Engineering Information Function Diagrams Parameter Lists Faults and Alarms Version AN 6SE7087 6QX70 Lists of Stored Motors Dimension Drawings in Volume 1 in Volume 2 ...

Page 13: ......

Page 14: ...ut for when using certain option boards and CUPM 2 16 2 3 1 Encoder interface connections 2 16 2 3 2 TB boards 2 17 2 3 3 EB boards 2 17 2 4 Safe stop functions of electrical drive systems in accordance with DIN EN 61800 5 2 2 18 2 4 1 Reference documents 2 18 2 4 2 Overview 2 19 2 4 2 1 Safety function STO Safe Torque Off 2 19 2 4 2 2 Safety function SS1 Safe Stop 1 time controlled 2 19 2 4 3 Gen...

Page 15: ... 3 2 3 2 1 What is EMC 3 2 3 2 2 Noise emission and noise immunity 3 2 3 2 3 Industrial and domestic applications 3 3 3 2 4 Non grounded systems 3 3 3 3 The frequency converter and its electromagnetic compatibility 3 4 3 3 1 The frequency converter as a noise source 3 4 3 3 2 The frequency converter as a noise receiver 3 7 3 4 EMC planning 3 8 3 4 1 The zone concept 3 10 3 4 2 Use of filters and c...

Page 16: ...1 Configuring slaves 5 30 5 4 4 2 Changing slaves 5 31 5 4 5 Technical data 5 31 5 5 Parameter input with DriveMonitor 5 32 5 5 1 Installation and connection 5 32 5 5 1 1 Installation 5 32 5 5 1 2 Connection 5 32 5 5 2 Establishing the connection between DriveMonitor and the device 5 33 5 5 2 1 Setting the USS interface 5 33 5 5 2 2 Starting the USS bus scan 5 35 5 5 2 3 Creating a parameter set 5...

Page 17: ...2 7 2 3 1 Functions 7 16 7 2 3 2 Normalization 7 24 7 2 3 3 Operating modes 7 28 7 2 3 4 Preprocessing of position setpoint 7 44 7 2 3 5 Application example 7 46 7 2 3 6 Change history 7 50 7 3 Converter functions 7 51 7 3 1 Friction characteristic function function diagram 399 7 51 7 3 1 1 Friction characteristic 7 51 7 3 1 2 Friction characteristic recording automatic procedure 7 51 7 3 2 Torque...

Page 18: ...MATIC OP 8 2 17 8 2 3 Mechanisms for processing parameters via the PROFIBUS 8 2 18 8 2 4 PROFIdrive V3 Acyclic parameter accessing with data block 47 8 2 26 8 2 4 1 Comparison between parameter tasks to PROFIdrive version 2 and 3 8 2 28 8 2 4 2 Example of Request parameter value simple 8 2 29 8 2 4 3 Example of Change parameter value simple 8 2 30 8 2 4 4 Example of Request parameter value more th...

Page 19: ...5 Setpoints Actual values 8 2 97 8 2 9 6 Dynamic Servo Control DSC 8 2 98 8 2 9 7 Communication interface 8 2 106 8 2 9 8 Clock synchronous application 8 2 106 8 2 9 9 Encoder interface from SW 1 6 8 2 107 8 2 10 Diagnosis and troubleshooting 8 2 117 8 2 10 1 Evaluating the possibilities of hardware diagnosis 8 2 117 8 2 10 2 Fault and alarm display on the basic unit 8 2 119 8 2 10 3 Evaluating CB...

Page 20: ... 31 8 4 5 1 Basic parameterization of the units 8 4 32 8 4 5 2 Process data softwiring in the units 8 4 45 8 4 6 Diagnosis and troubleshooting 8 4 52 8 4 6 1 Evaluation of hardware diagnostics 8 4 52 8 4 6 2 Fault displays and alarms on the basic unit 8 4 54 8 4 6 3 Evaluation of the CBC diagnostic parameter 8 4 56 8 4 6 4 Meaning of CBC diagnosis 8 4 57 8 4 7 Appendix 8 4 60 8 5 CBC CANopen commu...

Page 21: ... 3 9 3 2 Positioning 9 5 9 3 3 Synchronization 9 7 9 3 4 Technology functions already included in the standard software 9 13 9 3 5 Seamless Integration in SIMATIC Automation Solutions 9 15 9 4 Brief description of the technology functions 9 16 9 4 1 Overview of the function diagrams 9 16 9 4 2 Integrating the technology into the basic unit 801 9 17 9 4 3 General information on position encoder eva...

Page 22: ...correction 843 9 101 9 4 39 Referencing on the fly for synchronization 843 9 102 9 4 40 Docking point between basic positioner 789b and synchronism 836 9 103 9 4 41 Continue synchronism 9 109 9 5 Communication with the technology 9 110 9 5 1 Process data communication PZD 9 110 9 5 2 Parameter transfer PKW 9 113 9 5 3 Standard function blocks for PROFIBUS DP and USS 9 114 9 5 4 Additionally availa...

Page 23: ...ity 9 158 9 8 9 Procedure for using the GMC BASIC S7 software 9 159 9 8 10 Defining the positioning input signals 9 160 9 8 11 Defining the positioning status signals 9 161 9 8 12 Connection and parameters of the position sensing system 9 162 9 8 13 Machine data input MD1 MD50 9 164 9 8 14 Connecting the technology to the speed and position controller 9 165 9 8 15 Setting the parameters for the po...

Page 24: ...lection of the motor 11 12 11 5 Selection of converters or inverters 11 17 11 6 Selection of the rectifier unit for multi axis drives 11 19 11 7 Selection of the braking units and braking resistors 11 21 11 8 Selection of other components 11 22 11 9 Calculating example 11 25 11 9 1 Calculation of the x axis as the travel gear 11 25 11 9 2 Calculating the y axis as the travel gear 11 34 11 9 3 Calc...

Page 25: ...he following different control versions are provided within the SIMOVERT MASTERDRIVES product group Vector control VC Vector control for higher demands regarding accuracy and dynamic performance Motion control MC Vector control for servo drive applications as an option with higher level technology functions The SIMOVERT MASTERDRIVES product group comprises the following components Accessories Comp...

Page 26: ... and positional signals The Motion Control functionality is available both in converter and inverter modules which are designed for a system voltage range of 380 V 15 to 480 V 10 All units are provided with a comprehensive basic functionality which can be expanded if required by extensive technology and communication functions by the use of software and hardware options This enables the units to b...

Page 27: ...logy functions for positioning synchronism and cam disk Definition of the closed loop control structures by means of freely assignable function blocks User friendly start up and diagnostics procedures Menu prompting Graded operator control and visualization by means of an integrated simple standard operator control panel a user friendly operator control panel or via PC Uniform PC capable programmi...

Page 28: ...zation of the units with OP1S or PC Optional boards for various field bus interfaces e g Profibus DP for integration in the automation Optional board for connecting up SIMOLINK for fast and synchronous data transfer between technologically connected drives e g angular synchronism Profibus DP USS Bus SIMOLINK SIMATIC S7 Operator control and visualization SIEM ENS SIEM ENS X100 Run Fau l t Chopper a...

Page 29: ...ive energy is stored in the capacitor module or reduced in the braking resistor 2 1 2 Multi axis drive up to 3 axes In the case of multi axis drives see Fig 2 2 on page 2 3 a converter AC AC can be combined with inverters DC AC The converter rectifies the line voltage and supplies the inverters with direct voltage via the DC link bus module The power supply integrated in the converter further prov...

Page 30: ...he capacitor module or dissipated in the braking resistor Capacitor module Compact PLUS type AC AC converter Compact PLUS type U2 V2 W2 PE2 X100 33 34 35 36 C H G D X3 1 X9 2 X6 X6 Braking resistor PE L1 L2 L3 3AC 50 60 Hz 380 480 V Control voltage AC 230 V ON OFF A1 A2 Q1 USS bus DC link bus module 510 650 V 4 3 14 1 12 C D X3 PE3 PE3 Main switch Options are shaded in gray X2 G SBx in Slot C M 3 ...

Page 31: ... X2 X2 G SBx in Slot C G SBx in Slot C M 3 M 3 Control Checkback open Safe STOP X533 1 2 3 4 0 V Safe STOP Safe STOP PTC KTY PTC KTY 13 X101 1 12 24 V 0 V Supply voltage USS bus DC link bus module 510 650 V X101 1 12 15 13 9 9 16 4 8 3 14 1 12 C D X3 C D X3 C D X3 PE3 PE3 PE3 PE3 Main switch Options are shaded in gray X2 G SBx in Slot C M 3 PTC KTY 15 13 X101 1 12 9 Line filter 2 X7 D C X1 U1 V1 W...

Page 32: ...2 V2 W2 PE2 15 X2 X2 G SBx in Slot C G SBx in Slot C M 3 M 3 To further capacitor modules Control Checkback open Safe STOP X533 1 2 3 4 0 V Safe STOP Safe STOP PTC KTY PTC KTY 13 X101 1 12 24 V 24 V 0 V Supply voltage USS bus DC link bus module 510 650 V X101 1 12 X1 15 13 9 9 16 8 2 1 5 6 12 To further inverters Compact PLUS DC AC C D X3 C D X3 C D X3 3 PE3 PE3 PE3 PE3 Main switch Options are sha...

Page 33: ...eeping system perturbations to within the limits laid down by VDE 0160 The external 24 V supply is used to maintain the communication and diagnostics of the connected up units even with powered down line voltage The following criteria apply regarding dimensioning A current of 1 A must be provided for the rectifier unit and a current of 2 A for each inverter connected When the 24 V supply is powere...

Page 34: ...elevant operating instructions for the applicable measures and notes for correct operation The serial interface is used to connect the user friendly OP1S operator control panel or a PC It can be operated either according to the RS232 or the RS485 protocol Please refer to the relevant operating instructions for the applicable measures and notes for correct operation When a capacitor module is used ...

Page 35: ...5EP50 100 m 70 m 50 m 35 m 6SE7013 0EP50 140 m 100 m 70 m 50 m 6SE7015 0EP50 140 m 100 m 70 m 50 m 6SE7018 0EP50 140 m 100 m 70 m 50 m 6SE7021 0EP50 140 m 100 m 70 m 50 m 6SE7021 4EP50 140 m 100 m 70 m 50 m 6SE7022 1EP50 140 m 100 m 70 m 50 m 6SE7022 7EP50 140 m 100 m 70 m 50 m 6SE7023 4EP50 140 m 100 m 70 m 50 m The maximum lengths for pulse frequencies between 5 and 10 kHz are obtainable by line...

Page 36: ... note that different encoder cables are required for encoders and multiturn encoders If the wrong encoder cable is used for one or the other fault F051 during operation or alarm A018 or A019 is generated The encoder cable must only be connected and plugged in when the converter is disconnected from the supply 24 V and DC link Damage to the encoder could result if this advice is not heeded This esp...

Page 37: ...assis type units The single axis drive see Fig 2 4 on page 2 9 is used for single axis applications or where energy balancing over several axes is not wanted or not possible In this case only one converter is used that where applicable is connected directly to the three phase system via an external main contactor a line filter and a line reactor Any regenerative energy is dissipated in the braking...

Page 38: ...14 1 Main switch X2 G SBx in Slot C M 3 PTC KTY 15 13 X101 9 Line filter 2 Control voltage AC 230 V A1 A2 Q1 C D Braking unit 19 U1 V1 W1 PE1 5 X1 Control voltage AC 230 V G Motor encoder Resolver Encoder Pulse encoder Multiturn encoder X300 7 8 9 6 5 4 1 2 3 Reset 0 Jog O I P Fault Run OP1S 11 7 9 X9 SST1 SST2 4 5 X38 G H X6 X3 20 C D 24 V 230 V 24 V 0 V 1 12 5 Options are shaded in grey Fig 2 4 ...

Page 39: ...3 PTC KTY 15 13 X101 9 X300 11 SST1 C D external braking resistor Braking unit 19 4 5 X38 G H X6 X3 20 C D 12 16 DC AC inverter Compact type U2 V2 W2 PE2 X103 X2 G SBx in Slot C M 3 PTC KTY 15 13 X101 9 X300 11 SST1 SST2 C D 1 12 5 16 5 1 21 22 1 8 SST2 X1 X1 Control open Safe STOP Checkback closed Safe STOP Safe STOP 24 V 230 V 4 3 6 5 X9 2 1 AC 230 V only type D 7 8 9 6 5 4 1 2 3 Reset 0 Jog O I...

Page 40: ...01 9 X300 11 SST1 C D external braking resistor Braking unit 19 4 5 X38 G H X6 X3 20 C D 12 16 DC AC inverter chassis type U2 V2 W2 PE2 X103 X1 G SBx in Slot C M 3 PTC KTY 15 13 X101 9 X300 11 SST1 SST2 C D 1 12 5 16 5 1 21 SST2 X1 X1 Control open Safe STOP Checkback closed Safe STOP Safe STOP 2 1 4 3 2 AC 230 V 7 8 9 6 5 4 1 2 3 Reset 0 Jog O I P Fault Run OP1S AC 230 V 18 1 2 X19 X1 5 1 X18 18 X...

Page 41: ...units even with powered down line voltage Rectifier units always require an external 24 V supply The following criteria apply regarding dimensioning Currents see catalog DA65 11 When the 24 V supply is powered up an increased inrush current will be generated that has to be mastered by the power supply No controlled power supply unit has to be used the voltage must be between 20 V and 30 V On a sin...

Page 42: ...er with the DC link charged Use of a line filter is necessary if the radio interference voltages generated by the converters or rectifier units need to be reduced The use of output reactors sinusoidal or dv dt filters is not permissible for MASTERDRIVES MC units The Safe STOP option enables the power supply for the transmission of pulses into the power section to be interrupted by a safety relay T...

Page 43: ...ee wheeling diode has to be used see Catalog DA65 11 You will find preassembled encoder cables in Catalog DA65 11 chapter 3 Please note that different encoder cables are required for encoders and multiturn encoders If the wrong encoder cable is used for one or the other fault F051 during operation or alarm A018 or A019 is generated The encoder cable must only be connected and plugged in when the c...

Page 44: ...0 front connector 3 SBM2 or SBP or SBR2 The pulse encoder simulation of the motor encoder always in slot C on the backplane bus is always applied for further processing by the technology board T300 or T400 4 SBP or SBM2 or SBM If the SBP or the SBM2 or the SBM is the only encoder board inserted this board will always be recognized as evaluation for the motor encoder 5 If only one encoder board is ...

Page 45: ...keypad Access to parameter numbers is no longer possible with the up and down keys if the next parameter does not exist 4 If the T300 is used together with the SLB in a single unit The T300 with item no 477 407 9000 02 must be product version B or higher All product versions can be used for item no 477 407 9000 12 5 If theT100 is used together with the SLB in a single unit T100 must be product ver...

Page 46: ...titute for Occupational Safety R2 EMC and functional safety for power drive systems with integrated safety functions 02 2007 BGIA R3 EN ISO 13849 1 2008 R4 EN ISO 13849 2 2003 R5 IEC 61800 5 2 2007 R6 EN 50205 2002 R7 EN 60947 4 1 2005 R8 EN 60947 5 1 2004 R9 EN 60204 1 2006 R10 Catalog DA 65 10 2003 2004 SIMOVERT MASTERDRIVES Vector Control 0 55 kW to 2300 kW R11 Catalog DA 65 11 2003 2004 SIMOVE...

Page 47: ...ly bring the drive to a standstill and activate the function Safe Torque Off If the drive is at a standstill and the function Safe Torque Off is active additional brakes may be required in cases where there is a risk of external forces acting on the drive axes The Safe Torque Off function on SIMOVERT MASTERDRIVES is a mechanism for shutting down a drive and preventing it from restarting unexpected...

Page 48: ...trol variant There are various methods of achieving safe pulse suppression depending on the type of construction Type of construction Unit rating Safety circuit design Compact PLUS Small 0 55 kW to 4 kW As a separate module on the power section option K80 Compact PLUS Large 5 5 kW to 18 5 kW On the power section option K80 Compact PLUS Large LE 22 kW to 37 kW As a separate module on the power sect...

Page 49: ...l amplifier of a power transistor The power supply PV of the optocouplers or fiber optic cable transmitters is supplied via the NO contact of safety relay K1 When the Safe Torque Off function is active the NO contact of the safety relay is open and the NC contact checkback contact is closed Because the NO and NC contacts are positively driven it is possible to evaluate the status of the safety rel...

Page 50: ...ircuit principle can be applied on all unit types However the terminal designations differ according to the unit type 1 4 2 3 Supply to optocouplers FOC P15 Terminal strip X533 Fig 2 8 MASTERDRIVES Compact PLUS STO control schematic diagram Terminal Designation Description 4 P24 DC Supply voltage for safety relay 3 Control input STO Rated resistance of operating coil 823 Ω 10 at 20 C 2 Contact 2 C...

Page 51: ...olled SS1 Ext STOP B Stop Category 1 Quick stop It should be noted that the safety functions represent only a very small minority of the device functions Through selection of appropriate circuitry it is possible to build a two channel structure with appropriate fault detection mechanisms for safety functions The line contactor and the line fuses in the feeder cable must be designed and dimensioned...

Page 52: ...and designed according to the requirements of the safety function to be implemented The subsystem REACT is in principle a two channel structure The first channel contains the safety relay K1 of the drive option K80 This operates according to the principle of pulse disconnection with monitoring The second channel is formed by the line contactor K2 which must be connected into the mains feeder cable...

Page 53: ...E can have the same structure as described in subsection 2 4 4 1 STO principle in a safety function A safety oriented dropout delay must be added to the subsystem EVALUATE Activation of the safety function by the subsystem ACQUIRE initiates an instantaneous single channel quick stop on the drive A safe timer is started simultaneously in EVALUATE The dropout delay of the timer must be set such that...

Page 54: ...nverter The specifications for performance level verification can remain valid Power contactors with mirror contacts and contactor relays with positively driven contacts are employed in the examples below In the interests of simplicity the mirror contacts of the power contactors are referred to throughout as positively driven contacts 2 4 5 1 Emergency Stop on a converter STO The drive must be swi...

Page 55: ...Motion Control 2 27 Fig 2 11 Emergency Stop on a Compact PLUS converter STO on drive Emergency Stop is canceled and the safety switching device A1 is reset by means of button S1 Safety relay K1 and line contactor K2 are energized via the contacts of the safety switching device A1 Requirements for operating the drive ...

Page 56: ...or is separated in two channels from the torque producing power supply This behavior is identical to Stop Category 0 in accordance with EN 60204 1 2006 R9 Pulse suppression before the drive has reached standstill causes the motor to coast down Vertical axes must be secured by holding brakes or similar The slide switch of A1 must be in the Monitored position for this application Fig 2 12 Block diag...

Page 57: ...Comment Emergency Stop button S3 B10 value 100 000 Specified by manufacturer Share of hazardous failures 20 Specified by manufacturer B10d value 500 000 failures hazardous of share B10 10 B d nop 12 per year Assumed actuations per year MTTFd 416 666 years high op d d n 1 0 10 B MTTF DC 99 Plausibility monitoring by A1 Result PFHd 4 29 x 10 8 h EN ISO 13849 1 2008 Appendix K Performance Level PLe w...

Page 58: ...gory B Protective circuits are provided The safety function always remains operative when a component fails Component failure is detected This structure corresponds to Category 3 in accordance with EN ISO 13849 1 2008 R3 Determination of MTTFd Parameter Value Comment Channel 1 Safety relay K1 B10d value 20 000 000 Specified by manufacturer nop 12 per year 12 actuations per year due to Emergency St...

Page 59: ...mon cause failure CCF of the safety function In accordance with ISO 13849 1 Appendix F a minimum of 65 points are required for SRP CS from Category 2 Measure Points Physical separation between signal paths Separation of wiring in control cabinet Adequate creepages and clearances on printed circuits 15 Protection against overvoltage overcurrent 15 Use of proven components 5 Diverse technologies are...

Page 60: ...67 x 10 8 h e 1x10 6 h The requirements regarding PL d with Category 3 for the supplementary safety function Emergency Stop are thus fulfilled 2 4 6 Emergency Stop and protective door monitoring on a converter STO a The drive is switched off safely when the protective door is opened b The drive must be switched off safely by the supplementary safety function Emergency Stop As a result of the risk ...

Page 61: ...uration and Connection Examples Siemens AG 6SE7087 6QX70 Version AM SIMOVERT MASTERDRIVES Compendium Motion Control 2 33 Fig 2 13 Emergency Stop and protective door monitoring on a Compact PLUS converter STO on drive ...

Page 62: ...tor The positively driven NC contact of K1 energizes the contactor relay K3 When the timer set in A2 runs down the time delayed contact 47 48 opens The line contactor K2 is energized by K3 K1 and K2 are automatically and directly energized again The contacts of the safety switching device A1 are opened The safety relay K1 and the line contactor K2 are de energized irrespective of the state of the ...

Page 63: ...oor is opened The protective door is opened every 10 minutes in two shift operation The working period is Monday to Friday The actuations are calculated to be 6 x 1 h 16 h d 260d 24960 per year K2 K1 K3 A2 A1 S4 S5 A1 Fig 2 14 Block diagram of the protective door safety function The safety switching device A1 is required to diagnose K2 and K3 It is not included in the calculation for the protectiv...

Page 64: ... of hazardous failures 20 Specified by manufacturer B10d value 50 000 000 failures hazardous of share 10 B 10 B d nop 24960 per year Assumed actuations per year MTTFd 20 032 years Capped to 100 years op d d n 1 0 10 B MTTF DC 99 Plausibility monitoring by A2 Interim results for ACQUIRE channels 1 and 2 MTTFd ACQUIRE 100 years High MTTFd values of both channels have been capped to 100 years It is n...

Page 65: ...sists of the safety relay K1 The second channel consists of the line contactor K2 and the contactor relay K3 Both channels are de energized simultaneously by safety switching device A1 during an Emergency Stop In this example the subsystem REACT is formed by two channels with different request rates for each channel A dangerous fault in channel 1 causes an instantaneous request from channel 2 The ...

Page 66: ...Channel 2 Line contactor K2 B10d value 1 333 333 Specified by manufacturer nop 12 per year 12 per year due to Emergency Stop MTTFd K2 1 111 111 years op d d n 1 0 10 B MTTF Contactor relay K3 B10d value 1 333 333 Specified by manufacturer nop 24972 per year 24960 per year due to protective door 12 per year due to Emergency Stop MTTFd contactor relay 534 years op d d n 1 0 10 B MTTF Interim result ...

Page 67: ...nel2 90 Testing of K2 and K3 in feedback circuit of A1 on request for Emergency Stop 12x per year Faults might accumulate undiscovered between the requests DCavg 94 5 average 2 channel MTTF 1 1 channel MTTF 1 2 channel MTTF DC 1 channel MTTF DC DC d d d 2 d 1 avg Determination of Performance Level Structure of SRP CS according to Category 3 MTTFd is high DCavg is average Sufficient measures agains...

Page 68: ... d with Category 3 for the protective door safety function are thus fulfilled 2 4 6 2 Supplementary safety function Emergency Stop The drive must be switched off safely if the Emergency Stop button is actuated The Emergency Stop button is actuated 1x per month This safety function can be assessed according to the same principles described in subsection 2 4 5 1 Emergency Stop on a converter STO The...

Page 69: ...the standstill timer runs down the drive is safely switched to a no torque condition b The supplementary safety function Emergency Stop causes the drive to reach a safe controlled standstill When the standstill timer runs down the drive is safely switched to a no torque condition As a result of the risk assessment the required performance level for both safety functions has been defined as PLr d T...

Page 70: ...trol board CU Option K80 U1 V1 W1 X533 Line contactor Q1 Main switch Mains K2 K1 Safety relay K3 Contactor relay K3 M OFF3 Line contactor K2 M A1 Y11 Y12 Y21 Y22 14 3TK2842 28 A2 Y32 Y34 Y35 tv 1 K3 M M K4 M K4 K2 K4 A1 Y11 Y12 Y21 Y22 14 3TK2842 28 A2 Y32 Y34 Y35 tv 1 A1 M A1 Y11 Y12 Y21 Y22 14 3TK2842 28 A2 Y32 Y34 Y35 1 A3 Y32 Y32 Y32 tv K3 Fig 2 15 Emergency Stop and protective door monitoring...

Page 71: ...ctive door is opened the position switch contacts S4 and S5 are opened The instantaneous output 14 of A2 supplies a low signal to the OFF3 input of the drive The motor is brought to a standstill along the quick stop ramp When the timer on A2 runs down the time delayed output 28 switches the cascading input 1 of A3 to low level The instantaneous output 14 of A3 de energizes the safety relay K1 Puls...

Page 72: ... relay K1 Pulse suppression in the drive and thus interruption of energy supply to the motor The time delayed output 28 of A1 de energizes the line contactor after the set delay period This behavior is identical to Stop Category 0 in accordance with EN 60204 1 2006 R9 The drive must be brought to a standstill within the delay period set on A2 Pulse suppression before the drive has reached standsti...

Page 73: ... and switched off after a safely monitored timer has run down The protective door is opened every 10 minutes in two shift operation The working period is Monday to Friday The actuations are calculated to be 6 x 1 h 16 h d 260d 24960 per year Fig 2 16 Block diagram of the protective door safety function The safety switching device A1 is required to diagnose K2 and K3 It is not included in the calcu...

Page 74: ... of hazardous failures 20 Specified by manufacturer B10d value 50 000 000 failures hazardous of share 10 B 10 B d nop 24960 per year Assumed actuations per year MTTFd 20 032 years Capped to 100 years op d d n 1 0 10 B MTTF DC 99 Plausibility monitoring by A2 Interim results for ACQUIRE channels 1 and 2 MTTFd ACQUIRE 100 years High MTTFd values of both channels have been capped to 100 years It is n...

Page 75: ... PFHd Performance Level PLe with Category 4 The subsystem REACT is formed by two channels The first channel consists of the safety relay K1 The second channel consists of the line contactor K2 and the contactor relays K3 and K4 In this example the subsystem REACT is formed by two channels with different request rates for each channel A dangerous fault in channel 1 causes an instantaneous request f...

Page 76: ... Line contactor K2 B10d value 1 333 333 Specified by manufacturer nop 12 per year 12 per year due to Emergency Stop MTTFd K2 1 111 111 years op d d n 1 0 10 B MTTF Contactor relays K3 and K4 B10d value 1 333 333 Specified by manufacturer nop 24972 per year 24960 per year due to protective door 12 per year due to Emergency Stop MTTFd contactor relay 534 years op d d n 1 0 10 B MTTF Interim result C...

Page 77: ...e protective door is closed DCavg 94 5 average 2 channel MTTF 1 1 channel MTTF 1 2 channel MTTF DC 1 channel MTTF DC DC d d d 2 d 1 avg Determination of Performance Level Structure of SRP CS according to Category 3 MTTFd is high DCavg is average Sufficient measures against common cause failure According to EN ISO 13849 1 2008 Appendix K PL e is achieved with PFHd 4 29 x 10 8 h In accordance with I...

Page 78: ...ry safety function Emergency Stop The drive must be safely brought to a standstill and switched off if the Emergency Stop button is actuated The Emergency Stop button is actuated 1x per month This safety function can be assessed according to the same principles described in subsection 2 4 7 1 Protective door safety function However the Emergency Stop button and the safety switching device A1 must ...

Page 79: ... button Accumulation of faults between two consecutive actuations of the Emergency Stop button can result in loss of the safety function This behavior corresponds to Category 3 Parameter Value Comment Emergency Stop button S3 B10 value 100 000 Specified by manufacturer Share of hazardous failures 20 Specified by manufacturer B10d value 500 000 failures hazardous of share 10 B 10 B d nop 12 per yea...

Page 80: ...aneous and time delayed enabling circuits Result PFHd 1 62 x 10 10 h 3 A PFHd 2 A PFHd 1 A PFHd PFHd Performance Level PLe When the Emergency Stop button is actuated the voltage supply to the line contactor K2 and the safety relay K1 is disconnected via the time delayed output 28 of A1 The contactor relays K3 and K4 therefore have no influence on the proper functioning of K1 and K2 when an Emergen...

Page 81: ...p MTTFd K1 8008 years op d d n 1 0 10 B MTTF Interim result channel 1 MTTFd channel1 8008 years Capped to 100 years Channel 2 Line contactor K2 B10d value 1 333 333 Specified by manufacturer nop 12 per year 12 actuations per year due to Emergency Stop MTTFd K2 1 111 111 years op d d n 1 0 10 B MTTF Interim result Channel 2 MTTFd channel2 1 111 111 years Capped to 100 years Interim results for REAC...

Page 82: ...08 Appendix K PL e is achieved with PFHd 4 29 x 10 8 h In accordance with ISO 13849 1 a minimum of 65 points are required for SRP CS from category 2 The observations stated in subsection 2 4 5 2 Measures against common cause failure CCF of the safety function apply A sufficient total of 65 points is thus achieved Parameter PFH value PL Comment ACQUIRE 4 29 x 10 8 h e Emergency Stop button S3 EVALU...

Page 83: ... one converter STO a The drives are switched off safely when the protective door is opened b The drives must be switched off safely by the supplementary safety function Emergency Stop As a result of the risk assessment the required performance level for both safety functions has been defined as PLr d The DC link must remain energized in normal operation when the protective door is open Requirement...

Page 84: ...8 24 23 31 47 57 32 48 58 Y33 Y34 PE A2 Closed Open Line contactor K2 K3 M Contactor relay K3 M M K3 M 3 P24V 1 2 3 4 M PV SIMOVERT MASTERDRIVES U2 V2 W2 Control board CU Option K80 X533 C D M 3 Line contactor Q1 Main switch Mains K2 P24V 1 2 3 4 M PV SIMOVERT MASTERDRIVES U2 V2 W2 Control board CU Option K80 U1 V1 W1 X533 K1 1 Safety relay C D OFF3 K3 Safety relay K1 2 S5 S4 Fig 2 18 Emergency St...

Page 85: ...lculation for the subsystem REACT The subsystems ACQUIRE and EVALUATE are not affected Fig 2 19 Block diagram of the protective door safety function for two axes 2 4 8 2 Emergency Stop safety function This safety function has the same structure as the function described in subsection 2 4 6 2 Supplementary safety function Emergency Stop for one axis Only in the REACT area has the additional safety ...

Page 86: ...rcuit examples in this document have been constructed using separate safety switching devices The logic section of the described safety functions can be implemented just as well with programmable safety components such as fail safe PLC systems or the MSS Modular Safety System The monitoring functions of the safety relays can be programmed in the logic section which means that the contactor relays ...

Page 87: ...es Siemens AG 6SE7087 6QX70 Version AM SIMOVERT MASTERDRIVES Compendium Motion Control 2 59 Fig 2 21 Structure with programmable safe logic The safety functions are calculated in a similar manner to the examples above with discrete safety relays ...

Page 88: ...mponents control systems switch mode power sections etc can differ considerably as far as their noise immunity and noise emission levels are concerned For this reason it is permissible to deviate from the EMC regulations on a case to case basis after individual investigation In the context of the EMC Law SIMOVERT MASTERDRIVES are considered as components rather than units For a better understandin...

Page 89: ... exists when the existing interference sources do not affect the function of the noise receivers It is also possible for a unit to be both an interference source and an interference receiver at the same time For example the power section of a frequency converter can be regarded as a noise source whereas the control section can be regarded as a noise receiver The noise emission of frequency convert...

Page 90: ...the Second environment sector see EN 61800 3 section 6 3 2 However their high noise immunity makes them insensitive to the noise emitted by units in their vicinity If all control components of the system e g automation devices have a noise immunity suitable for industrial environments then it is not necessary for every drive to maintain this limit value 3 2 4 Non grounded systems In some industria...

Page 91: ...urrent flows in the motor M 3 I U Mains Frequency converter Motor U t I Inverter DC link Rectifier t Fig 3 1 Block diagram showing output voltage V and motor current I of a frequency converter The described mode of operation in conjunction with high performance semiconductor switching elements have made it possible to develop compact frequency converters which now play a vital role in drive techno...

Page 92: ...d be taken into account As a result of rectification of the line supply a non sinusoidal line current is drawn which causes a distortion of the line supply voltage Low frequency harmonics are reduced using line reactors The high frequency noise emission can only be reduced if the generated noise current is correctly routed Using non shielded motor cables the noise current flows in an undefined fas...

Page 93: ...V1 1W1 L2 L3 PE L1 L2 L3 PE U1 V1 W1 PE1 U2 V2 W2 PE2 Fig 3 4 Arrangement of the components Radio interference suppression filters and frequency converters must be connected through a low ohmic resistance for the high frequency noise currents In practice this requirement is best satisfied by mounting the frequency converters and radio interference suppression filters on a common panel Frequency co...

Page 94: ...nd an amplitude of just a few volts can lead to disturbing noise The most effective way of preventing noise being coupled in is to rigorously separate power and signal cables Zi IS Noise source Unit Board Shielded Signal cable CK Filter Fig 3 6 Increasing the noise immunity by using shielded signal cables The inputs and outputs of the SIMOVERT MASTERDRIVES control section are fitted with filters t...

Page 95: ...ver can be increased Noise sources are often power electronic units with a large current drain Complex filters are necessary to reduce their noise emission Noise receivers especially include control devices and sensors transmitters as well as their evaluation circuit Not so much effort and cost is required to increase the noise immunity of low power units In industrial environments it is therefore...

Page 96: ...d sensor system are accommodated in a cabinet The emitted noise has to be limited at the mains connection point and therefore radio interference suppression filters and line reactors are installed in the cabinet Assuming that all requirements are met at Point c can it be supposed that electromagnetic compatibility exists This question cannot just be answered with yes because EMC has to be reliably...

Page 97: ... is a noise source or a noise receiver Noise sources in this connection are for example frequency converters braking units contactors Noise receivers are for example automation devices encoders and sensors The machine system is then divided up into EMC zones and the units are assigned to these zones Each zone has its own requirements regarding noise emission and noise immunity The zones have to be...

Page 98: ... zones Zone A is the cabinet connection to the line supply including filter The emitted noise should be kept at specific limit values here Zone B contains the line reactor and the noise sources frequency converter braking unit contactor Zone C accommodates the control transformer and the noise receivers control and sensor system Zone D forms the interface between the signal and control cables to t...

Page 99: ...ntain the limit values First environment or Second environment a radio interference suppression filter is necessary irrespective of whether a dv dt or sinusoidal filter is used at the output of the frequency converter dv dt filters are used in the first place to protect the motor winding by reducing the maximum voltage stressing and in the second place the reduced voltage gradient will result in a...

Page 100: ...must be grounded at several points along their length Contactors relays solenoid valves electromechanical operating hours counters etc in the cabinet must be provided with quenching elements for example RC elements diodes varistors These quenching devices must be connected directly at the coil Non shielded cables associated with the same circuit outgoing and incoming conductor must be twisted or t...

Page 101: ... only connected for analog signals at one end at the SIMOVERT MASTERDRIVES The other end of the shield should be grounded through a capacitor e g 10 nF 100 V type MKT However the shield is still connected at both ends to ground for high frequency as a result of the capacitor If possible the signal cables should only enter the cabinet at one side If SIMOVERT MASTERDRIVES are operated from an extern...

Page 102: ...rounded partitions Suitable motor feeder cable e g Siemens PROTOFLEX EMV CY 4 x 1 5 mm2 4 x 120 mm2 with Cu shield Cables with steel shields are unsuitable A suitable PG gland with shield connection can be used at the motor to connect the shield It should also be ensured that there is a low impedance connection between the motor terminal box and the motor housing If required connect up using an ad...

Page 103: ... 5 6 Rule 2 Rule 4 5 7 Rule 9 10 Rule 16 Rule 17 Rule 13 Fig 3 5 2 Keep the radio interference suppression filters away from SIMOVERT MASTERDRIVES air discharge duct e g by mounting at another level Z Shield connection Rule 14 Netz Fig 3 9 Examples for applying the basic EMC rules Cable retaining bar Connect at both ends to the cabinet housing through the largest possible surface area Shield rail ...

Page 104: ...ough a PG gland nickel plated brass with a strain relief bar Thus the degree of protection IP 20 can be achieved For higher degrees of protection up to IP 68 there are special PG glands with shield connection e g SKINDICHT SHVE Messrs Lapp Stuttgart UNI IRIS Dicht or UNI EMV Dicht Messrs Pflitsch Hückeswagen It is not permissible to use plastic motor terminal boxes Shield clamp Cable con nector Fi...

Page 105: ...le shields For chassis units sizes E the shields can be additionally connected using cable connectors at the shield connecting locations Cable connector Serrated bar Intermediate terminals Connect serrated bars at both ends to the cabinet housing through the largest possible surface area Fig 3 13 Connecting signal cable shields in the cabinet Wherever possible intermediate terminals should not be ...

Page 106: ...per active SIEMENS A S1 B X101 C X103 P SIEMENS A S1 B X101 C X103 P Line reactor Line reactor Fan Rect unit Inv Inv Radio inter ference suppression filter Fig 3 14 Example of a Compact PLUS type unit with radio interference suppression filter and line reactor The cabling should be kept as short as possible The line supply cable to the radio interference suppression filter must be routed separatel...

Page 107: ...nnect the motor cable and to mount the shield First connect the motor cable to the removed X2 motor connector Connect the shield of the motor cable through the largest possible surface area at the connecting adapter e g with shield clamps Insert the fastening straps of the connecting adapter through the slots in the lower housing section and screw them into place Locate the motor connector X2 and ...

Page 108: ...Connecting adapter Shielded motor cable Options e g braking unit Fig 3 16 Example of a Compact type unit with radio interference suppression filter and line reactor The cabling should be kept as short as possible The line supply cable to the radio interference suppression filter must be routed separately away from other cables zone concept The motor must be connected using a shielded cable The shi...

Page 109: ... 3 17 Mounting the connecting adapter Screw lower section A to SIMOVERT MASTERDRIVES Mount SIMOVERT MASTERDRIVES on the mounting panel Connect the shielded motor cable and shield to section A through the largest possible surface area e g attach using cable connectors Locate upper part B and screw into place The shields of signal cables can be connected to the upper section ...

Page 110: ... X2 PE1 PE2 3 2 1 1 Shield rail 2 Shield housing for options 3 Partition shielding between input and out put circuit to which the basic unit is connected through the largest possible surface area A1 Radio interference suppression filter K1 Main contactor L1 Line reactor L3 Output reactor U1 SIMOVERT MASTERDRIVES U9 Braking unit A1 3 L1 W1 L3 U1 L1 V1 L2 C L D L X1 L1 Fig 3 18 Example of a chassis ...

Page 111: ...ables Cable duct only for line supply cables Fig 3 19 Installation with separate cable ducts Installation with cable ducts only for the line supply cables Line supply cables are non shielded The motor and signal cables are routed separately from each other The shields of the motor and signal cables have to be mounted on the shield connections through the largest possible surface area Example of co...

Page 112: ...g panel All of the cables are non shielded Optically this layout looks good But from an EMC perspective this installation is useless The motor and signal cables are routed in parallel in the lower cable duct The same is true for line supply cables and external power supplies in the upper cable duct All of the cables are then routed together in the vertical cable duct Cabling such as this allows no...

Page 113: ...onsisting of SIMOVERT MASTERDRIVES and the associated line reactors The components were mounted in cabinets Type 8MC in observance of the specified rules The motor feeder cable was 30 m long 3 7 Specified standards EN 55011 1991 Limits and methods of measurement of radio disturbance characteristics of industrial scientific and medical ISM radio frequency equipment EN 50081 1 1992 Generic emission ...

Page 114: ... interconnected by cables The difference is however that function blocks are interconnected not by cables but via software 4 1 Function blocks Functions are implemented in function blocks The function scope of the individual function blocks depends on its special task The function blocks are provided with inputs outputs and parameters and are processed in time slots K0153 M set Gain Time n Reg gai...

Page 115: ...ments of a function block In addition to the time slot the processing sequence can also be determined for most of the function blocks 4 2 Connectors and binectors Connectors and binectors are elements which are used to exchange signals between individual function blocks They are each cyclically filled by function blocks with one signal value Other function blocks can then call up these values depe...

Page 116: ... 4000 0000H C000 0000H 100 100 Connector with word length Kxxxx Connector with double word length KKxxxx 1H 0 000 000 093 1H 0 06 Fig 4 3 Value range and assignment of the figure ranges for connectors Function blocks archive the binary digital output information in binary connectors the binectors Binectors can therefore be likened to storage locations used for storing binary signals They are clear...

Page 117: ...y BICO parameter and every function parameter They further indicate the value ranges for the changeable function parameters The parameter numbers shown on the parameterizing unit PMU which is directly mounted on the unit consist of a letter and a three digit number The following applies for the letters Upper case letters P U H and L represent the BICO parameters and function parameters which can b...

Page 118: ...r index F The parameters concerned are indexed four fold which means that one parameter value can be stored under each parameter index i e a total of four parameter values can be stored The active function data set determines which value is currently being used If function data set 1 is active the parameter value stored in parameter index 1 is used If function data set 2 is active the parameter va...

Page 119: ...32 bit Reciprocal softwiring of binectors and connectors is not permitted However you can always connect connector with word length and double word length to the connector parameters BICO parameters are available in two forms they can either be non indexed or double indexed Parameter name Parameter index factory setting Connectable binector Parameter number P651 B 0 B Src DigOut1 Parameter name Pa...

Page 120: ...s are selected by means of control word bit 30 in control word 2 P590 The active BICO data set is displayed via visualization parameter r012 Active BICO DS All indexed BICO parameters are always switched jointly between parameter index 1 and 2 Visualization parameters are used for visualizing internal quantities e g applicable output current These parameters are only displayed and cannot be change...

Page 121: ...tor from which the required input signals are read in You are allowed to enter the same connector and binector numbers several times in different BICO parameters and thus use output signals of one function block as input signals for several other function blocks Example In the following figure connector K0152 is connected to connector parameter P228 For this purpose you must assign the number of c...

Page 122: ...erconnection of a a word connector parameter Value stays the same word connector to a double word connector parameter Value is taken over in high word low word is filled up with 0000H Interconnection of a double word connector a word connector parameter Value is taken over from high word low word deleted to a double word connector parameter Value stays the same Table 4 1 Interconnecting different ...

Page 123: ...panel and via a controller at the field bus level e g Profibus In firmware V 20 for performance 2 units BICO parameters can also be changed in the Run drive status see also parameter list Changeable in In contrast to firmware v1 x in which BICO parameters could only be changed in the Ready drive status structural changes can also be made on performance 2 units with firmware V2 0 during running ope...

Page 124: ...tion control Speed control Current control V f open loop control Gating unit Faults alarms Messages displays Trace Synchronism Positioning Setting up MDI User parameters Parameter menu Fixed settings Quick parameterization Board configuration Drive setting Download Upread free access Power section definition Menu level 1 Select via P60 Menu Select Menu level 2 only on OP1S Menu level 3 only on OP1...

Page 125: ...sed to perform a parameter reset to a factory or user setting 3 Quick parameterization Used for quick parameterization with parameter modules When selected the unit switches to status 5 Drive setting 4 Board configuration Used for configuring the optional boards When selected the unit switches to status 4 Board configuration 5 Drive setting Used for detailed parameterization of important motor enc...

Page 126: ...0 4 464 P360 5 235 P360 6 240 P360 7 2306 P053 Parameter access always contained P060 Menu select always contained P462 Accel Time P464 Decel Time P235 n Reg Gain1 P240 n Reg Time U306 Timer5 Time_s Table 5 2 Example Parameterizing a user menu In order to prevent undesired parameterization of the units and to protect your know how stored in the parameterization it is possible to restrict access to...

Page 127: ... mechanism 5 2 Changeability of parameters The parameters stored in the units can only be changed under certain conditions The following preconditions must be satisfied before parameters can be changed Preconditions Remarks Either a function parameter or a BICO parameter must be involved identified by upper case letters in the parameter number Visualization parameters identified by lower case lett...

Page 128: ...r 5 3 Parameter input via the PMU The PMU parameterizing unit enables parameterization operator control and visualization of the converters and inverters directly on the unit itself It is an integral part of the basic units It has a four digit seven segment display and several keys The PMU is used with preference for parameterizing simple applications requiring a small number of set parameters and...

Page 129: ...lay is active For switching over to parameter number level If parameter value level is active For shifting the displayed value one digit to the right if parameter value cannot be displayed with 4 figures left hand figure flashes if there are any further invisible figures to the left Hold toggle key and depress lower key If parameter number level is active For jumping directly to operating display ...

Page 130: ...d increase Lower key For lowering the displayed value Short press single step decrease Long press rapid decrease Hold toggle key and depress raise key If parameter number level is active For jumping back and forth between the last selected parameter number and the operating display r000 If fault display is active For switching over to parameter number level If parameter value level is active For s...

Page 131: ...r from the parameter number to the parameter index from the parameter index to the parameter value from the parameter value to the parameter number If the parameter is not indexed you can jump directly from the parameter number to the parameter value Parameter number Parameter index Parameter value P P P If you change the value of a parameter this change generally becomes effective immediately It ...

Page 132: ...ual operator control steps to be carried out on the PMU for a parameter reset to factory setting P P053 Set P053 to 0002 and grant parameter access via PMU P 0000 0001 0002 P053 P053 Select P060 P060 P P060 Set P060 to 0002 and select Fixed settings menu 1 Select P970 P P970 Set P970 to 0000 and start parameter reset 1 P 2 P060 P 0 005 P060 P970 Example ...

Page 133: ...be operated communicate with each other via a serial interface RS485 using the USS protocol During communication the OP1S assumes the function of the master whereas the connected units function as slaves The OP1S can be operated at baud rates of 9 6 kBd and 19 2 kBd and is capable of communicating with up to 32 slaves addresses 0 to 31 It can therefore be used both in a point to point link e g dur...

Page 134: ...6 characters Sign key Reset key acknowledge 0 to 9 number keys Jog 7 8 9 P Reset 0 4 5 6 1 2 3 O I Fault Run 9 pole SUB D connector on rear of unit LED green LED red Fig 5 4 View of the OP1S Pin Designation Significance Range 1 2 3 RS485 P Data via RS485 interface 4 5 N5V Ground 6 P5V 5 V aux voltage supply 5 200 mA 7 8 RS485 N Data via RS485 interface 9 Reference potential Table 5 8 OP1S connecti...

Page 135: ... on units of the Compact and chassis type S IE ME NS A S1 B X101 C X103 P USS Bus Jog 7 8 9 P Reset 0 4 5 6 1 2 3 O I Fault Run OP1S U S S v i a R S 4 8 5 5 4 3 2 1 9 8 7 6 5 4 3 2 1 9 8 7 6 OP1S side 9 pole SUB D socket Unit side 9 pole SUB D connector Connecting cable Fig 5 5 Example The OP1S in a point to point link with the Compact PLUS unit Carefully penetrate the pre punched holes for the fi...

Page 136: ...ning the OP1S and for connecting the bus to the inverters It does not function as a slave 5 4 2 2 Run up After the power supply for the unit connected to the OP1S has been turned on or after the OP1S has been plugged into a unit which is operating there is a run up phase The OP1S must not be plugged into the Sub D socket if the SCom1 interface parallel to the socket is already being used elsewhere...

Page 137: ...the slave an error message Error Configuration not ok appears About 2 s later a request is made for new configuration New config yes no Error message displayed when communication is not possible If the P key is pressed the connected unit is reconfigured i e the interface parameters are set to the standard values Number of PKWs P702 127 Number of PZDs P703 2 or 4 Telegram failure time P704 0 ms If ...

Page 138: ... parameter index and parameter value in the sequence indicated The current level is displayed by the position of the cursor on the LCD display the command comes into effect when the key is released For conducting a numerical input Reset Reset key For leaving menu levels If fault display is active For acknowledging the fault This function must be enabled by P565 Raise key For increasing the display...

Page 139: ...ization 1st line left P0049 001 in the example Output current 1st line right P0049 002 in the example DC link voltage 2nd line actual value P0049 003 in the example Actual speed only a visualization parameter 3rd line setpoint P0049 004 in the example Speed setpoint 4th line P0049 005 in the example Operating state In the operating display the actual value is indicated with and the setpoint with I...

Page 140: ...g slave Slave ID As not all the lines can be shown at the same time it is possible to scroll the display as required with the Lower and Raise keys MotionControl Menu Selection OP Upread OP Download MotionControl Menu Selection OP Upread OP Download MotionControl OP Upread OP Download Delete data MotionControl Menu Selection OP Upread OP Download MotionControl OP Download Delete data Change slave a...

Page 141: ...g from the basic menu the Slave ID function is selected with Raise or Lower and activated with P As all the lines cannot be shown at the same time it is possible to scroll the display as required with the Lower and Raise keys In addition the slave number is shown at the top on the right hand side MotionControl 00 Slave ID MASTERDRIVES MC PLUS P MotionControl Change slave Config slave Slave ID Moti...

Page 142: ...nControl Menu selection OP Upread OP Download Example Selecting and starting the Upread procedure With Reset the procedure can be interrupted at any time If the upread procedure has been completed in full the user is requested to enter an ID with a maximum of 12 characters for the stored parameter set This identification can for example consist of the date and two differentiating numbers It is ent...

Page 143: ...cedure is then started with P During download the OP1S displays the currently written parameter Download 1909199701 MASTERDRIVES MC P Download 1909199701 MASTERDRIVES MC MotionControl 00 Download Pxxx P Example Confirming the ID and starting the Download procedure With Reset the procedure can be stopped at any time If downloading has been fully completed the message Download ok appears and the dis...

Page 144: ... or Raise and activated with P Delete data 1909199701 MASTERDRIVES MC P MotionControl OP Upread OP Download Delete data Example Selection and activation of the Delete data function One of the parameter sets stored in the OP1S must now be selected with Lower or Raise displayed in the second line With P the selected ID is confirmed The slave ID can now be displayed with Lower or Raise see section Sl...

Page 145: ... items mean that there is a further sub menu level If Parameter menu is selected access is possible to all parameters via correspondingly structured sub menus If UpR fr Access is selected direct access is gained to the parameter level Menüauswahl User Param Param Menu FixedSet P MotionControl Menu selection Upread Download r001 9 Drive Status Ready Menu selection Drive Set Download UpR fr Access 7...

Page 146: ... the parameter number by means of Raise If the parameter is found not to exist when the number is entered a message No PNU appears A non existent parameter number can be skipped by selecting Raise or Lower How the parameters are shown on the display depends on the type of parameter There are for example parameters with and without an index with and without an index text and with and without a sele...

Page 147: ... keys are used to correct the number the value comes into effect immediately The acceptance of an entered parameter value and return to the parameter number does not take place until P is pressed The level selected in each case parameter number parameter index parameter value is marked with the cursor If an incorrect parameter value is entered the old value can be obtained by pressing Reset The Re...

Page 148: ...er index Selection of parameter value P049 001 4 OP OperDisp 1st line left P049 002 6 OP OperDisp 1st line right P049 002 6 OP OperDisp 1st line right 4 Correction of parameter value P049 002 4 OP OperDisp 1st line P Accept and return P049 002 4 OP OperDisp 1st line P P053 0006Hex Parameter Access 0000000000000110 ComBoard No Selection of parameter index 0 Selection of bit Correction of bit P Acce...

Page 149: ...User Param Param Menu Fixed Set Menu Selection User Param Param Menu Fixed Set 2 x Selection of fixed setting P Fixed Setting Select FactSet FactSet P Fixed Setting Select FactSet FactSet Factory Setting FactSet No FactSet Factory Setting FactSet No FactSet Selection of factory setting P Factory Setting FactSet No FactSet busy Menu Selection User Param Param Menu FixedSet wait Start of factory set...

Page 150: ...ng to be remedied After the cause of a fault has been removed the fault is acknowledged with Reset inside the operating display the Reset key must be appropriately parameterized See section Issuing commands via the OP1S By pressing P and Lower at the same time it is possible to skip back directly to the operating display from the parameter level When there is an alarm the red LED flashes A warning...

Page 151: ...perating display P573 Source Raise MOP P574 Source Lower MOP P443 Source Main Setpoint P049 004 Setpoint Operating Disp 2113 2114 KK0058 MOP Output 424 MOP Out 0 to 9 or Setpoint specification by means of fixed setpoint only effective within the operating display If entered with numerical key confirm with P P443 Source Main Setpoint P573 Source Raise MOP P574 Source Lower MOP P049 004 Setpoint Ope...

Page 152: ... MotionControl Delete data Change slave Config slave P Configuration Address 00 Example of activating the Config slave function After a different slave address for each slave has been entered by means of the Raise key or with the numerical keypad and confirmed with P configuration is carried out i e the interface parameters are set to the standard value see section Run up In addition the slave add...

Page 153: ... the slave address has been entered with Raise Lower and confirmed with P a change is made to the required slave and the display returns to the basic menu If the slave cannot be found an error message is output 5 4 5 Technical data Order number 6SE7090 0XX84 2FK0 Supply voltage 5 V DC 5 200 mA Operating temperature 0 C to 55 C Storage temperature 25 C to 70 C Transport temperature 25 C to 70 C Env...

Page 154: ... There are two ways of connecting a PC to a device of the SIMOVERT MASTERDRIVES Series via the USS interface The devices of the SIMOVERT MASTERDRIVES Series have both an RS232 and an RS485 interface The serial interface that PCs are equipped with by default functions as an RS232 interface This interface is not suitable for bus operation and is therefore only intended for operation of a SIMOVERT MA...

Page 155: ...ther an integrated RS485 interface or an RS232 RS485 interface converter is necessary On the device an RS485 interface is integrated into the X300 compact PLUS X103 connection For the cable see pin assignment X300 and device documentation of the interface converter 5 5 2 Establishing the connection between DriveMonitor and the device 5 5 2 1 Setting the USS interface You can configure the interfac...

Page 156: ... enter the required COM interface of the PC COM1 to COM4 and the required baudrate here Set the baudrate to the baudrate parameterized in SIMOVERT MASTERDRIVES P701 factory setting 9600 baud Further settings operating mode of the bus in RS485 operation setting according to the description of the interface converter RS232 RS485 Tab card Extended Request retries and Response timeout here you can inc...

Page 157: ...window Via the menu Set up an ONLINE connection the USS bus can be scanned for connected devices Fig 5 10 Starting the USS bus scan The Set up an online connection menu is only valid from Version 5 2 onwards Fig 5 11 Search for online drives During the search the USS bus is scanned with the set baudrate only The baud rate can be changed via Tools ONLINE Settings see section 5 5 2 1 NOTE ...

Page 158: ...y used parameters If the parameters of a parameter set that has already been created have to be changed this can be done by calling the corresponding download file via the File Open menu function The last four drives can be opened via Parameter sets last dealt with When you create a new drive the window Drive Properties Fig 5 13 opens Here you must enter the following data In dropdown list box Dev...

Page 159: ...he button Disconnect network connection Field Number of PCD has no special significance for the parameterization of MASTERDRIVES and should be left at 2 If the value is changed it must be remain ensured that the setting value in the program matches the value in parameter P703 of the drive at all times Fig 5 13 Create file Drive properties After confirming the drive properties with ok you have to e...

Page 160: ... change of parameters Display of parameter limits or possible parameter values The parameter list has the following structure Field No Field Name Function 1 P Nr Here the parameter number is displayed You can only change the field in menu Free parameterization 2 Name Display of the parameter name in accordance with the parameter list 3 Ind Display of the parameter index for indexed parameters To s...

Page 161: ... performed If the configured device and the real device do not match device type software version an alarm appears If an unknown software version is recognized the option of creating the database is offered This process takes several minutes 1 2 Fig 5 14 Drive window parameter list The DriveMonitor drive window has a directory tree for navigation purposes Fig 5 14 2 You can deselect this additiona...

Page 162: ... device ok Connection ok device in fault state Connection ok device in alarm state Device is parameterized offline No connection with the device can be established only offline parameterization possible If no connection with the device can be established because the device does not physically exist or is not connected you can perform offline parameterization To do so you have to change to offline ...

Page 163: ...n AL SIMOVERT MASTERDRIVES Compendium Motion Control 5 41 This is used to quickly access important functions of the DriveMonitor Settings for Drive Navigator under Tools Options Fig 5 16 Fig 5 15 Drive Navigator Fig 5 16 Options menu display Drive Navigator ...

Page 164: ... Control SIMOVERT MASTERDRIVES Toolbar of the Drive Navigator Assisted commissioning Direct to parameter list General diagnostics Save drive parameters to a file Download parameter file to drive Load standard application Assisted F01 technology COMM Basic positioner operating screens ...

Page 165: ...stics General diagnostics menu the following window opens This window gives a general overview of the active warnings and faults and their history Both the warning and the fault number as well as plain text are displayed Fig 5 17 General diagnostics Via the Extended Diagnostics button you can reach the next diagnostics window Fig 5 18 Extended diagnostics ...

Page 166: ...ns to combine some of the steps and shorten parameterization by using quick procedures The following quick procedures are possible 1 Parameterizing with user settings Fixed setting or factory setting P060 2 2 Parameterizing with existing parameter files Download P060 6 3 Parameterizing with parameter modules Quick parameterization P060 3 Depending on the specific prevailing conditions parameteriza...

Page 167: ... 8 Drive setting P060 5 Function adjustment As delivered state Parameterizing with existing parameter files download P060 6 Parameterizing with user settings fixed setting P060 2 Factory settings parameter reset P060 2 Board configuration P060 4 Procedures for quick parameterization Detailed parameterization Parameterizing with parameter modules quick parameterization P060 3 Fig 6 1 Detailed and q...

Page 168: ...meter name P050 Language P070 Order No 6SE70 P072 Rtd Drive Amps P073 Rtd Drive Power P366 Select FactSet P947 Fault memory P949 Fault value U976 Serial number U977 PIN Table 6 1 Parameters that are not changed by the factory setting If the parameters are reset to the factory setting via one of the parameters SST1 SST2 SCB 1 CB TB 2 CB TB the interface parameters of that interface are not changed ...

Page 169: ...eters 1 to 11 P722 CB TB frame failure P918 CB bus address Table 6 4 The factory setting is made either via interface 1 CB TB or 2 CB TB Parameters that are not changed by the factory setting either None of the indices of the parameters is changed Select Fixed settings menu P366 P970 0 Start parameter reset 0 Parameter reset 1 No parameter change P060 2 Select desired factory setting 0 Standard No...

Page 170: ...r section definition has already been completed in the as delivered state It is therefore only necessary on replacement of the CUPM or after loading a firmware version with a different parameter database version ID Change the 1st decimal place and not under normal conditions If CUPM boards are changed over between different units without the power section being re defined the unit can be destroyed...

Page 171: ...t Power section definition menu P070 P060 1 Return to parameter menu P060 8 Input the code number for the unit concerned The code number is allocated to the order numbers MLFB The order number can be read off the unit s rating plate The list of units is on the following pages Fig 6 3 Sequence for performing the power section definition To check the input data the values for the converter supply vo...

Page 172: ...EP 0 27 0 17 6SE7023 4EP 0 34 0 19 Order number In A P070 6SE7012 0TP 0 2 0 2 6SE7014 0TP 0 4 0 4 6SE7016 0TP 0 6 1 6 6SE7021 0TP 0 10 2 8 6SE7021 3TP 0 13 2 12 6SE7021 8TP 0 17 5 14 6SE7022 6TP 0 25 5 16 6SE7023 4TP 0 34 0 18 6SE7023 8TP 0 37 5 20 6SE7024 7TP 0 47 0 22 6SE7026 0TP 0 59 0 24 6SE7027 2TP 0 72 0 26 5 corresponds to MASTERDRIVES Motion Control 7 corresponds to MASTERDRIVES Motion Con...

Page 173: ...37 5 46 6SE7024 7ED 1 47 0 52 6SE7026 0ED 1 59 0 56 6SE7027 2ED 1 72 0 66 Order number In A PWE 6SE7016 1TA 1 6 1 4 6SE7018 0TA 1 8 0 10 6SE7021 0TA 1 10 2 12 6SE7021 3TB 1 13 2 19 6SE7021 8TB 1 17 5 26 6SE7022 6TC 1 25 5 36 6SE7023 4TC 1 34 0 43 6SE7023 8TD 1 37 5 47 6SE7024 7TD 1 47 0 53 6SE7026 0TD 1 59 0 57 6SE7027 2TD 1 72 0 67 5 corresponds to MASTERDRIVES Motion Control 7 corresponds to MAS...

Page 174: ...0 2 117 6SE7035 1TJ70 510 0 1 423 0 2 3 120 6SE7036 0TJ70 590 0 1 491 0 2 3 123 6SE7037 0TJ70 690 0 4 163 6SE7038 6TK70 860 0 4 127 6SE7041 1TK70 1100 0 4 135 6SE7041 3TL70 1300 0 4 154 1 theoretical rated output current at 3 kHz pulse frequency rated output current can only be achieved if the Power Extension PIN is entered 2 rated output current at 5 kHz pulse frequency the permissible rated outp...

Page 175: ...1TK70 1AA0 or 1AA1 1100 0 4 221 1 theoretical rated output current at 3 kHz pulse frequency rated output current can only be achieved if the Power Extension PIN is entered 2 rated output current at 5 kHz pulse frequency the permissible rated output current will be reduced further at higher pulse frequencies see technical data derating 3 This device is a chassis unit from type J The overload over 3...

Page 176: ...this menu parameters are set that are required for adapting the optional boards to the specific application e g bus addresses baud rates etc After leaving the menu the set parameters are transferred and the optional boards are initialized P060 4 Select Board configuration menu SCB protocol 0 SCI 1 USS 4 wire 2 USS 2 wire 3 Peer to Peer P696 SCB inserted no yes NOTE Only possible with CUPM Not with...

Page 177: ...r optic cable length 3 strong up to 40 m fiber optic cable length NOTE If glass fiber optic cables are used the possible lengths are increased by the factor 7 5 P742 P740 0 P740 0 P743 Enter the number of modules incl dispatcher in the SIMOLINK ring P745 Enter the number of channels per module P746 Enter the SIMOLINK cycle time in ms P749 1 8 Enter the SLB read addresses Enter the SLB module addre...

Page 178: ...C r826 5 Slot D r826 6 Slot E r826 7 Slot F r826 8 Slot G If a technology board T100 T300 T400 or an SCB1 or SCB2 is inserted in mounting positions 3 or 2 their board code can be found in the following indices Parameter Index Position r826 5 Mounting position 2 r826 7 Mounting position 3 Parameter value Significance 90 to 109 Mainboards or Control Unit 110 to 119 Sensor Board SBx 120 to 129 Serial...

Page 179: ... Sensor Board Pulse 111 SBM Sensor Board Encoder Multiturn 112 SBM2 Sensor Board Encoder Multiturn 2 113 SBR1 Sensor Board Resolver 1 114 SBR2 Sensor Board Resolver 2 115 SCB1 Serial Communication Board 1 fiber optic cable 121 SCB2 Serial Communication Board 2 122 T100 Technology board 131 T300 Technology board 131 T400 Technology board 134 CBX Communication Board 14x CBP Communication Board PROFI...

Page 180: ...motor current has a direct effect on the torque accuracy as the rated torque is normalized to the rated current If a rated current is increased by 4 this will also approximately result in a 4 increase in the torque referred to the rated motor torque For group drives you have to enter the total rated current P102 x Imot rated As the rated magnetizing current P103 not to be confused with the no load...

Page 181: ... around 2 0 0 6 Motors with low rating below 22 kW can also have slip values up to 10 If the rated motor frequency engineered is below 8 Hz you have to set P107 8 0Hz in the drive setting The rated motor voltage P101 has to be calculated in the ratio 8 Hz fMot N and the rated motor speed P108 should result in a much greater slip P108 8 Hz P107old x 60 P109 P108old When leaving the Drive setting me...

Page 182: ... number for the connected 1FK6 1FT6 motor see list attached Input of code number for the connected 1PH7 1PA6 1PL6 1PH4 motor see list attached P101 Input of motor rated voltage in V according to rating plate P102 P102 Input of motor rated current in A according to rating plate P103 Input of magnetizing current in A If this is not known enter 0 here The value is then calculated by the automatic par...

Page 183: ...P115 P122 Input the total leakage reactance in mOhm Pre assigned during calculation of derived motor data P115 P123 P095 1 P109 P113 Input the motor rated torques per rating plate in Nm P115 P120 P121 P121 Input the stator reactance in mOhm Pre assigned during calculation of derived motor data P115 Input the rotor time constants in ms Pre assigned during calculation of derived motor data P115 P124...

Page 184: ... encoder parameterization in P148 P149 1 Encoder EQN1325 Heidenhain EnDat 2 Encoder ECN1313 Heidenhain EnDat 6 EnDat autom Heidenhain 7 EQI1325 Heidenhain 8 Encoder EQN1125 Heidenhain EnDat 9 Encoder ECN1113 Heidenhain EnDat 10 ROQ424 Heidenhain SSI 11 EQI1125 Heidenhain EnDat Zero offset in revolutions Project planning note The travel range of the linear axes must be within the range of the encod...

Page 185: ... 1 in Hz P327 1 4 Input the voltage points for curve 1 in V P328 1 4 Input the frequency points for curve 2 in Hz P329 1 4 Input the voltage points for curve 2 in V P340 Input the sampling frequency in kHz The length of the shortest time slot T0 is also defined with the sampling frequency Select type of current control 0 vector contol e g for variable speed operation with 1FT 1PH4 1PH7 1PA6 and 1P...

Page 186: ...to select a controller structure optimized for this purpose P296 3 This enables operation up to 5 times the field weakening P453 1 4 P060 1 Return to the parameter menu Input the maximum speed in negative direction of rotation in referred to P353 If asynchronous motors are used P095 2 or 4 only operation up to twice the motor corner frequency 2 x P293 is permissible in field weakening From version...

Page 187: ...o that measuring can start The alarm A078 is set during the 30 s The motor shaft can move slightly during the measurement operation The motor cables are live Voltages are present at the converter output terminals and hence also at the motor terminals they are therefore hazardous to touch It must be ensured that no danger for persons and equipment can occur by energizing the power and the unit If m...

Page 188: ...otor cables are live Voltages are present at the converter output terminals and hence also at the motor terminals they are therefore hazardous to touch It must be ensured that no danger for persons and equipment can occur by energizing the power and the unit and as a result of the moving motor shaft If the measurement is not started within 30 s or it is interrupted with an OFF command fault F114 i...

Page 189: ...h values that are permanently stored in the software In this manner it is possible to carry out the complete parameterization of the units in one step just by setting a few parameters The user specific fixed settings are not contained in the standard firmware they have to be compiled specifically for the customer If you are interested in the provision and implementation of fixed settings tailored ...

Page 190: ...faces used for parameter transfer e g CBP for PROFIBUS DP can serve as serial interfaces Using download all changeable parameters can be set to new values Automation unit e g SIMATIC S7 S IE ME NS A S1 B X101 C X103 P Laptop USS Bus 100 0A 380 0V zz 300 000Hz 300 000Hz Betrieb Jog 7 8 9 P Reset 0 4 5 6 1 2 3 O I Fault Run OP1S Operating mode Individual operation Bus operation Type of construction ...

Page 191: ...g downloading with the OP1S it is assumed that the units are in the as delivered state The parameters for the power section definition are thus not transferred If a PIN has been entered to release optional technology functions this is also not overwritten during downloading Refer to Section Detailed parameterization power section definition Parameter number Parameter name P060 Menu selection P070 ...

Page 192: ...imited to parameters that are relevant for the particular application On downloading with DriveMonitor no power section data are written to protect the device Similarly overwriting of the communication parameters and the PIN enable are prevented Parameter number Parameter name P060 Menu selection P070 Order No 6SE70 P072 Conv current s P073 Conv power s P700 IF bus address P701 IF baudrate P702 IF...

Page 193: ...P352 Reference frequency P353 x P109 60 P353 Reference frequency P352 x 60 P109 Table 6 7 Parameters that always have to be loaded during download 6 3 3 Parameterizing with parameter modules quick parameterization P060 3 Pre defined function assigned parameter modules are stored in the units These parameter modules can be combined with each other thus making it possible to adjust your unit to the ...

Page 194: ... attached list P130 Select motor encoder 0 automatic encoder detection 1 2 pole resolver 2 Resolver with pole pair number of motor 3 Sin cos encoder 2048 rev 4 Multiturn encoder 2048 rev 5 Pulse encoder 1024 rev 6 Pulse encoder not in Slot C SBP 7 Encoders without C D track 2048 rev SW V1 30 and later 0 1 2 3 5 6 7 4 P147 1 Selection of a multiturn enocder 1 EQN1325 2048 lines 2 ECN1313 2048 lines...

Page 195: ...ess Input the PROFIBUS address P368 0 1 2 3 P918 1 P700 1 6 7 8 P370 1 P060 0 Return to user menu Start of quick parameterization 0 No parameter change 1 Parameter change according to chosen combination of parameter modules Note After start up an automatic factory setting of P366 0 takes place followed by the associated parameterization Parameterizing with parameter modules is carried out only in ...

Page 196: ...levant sensor board SBx Cutting lines have been marked in between the individual function diagram modules to enable the modules to be separated and then individually combined i e you can create a function diagram to exactly fit the selected combination of parameter modules This will give you an overview of the functionality parameterized in the units and of the necessary assignment of the terminal...

Page 197: ...Parameterizing Steps 08 2012 6SE7087 6QX70 Version AN Siemens AG 6 32 Compendium Motion Control SIMOVERT MASTERDRIVES ...

Page 198: ...SBR1 2 X414 3 6 Shield connection Type of encoder Resolver X414 4 X414 6 X414 7 X414 9 sin sin cos cos Excitation MExcitationg X414 11 Control type Speed control r003 Output Volts r004 Output Amps r006 DC Bus Volts Ref speed P353 Norm P24 M24 1 Operation 0 Fault 1 Edge Acknowledge 1 ON 0 OFF1 X101 1 1 Inverter relesae X101 2 X101 3 X101 4 X101 6 X101 7 X101 8 Setpoint and command source Terminal s...

Page 199: ...Parameterizing Steps 08 2012 6SE7087 6QX70 Version AN Siemens AG 6 34 Compendium Motion Control SIMOVERT MASTERDRIVES ...

Page 200: ...alog output x y X101 12 AnaOut AnaOut Disp Torq Conn r039 2 Torque actual value Control type Torque control r003 Output Volts r004 Output Amps r006 DC Bus Volts Ref Torque P354 Norm P24 M24 1 Operation 0 Fault FSetp Bit 0 1 Edge Acknowledge 1 ON 0 OFF1 X101 1 FSetp Bit 1 X101 2 X101 3 X101 4 X101 5 X101 6 X101 7 X101 8 Setpoint and command source Terminal strip and fixed setpoints FSetp Type of en...

Page 201: ...Parameterizing Steps 08 2012 6SE7087 6QX70 Version AN Siemens AG 6 36 Compendium Motion Control SIMOVERT MASTERDRIVES ...

Page 202: ...knowledge 1 ON 0 OFF1 X101 1 1 Lower MOP MOP Accel Time P431 MOP Decel Time P432 Conf MOP P425 MOP max P421 MOPi min P422 00x0 Without storing after OFF 00x1 Storing after OFF r003 Output Volts r004 Output Amps r006 DC Bus Volts AnaOut Smooth P642 1 AnaOut Scale P643 1 AnaOut Offset P644 1 A D 10 V X101 11 y V P643 1 x 100 Analog output x y X101 2 X101 3 X101 4 X101 5 X101 6 X101 7 X101 8 X101 12 ...

Page 203: ...Parameterizing Steps 08 2012 6SE7087 6QX70 Version AN Siemens AG 6 38 Compendium Motion Control SIMOVERT MASTERDRIVES ...

Page 204: ...keys are only effective if the operating display r000 is selected M24 1 Operation 0 Fault 1 Raise MOP Acknowledge OFF1 1 Lower MOP MOP Accel Time P431 MOP Decel Time P432 Conf MOP P425 MOP max P421 MOP min P422 00x0 Without storing after OFF 00x1 Storing after OFF X101 2 X101 3 X101 4 Setpoint and command source PMU not for Compact PLUS units X300 ON ...

Page 205: ...Parameterizing Steps 08 2012 6SE7087 6QX70 Version AN Siemens AG 6 40 Compendium Motion Control SIMOVERT MASTERDRIVES ...

Page 206: ...e Transmit Receive Setpoint and command source USS X100 35 X100 36 Reserve FWD REV speed setp Energize main contactor Undervoltage fault Comparison setp ok PZD control 1 Deviation Alarm effective ON blocked OFF3 effective OFF2 effective Fault effective Operation Ready for operation Ready for ON Ramp generator active Proposal OFF2 OFF3 RGen release RGen start Software release Jog bit 1 Jog bit 2 PZ...

Page 207: ...Parameterizing Steps 08 2012 6SE7087 6QX70 Version AN Siemens AG 6 42 Compendium Motion Control SIMOVERT MASTERDRIVES ...

Page 208: ...te operations of parameter data Reserved for read operations of parameter data Sheet 120 Sheet 125 B3113 MOP higher P554 1 B 3100 Src ON OFF1 Receive Transmit to sheet 310 1 CB configu ration CB Parameter 1 0 65535 P711 01 CB Parameter 10 0 65535 P720 01 CB Parameter 11 0 65535 P721 01 to 05 CB TB TlgOFF 0 6500 ms P722 01 10 P722 01 0 No monitoring CB Bus Address 0 200 P918 01 3 For V f control KK...

Page 209: ...Parameterizing Steps 08 2012 6SE7087 6QX70 Version AN Siemens AG 6 44 Compendium Motion Control SIMOVERT MASTERDRIVES ...

Page 210: ...are interchangeable 7 1 1 1 Time slots T0 to T20 T0 represents the shortest possible time slot within which a function block can be processed The duration of time slot T0 is a function of the selected sampling frequency P340 calculated as per the following formula frequency Sampling 1 T0 This means With a low sampling frequency P340 the time slot T0 is longer A large amount of calculating time is ...

Page 211: ...n in ms at P340 5 kHz Duration in ms as P340 7 5 kHz T0 T0 0 2 0 133 T1 2 x T0 0 4 0 267 T2 4 x T0 0 8 0 533 T3 8 x T0 1 6 1 067 T4 16 x T0 3 2 2 133 T5 32 x T0 6 4 4 267 T6 64 x T0 12 8 8 533 T7 128 x T0 25 6 17 067 T8 256 x T0 51 2 34 133 T9 512 x T0 102 4 68 267 T10 1024 x T0 204 8 136 533 T20 none archive archive Overview of the time slots ...

Page 212: ...en be processed before the interrupted time slot can be further processed Lower priority time slots are lined up in a queue and are not processed until all higher priority time slots are finished 2T0 3T0 4T0 0 Time slots Time T0 Calculation of the blocks defined in T0 Calculation of the blocks defined in T1 Calculation of the blocks defined in T2 Calculation of the blocks defined in T3 A l l b l o...

Page 213: ...tion blocks from these time slots nor to assign further function blocks to these two time slots The time slot table consists of parameters U950 to U953 These parameters are indexed and have 100 indices each Each index is assigned to precisely one function block This means that the time slot in which the relevant function block is to be processed can be entered in the respective index The following...

Page 214: ...Examples 1 Function block 350 should be processed in time slot T4 U953 50 4 2 Function block 390 should be processed in time slot T9 U953 90 9 3 Function block 374 should not be processed U953 74 20 When the units are delivered time slots are already assigned to the function blocks You should adjust these to suit your requirements once you have determined the interconnection of the function blocks...

Page 215: ...re defined in the two time slots T0 and T1 The processing table consists of parameters U960 to U963 These parameters are indexed and have 100 indices each Each index is assigned to precisely one function block This enables a processing number to be entered in the respective index for the function block concerned Processing of the function blocks is then carried out in ascending order The following...

Page 216: ...uit your requirements once you have determined the interconnection of the function blocks Please note that an incorrect processing sequence will lead to uncontrolled axis movements 7 1 2 1 Time monitoring Depending on the number and frequency of the blocks to be processed the microprocessor system of the units has a varying degree of utilization In order to avoid any dangerous overloading the oper...

Page 217: ...uence the control response as follows By changing the sampling frequency P340 With a high sampling frequency the reaction time is shorter With a low sampling frequency the reaction time is longer Change parameter P357 Setting parameter P357 to 1 will also impair the reaction time as current control only takes place in time slot T1 which corresponds to the sampling frequency P340 being halved By as...

Page 218: ...nction blocks should be processed in the fastest necessary time slot not in the fastest possible time slot The sequence in which the function blocks are entered into the processing table should correspond to the signal flow With the introduction of parameter P357 0 from V2 20 the pulse frequency is no longer directly connected with the sampling frequency Changing the pulse frequency by halving it ...

Page 219: ...fect during zero passage There is no overshooting over zero The rounding function can be altered during ramp up ramp down Initial rounding is always limited to at least 10 of the final rounding The following calculating times apply to the comfort ramp function generator Without rounding 65 to 79 µsec With initial rounding final rounding 96 to 105 µsec With initial rounding final rounding 105 to 11...

Page 220: ... is possible The I component is always set irrespective of whether the controller is blocked or enabled If the controller is blocked the controller output is always zero even when the I component is set When Tn 0 the I component is deleted the effect is equal to Tn Tracking of the I component only occurs when the output is limited B0555 1 and Tn 0 and the controller is enabled and the I component ...

Page 221: ...th motor encoder function these three blocks can also be used individually for further applications All that therefore has to be done is to modify the desired inputs in function diagram 788a shown in more detail in function diagram 789a and connect the outputs see function diagrams 788a and 789c as recommended for motor encoder Enabling ENABLE POS REF is implemented in the factory setting using th...

Page 222: ... connector inputs from V2 3 Stop cam from V2 3 Static STOP cam from V2 4 Backlash compensation with preferred position Exact positioning window POS_OK window delay time Window evaluation for post homing Rate of change limitation adaptable Continuous or triggered setpoint transfer Mode change on the fly REF POS SETUP Setpoint change on the fly possible using PZD Advantages of basic positioner Cost ...

Page 223: ...imply has to make the connections to the basic unit see function diagram 789c Setpoint transfer and mode management FD789a Setpoint transfer block with mode management and edge controlled setpoint transfer for consistent data transfer Setup positioning FD789b Setup positioning block that traverses a specified path relatively or absolutely using the specified deceleration acceleration and speed Cor...

Page 224: ...defined jobs e g from an S7 but can be implemented using the PKW PZD basic unit functions see project examples Using the communication options of the basic unit SIMOLINK USS BUS PROFIBUS DP etc the position setpoint maximum speed acceleration and deceleration and the control word can be processed directly as setpoints and the actual values and statuses can be read back The setup positioning block ...

Page 225: ...81 B 882 B 883 RESET y 0 SET x y 05 06 07 Set Setpoint Transfer Positioning type 0 Absolute 1 Relative Direction selection Forwards Direction selection Backwards 09 1 Constant transfer NO relative position B 884 U866 U869 K 877 0 1 U866 B 885 08 n870 1 7 n870 1 4 6 Control word Control word Control word Transfer type Transfer with pos edge 0 200 0 200 0 200 POWER ON 1 B 1 U882 Reset SET SOLL SPV_R...

Page 226: ...nal SPV_RIE_ACKN has no function in this mode of setpoint transfer and therefore remains at logical zero The following limitation applies to constant setpoint transfer The relative positioning type POS_TYP 1 is locked in the case of constant setpoint transfer SPV_RIE_TYP 1 The valid speed setpoint is set to 0 Therefore no relative positioning is possible with constant setpoint transfer Reason For ...

Page 227: ...k signal for the user e With control signal SPV_RIE 0 acknowledge transfer is confirmed by the user f Checkback signal SPV_RIE_ACKN 0 as conclusion of setpoint transfer This input is low active and is connected to logical 1 in the factory setting as an auxiliary input All outputs of the basic positioner i e binectors and connectors of the set setpoint transfer are set to zero with logical 0 KK0874...

Page 228: ...are always taken into account even if modes are selected simultaneously Example If all modes are selected simultaneously REF_ON 1 with REF_TYP 1 POS_ON 1 SETUP_ON 1 homing movement always has priority If homing movement is deselected REF_ON 0 with REF_TYPE 1 the positioning mode is effective Homing on the fly REF_TYPE 0 is always effective with REF_ON and has no effect on the priority If positioni...

Page 229: ...n control word U866 B0877 PSR B0871 REF Homing on the fly B0872 POS Positioning B0873 SETUP Setup B0870 ENABLE_POS_REF Enable basic positioner 1 n870 2 7 n870 2 0 3 B0893 REF_DRIVE Go to home position n870 2 9 B0895 SET_REF_D n870 2 11 Fig 7 6 Mode management outputs The mode management outputs become the control signals for the position ramp function generator and the correction block Binector B0...

Page 230: ... 1 1 1 x x x x x x 1 REF_DRIVE B0893 1 x x x 0 x x x x x 0 POS_TYP_ACT B0874 1 0 1 x 0 x x x x 0 0 1 0 1 x 0 x x x x 1 1 V 0 SET_REF_D B0895 x x x x x x 1 x x x 1 Homing REF_TYP 1 ENABLE_POS_REF B0870 1 x x x x x x x x x 1 REF B0871 1 1 x x 1 0 1 x x x 1 POS B0872 1 1 x x 1 x x x x x 0 SETUP B0873 1 1 x x 1 0 x 0 1 x 1 D_FWD_ACT B0875 1 1 x x 1 0 1 1 0 x 1 D_BWD_ACT B0876 1 1 x x 1 0 0 0 1 x 1 PSR...

Page 231: ...ative direction reversing cam Bit 12 U866 13 REF_STOP Terminate homing Bit 13 U866 14 REF_D Homing approach direction Table 7 3 BPos STW status of monitoring parameter n870 1 setpoint mode input The BPos STW status input is the same as connector 0886 n870 Index 2 setpoint mode output K0887 Bit 0 B0870 ENABLE_POS_REF Enable basic positioner Bit 1 B0871 REF Homing on the fly Bit 2 B0872 POS Position...

Page 232: ...to the mode the direction of movement must be determined through the two control binector inputs D_FWD or D_BWD D_FWD D_BWD 0 0 no selection of direction of movement or axis is stopped on ramp 1 0 positive direction 0 1 negative direction 1 1 no selection of direction of movement or axis is stopped on ramp Case 3 A linear axis U858 1 0 is positioned absolutely POS_TYP 0 or relatively POS_TYP 1 In ...

Page 233: ...rbox Motor Roller 1 10 X max x Roller circumference d Backlash Reference mark Fig 7 7 Typical positioning application The arrangement shown in Fig 7 7 The factory setting values are pure motor related normalizations Example Encoder 131 072 pulses per motor revolution resolution in 2n n 17 with a gearbox having 1 10 00 ratio i this gearbox factor must be included in the calculation 131072 x 10 1 31...

Page 234: ...s are and hence how high a resolution is to be selected In the example the AVWF factors result from a roller diameter of 300 00 mm circumference 942477 µm This must then be multiplied by the gearbox factor AVWF P171 Resolution AVWF AVWF 12 4096 230 096924 23 0096924 13 8192 115 048462 11 5048462 14 16384 57 524231 5 7524231 15 32768 28 7621155 2 87621155 16 65536 14 3810577 1 43810577 17 131072 7 ...

Page 235: ...170 or P180 P181 FD 330 3 Reference speed P353 FD 20 5 The rated V is specified in 1000 LU min and the reference speed in rpm In the factory setting the resolution of 212 4096 increments revolution an AVWF 1 0 and 3000 rpm results in a rated speed of 12 288 000 LU min This speed then corresponds to 100 in the equipment In the example the rated V derived from 131 072 LU rev an AVWF of 0 71905288 AV...

Page 236: ...ion is transferred to parameter U857 It is used to normalize the acceleration setpoint U852 1 or U869 x and the deceleration setpoint U852 2 or U869 x which are specified in percent Rated acceleration deceleration U857 0 or acceleration deceleration setpoint in per cent via U869 1 2 0 means maximum acceleration deceleration If an absolute encoder and odd order gear factors are used position tracki...

Page 237: ...up mode SETUP_ON or SETUP 1 the axis is moved under position control by means of the direction selection D_FWD and D_BWD taking into account the set values for acceleration and deceleration and the speed V t a t vmax amax up Speed curve Acceleration curve amax down s t Path curve starget D_FWD 1 Jogging with D_FWD Fig 7 8 Setup process SETUP 1 and D_FWD 11 To activate the setup mode the enable pos...

Page 238: ...fly post homing REF_TYP 1 Homing movement in preferred direction and sequence control with reversing cams Homing on the fly REF_TYP 0 Homing on the fly means setting the position setpoint and actual value simultaneously This is implemented in the basic unit by position correction of the position detection and of the position setpoint of the position controller A reference position REF_setpoint is ...

Page 239: ... BPos measurement memory enable function diagram 789c The position measurement memory enable B0891 is controlled by the BPos The outputs from the position measurement memory pass to the correction block homing of the BPos function diagram 789c Actual position at interrupt U877 4 122 position measurement memory Start referencing U878 3 212 measurement valid No correction is performed if the deviati...

Page 240: ... homing movement D_FWD 1 REF_ON S Fig 7 9 Example of homing movement sequence start D_FWD to the right from the Proximity switch and homing direction REF_D 0 positive The setting values for acceleration and deceleration delay are maintained during all movements In the case of a constant transfer U875 8 SPV_RIE_TYP 1 these values can be changed with each rising edge on U875 7 SPV_RIE even during th...

Page 241: ...positioner can be operated both in the block configuration described here or as a stand alone function The block then behaves as with constant transfer from the set setpoint module in function diagram 789a The triggered variant is implemented by the upstream connection of the set setpoint block Changes to the setpoint are effective immediately The positioner consists of a position controller that ...

Page 242: ...setting U850 7 898 U850 8 899 this is effected by the parameter value U865 1 0 or U865 2 0 The software limit switches have the effect of limiting the range of movement of the setpoints and take into account any possible backlash compensation end position backlash that may be set The software limit switches only affect a referenced homed linear axis The checkbacks for this are already predetermine...

Page 243: ...lowing path diagram shows the behavior on leaving the travel range specified by the stop cam Inhibit BWD movements SC_MINUS_ACTIV 1 Inhibit FWD movements SC_PLUS_ACTIV 1 SC_MINUS SC_PLUS vACT Mech distance AACT A2SC A 2SC 0 VMAX 0 Only movements that lead out of the range of the STOP cams are permissible After leaving the respective limit switch by a falling edge in the valid direction of movement...

Page 244: ...traveled before the effective real axis movement begins The result is position errors There is no minimum travel distance Reversal backlash Spindle The sign gives the preferred position for the reversal backlash compensation This means Positive value positive preferred position on the first positive movement after switching on the converter no reverse backlash is taken into account Negative value ...

Page 245: ...l value The POS input enables the positioner and movement takes place to the specified setpoint using the positioning movement A new target position can be set at any time by changing the position setpoint If the POS input is reset during absolute positioning movement is stopped immediately while maintaining the specified acceleration and deceleration and the specified speed setpoint If the POS in...

Page 246: ...he setpoint position and actual position value within an axis cycle This means that the target position only lies within the axis cycle The movement is specified by the direction shortest path only positive or only negative See evaluation of direction selection D_FWD D_BWD The setpoint is calculated and corrected MODULO within the axis cycle for both negative and positive setpoints Example 5000 be...

Page 247: ...ch is reached Further movement can only take place in the direction opposite to that in which the software limit switch was approached The relative movement is interrupted if the POS ON is removed before the target position is reached or a positive edge in given on SPV_RIE In this case the remaining distance is deleted Recommendations if a relative movement is to be interrupted i e without again t...

Page 248: ... standard the setting value is the actual position value KK0120 motor encoder to enable the actual position value to track to the position setpoint jump suppression The position setting value can also be from another source motor encoder machine encoder depending on the application With ENABLE_POS output KK0871 tracks the position setting value source U850 3 statically and all statuses are reset W...

Page 249: ...OS 1 is shown See the Mode management section If the block is enabled ENABLE_POS REF 1 and the setup ON binector SETUP_ON is active and if no positioning or homing movement REF_DRIVE 1 is active POS_ON and REF_ON LOW status binector SETUP 1 is shown See the Mode management section If the positioning status binector POS or the homing status binector REF or the setup status binector SETUP is active ...

Page 250: ...POS_TYP with constant SET setpoint transfer etc The binector will only be set HIGH when the RFG is accelerating irrespective of the mode of operation positioning homing etc The binector will only be set HIGH when the RFG is decelerating irrespective of the mode of operation positioning homing etc The binector will be set HIGH when positioning has been activated POS 1 but the target position has st...

Page 251: ...EF_ON being set again The signal will automatically be reset if there is a POWER OFF on the converter or REF is set again unless an absolute value encoder is present i e ARFD remains HIGH following the first valid reference mark if REF is on and a number of coarse pulses have been received reference mark The signal is not continuously set to HIGH in the case of absolute value encoders If an absolu...

Page 252: ...ENABLE_POS BIT1 RESERVED BIT2 POS BIT3 SETUP BIT4 POS_TYP_ACT was ABS_REL BIT5 D_FWD_ACT BIT6 D_BWD_ACT BIT7 EXT_REF_OK B0888 or B0210 1 BIT8 EXT_POS_OK BIT9 SET_TRIG BIT10 Internal POS_OK reached position Index 2 BPos output and homing command K0889 BIT16 B0860 POS_OK BIT17 B0861 POS_RUN BIT18 B0862 RFG_RUN BIT19 B0863 RU_ACT BIT20 B0864 RD_ACT BIT21 B0866 FWD_RUN BIT22 B0867 BWD_RUN BIT23 B0865 ...

Page 253: ...ming This KK0833 causes the position controller to function as a closed control loop and carry out homing corrections without any jerks or sudden changes This programmable rate of change limitation is estimated using an adaptive connector input U881 Rate of change limitation is disabled if the parameter has a value of 0 or is assigned a value of 0 from an adaptive connector input The values and pa...

Page 254: ... point mark is next evaluated Both windows can be disabled individually by assigning them values of 0 Fault and warning messages The free BASIC POSITIONER blocks do not generate any fault or warning messages The positioning software does not respond to messages caused by incorrect parameters either e g violation of limit values Definitions Def homing Homing on the fly also referred to as post homi...

Page 255: ...y may only be passed on in a complete and unmodified state together with all patent rights notices The commercial distribution to third parties e g as shareware or freeware is only permitted with the prior written permission of Siemens AG As the application examples are provided to you free of charge the authors and copyright holders are unable to entertain any warranty claims You use them at your...

Page 256: ...is function the blocks must be placed in the same time slot as the basic positioner 474 475 619 415 416 862 2 2 U950 44 __ 10 KK0415 U015 F 0 2 147 483 647 2 147 483 647 U950 45 __ 10 KK0416 U016 F 0 2 147 483 647 2 147 483 647 01 U176 0 U950 86 __ 20 KK0526 KK U177 0 B 02 KK 0 1 KK U134 KK 01 509 02 0 U952 48 __ 20 KK 03 508 B B x x B x B y x y B B KK0507 KK0508 1 B0475 B0474 U239 0 U950 90 __ 20...

Page 257: ...ree REM blocks REM Standstill Lag 100 LU REM Travel Lag 1000 LU REM REM REM REM Fixed setpoints for Standstill Lag FD705 REM REM Insert in time slot WRITE 2950 44 4 REM Standstill Lag WRITE 2015 0 100 REM REM REM Fixed setpoints for Travel Lag FD705 REM REM Insert in time slot WRITE 2950 45 4 REM Travel Lag WRITE 2016 0 1000 REM REM Analog signal selector switches FD750 REM REM Insert in time slot...

Page 258: ...itch WRITE 2134 1 0x526 REM Control difference from position controller as input FD340 WRITE 2134 2 0x130 REM REM OR with limit value signal FD765 REM REM Insert in time slot WRITE 2950 90 4 REM Evaluate upper B from limiter WRITE 2239 1 0x474 REM Evaluate upper B from limiter WRITE 2239 2 0x475 REM REM REM Trigger fault message FD710 REM REM Insert in time slot WRITE 2952 59 4 REM Wire up OR outp...

Page 259: ...modes Measured value _OK U878 7 for correction block homing newly introduced Factory setting for motor encoder B0070 If a machine encoder is used B0071 measured value valid machine encoder has to be parameterized An additional speed input U850 5 has been introduced as a percentage input for improving the quality of the checkback signals The value range of the software limit switch has been adjuste...

Page 260: ...atic procedure BICO parameter U219 is used to select the source for starting automatic recording of the friction characteristic When the status of this source changes from 0 to 1 friction characteristic recording is started feedforward control of the friction characteristic is prevented internally K0615 0 In the first step the necessary enables and assignments are checked Prescribed assignments Ma...

Page 261: ...ommand U219 is cancelled binector B0690 is reset to 0 Measuring can be interrupted at any time by canceling the ON command or by a fault with the exception of F099 The converter then displays alarm A73 and waits to be switched ON again After being switched ON or fault acknowledgement and switching ON the converter continues measuring from the point at which the interruption occurred If there is a ...

Page 262: ...x 5 min A74 Measuring of all characteristic points in the positive and negative directions of rotation is not possible 7 3 2 Torque constant adaptation for synchronous motors function diagram 393 The function torque constant adaptation for synchronous motors serves to improve the absolute torque accuracy for control of synchronous motors Variations in the magnetization of the permanent magnets ari...

Page 263: ...below a definite speed factory setting 20 of rated speed When the speed falls below this level the last estimated value is frozen The estimator is activated by setting the maximum deviation P091 2 to a value greater than 0 To turn on the estimator this value can be set to 30 The standstill torque constant P098 is preassigned with the stored value in the case of a Siemens motor and with the value M...

Page 264: ...s to operate with the most precise possible motor parameters Before the Tr adaptation is used motor identification P115 2 must be performed to define the values P111 1 to 10 P121 P122 P123 The motor should be at room temperature during identification In the case of a non Siemens induction machine P095 4 automatic parameterization P115 1 is necessary before motor identification starts Tr adaptation...

Page 265: ...s will be one of several possible mechanical angular positions within one revolution of the motor For example for a six pole motor there are three mechanical angular positions within one revolution into which the motor can lock It is of no consequence for the adjustment into which of the three positions the motor locks The incorrect orientation of the encoder can be read off in mechanical degrees ...

Page 266: ...umber or has the encoder been incorrectly parameterized incorrect number of increments If KK0186 completes a full revolution during the test but in the opposite direction either a track has been reversed on the encoder or two phases have been reversed on the motor correct on motor or on encoder and repeat point 3 encoder adjustment Do not forget to reset parameters P115 P260 or the binector at P54...

Page 267: ...Functions 09 2008 6SE7087 6QX70 Version AK Siemens AG 7 58 Compendium Motion Control SIMOVERT MASTERDRIVES Fig 7 13 Forcing off an encoder of old design Fig 7 14 Forcing off an encoder of new design ...

Page 268: ...ycles and those recordings then averaged through addition As a result random interference is averaged out and even small noise amplitudes produce good results In order to prevent the value range from immediately overflowing the DC value is derived by an additional noise cycle that is automatically transmitted before the measurement itself However if a counter overflow occurs alarm A032 is set The ...

Page 269: ...a worksheet in a mathematical program in which he or she edits evaluates and graphically represents the data as required One suitable program is for example the mathematical software Mathcad produced by the company MathSoft http www mathsoft com which provides a relatively uncomplicated introduction to the subject area The following graphics show the amplitude and phase response of the closed spee...

Page 270: ...n disturbing frequencies they can be removed with the low pass filters or band stop filters However it is important to note that these filters increase the sum of the small delay times and the substitute delay time of the speed control loop and can therefore not be used in all cases First of all the natural frequencies of the system must be determined The simplest way of doing this is to inject or...

Page 271: ...ised by a band stop filter which can be utilized to increase the phase margin As low natural frequencies always have a detrimental effect on the dynamics and therefore fault suppression of the system it is worth examining the source of natural frequencies in the mechanical system By measuring the transmission functions with additional encoders the measured natural frequencies can be assigned to th...

Page 272: ...op filter of average quality and semi suppression of the resonant frequency P256 1 P254 50 Hz P253 1 0 P257 50 1 10 100 1 103 6 4 5 3 1 5 0 1 5 3 Frequency in Hz no omega 3 6 Ampl fmax fmin Frequency 90 67 5 45 22 5 0 22 5 45 67 5 90 90 Phase 1 10 100 1 103 Frequency in Hz no omega fmax fmin Frequency 90 Example 2 ...

Page 273: ...DRIVES Band stop filter with full suppression and high quality P256 1 P254 50 Hz P253 3 0 P257 0 1 10 100 1 103 6 4 5 3 1 5 0 1 5 3 Frequency in Hz no omega 3 6 Ampl fmax fmin Frequency 90 67 5 45 22 5 0 22 5 45 67 5 90 90 Phase 1 10 100 1 103 Frequency in Hz no omega fmax fmin Frequency 90 Example 3 ...

Page 274: ... also be adjusted such that for example the smallest possible overshoot occurs in response to a setpoint step change Plant conditions permitting you can do this in the following way Set TN P240 to a value of 0 make note of original value and trace K0155 as the setpoint is changed the time constant P239 must be adjusted such that the areas above and below the zero line of K0155 are approximately eq...

Page 275: ...ection Module can be used as an overvoltage protection mechanism The VPM detects an excessive motor terminal voltage and shorts the three motor cables The regeneration voltage of the synchronous motor can be defined by the voltage constant kE specified in the Engineering Information If V 800 2 1000 n k max E there is no need to provide overvoltage protection The motor and encoder data must first b...

Page 276: ...nually for special applications If for example the required maximum torque is lower than the torque obtained with the default setting the speed at which field weakening commences can be raised to reduce the thermal loading of the motor by the field weakening current How to optimize the settings 1 Determine the speed at which field weakening commences on the basis of the desired torque value and th...

Page 277: ...d must be the same as the voltage at the field weakening activation speed The voltage in the field weakening range can be varied by means of the short circuit current P105 The voltage drops as the short circuit current increases and vice versa The short circuit current programmed by the automatic parameterization run corresponds to the application illustrated here which means that only minor adjus...

Page 278: ... of end at oltage v Output U V 540 UDCL when V 350 U where k U k 1 U U Act End f nAct Out Conv nEnd Out Conv max Conv 2 f 2 nAct Out Conv 2 f 2 max Conv nEnd Out Conv The formula is based on the simplified principle that the voltage drop across the winding resistance of the motor is negligible in the field weakening range This applies to series 1FT6 and 1FK7 servo motors The output voltage calcula...

Page 279: ...c The magnetization of the permanent magnets can vary as a result of manufacturing tolerances and temperature fluctuations In order to improve the absolute torque accuracy in the control of synchronous motors it is essential to use the kT estimator function diagram 393 However the kT estimator can be used meaningfully only in conjunction with the friction characteristic function diagram 399 as it ...

Page 280: ...utomatically reduced so that the converter is operated at the voltage limit Function diagram 610 shows how the Vdmax closed loop control function operates The Vdmax closed loop control is also optimally suited for regenerative operation which can occur when the speed stabilizes at the end of ramp up P515 Vdmax controller Value range 0 and 1 0 The Vdmax controller is inhibited 1 The Vdmax controlle...

Page 281: ...mpensated referred to electric fundamental wave Index 1 1st harmonic index 2 2nd harmonic P310 Phase angle of harmonic sine referred to the start point of the fundamental wave sine in phase U with a clockwise phase sequence Index 1 1st harmonic index 2 2nd harmonic The time response of the compensation signal defined by these parameters is mapped at connector K0272 The severity of the torque rippl...

Page 282: ...rmware if an extended function scope is available in a new firmware version and this needs to be used or if user specific firmware needs to be loaded into the units The firmware can be loaded using a laptop or PC and the data is transferred into the units via the serial interface SCom or SCom1 A special cable is necessary for importing the firmware 5 4 3 2 1 9 8 7 6 5 4 3 2 1 9 8 7 6 Laptop PC sid...

Page 283: ...et in full A CUPM signals status 000 and waits for the power section definition input of the converter ID in P070 The following parameters are read and stored when upload from DriveMonitor but not written to the unit when downloaded for safety reasons Parameter number Parameter name P060 Menu selection P070 Order No 6SE70 P072 Conv current s P073 Conv power s P700 IF bus address P701 IF baudrate P...

Page 284: ...ce e g from V2 02 to 2 10 In this case the parameterization must be saved with DriveMonitor It is important to remember to use the differences from the factory setting only under DriveMonitor File Upload Base unit changes only The new firmware is then loaded into the unit When initialization is complete all parameters are reset to the factory setting Now the file previously generated can be loaded...

Page 285: ... the PC interface and the baud rate can be changed in file bslmc cfg or bslmcp cfg The default settings are COM1 and 57600 baud Loading the boot files on the drive c mcboot Switch OFF the 24 V power supply at the converter Use the above mentioned connecting cable to connect the COM port of the PC with plug connector X103 in the case of Compact PLUS units or X300 in the case of Compact and chassis ...

Page 286: ... go to status 000 power section definition The software version can be read in parameter r069 1 and the extended software identifier in parameter r828 1 Status after booting The attached file Tech pdf German and English contains further information on enabling the technology functions F01 synchronism and positioning This file can only be read with the Acrobat Reader program Technology release F01 ...

Page 287: ...its with OP1S or PC Optional boards for various field bus interfaces e g PROFIBUS DP for integration into the automation Optional board for connecting up SIMOLINK for fast synchronous data transfer between technologically connected drives e g angular synchronism Profibus DP USS bus SIMOLINK SIMATIC S7 Operator control and visualization SIEM ENS SIEM ENS X100 Run Fau l t Chopper active SIEM ENS A S...

Page 288: ...ation Universal serial interface protocol USS protocol Order No E20125 D0001 S302 A1 Using the USS protocol a user can establish a serial bus link between a higher level master system and several slave systems Master systems can be for example PLCs or PCs SIMOVERT MASTERDRIVES drive converters are always the slaves on the bus system Furthermore SIMOVERT MicroMaster SIMOVERT P 6SE21 and 6RA23 and 6...

Page 289: ...ay as with the PROFIBUS DP Can be used for start up service and automation PC based service tools e g DriveMonitor for SIMOREG and SIMOVERT Can be easily implemented in customized systems 8 1 1 1 Protocol specification The USS protocol defines an access technique according to the master slave principle for communications via a serial bus The point to point link is included as a sub quantity One ma...

Page 290: ... BCC Net characters Fig 8 1 2 Telegram structure For single word data 16 bit in the net data block net character block the high byte first character is always sent and then the low byte second character The same applies to double word data the high word is sent first followed by the low word The protocol does not identify tasks in the net characters The contents of the net data for SIMOVERT MASTER...

Page 291: ...The master addresses all of the slave nodes one after the other with a task telegram The addressed nodes respond with a reply telegram In accordance with the master slave procedure the slave after receiving the task telegram must send the reply telegram to the master before the master can address the next slave node The sequence of the addressed slave nodes can be specified for example by entering...

Page 292: ...Nodes 0 and 1 are signalled twice as often as others Fig 8 1 4 Circulating list The length of a cycle time is determined by the time needed for the sequential occurrence of data exchange with the individual nodes 0 0 1 1 0 0 t Cycle time Telegram run time for reply from node 1 Reply delay time from node 1 Telegram run time for task for node 1 Processing time in the master Fig 8 1 5 Cycle time Due ...

Page 293: ... 1 Minimum start intervals for various baud rates Only an STX with a preceding start interval identifies the valid start of a telegram Data is always transferred in accordance with the diagram illustrated below half duplex mode STX LGE ADR 1 n BC C STX LGE ADR 1 BCC BCC STX Start pause Master transmits Slave transmits Start pause Reply delay time Fig 8 1 6 Transmit sequence The time interval betwe...

Page 294: ...zing unit of the basic units This section describes how a USS field bus has to be structured in order to ensure reliable data transfer via the transfer medium in standard applications Under special conditions of use additional factors must be taken into account which require further measures or restrictions that are not described in this document The USS bus is based on a linear topology without b...

Page 295: ...ject to interference and a high data transfer rate A shielded twisted two wire cable is used as the bus cable Conductor diameter 2 0 5 mm2 Conductor 16 x 0 2 mm Lay ratio 20 twists m Overall shield Braided tin plated copper wire diameter 1 1 mm2 85 optical coverage Overall diameter 5 mm External sheath Depending on the requirements regarding flame retardation deposits after burning etc Table 8 1 2...

Page 296: ...e highly flexible resistant to extreme heat and cold Sheath manufactured from a special ASS silicon based composite Type ASS 1 x 2 x 0 5 mm2 e g Metrofunk Kabel Union GmbH Postfach 41 01 09 12111 Berlin Tel 030 831 40 52 Fax 030 792 53 43 3 Recommended if halogen free and silicon free cables are required Type BETAflam G M G G B1 flex 2 x 0 5 mm2 e g Studer Kabel AG CH 4658 Däniken The cable length...

Page 297: ...handling of the parameter ID value PKW interface The PKW interface is not a physical interface but a mechanism which handles parameter transfer between two communication partners e g control unit and drive This involves for example reading and writing parameter values and reading parameter descriptions and associated texts All tasks which are performed via the PKW interface essentially involve ope...

Page 298: ...ent 3 word 4 word or variable word lengths can be parameterized The following is an example of a structure when access write read is made to single word 16 bit parameter values 1st word 2nd word 3rd word PKE IND PWE1 Parameter ID Index Parameter value 1 The PKW area must be permanently set to 3 words at the master and the slave This setting is made during start up and should not be altered any mor...

Page 299: ...pass on the appropriate information is transferred The minimum length however is always 3 words If a slave for example transfers a parameter value which is a 16 bit quantity e g the output voltage in parameter r003 then only 3 words of the PKW area are sent in the telegram from the slave to the master With regard to the MASTERDRIVES MC VC for example if the current speed parameter r002 is to be re...

Page 300: ...U Parameter index 2nd word Bit No 15 8 7 0 Index High Index Low Parameter value Parameter value High PWE1 3rd word Parameter value Low PWE2 4th word AK Task or reply ID SPM Toggle bit for processing of parameter change reports PNU Parameter number The PKW area is transferred in increasing order always starting with the 1st word Structure of the parameter area PKW NOTE ...

Page 301: ...certain reply IDs are possible If the reply ID is 7 task cannot be executed then an error number is entered in parameter value 2 PWE2 The error numbers are shown in Table 8 1 7 Task ID Meaning Reply ID positive negative 0 No task 0 7 or 8 1 Request parameter value 1 or 2 2 Change parameter value word 1 3 Change parameter value double word 2 4 Request descriptive element 1 3 6 Request parameter val...

Page 302: ...ange report word 10 Parameter change report double word 11 Parameter change report array word 2 12 Parameter change report array double word 2 13 Reserved 14 Reserved 15 Transfer text For table footnotes 1 and 2 see Table 8 1 5 Table 8 1 6 Reply IDs drive converter master Source for the ON OFF1 command control word1 bit 0 P554 22A hex Change parameter value array word and save in the EEPROM Parame...

Page 303: ...e to internal limitations of the drive converter This error message can occur with the USS protocol on the T100 technology board only if access is made to parameters of the basic unit from this interface 103 Number of PKWs incorrect only for G SCom 1 2 and SCB interface USS The error number is transferred in the following two cases if the task concerns all the indices of an indexed parameter task ...

Page 304: ...eral rule all be equal to 0 The only exceptions are those parameters that are indexed and possess selection texts In this case bit 9 must be set to 1 to clearly identify the desired text type The low part then defines the desires selection text Bit 15 together with bits 0 to 10 in the PKE serves to constitute the number of a parameters see Parameter coding With regard to the task Request parameter...

Page 305: ...elements larger than 32 bit and texts cannot be transferred If the word length of the PKW area is parameterized with Variable length 127 then 16 and 32 bit parameters can be transferred Parameter description elements and texts can also be transferred Furthermore all elements of an indexed parameter can be read or changed as a single task and the whole parameter description can be called index valu...

Page 306: ... s setpoint s and actual value s required for the automation system are transferred in this area The length of the PZD area is determined by the number of PZD elements and their size e g word double word In contrast to the PKW area which can be variable the length of this area master and slaves must always be agreed on between the communication partners The maximum number of PZD words per telegram...

Page 307: ... PZD2 while the actual speed value can be returned in the reply telegram in the PZD2 technologically useful Or another actual value can be returned such as actual torque value actual position value or actual current value 8 1 3 Interface overview The following section describes all of the presently available SIMOVERT MASTERDRIVES MC VC interfaces which use the USS protocol SCB2 USS DPR USS USS DPR...

Page 308: ...face with USS protocol Designation SCom1 RS485 2 wire at terminal strip X100 or RS232 or RS485 2 wire at 9 pole SUB D socket X103 max 38 4 CUMC in Compact and chassis type unit 2 interfaces with USS protocol Designation SCom1 and SCom2 RS485 2 wire on terminal strip X103 SCom1 and SCom2 or RS232 or RS485 2 wire at 9 pole SUB D socket X300 SCom1 max 38 4 CUVC in Compact and chassis type unit 2 inte...

Page 309: ... Physical interface T100 1 interface with USS protocol and 1 interface for peer to peer linking RS485 2 wire at terminal strip X132 Table 8 1 11 Interfaces on the T100 board For a more detailed description of the T100 refer to the instruction manual Technology Board T100 Order No 6SE7080 0CX87 0BB0 hardware and 6SE7080 0CX84 0BB0 software The CBP2 interface board Communication Board PROFIBUS 2 is ...

Page 310: ...l strip X100 or connector X103 can be used to connect up the USS bus cable The exact pin assignment is given in the relevant operating instructions for the basic unit With Compact type and chassis type units the SCom1 and SCom2 interfaces can be operated at the same time on terminal strip X103 with the USS protocol Alternatively connector X300 can be used as SCom1 The exact pin assignment of termi...

Page 311: ...of screw plug in terminals The correct method of connecting the bus cable at the connector is shown in the following diagram Removing the bus connector without interrupting the bus The shield must not be exposed here Do not bend the spring excessively 35 Shield Modify the length according to the type of unit Connector Example of 2 copper cores in a screw terminal Converter housing Bus cable 1 Bus ...

Page 312: ...converter housing at both ends The same applies to the shield of the bus cable between master and converter If bus and power cables intersect they must do so at an angle of 90 With regard to the bus cable the shield must not be exposed in the bus connector Shielding is provided by the shield clamps Compact type units or shield clamps and cable ties chassis type units at the converter housing How t...

Page 313: ...100 A S1 B X101 C X103 Slot A Slot B Slot C Shield connection for control cables Shield connection for motor cable Compact type and chassis type units Compact PLUS MC Shield connecting points Compact PLUS VC Slot A Slot B SIEMENS X100 A S1 B X101 C X103 PE3 Shield connection for motor cable Shield connection for control cables Fig 8 1 11 Position of the shield connecting points ...

Page 314: ...ctive conductor through the largest possible surface area Housing earth Shield bar External 0 V signal level Bus termination and Basic network Equipotential bonding RS485 N Sield RS485 P Data line 5 V 390 220 220 5 V 390 390 390 Fig 8 1 12 Shielding and equipotential bonding Instructions for laying cables Bus cables signal cables must not be laid close to and parallel to power cables Signal cables...

Page 315: ...ting resistors must be switched in at the first bus node e g master and last bus node e g converter SIEMENS X100 A S1 B X101 C X103 Shield connection for control cables Shield connection for motor cable Compact PLUS S1 ON OFF Switch for bus termination Fig 8 1 13 S1 bus terminating switches in the Compact PLUS type of unit In the Compact and chassis type units two mutually independent USS interfac...

Page 316: ...connected from supply off load is no longer effective because the terminating resistor obtains its voltage from the connected unit The following illustration shows an example of the bus connection at terminal strip X100 Compact PLUS If the connector at terminal strip X100 of one node is removed data transfer via bus is not interrupted The other nodes on the bus continue to be supplied with data vi...

Page 317: ...the 9 pin connector X103 Compact PLUS RS485 P RS485 N No bus termination Switch S1 OFF At the last node on the bus cable switch S1 must be in the ON position RS485 N RS485 P RS485 N RS485 P To the master 9 pole Sub D 9 pole Sub D 9 pole Sub D 9 pole Sub D X103 X103 8 3 8 3 Fig 8 1 15 Connection of the 2 wire bus cable at terminal strip X103 Compact PLUS Bus connection via connector X103 ...

Page 318: ...ize the interface Settings to be made P682 SCB protocol only applies to the SCB2 P700 SCom SCB BusAddr P701 SCom SCB baud rate P702 SCom SCB PKW P703 SCom SCB PcD and P704 SCom SCB TlgOFF Parameterizing the parameterizing enable and process data interconnections Set the parameterizing enable via USS at the selected interface Set P053 parameter access Set process data interconnections For status wo...

Page 319: ...100 X103 Compact PLUS type or at connector X103 X300 Compact and chassis types Settings USS protocol with 19 2 kbit s and 3 word PKW area and 2 word PZD area 3 word PKW area With this setting all parameters whose values are 16 bit quantities 1 word can be read and written via the USS protocol 2 word PZD area Transfers control word 1 and a setpoint each of them 16 bit from the master to the convert...

Page 320: ...s 1 and 2 and a maximum of four setpoints each of them 16 bits from the master to the converter or control words 1 and 2 each one of them 16 bits and a maximum of four actual values each one of them 16 bits from the converter to the master Preconditions P060 1 or 7 Parameterizing the SCom2 interface CUPM CUMC X103 CUVC X101 Parameter number Parameter Index and value index i002 for SCom 2 Comments ...

Page 321: ...ter to the converter and control word 1 and an actual value each of them 16 bit from the converter to the master Preconditions P060 1 or 7 Parameterization of the interface on the SCB2 board Parameter number Parameter Value Comments P682 SCB protocol 2 Physical bus cable 2 wire USS protocol according to 1 only USS operation with 2 wires is defined Parameter number Parameter Index and value index i...

Page 322: ... 16 bits from the master to the converter and of status word 1 and an actual value each 16 bits from the converter to the master Requirements P060 1 or 7 Parameterization of the interface on the CBP2 board Parameter number Parameter Value Comments P713 x CBP2 protocol 2 A change from PROFIBUS to USS protocol and vice versa only comes into effect when the voltage of the drive is turned off and then...

Page 323: ... 127 in the useful net data area The following rules apply to this All parameters P r U and n parameters of the basic units or H d L and c parameters of the technology board can be read out via any interface For reading purposes it is not necessary that the interface has been enabled for parameterization P U H and L parameters Can be read and written r n d and c parameters Can only be read Paramet...

Page 324: ...imum of 16 words During start up the length of this area is defined in words using parameter P703 SST SCB PZD This definition applies to the telegram from the master to the converter and vice versa to the telegram from the converter back to the master In the telegram from the master to the converter the PZD area contains control word 1 or control word 2 and the setpoints In the telegram from the c...

Page 325: ... the interface SST1 as source The second digit here 1 indicates that it is the 1st word in the PZD area of the telegram xy 00 to 15 identifies the bit position Control word 1 is always transferred in the 1st word of the PZD area in the USS protocol The control word command ON OFF1 should be taken from bit 0 in the 1st PZD word of SST1 The control word command OFF2 should be taken from bit 1 in the...

Page 326: ... digit here 8 indicates that it is the 4th word in the PZD area of the telegram 5 signifies the 1st word xy 00 to 15 identifies the bit position If necessary control word 2 is always transferred in the 4th word of the PZD area in the USS protocol Set PZD area to a length of at least 4 words P703 Bit 0 for switching over the function data set should be taken from bit 0 in the 4th PZD word of SCB2 B...

Page 327: ...eters P443 and P428 Interface allocation SCom1 SCB2 20xx 45xx Position of the setpoints 16 bit quantify in the PZD area In the 2nd word 02 In the 3rd word 03 etc xx 02 03 04 only if control word 2 is not transferred 05 up to 16 The main setpoint comes from SCom 1 and is located in the 2nd word of the PZD area The supplementary setpoint comes from the USS interface on SCB 2 and is also located in t...

Page 328: ...ating xx 30 indicates 32 bits position in the PZD area at which the 32 bit setpoint begins In the 3rd word and 4th word 33 and so on x x 32 33 only if control word 2 is not transferred 34 only if control word 2 is not transferred 35 up to 45 When 32 bit quantities are being transferred the high word is located in PZD n and the low word in PZD n 1 For example 32 bit setpoint in PZD2 and PZD3 the hi...

Page 329: ...07 SCom1 actual values i001 to 016 SCom2 not with the Compact PLUS 708 SCom2 actual values i001 to 016 SCB2 706 SCB actual values i001 to 016 Status word 1 is always transferred in the 1st word of the PZD area in the USS protocol Interconnection of status word 1 and the actual speed frequency KK0091 at interface SCom1 Precondition PZD area at least 2 words in length P703 i001 2 is set Parameter No...

Page 330: ...Parameter Index and value Comments P706 SCB actual values i001 0032 1st word in the PZD area status word K0032 i002 0091 2nd word in the PZD area high word of the actual speed KK0091 i003 0091 3rd word in the PZD area low word of the actual speed KK0091 i004 0033 4th word in the PZD area status word 2 K0033 i005 0240 5th word in the PZD area Vd act K0240 When 32 bit quantities are being transferre...

Page 331: ...DP LED red LED yellow LED green System connector Fixing screw 9 pole Sub D connection X448 Fig 8 2 1 View of the communications board The communications board has three LEDs green yellow red for providing information on the current operating status Voltage is supplied from the basic unit through the system s plug in connector The CBP has a 9 pole SUB D socket X448 which is provided for connecting ...

Page 332: ...of FREEZE type PROFIBUS control commands for synchronized data transfer from several slaves to the master Extremely simple parameterization of the CBP via the PMU of the basic unit Flexible configuration of the setpoints actual values up to a maximum of 16 process data words Clock synchronization at the isochronous PROFIBUS for synchronization of processing by the master and slaves MASTERDRIVES MC...

Page 333: ...ssages they receive or transfer messages to a master when the latter requests a slave to do so Slaves are also designated as passive nodes The protocol architecture of the PROFIBUS DP is oriented to the OSI Open System Interconnection reference model in accordance with the international standard ISO 7498 and uses layers 1 and 2 as well as the user interface When transmission equipment is being sel...

Page 334: ...he cyclical communications functions are determined by the PROFIBUS DP basic functions in accordance with EN 50170 For purposes of parameterization during cyclical data exchange with intelligent drives acyclical extended communications functions are also used which are defined in PROFIBUS Guideline No 2 081 German or 2 082 English The following illustration contains an overview of the communicatio...

Page 335: ...use when a double word connector e g KK3032 is connected the meanings of the connectors K3002 and K3003 are swapped round high word and low word exchanged On MASTERDRIVES MC and Compact Plus on software version V1 50 and higher and on MASTERDRIVES CUVC on software version V3 23 and higher simultaneous use of connectors and double word connectors with the same name is mutually interlocked see also ...

Page 336: ...he characteristics of a parameter such as reading out the min max limits etc The type of PPO see next page used by the PROFIBUS DP master to communicate with the converter can be configured from the master when the bus system is started up Which type of PPO is selected depends on the task of the drive in the automation network The process data are always transmitted In the drive they are processed...

Page 337: ...W1 PZD2 HSW HIW PZD3 PZD4 PZD5 PZD6 PZD7 PZD8 PZD9 PZD10 1st Word 2nd Word 3rd Word 4th Word 1st Word 2nd Word 3rd Word 4th Word 5th Word 6th Word 7th Word 8th Word 9th Word 10th Word PPO1 PPO2 PPO3 PPO4 PPO5 PKW PZD PKE IND PWE Parameter ID value Process data Parameter ID Index Parameter value STW ZSW HSW HIW Control word 1 Status word 1 Main setpoint Main actual value Table 8 2 1 Parameter proce...

Page 338: ...ies converter master are transferred The transferred process data only have an effect if the control word bits the setpoints the status words and the actual values are routed in the basic unit in accordance with the chapter Process data wiring The following page gives an overview of typical ways of routing process data to the basic unit For this routing of the data the term process data wiring is ...

Page 339: ... value channel PZD 1 ZSW1 PZD 2 HIW PZD 3 PZD 4 PZD 5 PZD 6 PZD 7 PZD 8 PZD 9 PZD 10 Assignment of actual value parameters for P734 P734 P734 P734 P734 P734 P734 P734 P734 P734 16 bit process data P694 P694 P694 P694 P694 P694 P694 P694 P694 P694 i001 i002 i003 i004 i005 i006 i007 i008 i009 i010 16 32 bit process data example P734 P734 P734 P734 P734 P734 P734 P694 P694 P694 P694 P694 P694 P694 i0...

Page 340: ...ess data interconnection via standard tele 8 2 2 2 Acyclical data transfer The PROFIBUS DP has now been improved to include other methods of data transfer In addition to cyclical data transfer the extended PROFIBUS DP enables the following forms of data transfer as defined in PROFIBUS guidelines No 2 081 German or 2 082 English Acyclical data transfer at the same time as cyclical data transfer Ala...

Page 341: ...area PKW in accordance with the USS specification with data block 100 or for CBP2 V2 21 and later only the structure of the acyclic parameter channel according to PROFIdrive profile version 3 with data block 47 Acyclical data transfer with start up tool DriveES Class 2 master MSAC_C2 DriveMonitor of DriveES Basic can access parameters and process data in the basic units acyclically CBP2 acyclical ...

Page 342: ...nsfer via the MSCY_C1 link and at the same time acyclical data transfer via the MSAC_C1 link The MSAC_C1 channel enables READING and WRITING of any of the data blocks in the slave These data blocks are accessed with the PROFIBUS functions DDLM_Read and DDLM_Write For processing parameters the CBP supports a data block with the index 100 in slot 2 Because the parameters can only be altered infreque...

Page 343: ...ex Length Data Function number Slot number Index Length Function number Possibly several polling cycles without data until reply with data Call telegram Reply telegram DP Master DP Slave Slot number Index Length Data Function number Slot number Index Length Function number Possibly several polling cycles without data until reply with data Call telegram Reply telegram Write function Read function F...

Page 344: ...zed and or altered The mechanisms of task reply IDs necessary for this are described later in the chapter 8 2 3 Mechanisms of PKW processing In the MSAC_C1 channel larger amounts of data can be transferred at the same time than by means of PPOs in the cyclical channel The whole data unit is used exclusively for transmitting parameters It offers the same possibilities however as in the USS specific...

Page 345: ...of SFC 5 GADR_LGC convert geographical address to logical address the parameters are to be provided with the following when SFC 5 is called SUBNETID ID of the planned DP master system in accordance with the hardware configuration RACK Node bus address of the CBP SLOT 2 According to S7 HW configuration SUBSLOT 0 SUBADDR 0 The function block package DVA_S7 see also section 8 2 8 2 is a standard meth...

Page 346: ...RDRIVES 8 2 2 4 Acyclical master class 2 Configuration DriveES The MSAC_C2 channel on the CBP must be reserved for the start up and service tool Drive ES Profibus DP SIMATIC S7 SIEM ENS A S1 B X101 C X103 MSAC_C2 MASTERDRIVES DPM2 Drive ES Basic DPM1 Fig 8 2 7 Drive ES with Profibus MSAC_C2 channel for the Drive ES ...

Page 347: ...ng specific settings for drives are to be entered during configuration with Pro Tool Control units Protocol always SIMATIC S7 300 400 additional parameters Field Value Network parameter Profile DP Network parameter Baud rate as selected Communications partner Address the PROFIBUS address of the drive Communications partner Slot rack Don t care 0 Variables General register Field Value Name as selec...

Page 348: ... unsuccessful attempts at access the CB diagnostic parameter r732 22 and the following can help you further See Section Diagnosis and Troubleshooting 8 2 3 Mechanisms for processing parameters via the PROFIBUS With the PKW mechanism for PPO types 1 2 and 5 and when the acyclical channels MSAC_C1 and MSAC_C2 are used you can perform the following tasks Handling and visualizing parameters read write...

Page 349: ...Ds are possible depending on the task ID If the reply ID has the value 7 task cannot be executed an error number is deposited in parameter value 2 PWE2 in accordance with Table 8 2 6 Task ID Significance Reply ID positive negative 0 No task 0 7 or 8 1 Request parameter value 1 or 2 2 Change parameter value word 1 3 Change parameter value double word 2 4 Request description element 1 3 5 Change des...

Page 350: ...er change report array word 2 12 Parameter change report array double word 2 13 Reserved 14 Reserved 15 Transfer text not with CBP 1 The required element of the parameter description is specified in IND 2nd word 2 The required element of the indexed parameter is specified in IND 2nd word Table 8 2 5 Reply IDs converter master Source for the ON OFF1 command control word 1 bit 0 P554 22A Hex Change ...

Page 351: ...e but non admissible for other permanently valid reasons 21 Response too long The current response is longer than the maximum transmittable length 22 Non admissible parameter address Non admissible or unsupported value for attribute number of elements parameter number subindex or a combination of the above 23 Non admissible format Write task Parameter data in a non admissible or unsupported format...

Page 352: ...r the parameterized number of PKW data in the telegram e g the double word and the PKW number is changed to 3 words This error number is transferred if the parameter value which is to be adopted has not been assigned a function in the drive converter or cannot be adopted at the time of the change for internal reasons although it lies within the limits This error number always occurs for example wh...

Page 353: ...parameter index IND The function of parameter page selection for additional technology parameters or parameters of free components in the MASTERDRIVES is assumed here by the most significant byte bits 8 to 15 of the parameter index This structure corresponds to the stipulations of the USS specification PKE IND PWE1 PWE2 HIGH LOW MASTERDRIVES specific Array subindex 15 8 7 0 Bit 15 PARA PAGE SEL Su...

Page 354: ...d000 d999 1000 1999 1000 1999 3E8 7CF 0 U000 U999 n000 n999 2000 2999 0 999 0 3E7 1 L000 L999 c000 c999 3000 3999 1000 1999 3E8 7CF 1 Parameter page selection Source for the ON OFF command control word 1 bit 0 P554 22A Hex Change parameter value of index 1 structure of the IND according to PPO Parameter index IND 2nd word Bit No 15 8 7 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 Binary value 0 1 0 0 HEX val...

Page 355: ...ame applies to the reply With regard to reply telegrams which contain parameter values actual values the slave CBP always replies with the latest current values if the telegram is repeated If the PKW interface requires no information during cyclical operation only PZD data are important the No task task must be sent When you change the initialization function of software version V1 3x to V1 40 and...

Page 356: ...configuration Multi parameter tasks are defined for optimized simultaneous access to different parameters e g HMI screen contents Data block 47 can be processed by acyclical channels MSAC_C1 and MSAC_C2 The definition of an array has been changed in IEC 61158 as compared to the definition in EN 50170 The PROFIdrive profile version 2 is compliant with EN 50 170 according to which the subindex of an...

Page 357: ... e parameters without indices must be identified by No of elements 0 Changing the sub areas of an array is not supported by the CBP2 i e it is possible to transfer a write task either for one index or for all indices To alter a complete parameter array the number of values has to be equal to or greater than the size of the array The editing of texts or descriptions is not supported Reading of seve...

Page 358: ...es texts 4 bit Request change 8 bit Distinction value description text as additional attribute No of parameters New 8 bit Multi parameter tasks Parameter number 0 1999 11 bits Content as for PKW 16 bit Parameter number 0 not allowed Subindex 1 255 8 bits Content as for PKW 1 16 bit Offset in subindex due to modified array definition DPV1 subindex PKW subindex 1 No of elements always 1 New 8 bit Ac...

Page 359: ... header Axis mirrored No of parameters 1 2 Format word No of values 1 4 Parameter value Value 6 8 Positive parameter response with double word Task ref mirrored Response identifier Request parameter 0 Response header Axis mirrored No of parameters 1 2 Format double word No of values 1 4 Value 6 Parameter value 10 Negative parameter response Task ref mirrored Response identifier Request parameter 0...

Page 360: ... 1 2 Attribute value No of elements 0 4 Parameter number Parameter address Subindex 0 Format word No of values 1 10 Parameter value Value 12 14 Positive parameter response Task ref mirrored Response identifier Change parameter 0 Response header Axis mirrored No of parameters 1 2 4 Negative parameter response Task ref mirrored Response identifier Change parameter 0 Response header Axis mirrored No ...

Page 361: ...arameter address Attribute value No of elements 5 4 Parameter number Subindex 0 10 Positive parameter response Response header Task ref mirrored Response identifier Request parameter 0 Axis mirrored No of parameters 1 2 Parameter value Format word No of values 5 4 Value 1 6 Value 2 Value 3 Value 4 Value 5 16 Negative parameter response Response header Task ref mirrored Response identifier Request ...

Page 362: ...ows a write operation to one parameter with 5 subindices Parameter task Offset Task header Task reference Task identifier Change parameter 0 Axis 0 No of parameters 1 2 Parameter address Attribute value No of elements 5 4 Parameter number Subindex 0 Parameter value Format word No of values 5 10 Value 1 12 Value 2 Value 3 Value 4 Value 5 22 Positive parameter response Response header Task ref mirro...

Page 363: ...r Subindex 7 2 nd parameter address Attribute value No of elements 100 10 Parameter number Subindex 0 3 rd parameter address Attribute value No of elements 2 16 Parameter number Subindex 13 22 Parameter response All part accesses o k Response header Task ref mirrored Response identifier Request parameter 0 Axis mirrored No of parameters 3 2 1 st parameter value s Format word No of values 1 4 Value...

Page 364: ...part access o k second part access errored Response header Task ref mirrored Response identifier Request parameter 0 Axis mirrored No of parameters 3 2 1 st parameter value s Format word No of values 1 4 Value 6 2 nd parameter value s Format error No of values 1 8 Error value 10 3 rd parameter value s Format double word No of values 2 12 Value1 14 Value2 22 ...

Page 365: ...r Subindex 7 2 nd parameter address Attribute value No of elements 100 10 Parameter number Subindex 0 3 rd parameter address Attribute value No of elements 2 16 Parameter number Subindex 0 1 st parameter value s Format word No of values 1 22 Value 24 2 nd parameter value s Format word No of values 100 26 Value 1 28 Value 2 Value 100 3 rd parameter value s Format double word No of values 2 228 Valu...

Page 366: ... third part access o k second part access errored Response header Task ref mirrored Response identifier Change parameter 0 Axis mirrored No of parameters 3 2 1 st parameter value e Format zero No of values 0 4 2 nd parameter value e Format error No of values 2 6 Error value 8 Errored subindex 10 3 rd parameter value e Format zero No of values 0 12 14 ...

Page 367: ...ref mirrored Response identifier Request parameter 0 Axis mirrored No of parameters 1 2 Parameter value Format word No of values 1 4 Value 6 8 Positive parameter response with text Response header Task ref mirrored Response identifier Request parameter 0 Axis mirrored No of parameters 1 2 Parameter value Format byte No of values 16 4 Byte 1 Byte 2 6 Byte 15 Byte 16 22 Negative parameter response R...

Page 368: ...s Attribute description No of elements 0 4 Parameter number Subindex 0 10 Positive parameter response Response header Task ref mirrored Response identifier Request parameter 0 Axis mirrored No of parameters 1 2 Parameter value Format byte No of values Bytes 4 ID code 6 etc 6 des cription Negative parameter response Response header Task ref mirrored Response identifier Request parameter 0 Axis mirr...

Page 369: ...ute text No of elements 1 4 Parameter number Subindex parameter subindex 1 10 Positive parameter response Response header Task ref mirrored Response identifier Request parameter 0 Axis mirrored No of parameters 1 2 Parameter value Format byte No of values 16 4 Byte 1 Byte 2 6 Byte 15 Byte 16 22 Negative parameter response Response header Task ref mirrored Response identifier Request parameter 0 Ax...

Page 370: ...0x10 0x20 0x30 0x40 0x70 0x80 0xF0 reserved Value Description Text reserved manufacturer specific The four lower bits are reserved for a future expansion of Number of elements to 12 bits Number of elements Unsigned8 0x00 0x01 0x75 0x76 0xFF Special function Number 1 117 reserved Limitation by DPV1 telegram length Parameter number Unsigned16 0x0000 0x0001 0xFFFF Reserved Number 1 65535 Subindex Uns...

Page 371: ...FIdrive Profile V2 PPO write request not available in Information Report 0x09 Description data not available Access to description that does not exist parameter value available 0 0x0A Reserved PROFIdrive Profile V2 Access group incorrect 0x0B No parameter change rights Change access where there are no parameter change rights 0 0x0C Reserved PROFIdrive Profile V2 Password wrong 0x0D Reserved PROFId...

Page 372: ...r non supported value for attribute number of elements parameter number or subindex or a combination 0x17 Non permissible format Write task non permissible or non supported parameter data format 0x18 Number of values not consistent Write task Number of values of the parameter data do not correspond with the number of elements in the parameter address bis 0x64 Reserved 0x65 0xFF Manufacturer specif...

Page 373: ...de cover Inscription fields for optional boards Slot A Slot B Slot C Rear wall Right hand side wall open Fig 8 2 8 Position of the slots with side wall on the right removed Due to the DC link capacitors hazardous voltages are still present in the converter up to 5 minutes after it has been disconnected from the power supply Before opening the converter wait until the capacitors have completely dis...

Page 374: ... corresponding adaptation board ADB Order No 6SX7010 0KA00 You can operate the CBP optional board Communications board PROFIBUS in any slot Bear in mind however that an encoder board always needs slot C and that the LBA has to use a particular sequence of assigning slots The CBP can be mounted on the adaptation board in both slots i e at the BOTTOM and or at the TOP The slots are located at the fo...

Page 375: ...it must be inserted in slot 1 B2 mounting position 2 In this case the adaptation board with CBP is inserted in slot 1 B3 mounting position 3 A maximum of either two CBPs or one CBP plus one T100 T300 T400 technology board can be operated in the electronics box of the converter The following configurations are defined see function diagrams in Chapter 12 The CBP is regarded as the first CB TB if one...

Page 376: ... 10 Electronics box with free slots 1 B2 and 1 B3 and adaptation board with CBP On the adaptation board ADB Order No 6SX7010 0KA00 only one CBP can be mounted in slot X198 i e at the BOTTOM If the CBP is mounted with adaptation board the LBA Local Bus Adapter LBA Order No 6SE7090 0XX84 4HA0 must first be mounted If only one optional board is used it must always be inserted in slot 1 B2 on the RIGH...

Page 377: ...e PROFIBUS data transfer according to RS485 is most frequently used A twisted shielded copper cable with one pair of wires is used Up to a maximum of 124 units can be connected to a PROFIBUS phase In one bus segment up to 32 units can be connected together in a linear structure If there are more than 32 nodes repeaters power amplifiers must be used in order to link up the individual bus segments T...

Page 378: ...e you must not twist it stretch it or squash it In addition to this you must take into account any influences on electromagnetic compatibility EMC For further information see for example Chapter 3 of the Compendium or the description Instructions for Design of Drives in Conformance with EMC Regulations Order No 6SE7087 6CX87 8CE0 Rules for laying cables ...

Page 379: ... Interfaces PROFIBUS nodes PROFIBUS cable 9 pole Sub D socket 4 terminal blocks for wires up to 1 5 mm2 9 pole Sub D socket 4 terminal blocks for wires up to 1 5 mm2 Connectable diameter of PROFIBUS cable 8 0 5 mm 8 0 5 mm Recommended for IM 308 B IM 308 C S5 95U S7 300 S7 400 M7 300 M7 400 CBP Table 8 2 11 Structure and application of bus connectors with IP20 protection These connectors must not ...

Page 380: ...e recommended bus connectors can be used the bus termination can be connected or disconnected by means of switches on off on off Terminating resistor connected Terminating resistor not connected Fig 8 2 12 Switch positions for connected or disconnected bus termination resistor If these bus connectors are not used the user must ensure installation of a bus termination network at the first and last ...

Page 381: ...ion the matching resistor has no effect Make sure that the stations at which the matching resistor is connected is always supplied with voltage You can pull out the bus connector with looped through bus cable from the PROFIBUS DP interface at any time without interrupting data transfer on the bus Bus termination To next bus node From preceding bus node Last bus node Other bus nodes First bus node ...

Page 382: ... fiber ring with plastic fiber optic cables Siemens PROFIBUS Master PROFIBUS Slave CBP PROFIBUS Slave CBP PROFIBUS Slave CBP PROFIBUS Slave CBP OLM P3 or OLM P4 A ring consists of 1 OLM P and a max of 10 OLP Plastic fiber optic cable Simplex cable BFOC connector Plug in cable 830 1 HP Simplex connector Fig 8 2 15 Example of a system configuration with OLPs The OLP can be directly plugged into the ...

Page 383: ...s of OLM Ps One OLM P per single fiber ring is necessary as a coordinator OLP OLM for PROFIBUS Order No OLP Optical link plug for creating optical single fiber rings with plastic fiber optic cables including 2 HP Simplex connectors and mounting instructions 6GK1 502 1AA00 OLM P3 Optical link module for plastic fiber optic cables 3 channel version with signaling contact including 2 BF OC connectors...

Page 384: ...sure that the shield of each bus cable is connected to protective earth both where it enters the cabinet as well as at the converter housing Bus cables are to be laid at an angle of 90 to power cables if it is necessary that the two kinds of cable intersect The bus cables must be twisted and shielded and are to be laid separately from the power cables at a minimum distance of 20 cm The braided shi...

Page 385: ...ion for control cables Shield connection for motor cable Compact type and chassis type units Compact PLUS MC Shield connecting points Slot A Slot B Compact Plus VC SIEMENS X100 A S1 B X101 C X103 PE3 Shield connection for motor cable Shield connection for control cables Fig 8 2 17 Position of the shield connecting points If so many control cables are used that two shield clamps are insufficient th...

Page 386: ...tial bonding cables to the ground protective conductor through the largest possible surface area Instructions for laying cables Bus cables signal cables must not be laid close to and parallel to power cables Signal cables and the associated equipotential bonding cables must be laid as closely together as possible and kept as short as possible Power cables and signal cables must be laid in separate...

Page 387: ...o yes Possible optional boards CBP TB Function selection Hardware configuration Optional for start up diagnosis P712 1 2 5 Optional if PPO type cannot be set via PROFIBUS DP master P713 1 P721 1 Reserved Reserved P918 1 n CBP bus address 0 n 126 P060 1 Leave Hardware configuration P053 x P060 5 Parameter access CBP Function selection Drive setting Fig 8 2 18 Parameterization of Hardware configurat...

Page 388: ...6 P697 2 5 Optional if PPO type cannot be set via PROFIBUS DP master P053 x P052 5 Parameter access CBP Function selection Drive setting Leave Hardware configuration CBP in slot 1 B2 no nein CBP in slot 1 B3 yes P090 1 yes P091 1 CBP in slot 1 B3 CBP in slot 1 B2 yes Reserved Reserved Fig 8 2 19 Parameterization of Hardware configuration for FC CU1 VC CU2 and SC CU3 All grayed out parameters are o...

Page 389: ... all other parameter settings can be made from the PROFIBUS DP master via the bus For the additional setting of parameters which concern data transfer via the PROFIBUS DP e g process data PZD combination you must know the PPO type used for the transfer of useful data P060 P052 Function selection Hardware setting P090 board position 2 or P091 board position 3 You can also change these parameters if...

Page 390: ... the PPO type at the converter by means of the identification byte e g CP5431 for SIMATIC S5 you can specify a PPO type with parameter P712 P697 With the default setting P712 P697 0 the CBP automatically sets the type of PPO P712 P697 0 PPO1 default setting 1 PPO1 2 PPO2 3 PPO3 4 PPO4 5 PPO5 P713 x CB Parameter 3 P698 CBP Parameter 3 Only CBP2 Communications protocol P713 P698 0 PROFIBUS Default s...

Page 391: ... have been made the CBP is logged on in the converter and is ready to establish connections to the PROFIBUS DP It is not yet possible to process the process data via the PROFIBUS DP after this has been done This additionally requires the type of process data interconnection described in the following section 8 2 7 2 For USS relevant parameter numbers only CBP2 with P713 x 2 CBP2 parameter number M...

Page 392: ...or the individual bits of the control words can be assigned to a particular PZDi in the dual port RAM In order to do this the connector belonging to the required PZDi is assigned to the selector switch In function classes CUPM CUMC CUVC and Compact PLUS the control words STW1 and STW2 are also available in bit form on so called binectors explanations of BICO systems can be found in Chapter 4 Funct...

Page 393: ...nel e g P443 1 3002 P ZD 2 H S W P Z D 3P Z D 4 P Z D 5P Z D 6 3003 3004 3005 3035 3006 3036 PZD10 3010 Actual valuechannel ZSW HIW PZD3 PZD4 P734 1 P734 2 States Actual values PKW Process data PZD Actual value channel P Z D 1 Z S W Bus connector CBP PZD5 PZD6 PROFIBUS DP P Z D 2 H IW P Z D 3P Z D 4P Z D 5P Z D 6 P734 3 P734 4 P734 5 P734 6 PZD10 P734 10 CB TB actual values P734 1 P734 2 P734 3 P7...

Page 394: ...036 PZD10 3010 ZSW HIW PZD3 PZD4 P694 1 P694 2 PKW Process data PZD Actual value channel PZD1 ZSW CBP PZD5 PZD6 PROFIBUS DP PZD2 HIW PZD3 PZD4 PZD5 PZD6 P694 3 P694 4 P694 5 P694 6 PZD10 P694 10 CB TB Actual values P694 1 P694 2 P694 3 P694 10 SIMOVERT MASTERDRIVES SIMOVERT MASTERDRIVES CBP From the master To the Master Bus connector Dual port RAM Actual value channel States Actual values Dual por...

Page 395: ...If the main setpoint is transferred as a 32 bit process data item it is also assigned to word 3 In this case the most significant part of the main setpoint is transferred in word 2 and the least significant part is transferred in word 3 If a control word 2 STW2 is transferred the fourth word relevant connector 3004 or binectors 3400 to 3415 is always assigned to STW2 In PPO types 1 and 3 the PZD p...

Page 396: ... meanings of the connectors K3002 and K3003 are swapped round high word and low word exchanged On MASTERDRIVES MC and Compact Plus on software version V1 50 and higher and on MASTERDRIVES CUVC on software version V3 23 and higher simultaneous use of connectors and double word connectors with the same name is mutually interlocked see also function diagrams 121 and 131 Because the binectors are not ...

Page 397: ...le underline Interconnection value defines whether the parameter selected by the parameter number is transferred as a 16 bit value or as a 32 bit value and at which position in the PZD setpoint telegram PZDi the parameter is transferred White background MASTERDRIVES Compact PLUS CUPM CUMC or CUVC first CBP Grey background MASTERDRIVES FC CU1 VC CU 2 or SC CU 3 The actual value process data PZDi i ...

Page 398: ...he actual speed n f KK151 P218 is transferred in the actual value channel by means of PZD2 P734 3 151 P694 3 218 and as a 32 bit value by means of PZD3 Italics P734 P694 CB TB actual value if PMU is shown as a decimal number transferred via PROFIBUS DP as an equivalent HEX 2B6 Hex Single underline Index if PMU is a decimal number via PROFIBUS DP as an equivalent HEX number Specifies at which posit...

Page 399: ...l value ZSW1 NIST_A Standard telegram 2 PZD number 1 2 3 4 Setpoint STW1 NSOLL_B STW2 PZD number 1 2 3 4 Actual value ZSW1 NIST_B ZSW2 Standard telegram 3 PZD number 1 2 3 4 5 Setpoint STW1 NSOLL_B STW2 G1_STW PZD number 1 2 3 4 5 6 7 8 9 Actual value ZSW1 NIST_B ZSW2 G1_ZSW G1_XIST1 G1_XIST2 Standard telegram 4 PZD number 1 2 3 4 5 6 Setpoint STW1 NSOLL_B STW2 G1_STW G2_STW PZD number 1 2 3 4 5 6...

Page 400: ...W G2_XIST1 G2_XIST2 Signals Signal No Meaning Abbreviation Length 16 32 bit Sign 1 Control word 1 STW1 16 2 Status word 1 ZSW1 16 3 Control word 2 STW2 16 4 Status word 2 ZSW2 16 5 Speed setpoint A NSOLL_A 16 with 6 Actual speed A NIST_A 16 with 7 Speed setpoint B NSOLL_B 32 with 8 Actual speed B NIST_B 32 with 9 Encoder 1 control word G1_STW 16 10 Encoder 1 status word G1_ZSW 16 11 Encoder 1 actu...

Page 401: ...ne see section 8 2 5 Mounting methods CBP slots If process data monitoring has been activated a fault in the DP master is followed by a reaction of the converter irrespective of the reply monitoring time in the CBP P722 x 0 P722 x 0 P695 0 P695 0 Response monitor active Reaction Yes Reaction No Reaction Yes Reaction No Response monitor inactive Reaction No Reaction No Reaction No Reaction No Table...

Page 402: ...ms Converter continues to run with the useful data last received Fault trip with F082 after restart of CPU Fault trip with F082 after 10 ms Converter continues to run with the useful data last received Table 8 2 13 Interaction of P722 P695 and response monitoring watchdog Always set parameter P722 P695 to the value of 10 for operation with the CBP Monitoring of process data is thus activated deact...

Page 403: ...mmunicate with the CBP in all the ways possible the characteristic features of the CBP are summarized in the form of an electronic data sheet data file These so called master files describe the characteristic features of a type of unit clearly and completely in an exactly specified format For the different master systems the characteristics are summarized in a standardized master file GSD and for ...

Page 404: ...on error in the diagnostic telegram to the PROFIBUS DP master PPO Identification byte 0 Identification byte 1 Identification byte 2 Identification byte 3 COMET200 type Dec Hex COM Dec Hex COM Dec Hex COM Dec Hex COM Version 1 243 F3 4AX 241 F1 2AX V4 x V5 x 2 243 F3 4AX 243 F3 4AX 241 F1 2AX 0 0 0 V4 x V5 x 2 243 F3 4AX 243 F3 4AX 241 F1 2AX V4 x V5 x 2 243 F3 4AX 245 F5 6AX V5 x 3 241 F1 2AX 0 0 ...

Page 405: ...tion If older versions of these planning tools are used you must copy the master file or type description file from the accompanying CD into the appropriate sub directory of the planning software When configuring the CBP please use the SI8045TD 200 type description file on the CD Please copy the type description file into the directory containing the COM ET 200 files in the PG PC CD C COMET200 COP...

Page 406: ...ected with this planning tool from a selection table called Required configuration This table appears automatically when the menu item Configure is selected More information on how to configure data exchange between a CBP and a SIMATIC S5 can be found in the description accompanying the DVA_S5 module package The DVA_S5 module package variable speed drives with the SIMATIC S5 implements data transf...

Page 407: ...here under the name MASTERDRIVES CBP To enable the CBP to be connected as a standard DP slave with extended functionality for SIMATIC S7 e g acyclical communication with DriveMonitor to the PROFIBUS DP a so called DVA_S7 object manager has to be installed as an add on to STEP 7 The DVA_S7 object manager is part of the DVA_S7 module package STEP7 basis software Version V3 1 and upwards is a require...

Page 408: ...modules After installation of the DVA_S7 OM the CBP is shown as follows in the hardware catalog The type of PPO is selected in the hardware manager from the register Configuration of the Characteristics DP slave mask which is automatically shown on the screen when the selection e g Motion Control is confirmed More information on planning data exchange between a CBP and a SIMATIC S7 can be found in...

Page 409: ...is always provided as the data interface irrespective of which S7 CPU the program runs on The programmer does not therefore need any detailed knowledge of the SIMATIC S7 system architecture or of the necessary system functions As already mentioned the DVA_S7 object manager is part of the scope of supply of the DVA_S7 module package The DVA_S7 module package can be obtained from A D WKF Fürth Germa...

Page 410: ...nd via the DP master Clock synchronization Synchronization of master and slave applications at the isochronous PROFIBUS Free configuration is possible with all DP masters which are configured with STEP7 Cross traffic and clock synchronization presuppose DP masters which support this functionality i e all S7 CPUs for example with the characteristic equidistance For free configuration and cross traf...

Page 411: ...ive to all drives Peer to peer Passing on a setpoint from one drive to the next Definitions Cross traffic encoder publisher All inputs of a DP slave capable of cross traffic are transmit data in relation to cross traffic They can be received by the DP master or by DP slaves capable of cross traffic Transmitting takes place automatically by means of a broadcast Explicit configuration of the cross t...

Page 412: ...smit data maximum of 16 words of setpoints actual values per drive can be divided up in any way on DP master and DP slaves capable of cross traffic Number of transmission channels a broadcast channel which the DP master and any number of DP slaves can receive Number of receive channels max eight The following illustration contains a cross traffic configuration with two cross traffic encoders publi...

Page 413: ...PROFIBUS transmission rate of 12 Mbit s Synchronized time slot in the basic unit DP cycle Max number of DP slaves T4 3 2 ms 11 T5 6 4 ms 27 Measures relating to bus configuration First configure all DP slaves possibly with cross traffic The quantities and the minimum DP cycle on the PROFIBUS are thus defined In the Equidistance register can be reached under PROFIBUS Properties Supply settings Opti...

Page 414: ...specially the processing of setpoints and actual values to and from the CBP2 Diagnosis of clock synchronization in MASTERDRIVES MC B0043 1 Application is synchronous with bus clock r748 9 should fluctuate between 65515 and 20 For further diagnostic parameters see section Diagnosis and Troubleshooting The following times will help you when calculating the bus bandwidth available 12 Mbit s 150 200 µ...

Page 415: ...istance master A maximum of one additional master class 2 PG it is recommended that no additional master be used No repeater no fiber optic cables they cause different dead times The CBP2 must be directly plugged onto the basic board also via adapter board There must not be a technology board plugged in between the basic unit and the CBP2 PROFIBUS offers you a bus system for all tasks With SIMOLIN...

Page 416: ...set to 5 3 kHz for clock synchronization in accordance with PROFIdrive V3 The following combinations are possible with a PROFIBUS transmission rate of 12 Mbit s Synchronized time slot in basic unit DP cycle T4 3 ms T5 6 ms Configuring the MASTERDRIVES MC Set pulse frequency to 5 3 kHz Select P340 5 3 in the drive settings screen Enable the source for clock sycnchronization via P744 P744 1 P744 2 S...

Page 417: ...Takt Iso master acyclical Takt Cl 2 master acyclical CBP2 processing Iso master cyclical Fig 8 2 27 Splitting of DP cycle on isochronous PROFIBUS Two mandatory time conditions DP cycle Isochronous master cyclical share 1000 µs DP cycle Isochronous master cyclical share Isochronous master acyclical share Class 2 master The following supplementary conditions currently apply to clock synchronization ...

Page 418: ...oller which performs interpolation and position control the control circuit must be connected via the bus In the setpoint direction the speed setpoint is transmitted to the drive In the actual value direction the drive returns the actual position value In order to be able to achieve sufficiently high circuit gain for the dynamic required the dead times must be small and above all absolutely consta...

Page 419: ...tion Creating synchronism simultaneity time consistency Clock synchronization Clock synchronization refers to the synchronization of the sample times of the control with the connected drives Clock synchronous application in the control software in digital drives and control system The starting times and the length of the sampling times in various devices are synchronized exactly with each other Eq...

Page 420: ...on control and interpolation pos set travel tasks Cyclical interface 1 4 Positioning with central interpolation and position control Optional DSC Dynamic Servo Control n set x actual additional for DSC x xerr KV kPC Cyclical interface clock synchronous encoder interface DSC see chapter 2 4 5 Positioning with central interpolation and distributed position control x set Cyclical interface clock sync...

Page 421: ... and drive controller The normal cyclical data communication of the PROFIBUS DP is used Data Exchange This application is primarily used in the area of classic drive technology e g materials handling technology A PLC is used mainly as the automation system Clock synchronism and cross traffic on the bus system are not necessary for this application class Automation Technology Control word main setp...

Page 422: ...also the functions for interpolation and position control of the drive Speed setpoints and actual values and actual position values are exchanged via PROFIBUS DP The drive controller essentially only comprises the algorithms for speed control and recording of actual position values As position control is carried out via the bus system this variant places very high demands on the clock synchronisat...

Page 423: ... drives new e g synchronous closed loop speed control PROFIBUS DP nset D R I V E Slave M G Pos selectset Pos sel act nact D R I V E Slave M G PROFIdrive drives Closed loop speed control Positioning A I O Slave E other I O Fig 8 2 30 Clock synchronous monomaster operation DPM1 The times for the setpoint transfer and actual value recording of the slaves and the time of the control by the higher leve...

Page 424: ...ation forms the basis for drive synchronization For this not only is the telegram traffic on the bus system implemented in an isochronous time slot but also the internal control algorithms such as the speed and current controllers in the drive or the contollers in the higher level automation system are synchronized in time Master application DP cycle Speed current controller pulse Slave 1 3 applic...

Page 425: ... Operating condition reject travel task 5 Enable ramp function generator stop ramp function generator Operating condition pause 6 Enable setpoint disable setpoint Activate travel task edge 7 Acknowledge no meaning 8 Inching 1 ON Inching 1 OFF 9 Inching 2 ON Inching 2 OFF 10 Control from PLC no control 11 Device specific Start referencing terminate referencing 12 15 Device specific Explanation To t...

Page 426: ...isabled 7 Warning no warning 8 Setpoint actual in tolerance range Setpoint actual not in tolerance range no tracking error tracking error 9 control required local operation 10 f or n reached f or n not reached set position reached outside set position 11 device specific Reference point set no reference point set 12 device specific setpoint acknowledgment edge 13 device specific drive stationary dr...

Page 427: ...tatus word 2 16 see section 8 2 9 4 NSOLL_A Speed setpoint A 16 NIST_A Speed actual value A 16 NSOLL_B Speed setpoint B 32 NIST_B Speed actual value B 32 G1_STW Encoder 1 control word 16 see section 8 2 9 9 G1_ZSW Encoder 1 status word 16 see section 8 2 9 9 G1_XIST1 Encoder 1 position actual value 1 32 see section 8 2 9 9 G1_XIST2 Encoder 1 position actual value 2 32 see section 8 2 9 9 G2_STW En...

Page 428: ...d setpoint interface If necessary this can be switched to the speed setpoint interface during operation The control circuit based on the speed setpoint interface generally has the following structure Path interpolation ncmd xcmd xact NC Kpc Tpc Zero offset and compensation Master Controller NC Drive Controller xact Transmission delay nNC Interpolation Tpc Speed filter Speed calculation Speed contr...

Page 429: ... is transmitted as well as the speed setpoint The additional feedback network can use the internal formats in the drive for position presentation and is thus independent of the position presentation in the master The above presentation assumes that the network is calculated in the speed controller sampling time TSC which will be possible in many cases In this way the maximum possible dynamic impro...

Page 430: ... feedback network inactive position control circuit in the drive opened The master normally uses this to open the position control circuit fully e g in spindle operation or with errors However it can also switch back to conventional position control in this way without re configuring the drive The drive can assume that xerr 0 is being transmitted The speed setpoint is entered via ncmd 2 kpc 0 feed...

Page 431: ...alue scanned in master application cycle KK0526 Position setpoint KK0457 Position control FD 340 DSC Position Xerr KK3036 Position control gain Kpc KK3038 Speed precontrol value KK3032 Receive PROFIBUS signals FD 120 KK3032 M Motor G Encoder Position sensing Mech coupling Position act value KK0120 Encoder interface FD 172a Position measurement KK0122 Position act value KK0120 Reference value G1 KK...

Page 432: ...nals from the Profibus on the right the transmission of actual values and status data to the Profibus as is specified in the standard telegram In the centre of Fig 8 2 35 the meaning and softwiring of the individual bits in control word 1 are presented At the bottom of Fig 8 2 35 is the monitoring of the master life sign the creation of the binector master application pulse and the slave life sign...

Page 433: ...le word 8 B3110 PZD control B3109 Inch Bit1 P568 1 B 3108 B3108 Inch Bit0 P566 1 B 3107 B3107 Acknowledge B3106 Setp Enable B3105 No RFG stop B3104 RFG Enable B3103 Inv Enable B3102 OFF3 Qstop P555 1 B 3101 B3101 OFF2 electr Src Inch Bit0 Src 2 Acknowl Src 1 OFF2 B3100 ON OFF1 P554 1 B 3100 Src ON OFF1 P558 1 B 3102 Src1 OFF3 Qstop P561 1 B 3103 Src Inv Enable P562 1 B 3104 Src RFG Enable P563 1 B...

Page 434: ... relevant position actual value which enters the position controller on the master side must be stored internally This is achieved by scanning the actual position value synchronously with the life sign of the Profibus master This dead time element delays the scanned actual position value The dead time must be selected according to the action time of a new actual position value via the master posit...

Page 435: ...1 Sign 0 0 31 1 n 0 31 x y 2 31 1 2 31 1 U953 36 __ 20 KK3038 KK3032 KK3036 P203 B K P190 B KK P209 B KK KK0120 P734 6 K U961 91 16 4 4 4 DSC_GAIN KPC from PROFIBUS N_Setp precontrol word DSC_POS XErr G1IST1 ActV To PROFIBUS U960 63 14 U442 01 12 U401 4 U963 36 18 Pos Controller Kv 1000LU Min LU P204 F 15 728 FD340 position controller FD120 125 CBP2 01 U176 0 U950 86 __ 20 KK0526 KK U177 0 B 02 KK...

Page 436: ...ycle standard case for MASTERDRIVES Master DP cycle Speed current controller clock time TSAPC Slave 1 3 Reserve T S1 S2 S3 MSG T Reserve S1 S2 S3 MSG T Reserve S1 S2 S3 MSG T Reserve S1 S2 S3 MSG T R1 R2 R3 R1 R2 R3 R1 R2 R3 R1 R2 R3 R1 R1 R1 R1 R1 R1 R1 R1 R1 R1 R1 R1 R1 R1 R1 R1 R1 TI 0 TO 0 Pos Controller clock time TMAPC TM 0 Fig 8 2 37 Example simplest DP cycle In this example four DP cycles ...

Page 437: ...rface can be incorporated in the telegram via the process data configuration Encoder 1 Standard telegram 3 4 5 6 Encoder 2 Standard telegram 4 6 The description of these process data can be obtained from the literature Literature PPA PROFIDRIVE Profile Drive Technology order no 3 171 Chapter 4 6 For operation of a MASTERDRIVES MC on SIMOTION or another PROFIdrive Master using standard telegrams 3 ...

Page 438: ...vate function x Bit 4 1 2 Read value x Bit 5 1 3 Terminate function x Bit4 and Bit5 1 4 7 reserved 7 0 1 Functions Reference marks Search or flying measurement Mode Bit 7 0 Reference marks search zero mark or zero mark and BERO Bit 7 1 Flying measurement only BERO 8 reserved 9 reserved 10 reserved 11 0 1 Reference point mode Reference point mode Bit 11 0 Set reference point Bit 11 1 Shift referenc...

Page 439: ...parking of the encoder is terminated with error Error code 1 Absolute value encoders may never be removed from the frequency converter while live 15 1 Acknowledge encoder error Request to return a encoder error Gx_ZSW Bit15 Table 8 2 17 Encoder control word Re function 1 4 BIT 0 to BIT3 The function bits are forwarded to the binectors B910 to B917 see also FP172x for optional functionalities G1STW...

Page 440: ...r circuit see also FP172x Re function set shift reference point BIT 12 Set reference point motor encoder is issued to B920 Shift reference point motor encoder is issued to B922 Set reference point external encoder is issued to B921 Shift reference point external encoder is issued to B923 The use of this function is created per binector circuit see also FD172x Input Src measured value valid U923 7 ...

Page 441: ...rk 2 scanner 1 neg edge Bit 6 value 3 Reference mark 3 scanner 2 pos edge Bit 7 value 4 Reference mark 4 scanner 2 neg edge Simultaneous setting of Bit 0 3 Terminate function 1 4 device specific error code in Gx_XIST2 8 1 Scanner 1 deflected Static status scanner 1 U923 5 9 1 Scanner 2 deflected Static status scanner 2 U923 6 10 reserved set to zero 11 encoder error acknowledgement in processing 1...

Page 442: ...sk SD8 Abs value cyclical in XIST2 SD7 Set shift ref point implemented SD6 Check ref task SD5 Wait for reference marks SD4 Ref value in XIST2 SD2 Fault ackn SD3 Fault SD1 Normal operation TD13 TD12 TD4 TD5 TD18 TD19 TD11 TD6 TD10 TD9 TD8 TD7 TD1 TD14 TD15 TD16 TD17 TD3 TD2 TD20 TD22 TD21 Fig 8 2 39 Status diagram of encoder interface showing the statuses and transitions Status diagram statuses and...

Page 443: ...s expected Gx_ZSW Bit 0 3 0000b SD6 Check reference task Check reference task The reference task is checked None SD7 Set shift reference point executed Set or shift reference point The reference point is either set or shifted Gx_ZSW Bit 12 1 SD8 Absolute value cyclical in XIST2 Load absolute value cyclically in XIST2 An absolute value in XIST2 is loaded cyclically Gx_ZSW Bit 13 1 SD9 Check measure...

Page 444: ...TW Bit 12 0 TD9 SD8 Absolute value cyclical in XIST2 SD1 normal operation Gx_STW Bit 13 0 TD10 SD1 Normal operation SD8 absolute value cyclical in XIST2 Gx_STW Bit 13 1 TD11 SD1 Normal operation SD9 check measurement task Gx_STW Bit 7 1 and Gx_STW Bit 4 6 001b and Gx_STW Bit 0 3 0000b TD12 SD10 Wait for measurement task SD1 normal operation Gx_STW Bit 4 6 011b TD13 SD10 Wait for measurement task S...

Page 445: ...place for 0xx Motor encoder 1xx External encoder 4 Terminate reference mark search No SBP in the case of the external encoder Valid measured values lacking B0070 or B0071 Acknowledge encoder error active Parking encoder axis active Request absolute value cyclically active Set shift reference point active Mode BIT 7 1 Flying measurement active or a reserved bit is used 5 Terminate collect reference...

Page 446: ...d in the standard interconnections For this measurement via the measured value memory of the basic unit must be used If the measured value memory is to be used both for referencing and for measurement corresponding interconnections in the basis unit via free blocks must be used 2 The function Referencing only with zero mark must be ensured via corresponding interconnections in the basic unit using...

Page 447: ...c information can be read out directly from the diagnostics memory of the CBP by means of a diagnostic parameter During normal operation all three LEDs light up synchronously and for the same length of time flashing The stationary status of an LED on or off indicates an unusual operating status parameterization phase or fault LED Status Diagnostic information Red Flashing CBP operating voltage sup...

Page 448: ...ich are displayed as such by the CBP LED Status Diagnostic information Red Yellow Green Flashing Off On CBP is waiting for the basic unit to begin initialization Red Yellow Green On Off Flashing CBP is waiting for the basic unit to complete initialization Red Yellow Green Flashing On Off Checksum error in flash EPROM of the CBP Download firmware again or replace CBP Red Yellow Green Flashing On On...

Page 449: ...ablished with the PROFIBUS DP master new configuration is necessary A 083 A 091 No net data or invalid net data e g complete control word STW1 0 are being received by the DP master Consequence The process data are not being transferred to the DPR If parameter P722 P695 is not equal to zero this will result in fault message F 082 being tripped see chapter Process data monitoring A 084 A 092 Telegra...

Page 450: ...plies to the following configurations Exactly one CBP has been plugged into slots A to G in the electronics box and no T100 T400 technology board has been plugged in If two CBPs have been plugged in the alarm number applies to the one which has been plugged into the slot with the lower slot letter The alarm number for the second CB applies to the following configurations One T100 400 technology bo...

Page 451: ...e bus has been interrupted or all net data are transferred with 0 see also A083 Remedy Check bus cable incl connecting plug In the DP master assign values not equal to zero to control word STW1 Table 8 2 26 Fault display on the basic unit The fault number for the first CB TB applies to the following configurations Exactly one CBP has been plugged into slots A to G in the electronics box and no T10...

Page 452: ... number for reading out the diagnostic information of the second CBP Index number Meaning 1st CBP 2nd CBP CBP_Status 1 33 DP Ctrler_Status 2 34 Global_Controls 3 35 Counter telegrams received without faults only DP standard 4 Low 36 Low Reserved 4 High 36 High Counter TIMEOUT 5 Low 37 Low Reserved 5 High 37 High Counter CLEAR DATA 6 Low 38 Low Reserved 6 High 38 High NOTICE The following indices h...

Page 453: ...D negative acknowledgement 19 Low 51 Low Reserved 19 High 51 High Counter DP T GET DB99 positive acknowledgement 20 Low 52 Low Counter DP T PUT DB99 positive acknowledgement 20 High 52 High Counter DP T GET DB100 positive acknowledgement 21 Low 53 Low Counter DP T PUT DB100 positive acknowledgement 21 High 53 High Counter DP T GET DB101 positive acknowledgement 22 Low 54 Low Counter DP T PUT DB101...

Page 454: ...RAM Offset Address 0x55 by the basic board normal operation not set Bit 3 Value range exceeded CB bus address P918 basic board normal operation not set Bit 4 Extended diagnostic activated CB parameter 1 P711 P696 0 normal operation not set Bit 8 Incorrect identification byte transferred faulty configuration telegram from the PROFIBUS DP master normal operation not set Bit 9 Incorrect PPO type faul...

Page 455: ... addresses 1536 bytes retreat made from respective address 1024 and access is made under this new address Bits 4 5 DP State 1 0 00 Status Wait_Prm 01 Status Wait_Cfg 10 Status DATA_Exchg 11 Not possible Bits 6 7 WD State 1 0 00 Status Baud_Search 01 Status Baud_Control 10 Status DP_Control 11 Not possible from PROFIBUS DP master Bits 8 9 10 11 Baud rate 3 0 0000 12 mbaud 0001 6 mbaud 0010 3 mbaud ...

Page 456: ...bytes entered after r732 9 during special diagnosis selected by means of CB parameter 1 Mirroring slot Identifier 2 Read out of the DPRAM during run up Offset Address 054H with VC FC and SC corresponds to parameter P090 Mirroring slot Identifier 3 Read out of the DPRAM during run up Offset Address 055H with VC FC and SC corresponds to parameter P091 Mirroring P918 Read out of the DPRAM during run ...

Page 457: ...g DPT service Set up application relation reserved reserved Creation date Day and month when CBP firmware created Display 0304 03 04 Creation data Year when CBP firmware created Display Year Software Version Software version V X YZ Display X Software Version Software version V X YZ Display YZ Flash EPROM Checksum Is read out of the flash EPROM during run up r732 16 Low Byte 0AEH r732 16 High Byte ...

Page 458: ...fer depending on the set value The entries are made in rising sequence beginning with r732 9 r732 10 r732 11 etc in the same way as the corresponding useful data are transferred via the PROFIBUS DP namely high byte before low byte high word before low word The original entries i e when P711 P696 0 are overwritten beginning with r732 9 Entries r732 1 to 732 8 retain their meaning Detailed knowledge...

Page 459: ...er Length 10 bytes The following entries apply to cyclical data transfer via MSAC C1 P711 P696 10 Useful data of the DS100 Data unit in DS_WRITE to DS100 Max 32 bytes P711 P696 11 Useful data of the DS100 Data unit in DS_READ to DS100 Max 32 bytes The following entries apply to acyclical data transfer via MSAC C2 P711 P696 21 Useful data in the DB99 Data unit in PUT to the DB99 Max 32 bytes P711 P...

Page 460: ...high byte and low byte are shown interchanged in relation to what is displayed in the other parameters Display on the PMU r732 9 PKE BB 71 r732 10 IND 00 01 r732 11 PWE1 00 00 r732 12 PWE2 02 30 r732 13 STW 7E 9C r732 14 HSW 00 20 PKE IND PWE1 PWE2 STW HSW Specified by master 71 BB 01 00 00 00 30 02 9C 7E 20 00 e g S5 or S7 In order to visualize the received process data PZD parameter r733 can als...

Page 461: ...r732 13 onwards high part at the least significant address In the following example the reply to the DP master to the WRITE request in example 1 is shown in parameter P443 with the value 3002 The status word is returned by the converter with 4331Hex 0000Hex is given as the actual value The values in r732 are displayed in Motorola format i e high byte and low byte are shown interchanged in relation...

Page 462: ...xxx PWE10 PWE10 ii 21 PZD9 xxx per PPO xxx PWE11 PWE11 ii 22 PZD10 xxx 1 xxx PWE12 PWE12 ii 23 xxx xxx xxx xxx PWE13 PWE13 ii 24 xxx xxx xxx xxx PWE14 PWE14 1 The 25 bytes with slot oriented S7 type identifications are always entered even if the CBP is configured with identification bytes by an SIMATIC S5 or a non Siemens master 2 As regards IND high byte and low byte are inverted in relation to t...

Page 463: ...tor By means of CB parameter 3 i e P713 P698 a hex monitor can be activated with which addresses of the dual port RAM can be read out on the CBP Parameter P713 P698 is to be reserved exclusively for suitably trained start up personnel In order to use the hex monitor to best effect appropriate detailed knowledge of the structure of the dual port RAM is necessary In P713 P698 only the offset address...

Page 464: ...732 10 Encoder 3 Encoder 4 r732 11 Encoder 5 Encoder 6 r732 12 Encoder 7 Cross traffic address encoder 8 r732 13 CBP2 itself works as a cross traffic encoder PPO type 0xFF no PPO r732 14 Cross traffic number of configured encoders Cross traffic Score Board one bit per encoder Bit 0 Encoder 1 Bit 7 Encoder 8 0 Encoder inactive 1 Encoder configured and active r732 15 Counter repeated cyclical PKW re...

Page 465: ...o small should not occur here 103 PKW number incorrect should not occur here 104 Parameter value not permissible 105 Access to array parameter with single identifier Set data block offset 0 106 Task not implemented No 200 209 S7 task is formally defective Error detection in the COM BOARD Additional info in r732 23 r732 24 data block number data block offset 200 Error in variables address no addiio...

Page 466: ...748 x Content of SIMOLINK SLB Content of PROFIBUS CBP2 r748 1 Number of error free synchronizing telegrams r748 2 CRC error Internal r748 3 Number of timeout errors Internal r748 4 Last bus address signaled Internal r748 5 Address of the node which sends the special telegram Timeout Internal r748 6 Active SYNC interrupt delay Internal r748 7 Position of the node in the ring Internal deviation of p...

Page 467: ...nd parameterization P711 x r732 x 30 r732 9 Result of parameterizing telegram evaluation see table r732 10 Result of evaluating cross traffic parameterization see table r732 11 Result of configuring telegram evaluation see table r732 12 PPO type 1 5 if free configuration then 0xff r732 13 Length of the input data to the master without PKW in bytes r732 14 Length of the output data from the master ...

Page 468: ...ains an invalid value for Isochronous Mode Supported permissible values 0xE1 1 0x1000 Unknown equidistance mode set by the basic board 1 From CBP2 V2 21 0xE1 0xE2 with DriveES Slave OM 0x04 with GSD R4 are applicable Table 8 2 31 Paramter telegram evaluation r732 9 P711 30 Value Meaning 0x0000 Parameterizing block cross traffic error free 0x1001 Default return value 0x1002 The version of the filte...

Page 469: ...int 14 Setpoint 13 P732 16 Setpoint source 0 Master 1 to 8 cross traffic encoder 9 Setpoint 16 Setpoint 15 P732 17 Setpoint 2 Setpoint 1 P732 18 Setpoint 4 Setpoint 3 P732 19 Setpoint 6 Setpoint 5 P732 20 Setpoint 8 Setpoint 7 P732 21 Setpoint 10 Setpoint 9 P732 22 Setpoint 12 Setpoint 11 P732 23 Setpoint 14 Setpoint 13 P732 24 Byte offset of the setpoint within the setpoint source value range 0 t...

Page 470: ... 58 Hz to 500 Hz 3 5 mm in the frequency range 5 Hz to 9 Hz 9 8 m s2 in the frequency range 9 Hz to 500 Hz Climatic class Class 3K3 to DIN IEC 721 3 3 during operation Method of cooling Natural air cooling Permissible ambient or coolant temperature during operation during storage during transport 0 C to 70 C 32 F to 158 F 25 C to 70 C 13 F to 158 F 25 C to 70 C 13 F to 158 F Permissible moisture s...

Page 471: ... Compendium Motion Control 8 2 141 X445 X448 Monitor connector for development C501 SPC3 8KB RAM 128KB Flash EPROM PAL 16V8 2 DPR 2K 8 RS 485 Driver PBUS_A PBUS_B DC DC Transformer Electrical isolation 3 LEDs 9 pole SUB D socket Fig 8 2 40 Block diagram of the CBP Block diagram of the CBP ...

Page 472: ...requiring a high degree of synchronism angular synchronism of individual MASTERDRIVES MC units to each other A typical area of application is for example the replacement of previously mechanically coupled moving axes by individual electric drives e g for printing machines SIMOLINK can further be used in highly dynamic coordination tasks of individual MASTERDRIVES MC VC units such as in the motion ...

Page 473: ... The transfer medium is a fiber optic cable Either glass or plastic fiber optic cables can be used SIMOLINK has the structure of a ring of fiber optic cables where each node acts as a signal amplifier Thus the following distances can be realized depending on the selected medium max 40 m between each node on a plastic fiber optic cable or max 300 m between each node on a glass fiber optic cable Up ...

Page 474: ...stem of the converter as being the currently applicable data This ensures that the latest applicable data is available to all nodes on the bus at the same time Bus cycle system clock Bus cycle system clock t SYNC Pause SYNC Pause Pause SYNC telegram SYNC telegram Telegrams for data transfer of nodes Telegrams for data transfer of nodes Fig 8 3 2 SIMOLINK telegram traffic The transfer rate is a fix...

Page 475: ... principle characteristic of this interface independent constant dispatching of telegrams The interfaces in the other MASTERDRIVES MC VC units on SIMOLINK operate as Transceivers The term Transceiver is made up of the words Transmitter and Receiver It means that a transceiver can receive and then send telegrams but it cannot initiate telegram traffic itself main difference to the dispatcher In thi...

Page 476: ... order in which they are sent Each telegram has an address section node address and a subaddress section channel number in the telegram header The telegrams are entered in the task table with ascending address and subaddress sections The SIMOLINK dispatcher initiates telegram traffic by dispatching all the telegrams one after the other beginning with the telegram with the lowest address and subadd...

Page 477: ...end process data to every other MASTERDRIVES MC VC or receive data from it Maximum of sixteen 32 bit data per MASTERDRIVES MC VC possible via SIMOLINK i e every MASTERDRIVES MC VC can receive up to 8 32 bit data via SIMOLINK and send up to 8 32 bit data to other MASTERDRIVES MC VC units The telegram address is not interpreted as a destination address which determines to whom the information is to ...

Page 478: ... maximum of 8 different telegrams 8 x 32 bit data can be read For this purpose those addresses and channel numbers whose data are to be read are parameterized as receive telegrams in the dispatcher or in the transceivers This parameterization is carried out before data traffic is started up in the case of MASTERDRIVES for example via the parameters of the converter Dispatcher or Transceiver 5 Addr...

Page 479: ...a with word size 16 bit two process data per telegram can also be transferred or read All usable telegrams must be entered in the task table of the dispatcher Typical applications for SIMOLINK are the implementation of digital setpoint cascades in which one or more setpoints can be given to the slave drives by a MASTERDRIVES MC VC unit acting as master drive 8 3 4 Components of the peer to peer fu...

Page 480: ... fiber diameter of 2 2 mm for attaching the connector is maintained The SLB optional board has a 24 V voltage input for the external voltage supply of the board This ensures that data transfer is maintained in SIMOLINK even with powered down converter inverter Changeover between internal voltage supply from the converter inverter and external voltage supply is carried out automatically with priori...

Page 481: ...s are necessary for configuring the SLB P740 SLB node address 0 simultaneous selection of dispatcher function 1 200 simultaneous selection of transceiver function P741 SLB telegram failure time dispatcher and transceiver The telegram failure time is a parameterizable failure time which is stored in every node The telegram failure time determines the maximum time between two HW interrupts The HW in...

Page 482: ...ignal conversion in each node Formula for transceivers at the n th position in the ring tdelay n number of nodes n x 3 bit times The Number of nodes value is specified to the nodes as a parameter The position n at which the node is situated in the ring is calculated automatically in the SIMOLINK starting cycle The SL master or dispatcher sends a special telegram with the address 253 Count nodes an...

Page 483: ...e selected value is firmly applicable for all nodes on the bus P746 SLB cycle time dispatcher This is used to set the bus cycle time The bus cycle time can be set from 0 20 ms to 6 50 ms in a 10 µs grid The dispatcher determines the task table from the SLB channel number and the SLB cycle time consecutive numbering starting with node address 0 and channel number 0 at first incrementing the channel...

Page 484: ...he number of addressable nodes are thereby reduced by half Parameter values only dispatcher xxx0 No dead time compensation xxx1 Dead time compensation activated Number of addressable nodes n 2 When 2 SIMOLINKs are operated in a converter data adoption and synchronization can be changed over from one to the other cf P 744 If this changeover is also to be possible during operation converter status 0...

Page 485: ...nit Table 8 3 2 SLB fault display B0041 Time out Bit 1 indicates that an interruption has occurred in cyclic data transfer This status remains active until cyclic data transfer has been resumed The reaction time is permanently stored in the SLB and cannot be changed Every time Time out occurs the SLB diagnostics parameter r748 Index 3 is incremented by the value 1 statistics At the same time the a...

Page 486: ...re r748 5 Address of the station that has signaled timeout r748 6 Here the hardware interrupt delay is stored that was calculated from the number of stations set P743 or from the number of stations transferred during initialization with automatic parameterization P743 0 and the position of the station in the SLB ring r748 7 Position of the station in the SLB ring result of the count during initial...

Page 487: ...in the case of MASTERDRIVES MC Current control in time slot T0 Speed control from V1 30 in time slot T1 2 T0 from V2 00 in time slot T0 Position control in time slot T3 8 T0 Synchronism T3 8 T0 or T4 16 T0 The time slot T0 1 pulse frequency is set on the MASTERDRIVES MC by selecting the pulse frequency P340 Thus the following applies to the selection of the bus cycle time Bus cycle time P746 1 P34...

Page 488: ...IMOLINK word 3 P751 Index 3 260 for all transceivers P753 7003 Parameter P754 is set to 4 for T4 at the dispatcher and at the transceivers Parameters P 746 SLB cycle time dispatcher Serves for setting the bus cycle time The bus cycle time can be set from 0 20 ms to 6 50 ms in increments of 10 µs The bus cycle time of the dispatcher is transferred automatically to the slaves The bus cycle time in e...

Page 489: ...ules and two CBP2s Because of the physical situation synchronization on only one of the communication modules and data transfer from only one of the two SIMOLINK modules is possible Connecting up a second SIMOLINK ring would not therefore enable transfer of more data The only possible applications are installations in which different machine configurations with different SIMOLINK ring nodes are de...

Page 490: ...y possible in the case of the following parameters Node address P740 Number of nodes P743 Number of channels P745 Bus cycle time P746 The 1st index is allocated to SLB1 lower slot and the 2nd index is allocated to SLB2 higher slot Which of the two SLBs is the active one is determined by the selection P744 The diagnostic parameter P748 always indicates the data of the active SIMOLINK If it has not ...

Page 491: ...atcher master Parameterization P747 Src SLB Appl Flags Used to specify the binectors to be used as application flags B7010 to B7013 These binectors indicate the applications flags received In addition to the 8 telegrams per station a total of four special telegrams with 32 bits of useful data are available for data transmission in the SIMOLINK bus The special telegrams can be read by any station b...

Page 492: ...log input or via the PROFIBUS DP The integrated virtual master axis function generates a position speed and acceleration setpoint for slave drives 2 and 3 In addition the slave drives are powered up down by the master drive control word This means that every slave drive is given its individual control word Vice versa the slave drives send their individual status word to the master drive This resul...

Page 493: ...gs are of significance for the dispatcher as the master drive P740 0 Dispatcher function P745 5 SLB channel number This means that each node is provided with five telegrams for writing The setting always depends on the requirements of the node with the largest required number of channels In this example this is the dispatcher master drive 1 with five telegrams P746 1 ms SLB cycle time A sufficient...

Page 494: ...iver slave drive 3 is given the node address 2 The following diagrams show the assignment of the process data to be read or written using the example of master drive 1 and slave drive 2 SLB in master drive dispatcher 0 ZW_2 1 Address Channel number 0 Node address Telegram from which address to be read from which channel number to be read ZW_3 Receive memory 8 x 32 bit 0 0 Process data 1 2 Address ...

Page 495: ...dress to be read from which channel number to be read Receive memory 8 x 32 bit 0 2 3 4 Process data 0 0 0 0 Address Channel number STW_2 STW control word s set n set a set SIMOLINK Fig 8 3 10 Slave drive 2 reading data SLB in slave drive 2 Transceiver 1 ZW_2 1 Address Channel number 0 Node address Telegram 8 channels 32 bit each 0 1 2 3 4 5 6 7 Process data ZW_2 ZW status word SIMOLINK Fig 8 3 11...

Page 496: ... is no difference between the dispatcher and the SL master The task table also specifies in the case of the SL master which and how many telegrams the SL master shall send via the bus in one bus cycle Differences to the dispatcher The applications of the Master slave functionality require a different mechanism for data transfer than used in the Peer to peer functionality Flexible address list addr...

Page 497: ... units because control is effected from a higher level automation system SIMADYN D SIEMENS 6SE7016 1EA3 0 WR 2 2 kW Nr 4 6732 1 SIMOVERT SC Transceiver SIEMENS 6SE7016 1EA3 0 WR 2 2 kW Nr 4 6732 1 SIMOVERT SC Transceiver SIEMENS 6SE7016 1EA3 0 WR 2 2 kW Nr 4 6732 1 SIMOVERT SC Transceiver SIMATIC or SIMADYN SIMOLINK Master Fig 8 3 13 Application example of master slave functionality There is a SIM...

Page 498: ...xchange between two transceivers by transferring the received data of one transceiver to the telegrams address of the other Every transceiver can also read the telegrams of any other node However whether the read data are receive or transmit data depends on where the respective nodes are situated in the SIMOLINK ring definite data traffic in the SIMOLINK ring The SIMADYN D master can be operated i...

Page 499: ... hardware output states of the MASTERDRIVES converters The CBC has a 9 pole Sub D connector X458 and a 9 pole Sub D socket X459 for connecting it to the CAN bus The pins of these connecting elements are identically assigned and connected through internally They are also short circuit proof and floating The CAN Controller Area Network protocol is permanently specified in the international standards...

Page 500: ...ontrolling the drive within the overall automation system e g power on power off stipulation of setpoints etc With the help of the parameter area the user has free access to all parameters in the converter CU and if necessary the TB via the bus system This facility can be used for example for reading out detailed diagnostic information fault messages and so on Information for visualizing the drive...

Page 501: ...t RAM interface An address is assigned to each word in the dual port RAM The contents of the dual port RAM in the converter CU if necessary the TB can be freely routed by means of parameters e g the second word in the process data area of the telegram as a speed setpoint sent to the ramp function generator connected downstream The same mechanism applies to other setpoints and to each individual bi...

Page 502: ...munications Board CAN can be mounted in any slot Please bear in mind however that an encoder board always requires Slot C SIEMENS A S1 B X101 C X103 Fastening screw for side cover Fastening screw for side cover Inscription fields for optional boards Slot A Slot B Slot C Rear wall Right hand side wall open Fig 8 4 4 Position of the slots with side wall on the right removed Due to the DC link capaci...

Page 503: ...00 In principle you can operate the optional CBC board Communication Board CAN in any slot Please bear in mind however that an encoder board always needs Slot C and that the LBA requires the slots to be used in a particular sequence The CBC can be mounted on the adapter board in both slots i e TOP and or BOTTOM The slots are located at the following positions Slot A CU board Top Slot C CU board Bo...

Page 504: ...e electronics box it must always be inserted in slot 1 B2 ON THE RIGHT i e mounting position 2 If a T100 T300 or T400 technology board is plugged into the electronics box in addition to the adapter board with CBC the technology board must be plugged into position 1 B2 In this case the CBC is plugged into position 1 B3 8 4 2 3 Mounting positions of the CBC in Compact type and chassis type units wit...

Page 505: ...to position 1 B2 In this case the CBC is plugged into position 1 B3 8 4 2 4 Mounting positions of the CBC in VC Compact PLUS units In principle the optional CBC board Communications Board CAN can be mounted in any slot SIEMENS A S1 B X101 X103 Fastening screw for side cover Fastening screw for side cover Inscription fields for optional boards Slot A Slot B Terminal module Rear wall Right hand side...

Page 506: ...ink capacitors there continues to be dangerous voltage in the unit until up to 5 minutes after disconnection The unit must not therefore be opened until at least this length of time has expired Even when the motor is at a standstill the power terminals and the control terminals can carry voltage During work on the converter it is to be disconnected from supply When handling the opened converter it...

Page 507: ...gned 9 Not assigned Table 8 4 1 Terminals X458 pins and X459 socket The two Sub D connectors X458 and X459 are identically assigned and all conductors are connected through internally The bus cable must have at least four cores stranded in pairs with a wave resistance of 120 ohms e g the PYCYM wiring cable from SIEMENS Order No 5DV5 002 PYCYM 2 x 2 x 0 6 As a plug the Sub D connector SBM 383 from ...

Page 508: ...Table 8 4 2 Cable length in relation to the baud rate 8 4 3 2 EMC measures For fault free CAN bus operation the following measures are necessary The bus cables must be twisted and shielded and are to be routed separately from power cables the minimum clearance being 20 cm The shield must be connected through the largest possible surface area on both sides i e the shield of the bus cable between 2 ...

Page 509: ...BC but at the converter housing see Fig 8 4 10 2 Attaching the shield in the connector housing The shield of the bus cable can be connected to the shield of the connector housing and is then connected to the CBC board via the connector and to ground as well see Fig 8 4 7 Snap in the shield clamp Release the shield clamp Squeeze the shield clamp together with your hand or a screwdriver and pull upw...

Page 510: ...ables up to 200 m 25 mm2 Cu equipotential bonding cables over 200 m Route the equipotential bonding cables so that there is the smallest possible surface between the equipotential bonding cables and signal cables Connect equipotential bonding cables to the ground protective conductor through the largest possible surface area Please comply with the following instructions when laying cables Do not l...

Page 511: ...X458 459 Open no bus termination Table 8 4 3 Bus termination with switch S1 8 4 3 4 Ground connection jumper S1 1 Jumper S1 1 normally remains open If the CAN bus interface of the master is operated as a ground free interface you can close jumper S1 1 on one converter in order to connect the bus to ground Jumper Function As supplied S1 1 Ground connection interface ground X458 459 Open no bus term...

Page 512: ...rface X458 X459 with jumper strip S1 X458 X459 CAN_L 2 PE PE Interface ground high ohm or earth bound to PE 120 Ohm Equipotential bonding between all nodes by means of earthing cable PE Electrically isolated Electronics supply DC DC converter P5 M5 CAN_GND 3 6 CAN_H 7 S1 1 S1 2 Opto TxD RxD Fig 8 4 12 Function of jumper strip S1 ...

Page 513: ...ield on converter housing or connector housing Fig 8 4 13 Bus connection interrupted when connector X458 or X459 is pulled out CAN_H CAN_L 6SE70 Slave n n 124 A12 Slave 2 6SE70 Slave 1 A12 CBC S1 2 CAN_GND 2 7 X458 X459 3 6 CBC S1 2 X458 X459 S1 2 2 7 3 6 2 7 3 6 T Connector T Connector Put shield on converter housing or connector housing Put shield on converter housing or connector housing Put sh...

Page 514: ...re of the net data in the telegrams of the CAN protocol A CAN data telegram consists of the protocol header the CAN identifier ID up to 8 bytes of net data and the protocol trailer The CAN identifier is used for unambiguously identifying the data telegram In the standard message format a total of 2048 different CAN identifiers are possible and in the extended message format 229 CAN identifiers The...

Page 515: ...r value High PWE2 AK SPM PNU Task or reply ID Toggle bit for processing the parameter change report not supported by the CBC Parameter number The parameter ID PKE is always a 16 bit value Bits 0 to 10 PNU contain the number of the required parameter The meaning of the parameters can be found in the section Parameter list of the converter operating instructions Bit 11 SPM is the toggle bit for para...

Page 516: ...hange parameter value double word for non indexed parameters 2 4 Request descriptive element 1 3 5 Change descriptive element not with the CBC 3 6 Request parameter value array 1 4 or 5 7 Change parameter value array word for indexed parameters 2 4 8 Change parameter value array double word for indexed parameters 2 5 9 Request number of array elements 6 10 Reserved 11 Change parameter value array ...

Page 517: ...e report double word not with the CBC 11 Parameter change report array word 2 not with the CBC 12 Parameter change report array double word 2 not with the CBC 13 Reserved 14 Reserved 15 Transfer text not with the CBC 1 The required element of the parameter description is specified in IND 2nd word 2 The required element of the indexed parameter is specified in IND 2nd word Table 8 4 6 Reply ID conv...

Page 518: ...ecause of operating status Converter status does not permit the set task at the moment 101 Parameter number deactivated at present 102 Channel width too small Parameter reply too long for the CAN telegram 103 PKW number incorrect Cannot occur with the CBC 104 Parameter value not admissible 105 The parameter is indexed In the case of tasks for non indexed parameters to an indexed parameter e g Task...

Page 519: ... parameter list Serial parameter Parameter addresses via PROFIBUS number PNU decimal PNU hex Bit P000 P999 r000 r999 0 999 0 999 0 3E7 0 H000 H999 d000 d999 1000 1999 1000 1999 3E8 7CF 0 U000 U999 n000 n999 2000 2999 0 999 0 3E7 1 L000 L999 c000 c999 3000 3999 1000 1999 3E8 7CF 1 Parameter page selection In the case of an indexed parameter the required index is transferred The meaning of the indic...

Page 520: ...t No 31 24 23 16 HEX value 0 0 0 0 Bits 8 to 15 Bits 16 to 31 Parameter value in the case of 16 bit parameter or low component in the case of 32 bit parameter Value 0 in the case of 16 bit parameter or high component in the case of 32 bit parameter Two unambiguous CAN identifiers are needed for parameter processing one for the PKW task and one for the PKW reply In contrast to other protocols the C...

Page 521: ...s nodes The CAN identifier for this is set in parameter P719 P704 CB parameter 9 The node address does not go in here as the task is to be processed by all slaves The associated parameter reply is made with the regular CAN identifier for the PKW reply as described above Parameter value processing i e the reading and writing of parameter values of the drives is to take place in the whole CAN networ...

Page 522: ...identifies the reply to a task which has been set By evaluating the reply ID By evaluating the parameter number PNU If necessary by evaluating the parameter index IND If necessary by evaluating the parameter value PWE The task must be sent complete in one telegram telegrams with split tasks are not permissible The same applies to the reply 8 4 4 3 Process data area PZD Control words and setpoints ...

Page 523: ...2nd word 3rd word 4th word 5th word 6th word 7th word 8th word 9th word 10th word 11th word 12th word 13th word 14th word 15th word 16th word Connectors for Assignment of actual value parameters in the case of 16 bit process data P734 P694 i001 P734 P694 i002 P734 P694 i003 P734 P694 i004 P734 P694 i005 P734 P694 i006 P734 P694 i007 P734 P694 i008 P734 P694 i009 P734 P694 i010 P734 P694 i011 P734 ...

Page 524: ...2 or CU3 For the PZD receive function the same PZD receive basic identifier is set for all units on the bus by means of CB parameter P712 P697 CB parameter 2 Unique identification is achieved by means of the node address in parameter P918 CB bus address which must be different for each bus node A total of 4 CAN identifiers are assigned 4 Node adress of the drive P918 Basic identifier for PZD recei...

Page 525: ... drive P443 01 Source of main setpoint 3032 P554 01 Source of ON OFF1 3100 3001 use of control word 1 P433 01 Source of additional setpoint 3005 For PZD send the same PZD send basic identifier is set for all units on the bus by means of CB parameter P713 P698 CB parameter 3 The number of CAN identifiers actually assigned and CAN telegrams sent depends on P714 P699 CB parameter 4 where the number o...

Page 526: ...7 Connection of the actual values in the drive P734 01 32 P694 01 968 status word 1 P734 02 151 P694 02 218 main actual value as a 32 bit value P734 03 151 P694 03 218 same connector parameter numbers in 2 consecutive indices P734 04 33 P694 04 553 status word 2 P734 05 189 P694 05 3 output voltage P734 06 168 P694 06 4 output current P734 07 241 P694 07 5 torque The PZD receive broadcast function...

Page 527: ...N identifier for the 4th PZD receive multicast CAN telegram words 13 to 16 value in P717 P702 3 The PZD receive cross function is for receiving setpoints and control information from another slave With this function process data can be exchanged between the drives without a CAN bus master being present The CAN identifier of PZD receive cross for the receiving slave must be matched to the CAN ident...

Page 528: ...ld transfer cycle Related setpoints therefore should always be transferred in the same CAN telegram If this is not possible due to the peculiarities of the installation consistency can still be ensured by means of bit 10 Control of drive unit To do this a CAN telegram is first sent in which bit 10 of the control word has been deleted As a result the setpoints are no longer accepted by the converte...

Page 529: ...automation system via a field bus PROFIBUS CAN DEVICE NET or CC Link this causes a fault message for this converter in the automation system If the automation system nevertheless sends a control word STW1 with valid authorization bit 10 1 and a pending ON command bit 0 1 to this converter this can cause the converter to switch on and go straight into OPERATION state when the electronics supply is ...

Page 530: ...ier for PZD receive broadcast P717 0 2000 Basis identifier for PZD receive mulitcast P718 0 2000 Basis identifier for PZD receive cross transfer P719 0 2000 Basis identifier for PZD request broadcast P720 0 8 Baud rate P721 01 0 CAN profile at the present only 0 possible optional P721 02 0 65535 Bus timing optional P918 n CBC bus address 0 n 128 P060 0 Leave hardware configuration P060 5 For setti...

Page 531: ... x Paramization enable CBC P090 1 Basic identifier for PZD send P698 0 2000 Number of PZDs for PZD send P699 1 16 Update rate for PZD send P700 0 65535 Basic identifier for PZD receive broadcast P701 0 2000 Basic identifier for PZD receive multicast P702 0 2000 Basic identifier for PZD receive cross transfer P703 0 2000 Basic identifier for PKW task broadcast P704 0 2000 Baud rate P705 0 8 P706 01...

Page 532: ...terizing enable only CBC 3 Parameterizing enable CBC PMU 7 Parameterizing enable CBC PMU SCom1 OP If the parameter change parameterizing enable is enabled via the CBC P053 1 3 etc all further parameters can be set from the CAN bus master via the bus For further setting of parameters which concern data transfer via the CAN bus e g process data connection softwiring you must know the number of proce...

Page 533: ...ply is the number subsequent to this namely Parameter value of P711 P696 Parameter value of P918 2 1 With the value 0 pre assigned in this parameter parameterization via the CAN bus is deactivated If the calculated CAN identifier for the PKW task or PKW reply is outside the valid range 1 to 2000 or if it overlaps another CAN identifier error F080 appears when status 4 hardware configuration is lef...

Page 534: ...s are therefore also provided for PZD receive The following table applies Contents CAN identifier Control word 1 Setpoint 2 Setpoint 3 Setpoint 4 or Control word 2 P712 P697 P918 4 Setpoint 5 to Setpoint 8 P712 P697 P918 4 1 Setpoint 9 to Setpoint 12 P712 P697 P918 4 2 Setpoint 13 to Setpoint 16 P712 P697 P918 4 3 With the value 0 pre assigned in this parameter PZD receive is deactivated If the ca...

Page 535: ... Actual value 2 Actual value 3 Actual value 4 or Status word 2 P713 P698 P918 4 Actual value 5 to Actual value 8 P713 P698 P918 4 1 Actual value 9 to Actual value 12 P713 P698 P918 4 2 Actual value 13 to Actual value 16 P713 P698 P918 4 3 With the value 0 pre assigned in this parameter PZD send is deactivated If the calculated CAN identifier for PZD send is outside the valid range 1 to 2000 or if ...

Page 536: ...f 200 50 4 400 for the first CAN data telegram of PZD send If the number of process data P714 P699 is now 10 a CAN data telegram with four words with CAN identifier 400 and a telegram with CAN identifier 401 is sent as is a CAN data telegram with two words and CAN identifier 402 These are the entered 10 words of process data CAN identifier 403 is unused and is not sent P715 CB parameter 5 P700 CB ...

Page 537: ...eive broadcast The following table applies Contents CAN identifier Control word 1 Setpoint 2 Setpoint 3 Setpoint 4 or Control word 2 P716 P701 Setpoint 5 to Setpoint 8 P716 P701 1 Setpoint 9 to Setpoint 12 P716 P701 2 Setpoint 13 to Setpoint 16 P716 P701 3 With the value 0 pre assigned in this parameter PZD receive broadcast is deactivated If the calculated CAN identifier for PZD receive broadcast...

Page 538: ... provided for PZD receive multicast The following table applies Contents CAN identifier Control word 1 Setpoint 2 Setpoint 3 Setpoint 4 or Control word 2 P717 P702 Setpoint 5 to Setpoint 8 P717 P702 1 Setpoint 9 to Setpoint 12 P717 P702 2 Setpoint 13 to Setpoint 16 P717 P702 3 With the value 0 pre assigned in this parameter PZD receive multicast is deactivated If the CAN identifiers for PZD receiv...

Page 539: ...herefore also provided for PZD receive cross The following table applies Contents CAN identifier Control word 1 Setpoint 2 Setpoint 3 Setpoint 4 or Control word 2 P718 P703 Setpoint 5 to Setpoint 8 P718 P703 1 Setpoint 9 to Setpoint 12 P718 P703 2 Setpoint 13 to Setpoint 16 P718 P703 3 With the value 0 pre assigned in this parameter PZD receive cross is deactivated If the CAN identifiers for PZD r...

Page 540: ...tus 4 hardware configuration is left After acknowledgements of the error you are in the hardware configuration status again and can correct the incorrect parameterization Example The basic identifier for parameterization in P711 P696 is set to 1500 The node address in P918 is 50 This results in a CAN identifier of 1500 50 2 1600 for PKW task and 1601 for PKW reply The CAN identifier for PKW reply ...

Page 541: ...s are directly set without a plausibility check This parameter should generally be allowed to keep its pre assigned setting of 0 Meaning of the parameter value bits Bit0 Bit5 BRP Baud rate prescaler Bit6 Bit7 SJW SJW Synchronization Jump Width Maximum shortening or lengthening of a bit time by means of resynchronization Bit8 Bit11 TSEG1 Time Segment 1 Time intervals before the scanning time Valid ...

Page 542: ...scription of this bit timing register can be found in the manual of the CAN module of the C167CR or in the manual of the component INTEL 82527 extended CAN P918 1 CBC bus address P918 CBC bus address Here the node address of the unit on the CAN bus is set It is included in the calculation of the CAN identifier for parameter tasks and replies PKW task PKW reply and process data PZD receive PZD send...

Page 543: ...lue or a 32 bit value With the help of selector switches e g P554 1 selector switch for bit 0 of control word 1 the setpoints or the individual bits of the control words can be assigned to a particular PZDi in the dual port RAM In order to do this the connector belonging to the required PZDi is assigned to the selector switch In function classes CUPM CUMC CUVC and Compact PLUS the control words ST...

Page 544: ...Bit 0 3016 PZD3 PZD4 PZD7 PZD8 PZD5 PZD6 PZD9 Process data PZD Actual value channel CAN Bus PZD3 PZD4 PZD15 PZD16 PZD13 PZD14 PZD5 P734 1 P734 2 Statuses actual values Bus connec tor Dual Port RAM Actual value channel P734 3 P734 4 P734 5 P734 6 P734 16 CB TB Actual values P734 1 P734 2 P734 3 P734 16 ZSW HIW PZD4 PZD3 PZD5 PZD6 PZD16 STW HSW PZD3 PZD4 PZD5 PZD6 PZD16 SIMOVERTMASTERDRIVES CBC CAN ...

Page 545: ...ctual value channel CAN Bus PZD3 PZD4 PZD15 PZD16 PZD13 PZD14 PZD5 P694 1 P694 2 Statuses actual values Bus connec tor P694 3 P694 4 P694 5 P694 6 P694 16 CB TB Actual values P694 1 P694 2 P694 3 P694 16 ZSW HIW PZD4 PZD3 PZD5 PZD6 PZD16 STW HSW PZD3 PZD4 PZD5 PZD6 PZD16 SIMOVERTMASTERDRIVES CBC CAN Ident PZD1 STW PZD2 HSW CAN Ident 1 CAN Ident 2 PZD1 ZSW PZD2 HIW CAN Ident 2 CAN Ident CAN Ident 3...

Page 546: ...001 of the received process data is always allocated to control word 1 STW1 The meaning of the control word bits is given in the operating instructions for the converter in the section Start up aids The second word is always allocated to the main setpoint HSW If the main setpoint is transferred as a 32 bit item of process data it also occupies word 3 In this case the most significant component is ...

Page 547: ...her the parameter selected by means of the parameter number is transferred as a 16 bit value or as a 32 bit value and at which position in the PZD setpoint telegram PZDi the parameter is transferred White background MASTERDRIVES CUPM CUMC or CUVC Grey background MASTERDRIVES FC CU1 VC CU 2 or SC CU 3 The actual value process data PZDi i 1 to 16 are assigned to the corresponding status words and ac...

Page 548: ... The actual speed n f KK151 P218 is transferred in the actual value channel by means of PZD2 P734 3 151 P694 3 218 and by means of PZD3 as a 32 bit value Italics P734 P694 CB TB actual values for the PMU shown as a decimal number via the CAN bus transferred as an equivalent HEX number 2B6 Hex Single underline Index for the PMU as a decimal number via the CAN bus as an equivalent HEX number Specifi...

Page 549: ... must be taken for reasons of safety An OFF2 or OFF3 command see instruction manual of the converter section Control word must be additionally parameterized to the terminal strip PMU as otherwise the converter can no longer be turned off by means of a defined command if the communications system breaks down P692 Reaction TlgOFF Reaction to telegram failure With parameter P692 see also instruction ...

Page 550: ...nt operating status The following LEDs are provided CBC on red Data exchange with the basic unit yellow Telegram traffic via CAN green LED Status Diagnostic information Red Flashing CBC in operation voltage supply on Yellow Flashing Fault free data exchange with the basic unit Green Flashing Fault free process data transfer via the CAN bus Table 8 4 9 Status display of the CBC LED Status Diagnosti...

Page 551: ...arameterization LED Status Diagnostic information Red Flashing No net data traffic via the CAN bus Yellow Flashing e g bus connector pulled out EMC fault Green Off interchanged connection nodes are not being supplied with net data via the CAN bus Table 8 4 13 Fault display during operation During normal operation all three LEDs light up synchronously and for the same length of time flashing The st...

Page 552: ... parameter P720 P705 baud rate for each bus node and if necessary correct Check cable connection between the bus nodes Check cable shield The bus cable must be shielded on both sides Lower the EMC loading Replace CBC board A 084 CAN telegrams with errors are being received or sent and the internal error counter has exceeded the fault limit The CAN telegrams with errors are ignored The data last se...

Page 553: ...eterization for CBC false cause of incorrect parameterization in diagnostic parameter r731 01 Correct CB parameter P711 P721 P696 P706 Correct CB bus address P918 CBC defective Replace CBC F 081 DPR heartbeat The CBC is no longer processing the heartbeat counter CBC not correctly inserted into the electronics box Check CBC CBC defective Replace CBC F 082 DPR telegram failure The telegram failure t...

Page 554: ... 5 r732 5 Assigned internally r731 6 r732 6 Assigned internally r731 7 r732 7 Assigned internally r731 8 r732 8 Assigned internally r731 9 r732 9 Counter for PZD telegrams sent without errors faults r731 10 r732 10 Counter for faults during transfer of PZD telegrams r731 11 r732 11 Assigned internally r731 12 r732 12 Assigned internally r731 13 r732 13 Counter for PKW tasks processed without error...

Page 555: ...he case of a PZD send P713 P698 0E PZD send length is 0 P714 P699 0F PZD send length to great 16 P714 P699 10 13 Internal 14 Incorrect CAN ID in the case of a PZD receive broadcast P716 P701 15 Incorrect CAN ID in the case of a PZD receive multicast P717 P702 16 Incorrect CAN ID in the case of a PZD receive cross P718 P703 17 Invalid baud rate P720 P705 18 22 Internal 23 Incorrect CAN protocol typ...

Page 556: ...ceive multicast 43 Overlapping of CAN identifier PZD receive broadcast PZD receive cross 44 Overlapping of CAN identifier PZD receive multicast PZD receive cross Counter PZD receive CAN telegrams Counter for PZD CAN telegrams received error free since voltage ON Counter Lost PZD CAN telegrams Counter for lost PZD telegrams since voltage ON If the CAN bus master sends process data telegrams faster ...

Page 557: ...6 Internal 7 Internal 8 Internal 9 Error during sending of PKW reply in the case of waiting for a free channel 10 Internal 11 Time out in the case of waiting for a PKW reply from the basic unit basic unit does not process any PKW tasks 12 Time out in the case of waiting for a free channel bus overload Counter Lost PKW CAN telegrams Counter for PKW tasks lost since voltage ON If the CAN bus master ...

Page 558: ... mounted 0 15 mm in the frequency range 10 Hz to 58 Hz 19 6 m s2 in the frequency range 58 Hz to 500 Hz 3 5 mm in the frequency range 5 Hz to 9 Hz 9 8 m s2 in the frequency range 9 Hz to 500 Hz Climatic class Class 3K3 to DIN IEC 721 3 3 during operation Type of cooling Natural air cooling Permissible ambient or cooling medium temperature during operation during storage during transport 0 C to 70 ...

Page 559: ...s must be fulfilled before the CBC can be operated with CANopen CANopen functionality is available only with MASTERDRIVES MC firmware version 1 5 and later The actual value weighting factor AVWF must be normalized in µm to ensure that actual values and setpoints are converted correctly The free CANopen device can be a MASTERDRIVES VC a rectifier regenerative feedback unit or an AFE The following C...

Page 560: ...e F01 technology option on MASTERDRIVES MC F01 The MASTERDRIVES MC F01 functionality is available only if you have enabled the F01 option The CANopen modes Profile Position Profile Velocity and Homing are available on the MASTERDRIVES MC F01 They are controlled via object 6040h Manufacturer specific modes Synchronous and Setup as well as Automatic Position and Automatic Single Block modes can also...

Page 561: ...t be mapped to a PDO so that they are available in the device The tables in Subsections 8 5 1 and 8 5 2 4 specify which PDOs and objects are provided for the free CANopen device CANopen is a standardized application for distributed industrial automation systems based on CAN and the communication standard CAL CANopen is a CAN in Automation CiA standard which has been used very widely ever since its...

Page 562: ... request as broadcast objects without additional protocol overhead A total of 8 bytes of data can be transmitted in one PDO The transmission and receipt of PDOs can be synchronized throughout the network synchronous PDOs using a synchronization message The assignment between application objects and a particular PDO transmission object can be configured via a structure definition PDO mapping in the...

Page 563: ... Transmitted by PDO Object index Sub index Object name Description Yes No Connector Parameter Yes No Connector Parameter 1000h Device Type Device type Yes 4 No 1001h Error Register Group register for errors Yes 1 No 1003h Pre defined error field Display parameter for error code Yes 1 No 0 Number of errors Number of errors Yes 1 No 1 Standard error field Error code of error Yes 1 No 1005h COB ID SY...

Page 564: ...identifier Yes 12 6 No 1400h 1403h Receive PDO Communication Parameters Setting parameters for receive PDOs Yes No 0 Number of entries Number of subindices Yes 3 No 1 COB ID PDO PDO identifier Yes 12 6 No 2 Transmission type Setting parameters for transmission mode Yes 2 6 No 1600h 1603h Receive PDO Mapping Parameters Parameters for mapped objects in receive PDOs Yes No 0 Number of mapped objects ...

Page 565: ... Transmitted by SDO Transmitted by PDO Object index Sub index Object name Description Yes No Connector Parameter Yes No Connector Parameter 2002h Gear ratio Speed ratio factor for slave gears in synchronous operation Yes 9 Yes 9 0 Number of entries Number of subindices Yes 3 No 1 Numerator Gear numerator Yes U604 01 Yes K3005 K3014 2 Denominator Gear denominator Yes U604 02 Yes K3005 K3014 2003h V...

Page 566: ...ng in PDO 2 3 4 Yes 2 5 9 10 Yes K3007 K3011 K3015 3008h Free object 3008h 16 Bit Free 16 bit object for receiving in PDO 2 3 4 Yes 2 5 9 10 Yes K3008 K3012 K3016 3009h Free object 3009h 16 Bit Free 16 bit object for receiving in PDO 2 3 4 Yes 2 5 9 10 11 Yes K3005 K3009 K3013 300Ah Free object 300Ah 16 Bit Free 16 bit object for receiving in PDO 2 3 4 Yes 2 5 9 10 11 Yes K3006 K3010 K3014 300Bh F...

Page 567: ...it object for receiving in PDO 2 3 4 Yes 2 5 11 Yes K3008 K3012 K3016 3020h Free object 3020h 32 Bit Free 32 bit object for receiving in PDO 1 Yes 2 5 9 10 11 Yes K3033 3021h Free object 3021h 32 Bit Free 32 bit object for receiving in PDO 2 3 4 Yes 2 5 9 10 Yes K3037 K3041 K3045 3022h Free object 3022h 32 Bit Free 32 bit object for receiving in PDO 2 3 4 Yes 2 5 9 10 Yes K3037 K3041 K3045 3023h F...

Page 568: ...07h Free object 3107h 16 Bit Free 16 bit object for sending in PDO 2 3 4 Yes 2 5 9 10 11 Yes P734 05 P734 09 P734 13 3108h Free object 3108h 16 Bit Free 16 bit object for sending in PDO 2 3 4 Yes 2 5 9 10 11 Yes P734 06 P734 10 P734 14 3109h Free object 3109h 16 Bit Free 16 bit object for sending in PDO 2 3 4 Yes 2 5 9 10 11 Yes P734 07 P734 11 P734 15 310Ah Free object 310Ah 16 Bit Free 16 bit ob...

Page 569: ...2 bit object for sending in PDO 2 3 4 Yes 2 5 9 10 Yes P734 07 08 P734 11 12 P734 15 16 3122h Free object 3122h 32 Bit Free 32 bit object for sending in PDO 2 3 4 Yes 2 5 9 10 Yes P734 07 08 P734 11 12 P734 15 16 3123h Free object 3123h 32 Bit Free 32 bit object for sending in PDO 2 3 4 Yes 2 5 9 10 11 Yes P734 05 06 P734 09 10 P734 13 14 3124h Free object 3124h 32 Bit Free 32 bit object for sendi...

Page 570: ...ee Subsection 8 5 3 1 No 2 Value Value to be assigned to the parameter downloads only To be read out with uploads Yes See Subsection 8 5 3 1 No 3 Response identifier index This subindex contains the response identifier to PROFIBUS for downloads or uploads Yes See Subsection 8 5 3 1 No 4040h Technology control word The technology can be controlled completely by this control word The connection is 1...

Page 571: ... value Object for displaying the current position Yes r185 9 10 Yes KK120 6067h position_window Exact stop window Yes 9 U501 17 U502 10 U859 No 6068h position_window_time Time in exact stop window Yes 9 U501 16 U502 10 U864 No 6069h velocity sensor actual value Actual speed value in inc s Yes r002 9 P171 10 No 606Ah sensor_selection_code Selection of velocity source Yes 3 9 10 No 606Bh velocity_de...

Page 572: ...pe Motion profile Yes 3 No 6087h torque_slope Torque slope Yes U471 1 No 6088h torque profile type Torque profile Yes 3 10 No 6092h feed_constant Feed constant Yes 7 9 No 0 Number of entries Number of subindices Yes 3 No 1 Nominal speed Rated velocity in P205 Yes 3 6 No 2 Reference speed Reference homing speed Yes 3 6 No 6098h homing_method Referencing operating mode Yes 8 9 10 No 6099h homing spe...

Page 573: ... by the CBC after parameters P711 P718 have been set 3 Value is permanently stored on the CBC 4 Entry is generated through scanning of parameter P719 5 Object can be transmitted as a PDO if a PDO in which this object is mapped is selected from the PDO table 6 Changes are stored in volatile memory on the CBC 7 Object not implemented as prescribed in the profile 8 See Subsection 8 5 7 4 Homing mode ...

Page 574: ... Menu selection see Chapter 6 P60 4 Board configuration only P60 5 Board configuration and Drive Setting P720 01 Set baud rate factory setting 10 kBaud P721 01 Set CAN profile 1 CANopen P722 01 Set message failure time 0 deactivate see Subsection 8 4 5 P918 01 Set CANopen node ID bus address Select motor see Subsection 6 2 3 P095 Select motor type P060 Set P060 to 1 exit Board configuration or Dri...

Page 575: ...CBC etc from which parameters may be modified The CBC requires this enable setting to be able to execute SDO tasks Example P053 1 Parameterization enable for CBC only 3 Parameterization enable for CBC PMU 7 Parameterization enable for CBC PMU SST1 OP The parameter modification enable must be set via the CBC P053 1 3 etc before any other parameter settings can be altered via SDO tasks from the CAN ...

Page 576: ... eight bits for transmission type Transmission type PDO No 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 PDOs 1 26 can be set in this parameter according to the device selected in parameter P719 from the list of Receive PDOs Subsection 8 5 2 4 Not all PDOs can be selected in every set device Impermissible selections are identified in the list The transmission type is specified in the following table Trans...

Page 577: ...s for PDO number and eight bits for transmission type Transmission type PDO No 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 PDOs 1 72 can be set in this parameter according to the device selected in parameter P719 from the list of Receive PDOs Subsection 8 5 2 4 Not all PDOs can be selected in every set device Impermissible selections are identified in the list The transmission type is specified in the f...

Page 578: ...knowledged the error the system returns to the Board configuration state where you can correct the faulty parameter assignment The settings are the same as in parameter P712 P714 R_PDO parameter 4 Parameter for R_PDO4 The settings for Receive_PDO4 can be made with this parameter PDO communication for R_PDO4 is deactivated when the parameter is set to 0 default setting Once the CB parameters have b...

Page 579: ...eight bits for transmission type Transmission type PDO No 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 PDOs 1 22 can be set in this parameter according to the device selected in parameter P719 from the list of Transmit PDOs Subsection 8 5 2 4 Not all PDOs can be selected in every set device Impermissible selections are identified in the list The transmission type is specified in the following table Trans...

Page 580: ... number and eight bits for transmission type Transmission type PDO No 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 PDOs 1 62 can be set in this parameter according to the device selected in parameter P719 from the list of Transmit PDOs Subsection 8 5 2 4 Not all PDOs can be selected in every set device Impermissible selections are identified in the list The transmission type is specified in the following...

Page 581: ...knowledged the error the system returns to the Board configuration state where you can correct the faulty parameter assignment The settings are the same as in parameter P716 P718 T_PDO parameter 4 Parameter for T_PDO4 The settings for Transmit_PDO4 can be made with this parameter When the parameter is set to 0 default setting PDO communication is deactivated for PDO4 Once the CB parameters have be...

Page 582: ...table below and entered in the low word of the parameter in hexadecimal code This parameter must be set before PDOs are mapped in parameters P711 P718 to ensure that the CBC accesses the correct mapping table Board code Device Display in object 1008h Device name 0 General CANopen device CANA 071 SIMOREG DC MASTER SG 70 092 not selectable MASTERDRIVES VC CUVC MDVV 093 MASTERDRIVES MC MDMC 193 MASTE...

Page 583: ...rror is also transmitted If P719 is parameterized illegally error F080 is displayed when the system exits state 4 Board configuration or 5 Drive setting Once you have acknowledged the error the system returns to the Board configuration or Drive setting state where you can correct the faulty parameter assignment Example A MASTERDRIVES with technology option F01 must be configured as a CANopen slave...

Page 584: ...e kbit s 10 20 50 100 125 250 500 800 1000 Baud rate BRP SJW TSEG1 TSEG2 Hex value 10 kbit P720 0 39 2 15 2 2FA7 20 kbit P720 1 19 2 15 2 2F93 50 kbit P720 2 7 2 15 2 2F87 100 kbit P720 3 3 2 15 2 2F83 125 kbit P720 4 3 1 12 1 1C43 250 kbit P720 5 1 1 12 1 1C41 500 kbit P720 6 0 1 12 1 1C40 800 kbit P720 7 0 1 6 1 1640 1 MBit P720 8 0 1 4 1 1440 P721 CB parameter 11 Special CAN bus settings Index ...

Page 585: ...ssage Start Remote Node The drive is fully functional in this state In the Stopped state the drive cannot be operated via the bus It can only be switched out of this state again by NMT message Enter pre operational state SDO only or Start_Remote_Node PDO and SDO Initialization Pre Operational Operational 1 2 3 4 5 6 7 8 9 10 11 12 13 14 Power On or Hardware Reset Stopped Fig 8 5 1 State diagram of...

Page 586: ...by an NMT command Reset Application This causes the motor to coast to a standstill The CBC then ceases to operate the heartbeat counter causing activation of error F81 This is acknowledged by the CBC and the drive is then re initialized The re initialization operation sets all objects specific to the manufacturer and device to the value following Voltage On The drive then switches to the Reset Com...

Page 587: ...S All objects can be transmitted per SDO with CANOpen Fixed setpoints are used as a means of writing process data in MASTERDRIVES via an SDO task The connectors of the fixed setpoints must be wired to the corresponding setpoint parameters SDO tasks are sent via identifiers 600h NodeID Client Server and 580h NodeID Server Client If you want to send a DSP 402 object as simply an SDO from the CANopen...

Page 588: ...ues modified by means of profile specific objects are saved only to the RAM in MASTERDRIVES If the control board of the MASTERDRIVES system is disconnected from the supply voltage the values from the EEPROM are stored in the parameters and in the relevant objects when the supply is connected again The R_PDO values are all set to zero To restore the object values as they were before the supply was ...

Page 589: ...access to objects that are write only With parameter tasks Response identifier 7 Task cannot be executed with error number Error number 1 Parameter value cannot be modified 6 Setting not permitted resetting only 7 Descriptive element cannot be modified 15 Text array does not exist 102 Channel width too small 106 Task not implemented 107 Text cannot be modified The free object does not exist in the...

Page 590: ...r number currently deactivated Response identifier 8 Control command source status not assigned to PKW interface Device parameters Access key and or param special access not appropriately set Specific to MASTERDRIVES Data type does not match length of service parameter does not match service parameter too high or too low 0x06070010 Response identifier 7 Task cannot be executed Error number 5 Incor...

Page 591: ...0000 The MASTERDRIVES has not responded to a transmitted parameter task within 150 ms The CBC aborts the parameter task and signals an abort Object does not exist in the object dictionary 0x06020000 Access to a non existent object Response identifier 7 Task cannot be executed Error number 0 Illegal parameter number Access to a non existent MASTERDRIVES parameter General parameter incompatibility r...

Page 592: ...lues Please note that certain PDOs can only be entered in particular parameters The selectable parameters are listed in the last column of the table The first PDO must always contain the control word A special interconnection specification which is shown in the block diagrams Subsection 8 5 12 has been defined for this purpose Once the CBC parameters have been set the values of the receive PDOs mu...

Page 593: ...odeID 711 712 713 714 6 Reserve 7 2 6040h 60FEh Controlword Digital_outputs K3001 KK3033 1 200h NodeID 711 712 713 714 8 21 Reserve 18 1 6040h 4040h Controlword Technology Controlword K3001 K3002 3003 1 200h NodeID 711 712 713 714 19 1 6040h 6060h 4040h Controlword Modes of Operation Technology Controlword K3001 K3002 KK3033 1 200h NodeID 711 712 713 714 20 3 6040h 6060h 3001h 3002h Controlword Mo...

Page 594: ...K3011 K3015 2 3 4 300h NodeID 400h NodeID 500h NodeID 712 713 714 29 1 2 60FFh 3003h 3004h Target_velocity Free object 3003h 16 Bit Free object 3004h 16 Bit K3035 K3039 K3043 K3007 K3011 K3015 K3008 K30012 K3016 2 3 4 300h NodeID 400h NodeID 500h NodeID 712 713 714 30 1 2 60FFh 3021h Target_velocity Free object 3021h 32 Bit K3035 K3039 K3043 K3037 3041 K3045 2 3 4 300h NodeID 400h NodeID 500h Node...

Page 595: ...elocity Free object 3007h 16 Bit Free object 3008h 16 Bit K3035 K3039 K3043 K3007 K3011 K3015 K3008 K3012 K3016 2 3 4 300h NodeID 400h NodeID 500h NodeID 712 713 714 39 1 2 6081h 3023h Profile_velocity Free object 30023h 32 Bit K3035 K3039 K3043 K3037 K3041 K3045 2 3 4 300h NodeID 400h NodeID 500h NodeID 712 713 714 40 2 6083h 6084h Profile acceleration Profile deceleration K3005 9 13 K3007 11 15 ...

Page 596: ...5 K3039 K3043 K3007 K3011 K3015 2 3 4 300h NodeID 400h NodeID 500h NodeID 712 713 714 47 3024h 300Bh 300Ch Free object 3024h 32 Bit Free object 300Bh 16 Bit Free object 300Ch 16 Bit K3035 K3039 K3043 K3007 K3011 K3015 K3008 K3012 K3016 2 3 4 300h NodeID 400h NodeID 500h NodeID 712 713 714 48 3024h 3025h Free object 3024h 32 Bit Free object 3025h 32 Bit K3035 K3039 K3043 K3037 K3041 K3045 2 3 4 300...

Page 597: ... NodeID 712 713 714 55 3026h 300Fh 3010h Free object 3026h 32 Bit Free object 300Fh 16 Bit Free object 3010h 16 Bit K3035 K3039 K3043 K3007 K3011 K3015 K3008 K3012 K3016 2 3 4 300h NodeID 400h NodeID 500h NodeID 712 713 714 56 3026h 3027h Free object 3026h 32 Bit Free object 3027h 32 Bit K3035 K3039 K3043 K3037 K3041 K3045 2 3 4 300h NodeID 400h NodeID 500h NodeID 712 713 714 57 1 2 2002 01h 2002 ...

Page 598: ...014h 16 Bit K3005 K3009 K3013 KK3036 KK3040 KK3044 K3008 K3012 K3016 2 3 4 300h NodeID 400h NodeID 500h NodeID 712 713 714 64 2 60FEh Digital outputs KK3035 KK3039 KK3043 2 3 4 300h NodeID 400h NodeID 500h NodeID 712 713 714 65 3 3015h Free object 3015h 16 Bit K3005 K3009 K3013 2 3 4 300h NodeID 400h NodeID 500h NodeID 712 713 714 66 3 3015h 3016h Free object 3015h 16 Bit Free object 3016h 16 Bit ...

Page 599: ...29h 302Ah Free object 3029h 32 Bit Free object 302Ah 32 Bit K3035 K3039 K3043 K3037 K3041 K3045 2 3 4 300h NodeID 400h NodeID 500h NodeID 712 713 714 1 PDO can be selected only when device codes 193 and 194 are entered in parameter P719 2 PDO can be selected only when device codes 93 and 94 are entered in parameter P719 3 PDO can be selected only when device code 0 is entered in parameter P719 T_P...

Page 600: ...2 3 4 280h NodeID 380h NodeID 480h NodeID 716 717 718 25 1 2 606Ch 3103h 3104h Velocity actual value Free object 3103h 16 Bit Free object 3104h 16 Bit P734 05 06 P734 09 10 P734 13 14 P734 07 P734 11 P734 15 P734 08 P734 12 P734 16 2 3 4 280h NodeID 380h NodeID 480h NodeID 716 717 718 26 1 2 606Ch 3121h Velocity actual value Free object 3121h 32 Bit P734 05 06 P734 09 10 P734 13 14 P734 07 08 P734...

Page 601: ... 32 3107h Free object 3107h 16 Bit P734 05 P734 09 P734 13 2 3 4 280h NodeID 380h NodeID 480h NodeID 716 717 718 33 3107h 3108h Free object 3107h 16 Bit Free object 3108h 16 Bit P734 05 P734 09 P734 13 P734 06 P734 10 P734 14 2 3 4 280h NodeID 380h NodeID 480h NodeID 716 717 718 34 3107h 3108h 3109h Free object 3107h 16 Bit Free object 3108h 16 Bit Free object 3109h 16 Bit P734 05 P734 09 P734 13 ...

Page 602: ...it Free object 3124h 32 Bit P734 05 06 P734 09 10 P734 13 14 P734 07 08 P734 11 12 P734 15 16 2 3 4 280h NodeID 380h NodeID 480h NodeID 716 717 718 40 310Bh Free object 310Bh 16 Bit P734 05 P734 09 P734 13 2 3 4 280h NodeID 380h NodeID 480h NodeID 716 717 718 41 310Bh 310Ch Free object 310Bh 16 Bit Free object 310Ch 16 Bit P734 05 P734 09 P734 13 P734 06 P734 10 P734 14 2 3 4 280h NodeID 380h Node...

Page 603: ...Dh 16 Bit Free object 310Eh 16 Bit P734 05 06 P734 09 10 P734 13 14 P734 07 P734 11 P734 15 P734 08 P734 12 P734 16 2 3 4 280h NodeID 380h NodeID 480h NodeID 716 717 718 47 3125h 3126h Free object 3125h 32 Bit Free object 3126h 32 Bit P734 05 06 P734 09 10 P734 13 14 P734 07 08 P734 11 12 P734 15 16 2 3 4 280h NodeID 380h NodeID 480h NodeID 716 717 718 48 2 6077h 310Fh Torque actual value P734 5 P...

Page 604: ...ID 380h NodeID 480h NodeID 716 717 718 53 2 6077h 3127h 3111h Torque actual value Free object 3127 32 Bit Free object 3111 16 Bit P734 5 P734 9 P734 13 P734 6 7 P734 10 11 P734 14 15 P734 8 P734 12 P734 16 2 3 4 280h NodeID 380h NodeID 480h NodeID 716 717 718 54 2 60FDh Digital inputs P734 5 6 P734 9 10 P734 13 14 2 3 4 280h NodeID 380h NodeID 480h NodeID 716 717 718 55 3 3112h Free object 3112h 1...

Page 605: ...NodeID 716 717 718 60 3 3128h 3114h Free object 3128h 32 Bit Free object 3114h 16 Bit P734 05 06 P734 09 10 P734 13 14 P734 07 P734 11 P734 15 2 3 4 280h NodeID 380h NodeID 480h NodeID 716 717 718 61 3 3128h 3114h 3115h Free object 3128h 32 Bit Free object 3114h 16 Bit Free object 3115h 16 Bit P734 05 06 P734 09 10 P734 13 14 P734 07 P734 11 P734 15 P734 08 P734 12 P734 16 2 3 4 280h NodeID 380h N...

Page 606: ...number which can be read or written The parameter index is entered in the SDO object index An SDO write task must be sent from the master to the MASTERDRIVES specifying the data type subindex and value The object number and subindex must be specified in an object read task The response is sent automatically by the CBC Object 4001h Parameter download Object with which parameters can be edited via a...

Page 607: ...ameter value PWE 1 st word Byte 1 Byte 0 Parameter value Low PWE1 2 nd word Byte 3 Byte 2 Parameter value High PWE2 When a negative response identifier is returned in subindex 03 the error value of the parameter task is stored in subindex 2 Parameter value PWE 1 st word Byte 1 Byte 0 Error number Subindex 03 Subindex 03 contains the response identifier of the parameter task parameter number and pa...

Page 608: ...to EEPROM 2 5 12 Change parameter value array word and save to EEPROM 2 4 13 Change parameter value double word and save to EEPROM 2 14 Change parameter value word and save to EEPROM 1 1 The desired element of the parameter description is specified in IND 2 nd word 2 The desired element of the indexed parameter is specified in IND 2 nd word Table of response identifiers 0 No response 1 Transfer pa...

Page 609: ...15 Text array does not exist 17 Task cannot be executed in current operating state Current converter status prohibits execution of transmitted task 101 Parameter number currently deactivated 102 Channel not wide enough 1 Parameter response too long for CAN message 103 Incorrect number of PKWs Error cannot occur on CBC 104 Illegal parameter value 2 105 The parameter is indexed In response to tasks ...

Page 610: ...ameter number Select a task identifier from the list You must first check the MASTERDRIVES parameter list to find out whether the selected parameter is indexed or a 16 bit or 32 bit parameter You must then identify the task identifier in the task identifier list 2 is the task for a nonindexed parameter that must not be written to the EEPROM and is only 16 bits in size Parameter P60 must not be wri...

Page 611: ...7 The value to be written to parameter P711 must then be transferred with object 4001 subindex 2 To display the converter in the parameter menu again a 1 must be written to parameter P60 again In the case of a parameter with a value higher than 1999 the Page Select bit must be set and subtracted from parameter number 2000 The resultant value must then be converted to a hex quantity and entered in ...

Page 612: ...activate the baud rate you must first enter the value and then execute a Reset Communication The relevant node then receives and sends at the new baud rate Parameter 60 is set to 1 by the CBC after the Reset Communication Parameter 720 01 contains the new baud rate stored in the EEPROM CAUTION The value stored in P720 01 is not the same as the value entered via CANopen see table for assignment Obj...

Page 613: ...ode The error code of the most recent error is stored in subindex 1 The content of this object subindex 1 is transferred in the emergency message The meaning of the error code is specified in the error table in Subsection 8 5 4 2 Structure of an emergency message Type Uinteger8 Access rw PDO mapping No Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Error code Error code Error register Ala...

Page 614: ... I2t Converter A025 I2t converter 2381 I2t motor A029 I2t motor 3210 DC link over voltage F006 DC link overvoltage 3220 DC link under voltage F008 DC link undervoltage 3230 load error F002 Fault precharge 4210 Excess temperature device F023 Inverter overtemperature 4280 Inverter temperature A022 Inverter temperature 4310 Excess temperature drive F020 Motor overtemperature 4380 Motor temperature A0...

Page 615: ... checkback Brake still open A037 Brake checkback signal Brake still open 7182 Motor stall lock A042 Mot stalled blocked 7183 A075 The values of the leakage or rotor resistance measurement vary widely 7184 Stands Meas A078 Standstill measurement 7300 sensor F051 Encoder fault 7320 Actual Position value not O K A135 Actual position value not o k 7380 Encoder board initialisation fault F054 Encoder b...

Page 616: ...ocks A062 Alarm 2 function blocks FF14 Alarm 3 Function blocks A063 Alarm 3 function blocks FF15 Alarm 4 Function blocks A064 Alarm 4 function blocks FF16 Axis does not exist machine data 1 0 A129 Axis does not exist machine data 1 0 FF17 Operating conditions do not exist A130 Operating conditions not fulfilled FF18 OFF1 Missing A131 OFF1 missing FF19 OFF2 Missing A132 OFF2 missing FF20 OFF3 Missi...

Page 617: ...are limit switch approach in positive direction 8 5 5 Life guarding node guarding MASTERDRIVES with CANopen supports life and node guarding After objects 100Ch guard time and 100Dh life time factor have been set the MASTERDRIVES is ready to receive the first node guarding message The monitor in the MASTERDRIVES is activated as soon as the first message has been received If the MASTERDRIVES has rec...

Page 618: ...4 15 13 Power Enabled Switched On 4 5 Operation Enable Quick Stop Activ 12 10 6 3 8 9 11 16 Fig 8 5 3 The state machine The state machine is similar to that of the MASTERDRIVES Please see Chapter 12 Function Diagrams diagram 520 for an explanation of how individual states of the MASTERDRIVES can be reached Transition 8 is the only transition which is not available in MASTERDRIVES It has been imple...

Page 619: ...control word in this manner see function diagrams 8513 and 8517 6040h control word Bit Name 0 switch on 1 disable voltage please note Implemented with OFF2 only 2 quick stop 3 enable operation Profile position mode Profile velocity mode Synchronous mode Homing mode Torque Profile mode Setup mode 4 new setpoint reserved synchronous operation start homing operation start reserved reserved 5 change_s...

Page 620: ...status word the CBC sends depending on the transmission type a message with the content of the status word This can cause evaluation problems and place an unnecessary burden on the bus 6041h status word Bit Name 0 ready switch on 1 switched on 2 operation enabled 3 Fault 4 voltage disabled please note Implemented with OFF2 only 5 quick stop 6 switch on disabled 7 Warning 8 user specific 9 Remote 1...

Page 621: ...BIT 2 Operation Enable Bit 1 Switched on Bit 0 Ready to switch on Not ready to switch on 0 0 X X X X 0 0 0 0 0 0 0 0 Not ready to switch on 1 1 X X X X 0 0 0 0 0 0 0 1 Ready to switch on 0 0 1 1 0 1 0 0 0 0 0 0 1 1 Switched on 0 0 1 1 0 1 0 0 0 0 1 1 1 0 Operation Enabled 0 0 1 1 0 1 0 0 1 1 1 0 1 0 Fault 0 0 X X X X 1 1 1 0 1 0 1 0 Fault Reaction active 0 0 X X X X 1 1 1 0 1 0 1 0 Quick stop acti...

Page 622: ... single block mode MASTERDRIVES MC with F01 FCh Automatic position mode MASTERDRIVES MC with F01 FDh Setup mode MASTERDRIVES MC FFh Synchronous mode MASTERDRIVES MC with F01 1h Profile position mode MASTERDRIVES MC 3h Profile velocity mode MASTERDRIVES MC 4h Torque profile mode MASTERDRIVES MC without F01 6h Homing mode MASTERDRIVES MC Where specified in the above table MASTERDRIVES MC applies to ...

Page 623: ...ly executes the command For an exact description of the internal interconnections of the CBC please see Subsection 8 5 11 1 6083h Profile_acceleration MD 18 6084h profile_deceleration MD 19 are transferred to the converter Parameter U502 transfer of machine data is set to 2 when object 6083h MD18 or 6084h MD19 is written This is done automatically by the CBC Position setpoints are input in LU The ...

Page 624: ...VES again TGL bit is toggled 11 The MASTERDRIVES acknowledges the command with setpoint_acknowledge 1 toggle_out toggle_in 12 This process can now be repeated as often as required until the MASTERDRIVES reaches its target position If an active positioning operation needs to be terminated prematurely the CANopen master must send a shutdown or halt command Bit STA is set to zero at the same time In ...

Page 625: ...DRIVES by the CANopen master 3 The target position 607Ah target_position is transferred 4 The command new_setpoint is transferred to the MASTERDRIVES on a rising edge SPV_RIE 1 5 The MASTERDRIVES acknowledges the command with setpoint_acknowledge 1 SPV_RIE_ACK 1 6 The CANopen master resets bit new_setpoint before positioning has finished SPV_RIE is set to 0 7 The CBC sets setpoint_acknowledge to 0...

Page 626: ...specified in LU min as defined according to object 6092 01h and may deviate from the quantity normalized in the drive by P169 P170 The unit of length LU is specified by the position feedback scaling factor The actual values are returned in object 6092h depending on the normalization The setpoint is looped into parameter P212 source setpoint control via an analog value switch on the position contro...

Page 627: ...eed after decimal point are read out as the converter is booting As a result there is no need to write any objects The CBC has all necessary information to normalize setpoints and actual values correctly If however a factor of 10 must be introduced because for example the speed setpoint is too high a value raised by a factor of 10 can be written to object 2200 01 The drive is normalized to µm The ...

Page 628: ...ion diagram 8518 Setpoint specification in Profile Velocity mode Setpoints are specified in Profile Velocity mode according to the value in object 2200 01 in which for example the value vrated 6000 mm min is stored If the drive is to operate at one third of the rated velocity the value 2000 mm min must be specified via object 60FFh 8 5 7 3 Synchronous mode Synchronous mode is a manufacturer specif...

Page 629: ... MC with F01 an EMERGENCY message is sent and bit 13 in the status word set A130 A131 A132 A133 A134 The MASTEDRIVES MC without F01 does not generate any alarms Bit 11 in the status word is set if the selected homing position is not within the software limit switch area Bit 13 is set if the selected homing position is outside the software limit switch area or bit F_REF_BD of B Pos is set to 1 Obje...

Page 630: ...yes 17 0x0011 1 1 2 0 1 no 18 0x0021 2 1 2 1 0 no 19 0x0021 2 1 2 1 0 no 21 0x0011 1 1 2 0 1 no 23 0x0021 2 1 2 1 0 yes 26 0x0011 1 1 2 1 0 yes 27 0x0011 1 1 2 0 1 yes 30 0x0021 2 1 2 0 1 yes 32 0x0021 2 2 2 0 1 no 33 0x0011 1 2 2 1 0 no 34 X 1 3 0 2 1 0 no 1 not evaluated The values entered in the parameters above as a result of a homing method selection are stored only in the RAM For this reason...

Page 631: ...e The following table shows the values of the parameters assigned when a homing method is selected On a MASTERDRIVES MC all parameters with parameter tasks are written to the EEPROM If the homing method remains unchanged object 6098h does not need to written every time the system boots The parenthesized parameters are addressed via an OR connection Refer to the function diagrams for exact intercon...

Page 632: ...ersing velocity should therefore be selected Homing methods using P178 16 or 18 and P647 01 0 or P648 01 0 1 Negative Limit Switch Index Pulse Fig 8 5 4 Homing_method 1 The axis is positioned to the right of the Bero installed as a limit switch The homing operation is started by bit 4 in the control word The axis traverses under speed control at homing approach velocity vA MD7 towards the Bero Whe...

Page 633: ...ch velocity vA MD7 towards the Bero When the Bero responds the axis decelerates down to homing creep velocity vR MD6 and reverses its direction of rotation When it exits the Bero in the negative direction it searches for the next zero pulse of the position encoder When the zero pulse is found the axis is braked to a standstill under speed control It retraces the deceleration path traveled as a res...

Page 634: ...a position controlled return motion positioning towards the zero pulse The axis then activates Homing Attained in the status word via bit ARFD The axis is positioned to the left of the Bero The homing operation is started by bit 4 in the control word The axis traverses under speed control at homing approach velocity vA MD7 towards the Bero When the Bero responds the axis decelerates down to homing...

Page 635: ...rolled return motion positioning towards the zero pulse The axis then activates Homing Attained in the status word via bit ARFD The axis is positioned to the right of the Bero The homing operation is started by bit 4 in the control word The axis traverses under speed control at homing approach velocity vA MD7 towards the Bero When the Bero responds the axis decelerates down to homing creep velocit...

Page 636: ... traveled as a result of the braking operation by executing a position controlled return motion positioning towards the zero pulse The axis then activates Homing Attained in the status word via bit ARFD 7 The axis is positioned on the Bero installed as a homing switch The homing operation is started by bit 4 in the control word The axis traverses under speed control at homing creep velocity vR MD6...

Page 637: ...ntrolled return motion positioning towards the zero pulse The axis then activates Homing Attained in the status word via bit ARFD 10 The axis is positioned on the Bero installed as a homing switch The homing operation is started by bit 4 in the control word The axis traverses under speed control at homing creep velocity vR MD6 in a positive direction When it exits the Bero in the positive directio...

Page 638: ... Bero installed as a homing switch The homing operation is started by bit 4 in the control word The axis traverses under speed control at homing creep velocity vR MD6 in a positive direction When it exits the Bero in the positive direction it searches for the next zero pulse of the position encoder When the zero pulse is found the axis is braked to a standstill under speed control It retraces the ...

Page 639: ...in the control word The axis traverses under speed control at homing creep velocity vR MD6 in a negative direction When it exits the Bero in the negative direction it searches for the next zero pulse of the position encoder When the zero pulse is found the axis is braked to a standstill under speed control It retraces the deceleration path traveled as a result of the braking operation by executing...

Page 640: ...falling edge appears the axis is decelerated down to standstill under speed control It retraces the deceleration path traveled as a result of the braking operation by executing a position controlled return motion positioning towards the zero pulse The axis then activates Homing Attained in the status word via bit ARFD Behavior of MASTERDRIVES MC without F01 The axis traverses under position contro...

Page 641: ...is decelerated down to standstill under speed control It retraces the deceleration path traveled as a result of the braking operation by executing a position controlled return motion positioning towards the zero pulse The axis then activates Homing Attained in the status word via bit ARFD Behavior of MASTERDRIVES without F01 The axis traverses under position control towards the Bero at the values ...

Page 642: ... of MASTERDRIVES without F01 The axis traverses under position control towards the Bero at the values stored in U006 homing acceleration and U873 01 homing speed When the Bero responds the axis changes its direction of rotation and travels at the same speed in the opposite direction When the Bero falling edge appears the axis is decelerated to a standstill with the value from U006 It does not retr...

Page 643: ...nds the axis decelerates down to homing creep velocity vR MD6 and changes its direction of rotation When the Bero falling edge appears the axis is decelerated down to standstill under speed control It retraces the deceleration path traveled as a result of the braking operation by executing a position controlled return motion positioning towards the zero pulse The axis then activates Homing Attaine...

Page 644: ...a result of the braking operation by executing a position controlled return motion positioning towards the zero pulse The axis then activates Homing Attained in the status word via bit ARFD Behavior of MASTERDRIVES without F01 The axis traverses under position control towards the Bero at the values stored in U006 homing acceleration and U873 01 homing speed in a positive direction When the Bero fa...

Page 645: ...eration path traveled as a result of the braking operation by executing a position controlled return motion positioning towards the zero pulse The axis then activates Homing Attained in the status word via bit ARFD Behavior of MASTERDRIVES without F01 The axis traverses under position control towards the Bero at the values stored in U006 homing acceleration and U873 01 homing speed towards the Ber...

Page 646: ...ERDRIVES MC with F01 The axis traverses under speed control at homing approach velocity vA MD7 towards the positive limit switch reversal cam When the cam responds the axis changes its direction of rotation and travels towards the Bero When the Bero responds the axis decelerates down to homing creep velocity vR MD6 When the Bero falling edge appears the axis is decelerated down to standstill under...

Page 647: ...oes not retrace the braking path traveled during the braking operation It activates Homing Attained in the status word via bit ARFD 26 Axis is positioned on the Bero installed as a homing switch The homing operation is started by bit 4 in the control word Behavior of MASTERDRIVES MC with F01 The axis traverses under speed control at homing creep velocity vR MD6 in a positive direction When the Ber...

Page 648: ... a result of the braking operation by executing a position controlled return motion positioning towards the zero pulse The axis then activates Homing Attained in the status word via bit ARFD Behavior of MASTERDRIVES without F01 The axis traverses under position control towards the positive limit switch reversal cam at the values stored in U006 homing acceleration and U873 01 homing speed When the ...

Page 649: ...deceleration path traveled as a result of the braking operation by executing a position controlled return motion positioning towards the zero pulse The axis then activates Homing Attained in the status word via bit ARFD Behavior of MASTERDRIVES without F01 The axis moves under position control towards the Bero at the values stored in U006 homing acceleration and U873 01 homing speed When the Bero ...

Page 650: ...RIVES MC with F01 The axis traverses under speed control at homing approach velocity vA MD7 towards the negative limit switch reversal cam When the cam responds the axis changes its direction of rotation and travels towards the Bero When the Bero responds the axis decelerates down to homing creep velocity vR MD6 When the Bero falling edge appears the axis is decelerated down to standstill under sp...

Page 651: ...ace the braking path traveled during the braking operation It activates Homing Attained in the status word via bit ARFD 30 Axis is positioned on the Bero installed as a homing switch The homing operation is started by bit 4 in the control word Behavior of MASTERDRIVES MC with F01 The axis traverses under speed control at homing creep velocity vR MD6 in a negative direction When the Bero falling ed...

Page 652: ...of the braking operation by executing a position controlled return motion positioning towards the zero pulse The axis then activates Homing Attained in the status word via bit ARFD Behavior of MASTERDRIVES without F01 The axis traverses under position control towards the negative limit switch reversal cam at the values stored in U006 homing acceleration and U873 01 homing speed When the reversal c...

Page 653: ... of the braking operation by executing a position controlled return motion positioning towards the zero pulse The axis then activates Homing Attained in the status word via bit ARFD 34 Axis is homed without a Bero The homing operation is started by bit 4 in the control word The axis traverses under speed control at homing creep velocity vR MD6 in a positive direction When the zero pulse appears th...

Page 654: ...eep velocity object 6099 02h in a positive or negative direction depending on the sign of object 607Ch under position control and traverses the home position offset The position setpoint and actual value are then set to the Home position coordinate MD3 and status bit Homing Attained is set Behavior of MASTERDRIVES without F01 With Homing_method 35 the coordinate is set as soon as homing is activat...

Page 655: ... 6087h torque_slope The unit of 6087h is per mille sec according to the CAN profile The unit of adjusting velocity of the basic unit is LU sec But LU is in this case U471 01 6087h 1000 4000h The CAN object 6088h Torque Profile Type belonging to Torque mode can only be read out in MASTERDRIVES 8 5 7 6 Setup mode Setup mode is supported by MASTERDRIVES MC with and without F01 Setup mode is activated...

Page 656: ...t via object 6041h For more detailed information about this mode please refer to the MASTERDRIVES Motion Control compendium and the Motion Control for MASTERDRIVES MC manual 8 5 7 8 Automatic Single Block mode Automatic Single Block mode is supported only on MASTERDRIVES MC with F01 It is equivalent to technology mode 6 The technology bits are driven via technology control word 4040h FD 809 The ba...

Page 657: ...ages are being received or transmitted and the internal error counter has exceeded the alarm limit The errored CAN messages are ignored The data last transmitted remain valid If the errored CAN messages are process data the message failure monitoring function P722 may respond with error F082 DPR message failure If the PKW CAN messages are errored the converter does not respond Remedial measure Che...

Page 658: ...medial measure Check parameter P720 baud rate for every node and correct if necessary Check the CAN bus master Check the cable connection between bus nodes Check the cable shield The bus cable must be shielded at both ends Reduce electromagnetic interference Replace the CBC board 7581 communication warning 2 A085 CB alarm A Life guarding event has occurred The converter has changed state according...

Page 659: ...at counter The CBC has ceased processing the heartbeat counter CBC incorrectly inserted in the electronics box Check CBC CBC defective Replace CBC F 082 TB CB message failure The message failure monitoring time set in parameter P722 has run out NOTE The message failure monitoring time should be set to 0 for CANopen since data are not always exchanged cyclically and message failure is monitored by ...

Page 660: ...only if it is connected to bit 1 of the 2 nd word of the CB receive data Bits 0 4 for each of the failed parameter tasks are set in parameter r732 19 Bit 0 P205 could not be read Read out object 2200 01h with SDO task Bit 1 P353 01 could not be read Read out object 2200 02h with SDO task Bit 2 P353 02 could not be read Read out object 2200 03h with SDO task Bit 3 U857 could not be read Read out ob...

Page 661: ...sed r 732 03 Not used r 732 04 Not used r 732 05 Not used r 732 06 Not used r 732 07 Not used r 732 08 Not used r 732 09 Not used r 732 10 Not used r 732 11 Not used r 732 12 Not used r 732 13 Not used r 732 14 Counter for properly processed PKW tasks incl response r 732 15 Counter for errors in processing PKW tasks incl response r 732 16 Error type of error in processing PKW tasks r 732 17 Error ...

Page 662: ...302 Invalid transmission type of 3 rd RxPDO 0x401 Invalid mapping of 4 th RxPDO 0x402 Invalid transmission type of 4 th RxPDO 0x111 Invalid mapping of 1 st TxPDO 0x112 Invalid transmission type of 1 st TxPDO 0x211 Invalid mapping of 2 nd TxPDO 0x212 Invalid transmission type of 2 nd TxPDO 0x311 Invalid mapping of 3 rd TxPDO 0x312 Invalid transmission type of 3 rd TxPDO 0x411 Invalid mapping of 4 t...

Page 663: ...r status 0xB The basic unit has not processed the transmitted parameter task within the timeout of 150 ms or 300 ms PKW PKE IND With response identifier 7 Task cannot be executed or with response identifier 8 No PKW control command source status Error value with PKW task processing error Contains additional information about a particular error type With error types 0x4 and 0x5 Value hex Meaning 0x...

Page 664: ... via parameters P711 to P718 Consequently a DCF file needs to be generated from the EDS This DCF therefore contains the bus address setting the baud rate and the mapped objects To find out which objects are mapped read the conventions for PDO mapping in Subsection 8 5 2 4 Configure your DCF accordingly Example You have selected PDO 29 from the table of receive PDOs in parameter 712 This contains t...

Page 665: ...10 1 Parameterization for the CBC CANopen with MASTERDRIVES MC_F01 and MASTERDRIVES MC_B Pos The CD Drive Monitor contains scriptfiles for the parameterization of MASTERDRIVES MC_F01 and MASTERDRIVES MC_B Pos You must adapt these scriptfiles to suit your application The CB parameters receive connectors send parameters and connectors must be wired up to suit your application ...

Page 666: ... generator Setpoint enable Edge fault acknowledgement binector connector converter reserved Control requested Manufacturer Specific Manufacturer Specific Manufacturer Specific Manufacturer Specific Manufacturer Specific Ramp function generator enable New Setpoint Switch ON Disable Voltage Quick Stop Enable Operation Change set immediatly Absolute Relative Reset Fault Hold reserved reserved Manufac...

Page 667: ...atly 1 OFF2 active K250 129 Ready to Switch On Ready for operation Run Fault active OFF3 active Switch On inhibit Warning active Manufacturer Specific Remote 1 Target Reached reserved reserved reserved Manufacturer Specific Manufacturer Specific Manufacturer Specific Ready to Switch On Switched On Operation Enabled Fault Voltage Disabled Quick Stop Switch On Disabled Warning Manufacturer Specific ...

Page 668: ...et Fault Hold reserved reserved Manufacturer Specific Manufacturer Specific Manufacturer Specific Manufacturer Specific Manufacturer Specific F_S 2 2 TGL_I RIE STA CRD ACK_M FUM RST SIST BLSK J_BWD J_FWD 2 1 2 CBC Software CANopen Logical software interconnection for object 6040h Communication Board CAN 8503 OFF1 OFF2 OFF3 Inverter enable Start Ramp function generator Setpoint enable Edge fault ac...

Page 669: ... to Switch On Ready for operation Run Fault active OFF3 active Switch On inhibit Warning active Manufacturer Specific Remote 1 Target Reached reserved reserved reserved Manufacturer Specific Manufacturer Specific 1 STOP 0x6040_8 1 1 1 1 K250 129 Alarm K250 129 Ready to Switch On Switched On Operation Enabled Fault Voltage Disabled Quick Stop Switch On Disabled Warning Remote Manufacturer Specific ...

Page 670: ...nnection diagram 8505 CANopen CBC Software Logical software interconnection for object 6040h OFF1 OFF2 OFF3 Inverter enable Start Ramp function generator Setpoint enable Edge fault acknowledgement binector connector converter reserved Control requested Manufacturer Specific Manufacturer Specific Manufacturer Specific Manufacturer Specific Manufacturer Specific Ramp function generator enable Enable...

Page 671: ...ion 3 0 Logical software interconnection for object 6041h 8506 1 1 1 1 K250 129 K250 129 Target reached Gear Mode active Manufacturer Specific Ready to Switch On Switched On Operation Enabled Fault Voltage Disabled Quick Stop Switch On Disabled Warning Manufacturer Specific Remote Internal Limit Active reserved Manufacturer Specific Ready to Switch On Ready for operation Run Fault active OFF3 acti...

Page 672: ...itch On Disable Voltage Quick Stop Enable Operation reserved reserved Reset Fault Hold reserved reserved Manufacturer Specific Manufacturer Specific Manufacturer Specific Manufacturer Specific Manufacturer Specific 1 1 1 STW1_B9 F_S 2 2 TGL_I RIE STA CRD ACK_M FUM RST SIST BLSK J_BWD J_FWD 2 1 2 8507 MASTERDRIVES MC OFF1 OFF2 OFF3 Invert enable Start ramp function generator Setpoint enable Edge fa...

Page 673: ...K250 129 1 Ready to Switch On Ready for operation Run Fault active OFF3 active Switch On inhibit Warning active Manufacturer Specific Remote 1 Target Reached reserved reserved reserved Manufacturer Specific Manufacturer Specific OFF2 active Target reached Manufacturer Specific Ready to Switch On Switched On Operation Enabled Fault Voltage Disabled Quick Stop Switch On Disabled Warning Manufacturer...

Page 674: ...rt 15 0 1 Status word B3115 Freely connectable B3114 Freely connectable B3112 Reserved Bit15 Bit14 B3113 Freely connectable to Sheet 180 control word 1 r550 to Sheet 809 B3110 PZD control B3111 Reserved B3109 Reserved U078 B 0 B B3108 G90 G91 BIN CON conv3 Bit7 B3106 SetpRelase B3105 RampGen Stop B3104 RampGen Rel B3103 InvRelease B3102 OFF3 QStop B3101 OFF2 electr Bit0 Bit1 B3100 ON OFF1 P554 1 B...

Page 675: ...oint is written only via an SDO communication KK418 must be wired see section 8 5 1 KK0131 Smooth Pos Set 0 0 1000 0 ms P191 F 0 0 P194 120 KK Src Pos ActV Act pos smoothing 0 0 1000 0 ms P195 0 0 Pos ActV PosReg r201 Pos Setp PosReg r200 Pos Reg Time 0 10000 ms P206 F 0 Pos Reg Kv 0 000 20 000 P204 F 0 100 LU P190 310 KK Src Pos Setp Setpoint position interpolator t Speed ratio scanning time 8 8 ...

Page 676: ...unction The connector for the G function is intercon nected such that the high byte contains either 90 Absolute Dimension or 91 Increment Dimen sion and the low byte an acceleration override of 30 100 according to the selec tion via the bus B3108 U078 0 B B B 01 02 03 B 04 B B B 05 06 07 B 08 B B B 09 10 11 B 12 B B B 13 14 15 B 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit field 6 Binector connect...

Page 677: ... setpoint 0 Negative speed setpoint Status word 1 r552 K0032 Status word 1 Bit No Bit 0 from sequence control 1 from sequence control 1 from sequence control 1 from sequence control 1 from sequence control 1 from sequence control 1 from sequence control 1 from sequence control 1 from sequence control 1 from alarm processing from messages 480 5 from messages 480 5 from fault processing from setpoin...

Page 678: ...le 1 Enable RFG 0 Set RFG to 0 1 RFG start 0 RFG stop 1 Enable setpoint 0 Disable setpoint 0 1 edge acknowledge error 1 Inch bit 0 1 Inch bit 1 1 Control requested 0 No control requested 1 Enable positive rot direction 0 pos rot direction disabled 1 Enable neg rot direction 0 neg rotational direction disabled 1 Raise MOP 0 External fault 1 F035 1 no external fault 1 Lower MOP Bit 1 Bit 2 Bit 3 Bit...

Page 679: ... Positioning contr word U530 860 KK Control signals positioning 2 OVERRIDE 0 255 0 255 64h 100d 100 0 0 1 275 0 255 OVERRIDE Speed override 0 255 2 7 2 6 2 5 2 4 2 3 2 2 2 1 2 0 2 7 2 6 2 5 2 4 2 3 2 2 2 1 2 0 MDI_NO MDI number for MDI PROG_NO Program number for automatic mode J_FWD Jog forwards Jog ForWarD 1 F_S Fast Slow Fast Slow for setup homing J_BWD Jog backwards Jog BackWarD 1 BLSK Skip blo...

Page 680: ...78 00 16 Closed loop position control FD 340 P210 01 1 P212 01 530 Ready to start at BIN CON converter Ready to operate BIN CON converter Run at BIN CON converter Fault active at BIN CON converter OFF2 active at BIN CON converter OFF3 active at BIN CON converter Starting lockout at BIN CON converter Alarm active at BIN CON converter Freely connectable by user PZD control must always be 1 target_re...

Page 681: ...0 Time slot Input 2 1 Time slot n act smooth v set via SDO U018 or via DPR KK30xx Hysteresis Function A B Time slot MCF01 SSC load this script file applies equally to Compact PLUS Compact and chassis units Switchover absolute relative positoining This circuit implements the switchover between the G functions G90 absolute positoning and G91 relative positioning in technology mode MDI if the axis is...

Page 682: ...le Src Setpoint Enable Bit7 B3106 POS_TYP B3105 Reserved B3104 SPV_RIE B3103 Inv Release B3102 OFF3 QStop B3101 OFF2 coast Bit0 Bit1 B3100 ON OFF1 P554 1 B 3100 Src ON OFF1 R_PDO 1 Sheet 120 PcD1 data word1 Bit8 Bit9 B3209 REF_TYP U866 10 B REF_TYP B3208 SPV_RIE_TYP U866 09 B SPV_RIE_TYP Receive setpoints PcD2 data word 2 Bit11 Bit12 B3212 Profile Velocity U258 B Src Enable RFG Bypass B3211 Master...

Page 683: ... from sequence control1 from sequence control 1 from sequence control 1 from sequence control 1 from sequence control 1 from sequence control 1 from sequence control 1 from sequence control 1 from alarm processing from messages 480 5 from messages 480 5 from fault processing from setpoint processing part 2 320 5 from messages 480 3 B0100 Ready to start B0102 Ready to run B0104 Run B0106 Fault B010...

Page 684: ...field 5 binector connector converter K0432 B0893 B Pos B0205 Enable L Reg Bypass B0877 B Pos B0873 B Pos n079 0 FFFFh K 0241 U141 K 0525 U952 49 04 20 Smoothing time constant 0 10000 ms U142 0 1 Hysteresis 0 00 199 99 U143 0 00 K0514 0 2 U144 2 B0477 U143 01 02 0 A B B 0 A B 0 A B A B A B A B A B U143 U143 U143 U143 B0093 FDS Bit 1 Bxxxx Binector data set changeover B0126 RFG active B0894 B Pos B0...

Page 685: ... Reg Output r214 P202 B 134 PosReg Limit 0 1 P209 312 KK0881 PRE PosReg P212 311 KK Src Ctrl Setp P213 305 B0649 Src Release Ctrl 1 P211 104 B Src2 Rel PosReg P210 B 0 B Src1 Rel PosReg B0220 Pos Reg Enable Enable This block is calculated only after enabling 1 Enable RFG bypass by position control 320 6 Setpoint channel P443 B KK Src MainSetpoint P433 B 0 KK SrcAddSetpoint 1 Sheet 320 Sheet 310 Re...

Page 686: ...t B853 RFG to lower limit KK855 K854 from 8519 32 bit input Adjusting speed 1 2 0 2 31 1 0 1 U469 01 U443 01 0 KK0522 Number of shift steps 31 31 U442 01 16 KK0618 y x 2 n n n 0 31 Sign 0 0 31 1 n 0 31 x y 2 31 1 2 31 1 U953 36 04 20 01 U168 0 U951 19 04 20 K0522 K0241 U169 0 B3211 02 K0000 0 1 Torq act Master slave drive U268 0 U952 94 04 20 B3101 B0688 B3102 B3211 01 02 03 SET SET_VAL t t y x LU...

Page 687: ...OS positioning SETUP setting up K886 n870 1 0 to 13 Recomm U953 6x 4 01 U182 0 U951 77 04 20 KK0529 KK 416 30xx U183 0 B 3215 02 KK 0876 0 1 Homing Mode V Set PPM SUM SDO PDO V Set HM 01 U170 0 U951 21 04 20 K0523 K 0877 3xxx U171 0 B 3215 02 K 0406 0 1 Homing Mode Accel PPM SUM SDO PDO Accel Setpoint HM 01 U172 0 U951 60 04 20 K0524 K 0878 3xxx U173 0 B 3215 02 K 0406 0 1 Homing Mode Decel Setpoi...

Page 688: ...th window evaluation of inner and outer window U879 1 0 F1 inner U879 2 0 F2 outer U874 2 Homing setpoint LU Correction block referencer U878 3 212 B 0627 Start Ref KK885 Correction value LU U880 0 Rounding time constant 0 10 000 s U953 60 04 20 U953 61 04 20 U953 62 04 20 Setup positioning Recomm U953 6x 4 U851 874 KK 0530 Speed setpoint ENABLE_POS B 0220 2 Pos Controller Enable 1 Trig U855 B 053...

Page 689: ...rom STW2 RFG active from RFG SPV_RIE_ACKN from B Pos Acceleration active from RFG Deceleration active from HLG Output limit monitor Target reached PTM T gr act I gr act Int Limit Active PTM Master slave fed back from CBC REF_DRIVE from B POS Enable pos controller from RFG bypass PSR from B POS mode manager SETUP from B POS mode manager POS from B POS mode manager REF from B POS mode manager Time s...

Page 690: ...eceleration in HM Time slot Output AND element U238 Fixed connector U008 torque setp in PTM Time slot Bit15 of CB receive connector 2 1 HM Fixed connector U016 V setp for PPM SUM Fixed connector B POS U873 1 V in HM Time slot Bit2 2 CBC K3002 0 Stop forPPM SUM HM Valid speed setpoint B Pos Time slot Stop for PVM and PTM Operation from status word 1 Bit11 from CBC K3002 1 PTM Time slot REF_BWD_STOP...

Page 691: ...S MC HM Homing Mode IND Parameter Index MC Motion Control MDx Machine Data NMT Network Management PDO Process Data Object PFSF Position Feedback Scaling Factor PKE Parameter Identifier PKW Parameter Identifier Value PNU Parameter Number PPM Profile Position Mode PSH Positioning with Setup or Homing PTM Profile Torque Mode PVM Profile Velocity Mode PWE Parameter Value Pxxx xx Parameter with number ...

Page 692: ...trol Compendium Technology option F01 Application areas Brief description of positioning synchronization and encoder position sensing Communication with the technology Configuration and application examples Commissioning faults warnings diagnostics Function diagrams Order number 6AT1880 0AA00 1AE0 German 6AT1880 0AA00 1BE0 English Motion Control Manual Detailed Technical Reference Manual 1 Part 1 ...

Page 693: ...u learn how to commission a positioning or synchronization axis step by step All technology functions are presented clearly in graphical form in the Function Diagrams chapter of the Compendium sheets 799 850 The position sensing and control systems are described in this section in 230 270 330 340 All references to function diagrams are quoted in brackets with the sheet number The setting and monit...

Page 694: ...tion Brief description of the technology functions provides you with more detailed information on the technical implementation of the technology functions Technology functions synchronism U953 33 and positioning U953 32 must not be enabled simultaneously If the technology functions are slotted into the time slot and the technology is not enabled with the PIN diagnostics fault F063 occurs The fault...

Page 695: ...ther the internal motor encoder resolver optical encoder absolute encoder incremental encoder or an external machine encoder incremental or SSI absolute encoder connected to the machine tool can be used as the position encoder 230 270 A sophisticated precontrol strategy is implemented in the Motion Control software the position ramp function generator adjusts the speed and accelerating torque cont...

Page 696: ...e that allows convenient time optimized control of the positioning operation from a mini PLC It is possible to change to another MDI block on the fly during traversing The start command and the read in enable for the roll feed can be transmitted via digital inputs on the MASTERDRIVES MC or via a field bus Automatic mode 826 828 Automatic execution of complete positioning programs Single step mode ...

Page 697: ... Positioning drives in the following fields are typical applications of MASTERDRIVES MC Woodworking machines Roll feeds for presses Packaging machines Drive tasks in the glass brick and tire industries and in general mechanical engineering applications The following figure shows an example application for the automatic function on an automatic drilling machine in the woodworking industry 0 mm 100 ...

Page 698: ...ion The following synchronization functions are included Electronic shaft angle synchronous long term stable synchronization of several axes Electronic gearbox with sensitive transmission ratio adjustable via numerator and denominator value range for numerator and denominator 32767 32767 The transmission ratio can also be changed during operation If necessary the defined transmission ratio can be ...

Page 699: ...chronous drive operation The master pulse generator is not normally required since its function is reproduced by software and transmitted angle synchronously via SIMOLINK the principle of the virtual master axis 831 Conventional operation with a real master i e a master pulse generator is naturally also possible 833 Thanks to SIMOLINK the master drive function can be assigned to any drive or to a ...

Page 700: ...0 20 mm 5 100 mm 10 300 mm 360 20 mm Fig 9 6 Electronic cam table synchronization Up to 400 coordinate pairs describe the relative movement by means of table interpolation These 400 interpolation points can be subdivided into one to eight curves x and y axis coordinates can be entered separately the x values do not have to be equidistant These parameter settings can naturally also be configured vi...

Page 701: ... after one or more machine cycles product lengths The engaging cycle can be used among other applications to sort out reject products The function operates according to the same principle as the disengaging cycle although in this case the drive is coupled in angle synchronism with the master drive from its parking position for a period of one or more machine cycles before returning to its exact pa...

Page 702: ...ould be apparent without a printing index controller are thus eliminated reliably The figure below illustrates the principle of printing index synchronization Printing indices e g on film 360 vSlave Actual position master Printing index too early slave decelerates Printing index too late slave accelerates 360 360 360 360 Position setpoint printing index Actual position printing index Fig 9 8 Princ...

Page 703: ...o set up an index control system for printing machines The catch up function enables a drive to be uncoupled from an angular locked synchronizing multi motor system e g shaftless printing press and to be operated autonomously at its own speed setpoint isolated setpoint It also enables a drive to halt at a specified angular position The drive can catch up to the speed of the running machine from th...

Page 704: ...ntroller with MASTERDRIVES MC The standard software of MASTERDRIVES MC contains free blocks for 2 simple cam controllers 745 and 1 expanded cam controller 745a Each has two position cams which can be supplied from separate input signals e g a slave path setpoint and a master path setpoint A total of 6 cams are therefore available with independently adjustable activation and deactivation positions ...

Page 705: ... off The outputs of the cam controllers are binectors B480 B485 and these can be connected as desired e g to digital outputs of the MASTERDRIVES unit for actuation of solenoid valves etc Velocity dependent switching time compensation and time cams are not provided however it is often possible to implement these functions using the timers 780 in the free blocks If you require an external high speed...

Page 706: ...eld buses CAN bus USS etc The following components are also available for the seamless integration of MASTERDRIVES MC in a SIMATIC S7 300 or S7 400 automation system using distributed technology see Catalogs LS01 and 1 SIMATIC S7 Motion Control Configuring Package on CD ROM contained in 1 Software for communication between the S7 user program and the technology via PROFIBUS DP across a clear easy ...

Page 707: ...nction diagrams 804 818 Input output signals of the technology Function diagrams 819 830 Positioning modes of the technology Function diagrams 831 843 Synchronization functions of the technology Function diagram 850 Enabling of technology option F01 per PIN number You will find a brief description of these functions here in section 9 4 You will find detailed reference information on all positionin...

Page 708: ...tion entitled Commissioning the technology The centralized technology functions for positioning and synchronization in a host control system such as SIMATIC FM458 or SIMADYN D are integrated via the same connection points as technology option F01 9 4 3 General information on position encoder evaluation 230 270 You will find an overview of the position encoders that can be evaluated in MASTERDRIVES...

Page 709: ...er time slot than the technology function The positional information is required in addition to the speed for the technology functions The MASTERDRIVES MC enables direct position sensing by the motor encoder and so a further externally mounted encoder is not required for position control An additional external encoder need only be used for position sensing if this is necessitated by the applicatio...

Page 710: ...to approximately 1000 steps per motor revolution The two pole resolver measures the absolute position of the rotor from 0 to 360 In multi pole resolvers the measured position is not assigned to a unique mechanical rotor position Sensor boards SBR1 and SBR2 are available with without pulse encoder simulation for the evaluation of resolver signals 230 Cable lengths of up to 150 m can be used for the...

Page 711: ...ording to Chapter 9 4 8 Position sensing system for motor encoder 330 9 4 5 Optical sin cos encoder 240 The resolution with an ERN1387 optical sin cos encoder is represented by the positional information of 224 16 777 216 graduations per encoder revolution for each 2048 sine and cosine periods per revolution this yields a rough digital resolution of 8192 steps per motor revolution after pulse quad...

Page 712: ... is set directly in volts via parameter P145 on the SBM2 board The value in Index 1 defines the supply voltage for the motor encoder while that in Index 2 defines the supply voltage for the external encoder The maximum supply voltage for Compact units is 15 V and for Compact Plus units 24 V Setting examples Encoder supply Par Value P145 5 5 V supply voltage for encoder P145 15 15 V supply voltage ...

Page 713: ... Multiturn encoder evaluation 260 270 The encoder cable must not be pulled out or inserted in a live state as otherwise the encoder may be destroyed The multiturn encoder is an absolute encoder It detects the number of revolutions in addition to the rotor position from 0 to 360 On initialization the start position is transmitted to the converter using a serial protocol The revolution information i...

Page 714: ...support baud rates up to 2 Mbaud The serial protocol for the motor encoder is only required for initialization and redundancy monitoring These functions are non time critical A baud rate of 100 kHz standard setting is recommended for immunity to interference Only encoders which generate incremental tracks in addition to transmitting the position using the serial protocol are suitable as motor enco...

Page 715: ...lt setting is sin cos encoder Select Motor Encoder Value P130 4 EnDat or SSI multiturn encoder SBM2 Parameter P147 1 initializes the necessary settings If one of the listed standard encoders is used no further settings are necessary Select Multiturn P147 1 Name Res Rev Rev 1 EQN1325 8192 4096 2 ECN1313 8192 Singleturn 6 EnDat auto auto 7 EQI1325 128 4096 8 EQN1125 8192 4096 9 ECN1113 8192 Singletu...

Page 716: ... as powers of 2 This parameter is initialized when P147 0 Example Number of Lines for Multiturn EnDat EQN1325 Setting Resolution Revolution P148 1 11 211 2048 8192 Signal periods revolution EnDat encoder P148 2 12 212 4096 Number of revolutions that can be distinguished Number of Lines for Multiturn SSI Setting Resolution Revolution P148 1 13 213 8192 8192 Measuring steps revolution SSI encoder P1...

Page 717: ... T H Z E Thousands Hundreds Tens Ones X X X 0 SSI Protocol X X X 1 EnDat Protocol X X 0 X Baud rate 100 kHz X X 1 X Baud rate 500 kHz X X 2 X Baud rate 1000 kHz X X 3 X Baud rate 2000 kHz X 0 X X Serial protocol for initialization only X 1 X X Serial protocol corrects pulse counter 0 X X X Rotary encoder 1 X X X Linear scale Disabled for motor encoders Parameter P149 1 Motor encoder hundreds digit...

Page 718: ...lected in P149 1 X B X X Save zero offset on encoder EnDat save the zero offset from P146 1 in the encoder EEPROM and clear P146 1 P149 3 SSI Configuration T H Z E Thousands Hundreds Tens Ones X X X Z Number of non significant leading zero bits in the protocol SSI X X 0 X Data of encoder in binary format SSI X X 1 X Gray coded encoder data SSI X 0 X X No alarm bit SSI X Z X X Position of alarm bit...

Page 719: ...e compared with the serial protocol of the encoder with P149 1 x1xx and corrected if necessary In the event of frequent deviations a fault message is tripped The monitoring time slot can be set in U950 19 EnDat Addresses Selection in Conformity with EnDat Specification V2 0 Parameter of Measuring System Manufacturer Linear Rot MRS Code Add Operating state B9 0 3 Masks A1 4 7 Version of EnDat Inter...

Page 720: ...Parameters Linear Rot MRS Code Add User assignable A9 AD 0 F Customer Parameters Linear Rot MRS Code Add User assignable AF 0 F Offset Values Not Yet Defined Linear Rot MRS Code B1 B7 0 F Abbreviations add address linear linear scale rev revolution rot rotary encoder The zero offset for the motor encoder must only be displaced using parameter P149 2 Otherwise serious damage to the motor control sy...

Page 721: ...n in KK100 Position 2 1 33554431 0 Actual position Position setpoint after zero offset 25 Fig 9 12 Example for setting the offset on EQN encoders Encoder EQN1325 pulse number 2048 Parameter setting Standard P147 1 1 KK100 at point A is 27962026 EnDat protocol Setpoint at point A 10 revolutions How many increments per revolution are generated by the encoder Encoder EQN1325 generates 2048 signal per...

Page 722: ...erred from parameter P146 1 into the encoder EEPROM Save Zero Offset in Encoder EEPROM Par Setting Description P60 5 Switch to drive settings P149 2 B25 Save zero offset on encoder P60 1 Return to ready for operation The offset setting in P146 1 is cleared and stored on the encoder It is important that the correct number of lines is specified in P148 1 if you do not use a default encoder we recomm...

Page 723: ...duced according to the interface Bipolar encoders allow the longest cables to be used Unipolar encoders restrict the length of cable which may be used In the case of HTL encoders the maximum output current of the encoder has a major impact on the transmission distance that can be achieved The higher the maximum output current the greater the distance possible the encoder must reverse the cable cap...

Page 724: ...30 5 Pulse encoder in slot C as motor encoder P130 6 Pulse encoder not in slot C as motor encoder The resolution of the encoder is determined by its number of lines The number of lines per revolution is entered in parameter P151 This parameter appears on the product nameplate and in the corresponding data sheet Example for a pulse encoder with 2048 pulses per revolution Select Motor Encoder Par Nu...

Page 725: ...differential X X X Signal Level Zero Track X X 0 X 3 V 8 V HTL unipolar inverted inputs to ground X X 1 X 1 V 4 V TTL inverted inputs to ground X X 2 X 3 V 3 V HTL differential signal X X 3 X 0 2 V 0 2 V TTL RS422 differential X 0 X X 5 V supply for encoder X 1 X X 15 V supply for encoder Incorrect setting of the power supply parameters can result in damage to the encoder Four switches are install...

Page 726: ... see 815 4 After shift division the actual position value is normalized by applying the actual value weighting factor AVWF such that an increment at the actual position output KK120 matches the length unit LU in which the target positions are to be specified You will find specifications for setting the AVWF below and in Defining the actual value weighting factor in the section entitled Commissioni...

Page 727: ...ments AVWF 2 147 483 648 2 147 483 647 Length units LU 2 147 483 648 2 147 483 647 Example 1 LU 1 µm 2 147 483 648 µm 2 147 483 647 µm Please note that the value range is limited to 999 999 999 when technology option F01 is used 815 4 A value of 0 in the ones digit of parameter P183 disables position sensing The function of the position sensing system is inhibited and all output connectors have th...

Page 728: ...h unit in which the user prefers to specify his target positions The weighting factor specifies the traversing distance in the number of length units LU corresponding to one position increment after shift division including all gear ratios roll feed diameter etc The preferred reference for the length unit LU in association with positioning tasks is µm for linear axes and 0 001 degrees for rotary a...

Page 729: ...s 3 integer places and 8 decimal places in two separate components Actual Value Weighting Factor Integer places 3 digit P169 Decimal places 8 digit P170 0 to 999 0 to 99999999 If you want to work in encoder increments instead of physical units the actual value weighting factor AVWF should be set to 1 0 This is recommended for example for pure synchronization axes The following example calculates t...

Page 730: ... AVWF Integer places 3 digit P169 Decimal places 8 digit P170 23 00 971181 Trailing zeroes must be entered with the decimal place component leading zeroes can be omitted Examples AVWF 12 3 P169 12 P170 30000000 AVWF 12 00000003 P169 12 P170 3 When the actual value weighting factor AVWF is specified as a numerator denominator the length units LU are entered in the numerator and the encoder incremen...

Page 731: ...an absolute encoder Multiturn or Singleturn encoder the maximum traversing range is also added Example Qualitative progression of the absolute position with voltage initialization at the zero point of the encoder and for clockwise rotation looking towards the output Clockwise P595 0 no difference between encoder and absolute encoder Counterclockwise P595 1 different curves for encoder and absolute...

Page 732: ...rmed with an overflow from 360 to 0 The tool offset during positioning The control signals for adding and subtracting the position correction operate as follows Position correction Actual position Added Actual position actual position pos correction Subtracted Actual position actual position pos correction The position correction value can be positive or negative The time chart below illustrates t...

Page 733: ...ber of revolutions as the number of pole pairs of the resolver The number of pole pairs of the resolver must therefore be taken into account in the denominator of the AVWF factor P180 2 Position detection uses the zero passage of the connected position angle as a substitute for a zero pulse It thus detects the same number of zero pulses as the resolver s number of pole pairs The desired zero pulse...

Page 734: ...ed the position is set to the set value and the home position detected checkback signal is output 330 7 and 335 7 The checkback signal remains active until the enable homing control signal is canceled again The time chart below illustrates the sequence Enable homing Actual position Home position detected checkback signal Home position detection made up of coarse and fine pulses Home position t t t...

Page 735: ...versing direction Rotor position Position Rough pulse Position 0 360 Rotor position in KK90 Position 200 200 Fig 9 18 A rough pulse proximity switch signal is required for this homing mode The home position is the first rotor zero position after the negative edge at the rough pulse input for a negative traversing direction direction B A A B Home position BERO range Traversing direction Rotor posit...

Page 736: ...iguration shown in the graphic the negative edge of the rough signal can be detected in front of the rotor zero position sample A resulting in the detection of the home position at point A If the negative edge is not detected until after the rotor zero position sample B the home position is located at point B To prevent incorrect detection of the home position the proximity switch must be aligned ...

Page 737: ...tion is found the rotor position measured at the negative edge of the rough pulse is output in parameter r189 Step 2 The measured value in r189 must be less than 100 or greater than 100 If the value is outside this range an offset must be specified for the rotor position The offset value is calculated as follows Measured rotor position r189 Offset in P188 Positive 100 No correction necessary Posit...

Page 738: ...0 Version AN SIMOVERT MASTERDRIVES Compendium Motion Control 9 47 Rotor position Rough pulse t t Rotor position in K090 t 200 200 100 100 Measured value at r189 20 Rotor position offset P188 180 Displacement of rotor position to optimum position Fig 9 21 ...

Page 739: ... avoid having to start from a home position As a rotary encoder turns endlessly in on particular direction the representation range of the encoder is exceeded The result is an encoder overflow which means that the encoder starts counting from 0 again after for example 4096 rotations This is illustrated by the diagram below Load position Absolute encoder Encoder overflow Max number of revolutions c...

Page 740: ...order additionally to reproduce the position of the load for any gear ratios the free block Start position absolute encoder is used with mechanical gear ratios function diagram 327 for motor encoder function diagram 333 for external encoder The block counts the encoder overflows using the absolute position The overflow and revolution counter for retentive storage in an tracking memory element is a...

Page 741: ...osition The revolution overflow counter must be connected with a tracking memory element parameterized for non volatile data storage Storage is enabled when valid values are transferred from the encoder evaluator B070 on TRACK input After parameterization the overflow counter should be reset once only and the unit switched OFF and ON again Thereafter the overflow counter must not be reset again De...

Page 742: ...evolutions made with the power off corresponds to less than half of the encoder range For example in the case of standard encoder EQN 1325 this is 2048 motor revolutions The Position tracking for motor encoder function diagram 327 and Position tracking for external encoder function diagram 333 blocks are released only for EQN1325 encoders with 2048 lines With software version 2 30 and higher all p...

Page 743: ...ws the absolute encoder starts counting from zero again The position of the linear axis is position A but position B is output by the absolute encoder Function block Starting position absolute encoder function diagram 327 333 ensures the correct functioning of the position acquisition even if the encoder overflows The function block is integrated as shown in the function diagram The block is handl...

Page 744: ...ne cosine periods per revolution 2048 periods 8192 increments The resolution can be increased additionally with the fine resolution see below On SSI encoders or EnDat encoders which only transfer their positional value to the encoder module via a serial protocol one increment corresponds to the lowest value bit in the protocol Connector KK105 outputs the position actual value in increments The enc...

Page 745: ...l position smoothing position difference smoothing reduces the potential dynamic response of the drive If the position setpoint e g for synchronization or positioning is generated in a slower sampling time than that of the position controller the consequence is jumps in the setpoint for the position controller This results in unstable operation and reduces the level of accuracy that can be achieve...

Page 746: ...rpolation is performed If the change is above the limit the position setpoint is transmitted immediately This function is required in order to disable interpolation during setting events The graphic below illustrates the response of the interpolator P770 2 Δ max P771 Position setpoint Position setpoint before interpolation Position setpoint after interpolation Fig 9 22 ...

Page 747: ...n controller It is defined such that the setting is independent of the encoder resolution and the traversing velocity from the perspective of the user It is important that the rated velocity in P205 actually represents the velocity of the drive at 100 speed setpoint defined in P353 Example Reference speed of motor 3000 rpm P353 Gear factor 1 10 Diameter 300 mm V Reference speed 1 i Diameter V 3000...

Page 748: ...l relevant pages of the function diagram Sheet 802 thus represents a graphical table of contents for all of the technology functions A rough sketch is also provided of the signal exchange between the technology and the basic unit functions of the position controller speed controller and position sensing system The mode manager connects the input signals to the current operating mode selected by MO...

Page 749: ... Machine data Control signals Parameter input signals 802 6 802 1 Fig 9 24 Mode Use Setup Position controlled movement of drive at constant velocity Homing Used for referencing with incremental encoder types MDI Used to define and execute an NC data block for a point to point positioning operation Control Speed controlled mode Automatic Automatic execution of NC programs Automatic single block Blo...

Page 750: ...itioning modes must remain deactivated with U953 32 20 see the section below entitled Synchronization mode overview for information on the differences in synchronization The mode manager switches the output signals from the active mode through to the signal outputs 802 5 9 4 14 Machine data 804 The machine data are used to define centralized settings required from the perspective of the working ma...

Page 751: ...r is possible i e negative limit switch is located to right of positive limit switch i e MD12 MD13 If the machine data are modified with a DriveMonitor download file the MASTERDRIVES electronic power supply must be switched off and on again in order to activate the new machine data If you use synchronization but no positioning functions only machine data MD11 and MD49 are relevant 836 4 836 7 if s...

Page 752: ... a sampling time using U953 30 recommended setting U953 30 4 Any binectors can then be used as the source of the individual control commands The positioning control signals are described in detail in the Control and checkback signals chapter of the Function Description in manual 1 9 4 17 Positioning status signals 811 The status signals are routed via various binectors and display parameters to do...

Page 753: ...h the position sensing system for the motor encoder 330 and the external machine encoder 335 The upper section details the measured values and status signals that the technology requires from the position sensing system The lower section shows the control signals and set offset values transmitted from the technology to the position sensing system Each section has 2 columns specifying the parameter...

Page 754: ... via the control signal RST Reset technology or the drive must be re energized Power OFF ON Simulation is not de activated until this has taken place 9 4 20 Setpoint output and enabling 817 Sheet 817 shows the output of the following setpoints to the basic unit Position setpoint with jerk limiting Speed setpoint for the speed control modes homing and control Speed precontrol value for the position...

Page 755: ...changes in velocity the output setpoint is controlled by a ramp function generator the ramps of which can be adjusted with MD18 and MD19 Software limit switches MD12 and MD13 are evaluated however this is only the case with an incremental position encoder if the axis has already been referenced status bit ARFD 1 A start command STA is not required for setup mode Setup mode is useful for commission...

Page 756: ...r entitled Reference point approach in the Function Description of manual 1 When incremental position encoders are used there is no relationship between the measuring system incremental encoder and the mechanical position of the axis when the controller is switched on For this reason the axis must be moved to a defined home position each time the system is switched on i e in order to reference the...

Page 757: ...shows an overview of the parameter settings Fig 9 26 The following example shows the referencing sequence J_FWD Mode Mode 2 Rough pulse Drive speed Ramp MD41 Ramp MD42 Rotor zero A B C D MD7 Home position approach velocity MD6 Home position reducing velocity Axis referenced checkback signal t t t t t t Fig 9 27 Parameter settings Example ...

Page 758: ...oders to the position sensing system and to the positioning system This is performed via one of the digital inputs of the positioning system connected to the digital inputs with parameter U536 The function of the digital input is defined with MD45 Example 1 Motor encoder with resolver rough pulse connected to digital input 4 terminal X101 6 see 90 5 Par Value Meaning P178 16 Rough pulse for positi...

Page 759: ... have therefore been implemented 1 Homing with homing switch only 2 Homing with encoder zero mark only 3 Use of a reversing switch during homing 9 4 23 1 Homing with homing switch only Homing and referencing are governed solely by the homing switch The zero mark of the encoder is disregarded 1 New machine datum MD8 for defining referencing 2 0 Homing with bero and zero mark V1 4x 1 Homing with ber...

Page 760: ... For reasons of accuracy starting should be at reduced speed 9 4 23 3 Use of a reversing switch during homing It was previously necessary during homing to ensure that the reference point was pointing in the right direction when the axis was at rest If not the axis traveled to the limit switch When a reversing switch is also evaluated the direction of travel is given either by the homing same proce...

Page 761: ...he destination reached axis stationary status bit DRS changes to 1 the traversing operation is complete the axis is in position These steps are described in detail below The first step is to define the desired MDI block An MDI block describes the reference data of a positioning operation and comprises 3 components Two G functions this expression is also derived from NC technology The first G funct...

Page 762: ...be selected with the 4 control bits MDI_NO using the large selectors 823 3 and 809 4 at the top border of 823 MDI block 0 can have any 3 connectors as a source These can be selected with parameters U531 U532 and U533 the G functions use a single connector as the source the position and velocity use a double connector The remaining 10 MDI blocks numbers 1 to 10 are stored in the non volatile triple...

Page 763: ...y 65 000 mm min 65 000 000 µm min 65 000 000 LU min input in 10 LU min The MDI block is to be defined using receive words 6 to 10 of PROFIBUS DP 120 6 i e as MDI block no 0 823 4 A rotary table is used A length unit of 1 LU 0 001 has been defined with reference to the AVWF Relative incremental dimensions are to be used to position at a target position located 12 345 away from the current position ...

Page 764: ...e event of a fault 811 4 The FUT is a reliable indication that the traversing movement is finished even in extremely short movements The destination reached axis stationary status bit DRS indicates with a 1 signal that the drive has stopped in the exact stop window 811 4 The exact stop window is defined by machine data MD16 and MD17 You can use the velocity override 823 3 to modify the traversing ...

Page 765: ... velocity levels will be adjustable with U511 The jog velocity is multiplied by the velocity override Control mode is suitable for commissioning e g for optimizing the speed controller and maintenance purposes etc You will find detailed information on Control mode in the chapter of the same name in the Function Description of manual 1 The following graphic shows the sequence in control mode J_FWD ...

Page 766: ...MD11 0 activates the roll feed axis type and the special block execution shown in 830 is valid for MDI automatic and automatic single block modes The traversing curve can be adapted highly flexibly to the system conditions In automatic mode you can start a new block on the fly with the external block change function e g after detection of a printing index in order to cut printed material to length...

Page 767: ...the master value source An external master value generator real master axis e g master pulse generator installed on the front section of the machine should only be used in exceptional circumstances Synchronization mode includes the following functions Δ 2 1 0 3 Start Stop Catch up Gear function Curve cam Synchronization offset input Catch up Position correction referencing Position setpoint genera...

Page 768: ...ement Displacement setting 841 Setting of a random size of offset displacement angle as a fixed value or in inching mode motorized potentiometer function Catch up 837 Coupling a drive up to and out of a synchronized drive system The coupled out drive can be autonomously operated at local speed and can be accurately halted at a specified position The following section describes some important terms...

Page 769: ...with reference to machine data MD15 in addition to software limit switch monitoring for linear synchronization axes with reference to MD12 MD13 The Synchronization mode chapter in the Function Description of manual 1 contains a detailed description of the control checkback signals with timing charts for synchronization as a positioning mode b Calling synchronization as a free block If only synchro...

Page 770: ...R_M Virtual master running OTR Overtravel with linear axis FWD Axis moves forwards BWD Axis moves backwards MODE_OUT Mode checkback signal FUR Function running ST_EN Start enable The following warnings are triggered during synchronization as a positioning mode and the axis is brought to a standstill in speed control mode via the ramp configured in MD43 A141 Following error in motion MD15 A195 Over...

Page 771: ... B303 Position correction P175 2 304 B304 KK120 U671 120 Actual position EN U674 220 Enable synchronization U600 7031 Master axis path setpoint 834 1 836 836 U600 4 7032 Optional speed setpoint master axis 834 1 Fig 9 30 Synchronization of 3 drives with SIMOLINK The example shows the main application for synchronization via SIMOLINK Drive 1 is the master drive with the virtual master axis Drives 2...

Page 772: ... output of the virtual master axis is wired to the SIMOLINK send block 160 The input of the synchronization block is connected to the receive block of the SIMOLINK including for the master drive The graphic below illustrates the path of the master value of the virtual master axis and the controller structure SEND REC Virtual master axis SIMOLINK Synchronization Master drive Slave drive 1 Slave dri...

Page 773: ...be routed via the receive buffer of SIMOLINK even for the master drive e g KK7031 150 7 and not directly from the virtual master axis You should not therefore use KK817 This ensures that the master drive receives its path setpoint from the virtual master axis at the same time as all the slave drives Position sensing output as real master For synchronization with a real master the measured actual p...

Page 774: ...th setpoint t Master axis cycle length Fig 9 33 Master axis cycle U601 Slave axis cycle U501 11 MD11 The above description for the master axis cycle applies analogously to the slave axis cycle 836 6 The axis cycles for the master and slave can be set to different values Synchronization mode U602 U656 Synchronization mode 834 5 defines whether the synchronization block operates in Continuous cycle ...

Page 775: ...logy If the machine speed is to be specified as a percentage value not in LU it is recommended to use the comfort ramp function generator in the free blocks 790 which produces very accurate speed and acceleration precontrol values KK571 and KK572 From software release V1 3 and higher a special position integrator is provided in the function diagram sheet 791 for implementing a virtual master axis ...

Page 776: ...can be set via U425 The position actual value normally reaches the position controller via the signal path of the synchronization block later than the position actual value of the dedicated axis generated directly in the fast position controller cycle The deadtime resulting in this case is normally particularly large for such drives which receive this master value via SIMOLINK The deadtime compens...

Page 777: ...section provides a brief overview of the function The engaging disengaging cycle is similar to the engaging disengaging of a mechanical coupling at an accurately defined position The graphic below illustrates the sequence of an engaging or disengaging cycle 834 Speed setpoint slave Engaging length Disengaging length Coupling position U608 Engaging ramp C Position setpoint master Master axis cycle ...

Page 778: ...ing at point D In zones A to D the slave has covered the on length Enabling of the engaging disengaging cycle is either edge triggered or initiated by a static signal The source of the enable signal can be selected with U612 01 static signal or U612 02 once off enabling by edge triggering 834a 2 With the static enable continuous enable the engaging disengaging cycle continues to operate as long as...

Page 779: ... length the drive switches to constant synchronization after it has crossed the coupling position with a continuous enable signal applied Example Coupling position Coupling position Position setpoint master Position setpoint master Position setpoint master Master axis cycle length Master axis cycle length Speed setpoint slave Static engaging disengaging cycle enable Fig 9 36 Exceptions ...

Page 780: ... setpoint master Position setpoint master Position setpoint master Master axis cycle length Master axis cycle length Speed setpoint slave Static engaging disengaging cycle enable Fig 9 37 A positive edge of the once off enable signal enables the engaging disengaging cycle for one operation Coupling position Once off engaging disengaging cycle enable The enable command for this cycle is not accepte...

Page 781: ...her run If the engaging cycle is retriggered within the permissible time period it operates as if statically enabled for the engaging length according to the number of times the retrigger edge is applied Example Retriggering engaging disengaging cycle enable Coupling position Coupling position Engaging length Engaging length Position setpoint master Position setpoint master Position setpoint maste...

Page 782: ...ing cycle for rotary axis permanent continuous enable 9 4 32 Gearbox function 835 The gearbox function 835 allows a transmission ratio to be set between the master and slave axis The transmission ratio is a fraction Transmission ratio i Numerator Denominator Example i 1 2 U604 1 1 U604 2 2 The slave axis traverses at half the velocity of the master axis The transmission ratio can also be changed i...

Page 783: ...ramp to the catch up setpoint speed which can be preset via U626 01 in the unit 10 LU min or via U626 02 as a percentage The deceleration of the deceleration ramp can be set in U628 1 and the rounding of the same in U627 1 It is possible here to directly influence the internal ramp or rounding via the Mode command with and without internal ramp via any setpoint source without applying the internal...

Page 784: ...ate angular synchronization with the master 9 4 35 Cam 839 You will find detailed information on the electronic cam table synchronization in the Synchronization functions chapter of the Function Description in manual 1 The cam 839 allows free assignment of master and slave positions This allows you to define the sequence of movements on the slave axis with reference to the master Slave path setpoi...

Page 785: ...al small ones U615 0 One table with max 400 interpolation points X Y U615 1 Two tables with max 200 interpolation points each X Y X Y U615 2 Four tables with max 100 interpolation points each X Y X Y X Y X Y U615 3 Eight tables with max 50 interpolation points each C X Y X Y X Y X Y X Y X Y X Y X Y U615 4 Variable involving a maximum of eight tables with a total of 400 interpolation points X Y X Y...

Page 786: ...n points n634 1 400 The tables must then be stored one after the other with no gaps The tables are no longer stored in parameters in fixed increments of 50 points but the Table Info viewing parameter provides a useful guide to their configuration since it is automatically calculated after the interpolation points for the tables have been entered Table Info displays the initial and end parameters f...

Page 787: ...ints available Table 1 80 interpolation points from 1 80 Table 2 80 interpolation points from 81 160 Table 3 80 interpolation points from 161 240 Table 4 80 interpolation points from 241 320 Table 5 80 interpolation points from 321 400 Table 1 200 interpolation points from 0 200 Table 2 100 interpolation points from 201 300 Table 3 100 interpolation points from 301 400 Example 1 Example 2 ...

Page 788: ...620 Table widths of tables Indices 1 8 for tables 1 8 U617 2 Check table Indices 1 8 for tables 1 8 U617 x 0 No then table is errored Error status in n668 839 1 Yes then table is checked and valid Table o k Enter table interpolation points Depending on table configuration U630 U648 Interpolation point X axis Interpolation value Y axis Fig 9 42 The interpolation points x coordinates must be defined...

Page 789: ...at the last interpolation point when the end of the table is crossed The return jump to the start of the table takes place after external synchronization through the binary table synchronization signal U616 xxx0 Absolute table output The absolute interpolation point is output on the return jump to the start of the table If the interpolation point at the end of the table is not equal to the interpo...

Page 790: ...rence that has to be corrected By taking the Current displacement into account in the calculation 841 7 841 2 it is ensured that a slave axis displacement offset already implemented by the displacement angle settings will remain The total performed position correction has the amount Position correction master value position setpoint slave displacement i e Δs_Master_Slave 841 5 s_Master 834 3 s_set...

Page 791: ...t route e g correction from 350 to 10 by 20 clockwise not by 340 counter clockwise The currently valid displacement angle can be changed via the relative displacement angle U678 3 by the specified value This is activated by two binectors for adjusting in the positive direction U694 1 and in the negative direction U694 2 The change is adopted at these control inputs with each positive edge The rela...

Page 792: ...compensation movement takes place at a speed specified in U667 by means of which this deviation can be corrected Section 9 3 3 includes an application example for position correction under the section Printing index control A position correction is normally automatically started by the Start position correction command when a new position measured value i e a measured actual position of the printi...

Page 793: ...ion to be made on the fly during startup to a reference index BERO or similar in synchronization mode It is no longer necessary to approach the reference index beforehand in positioning mode and then to change over into synchronization mode from standstill The function is enabled via a binector U675 2 At a positive edge of the enable signal the output binector B808 Referencing running is reset As ...

Page 794: ... 100 0x4000 0000 The input for the position setpoint is compensated according to the axis cycle When the synchronism setpoint source is switched from catch up to the external infeed at U886 0 1 edge change at U885 the drive is synchronized once with the position setpoint at U886 1 for the sake of preventing a setpoint step change On the fly transitions during other changeovers in the new operating...

Page 795: ...U KK 04 ActualPosition LU KK 05 RM_IN LU KK0871 KK0870 KK0310 KK0310 Basic positioner 789b Synchronism 836 U885 B Src SYNC local ON Fig 9 43 Application example REM REM Link Bpos to synchronous block REM REM REM Analog Input NC REM Analog Output NC REM Binary Input1 EPOS Pos REM Binary Input2 NC REM Binary Input3 Stop REM Binary Input4 Positioning absolute relative REM Binary Input5 NC REM Binary ...

Page 796: ...3 Output limitation positive WRITE 2344 00 574 Output limitation negative WRITE 2953 35 4 WRITE 2963 35 3348 VM_KK610 WRITE 2429 01 571 Input value VM WRITE 2429 02 0 Setting value VM WRITE 2430 00 524288 Axis cycle length VM WRITE 2431 00 1048576 00 Rated master speed WRITE 2432 00 0 Set VM WRITE 2953 20 4 WRITE 2963 20 3349 LC_K255 MSG Synchronous Operation WRITE 2529 00 70 Actual position ok WR...

Page 797: ...01 1000 00 Acceleration in 1000 LU s2 with offset setting WRITE 2697 02 100000 00 Positioning speed in 1000 LU min with offset setting WRITE 2699 00 1 Direction of synchronization always positive WRITE 2501 11 524288 Slave axis cycle WRITE 2607 01 1048576 00 Maximum traversing speed in 1000 LU min P171 P353 WRITE 2501 49 100 Weighting factor WRITE 2671 00 120 Actual position from position detectio...

Page 798: ...464 01 5 00 Ramp generator deceleration time 5 00 sec WRITE 469 01 0 010 Ramp generator smoothing WRITE 772 00 1 Ramp generator bypass always active MSG Speed Controller WRITE 220 01 75 n set from bypass WRITE 221 01 0 8 Setpoint smoothing WRITE 222 00 91 n act from position detection WRITE 223 00 0 8 Actual value smoothing WRITE 228 01 152 Input speed controller WRITE 232 01 0 Input signal kp ada...

Page 799: ...RITE 2850 02 0x310 BPOS feedback position setpoint WRITE 2850 03 0x0 BPOS position setting value WRITE 2850 04 0x120 BPOS Actual position for POS_Ok checkback WRITE 2850 05 0x310 BPOS RM_IN FP789b WRITE 2851 00 0x41 BPOS positioning speed P401 WRITE 2852 01 0x1 BPOS adaptation speed UP WRITE 2852 02 0x1 BPOS adaptation speed DOWN WRITE 2853 1 0x0 BPOS preselect traversing direction forwards WRITE ...

Page 800: ...826 in function diagram 846 shows the activation of the Continue synchronism function During deactivation the synchronism output KK0310 is tracked to the position setpoint value output at U671 i e in the factory setting to actual position value KK0120 During deactivation neither the master axes nor the slave axes may move in order to ensure that the transmission characteristics of the gearbox impl...

Page 801: ...itly as connectors and binectors e g K3001 K3060 and B3100 B3915 from the send message of PROFIBUS DP 120 They can therefore be wired through on the MASTERDRIVES converter as setpoints and control commands You can set up any configuration of send and receive messages using BICO technology simply by setting the appropriate parameters however we recommend that you normally use a permanent message as...

Page 802: ...Bx 3 OVERRIDE DEZ IN_4 DBBx 4 PROG_NO OR MDI_NO DEZ IN_5 DBBx 5 SIST RST FUM ACK_ M CRD STA RIE TGL_I BIN IN_6 DBBx 6 R_VM S_VM EN_ RF SSC OPERATION FUNCTION BIN IN_7 DBBx 7 ST_ VM TABLE_NO SYN_ T SST ST_S SET_ T BIN IN_8 DBBx 8 CU_ DR CU_ EN CU_ SP SYNC DI_ RN DI_ RP DI_JN DI_JP BIN IN_9_0 DBBx 9 RESERVED IN_9_1 DBWx 10 OPTIONAL VALUE 1 INPUT IN_9_2 DBDx 12 OPTIONAL VALUE 2 INPUT IN_10 DBDx 16 OP...

Page 803: ...BBy 8 CU_ TE CU_ VR CU_ PR SYNC DI_A POS_ A CL_A VM_ RA BIN OUT_9_0 DBBy 9 RESERVED OUT_9_1 DBWy 10 OPTIONAL VALUE 1 OUTPUT OUT_9_2 DBDy 12 OPTIONAL VALUE 2 OUTPUT OUT_10 DBDy 16 OPTIONAL VALUE 3 OUTPUT OUT_11 The first word is reserved for status word 1 of the MASTERDRIVES basic unit 200 The second word is assigned to the fault warning number KK250 510 The remaining words are technology specific ...

Page 804: ... but also to other field buses CAN bus USS etc 9 5 2 Parameter transfer PKW Every setting and display parameter of the MASTERDRIVES MC can be read and modified over a serial interface with the exception of SIMOLINK including all the technology parameters The methods used for PKW access are described in detail in the Communication section of this Compendium Only one parameter can be accessed in a m...

Page 805: ...ASTERDRIVES from the perspective of the SIMATIC application programmer The control and checkback signals e g in the standard message assignment specified above are stored in convenient packages in data blocks for each drive axis The SIMATIC S7 CPUs with integrated PROFIBUS interfaces see table 4 also support communication with MASTERDRIVES using the new PROFIBUS DPV1 services The DPV1 services all...

Page 806: ...rization the following 2 components are available for the total integration of MASTERDRIVES MC with distributed technology in a SIMATIC S7 300 400 programmable controller system further information is provided in manual 1 and Catalog LS01 SIMATIC S7 Motion Control Configuring Package software on CD ROM included in 1 This software package for the SIMATIC S7 300 and S7 400 includes software for PROF...

Page 807: ...se are executed automatically and enable superior structuring of the user program A task comprises a task header with the necessary control information and a pointer to the actual user data Resources such as an OP25 operator panel a STEP 7 program or a SIMATIC PG programming device can use the task interface Motion Control HMI Package for SIMATIC S7 see 2 Software for the application interface to ...

Page 808: ... to 187 5 Kbaud Simple high performance protocol with only 4 bytes overhead You will find a specification of the USS protocol in the Communication chapter of this Compendium Every MASTERDRIVES SIMOREG and MICROMASTER converter has at least one USS interface as standard User data All setting and diagnostic parameters are accessible up to 200 bytes of parameter data can be transmitted in one message...

Page 809: ... rate 11 Mbaud Max 200 nodes per fiber optic ring Polling time with 100 data messages each with 32 bits 630 µsec Jitter free synchronization of the sampling times of all stations by special SYNC messages Peer to peer configuration drive to drive interface without master or master slave configuration possible Max cable length 40 m with plastic 300 m with glass 1000 m for complete ring Up to 1000 do...

Page 810: ...er Transceiver SYNC Station 2 Station 3 Fig 9 45 The SIMOLINK drive interface can be compared to a goods train that passes through various stations on a circular route The stations in this example are represented by 3 MASTERDRIVES converters A data train sent by a dispatcher travels along the SIMOLINK ring Otherwise the dispatcher has the same function as the two transceivers A goods carriage with...

Page 811: ...h standard motor encoder Number of lines x 1 i e 1024 inc rev with standard motor encoder Yes with asynchr onous motor Yes SSI absolute encoder 4 SBM2 4096 inc rev typical 4096 revolutions typically reproducible 1024 inc rev typical No Yes Absolute encoder EQI1325 6 SBM2 4096 Inc rev 1024 Inc rev Yes No Notes 1 In practice the resolution of the encoder must be between 1 and 10 times higher than th...

Page 812: ...evolution is selected only 7 bits are then possible for the representation of the countable revolutions One bit is required for the positive negative differentiation If the 4096 revolutions of the absolute encoder EQN 1325 EQI 1325 are to be represented the resolution for one revolution must be reduced to at least 19 bits 9 6 2 Requirements of position encoders for rotary axes Condition for rotary...

Page 813: ...th P608 P609 and P614 470 1 however the brake controller normally operates fully automatically without intervention from the external machine controller The BICO wiring required for this purpose is shown in the comment boxes in 470 The fully automatic brake controller normally operates as follows When the drive switches to operation mode after power on the inverter enable is activated and the brak...

Page 814: ... to a trial configuration You can run this example application using the 2 axis demonstration pack available from Siemens Order No 6SX7000 0AF10 see 1 You need the following components in order to use the example configuration Component Quantity Required for Positioning Quantity Required for Synchronization 1FT6 or 1FK6 motor with resolver or encoder 1 2 MASTERDRIVES MC with option F01 and the mat...

Page 815: ...ch is visible through drilled holes in the flywheel mounted on the motor shafts when the synchronization is operating correctly Acknowledge ON OFF X101 24V 3 4 5 6 7 8 1 Resolver SBR2 SLB 3 4 5 6 7 8 X101 1 24V ERN Encoder SBM SLB SIMOLINK 1FK6 1FT6 MASTERDRIVES MC 10V 9 10 11 Virtual Master Drive1 Slave Drive 2 Master Betriebsart Homing MDI Synchronization 0 1 1 1 1 0 Homing MDI Rough pulse 0 MDI...

Page 816: ... no ON OFF MODE_IN Positioning control word 809 809 818 s v t t Position Velocity U550 3 U559 3 Velocity F U550 2 U559 2 Position X U550 1 U559 1 G functions relative absolute MDI Positionieren 823 10 permanent MDI blocks Master axis path setpoint v s J_FWD Rough pulse Rotor zero Homing 821 Mode manager output signal selection 802 Synchronization 831 839 Including path slave axis setpoint Mode Pos...

Page 817: ...ator for both drives and the saw tooth pulse generator for the position setpoint generation master value period corresponds to 10 motor revolutions The virtual master axis is only calculated on drive 2 It is not activated on drive 1 This and the velocity setpoint potentiometer which is only connected to drive 2 are the only differences in the parameter settings for both drives We will initially li...

Page 818: ...m terminal X101 8 90 180 Terminal 5 is assigned to the acknowledge fault function basic unit control word 1 P565 1 14 Acknowledge fault from terminal X101 5 90 180 Terminal 7 has a dual assignment In homing mode you use it to define the jog forwards signal J_FWD which starts the homing procedure U710 28 18 Jog forwards J_FWD from term X101 7 90 809 In MDI and synchronization modes you use it to sp...

Page 819: ...09 1 90 809 Terminals 3 and 4 select the mode according to the following truth table Signal at Terminal 3 Signal at Terminal 4 Mode Bitmap at MODE_IN 809 4 23 22 21 20 0 0 1 0 11 Synchronization 1 0 1 1 0 1 2 Homing 0 0 1 0 1 1 3 MDI 0 0 1 1 The small logic circuit below generates the required mode selection bits 28 31 MODE_IN for the positioning control word 809 from the signals at terminals 3 an...

Page 820: ...ry setting can be retained U710 32 601 U710 31 0 WE factory setting can be retained U710 30 619 U710 29 10 You can check that the mode input is generated correctly at the MODE_IN switches with display parameter n540 14 809 8 after you have nested the binector double connector converter for generation of the positioning control word 809 in a sampling time as follows see also 702 U953 30 4 Nest pos ...

Page 821: ... that the user can specify his position setpoints in the length unit 1 Length Unit 1 LU 0 1 i e in tenths of one degree For example a setpoint of 3600 is to correspond to a distance of 360 0 i e one revolution of the motor It is assumed that no gearbox is used Determining the actual value weighting factor AVWF With the factory setting P171 12 the shift division block 330 4 outputs an actual positi...

Page 822: ... the motor P353 in min 1 can be calculated directly i e the motor speed at which the rated velocity P205 is reached P205 10 000 000 LU min 1 000 000 min 1 000 000 360 min 1 2777 777 min 1 P60 5 Change to drive setting parameter menu P353 2778 Reference speed in motor revs min 20 5 P60 0 Exit drive setting The speed setpoint definition KK0150 for the speed controller 360 4 refers to this reference ...

Page 823: ...in Enter same value as P205 see above For the acceleration MD18 and deceleration MD19 for the position control modes we will assume that the customer requires an acceleration time of 0 5 s from 0 to MD23 The acceleration is then as follows Acceleration MD23 acceleration time 10 000 000 LU min 0 5 s 333 333 333 LU s2 We will also assume that the deceleration MD19 is to take place with the same ramp...

Page 824: ...e that the machine zero to which all position setpoints refer is located at an offset distance of 3440 LU equals 344 as defined in MD4 from the zero crossing This results in the following machine data U501 03 0 WE MD3 Home position coordinate 0 i e MD3 can remain at the factory setting U501 04 3440 MD4 Home position offset 3440 LU U501 05 1 WE MD5 Home position approach direction to right of BERO ...

Page 825: ...ively via binector B305 which is output by the technology 817 7 The two enable position controller commands 340 3 must be permanently set to 1 for this purpose P210 1 1 Set enable 1 for position controller permanently to 1 340 1 P211 1 1 Set enable 2 for position controller permanently to 1 340 1 P213 1 305 WE Enable speed setpoint for control mode 817 7 340 7 0 1 position control speed control mo...

Page 826: ...5 000 000 LU min equals 500 000 min half the maximum velocity in MD23 2 equals 1389 motor revolutions min The velocity in the MDI block is defined in 10 LU min instead of 1000 LU min as in the machine data U550 01 9030 WE Absolute positioning 100 acceler ation override 823 4 U550 02 0 WE Position setpoint X 0 823 5 U550 03 500 000 Velocity F 5 000 000 LU min input in 10 LU min 823 6 MDI block 3 Fi...

Page 827: ...minal 8 e Start homing with jog forwards 1 signal at terminal 7 f Simulate a rough pulse at DIN 4 0 1 edge reduces the velocity 1 0 edge terminates referencing g Optimize the position controller loop gain For example the optimum setting for a two axis demonstration pack is as follows P204 1 8 000 Loop gain factor for position controller 340 3 a Select MDI mode at the switches on terminals 3 and 4 ...

Page 828: ...locity in this example is set to the same value as the maximum traversing velocity MD23 for positioning U682 1 000 000 Rated velocity for virtual master MD23 10 000 000 LU min input in 10 LU min this equals 2778 min 1 on the motor shaft see P353 832 2 We will assume an acceleration time for the virtual master of 1 s for acceleration from 0 to the rated velocity of 10 000 000 LU min configured in U...

Page 829: ...the SIMOLINK see steps 10 and 13 in application example 2 The master axis cycle length 834 2 must be set to the same value as the axis cycle length of the virtual master U687 see 832 6 and step 10 in application example 2 U601 36 000 Master axis cycle length 834 2 Axis cycle length of the virtual master 832 6 36000 LU 10 motor revolutions each with 360 0 1LU 0 1 see actual value weighting factor A...

Page 830: ...oints for drives 1 and 2 Configuration of the SIMOLINK master dispatcher P60 4 Select the parameter menu board configuration P740 0 The dispatcher always has SIMOLINK address 0 P741 100ms Message timeout P742 1 Low output power adequate with short cable P743 2 No of stations 2 drives P745 2 2 channels i e 2 send messages 32 bits each per station all stations must have same setting based on the sta...

Page 831: ...ow output power adequate with short cable P749 01 0 0 1st SIMOLINK receive double word KK7031 150 7 Channel 0 of station 0 i e of master path setpoint of virtual master axis in drive 2 P749 02 0 1 2nd SIMOLINK receive double word KK7032 channel 1 of master reserve channel 150 7 P60 1 Exit board configuration SLB send words do not have to be wired since drive 1 is only to receive not send data 9 7 ...

Page 832: ...LED beam must be visible through both flywheels c Cancel the start command for both drives START 0 Both drives are now in the start position position controlled d Start the synchronization on the slave drive drive 1 with START 1 It does not yet start to move because the virtual master on drive 2 has not yet been enabled and defines a path setpoint of 0 e Start the master drive with START 1 drive 2...

Page 833: ...transmitted fast enough Also select PROFIBUS as the synchronization source in parameter P744 SIMOLINK board function diagram 140 Finally activate the equidistance clock synchronism when configuring the hardware under the S7 project To achieve this make the following connections on the drive control units 1 Select PROFIBUS as the synchronization source in function diagram SIMOLINK Board FP140 WRITE...

Page 834: ...polator connect set axis cycle length U802 of the extrapolator WRITE 2801 0 241 Sign of life signal to position extrapolator WRITE 2802 0 4096 Axis cycle length extrapolator based on U687 5 Connect position velocity setpoint input of the synchronism U600 U606 to the position setpoint output WRITE 2600 3 846 Position VM from extrapolator to SY input position setpoint WRITE 2600 6 847 Speed setpoint...

Page 835: ...ode manager the factory setting 20 is retained WRITE 2953 34 4 Time slot virtual master axis WRITE 2953 40 4 Insert technology setpoints at the input of the position controller into a slower time slot instead of factory setting 3 8 Define the execution sequence The consecutive events are inserted in the time slots in such a way that they are also executed consecutively and with high priority at th...

Page 836: ...al master axis KK0816 V 0 X V V X X V Freeze V n691 2 31 1 x 10 LU min x1 x1 100 x2 V_master_nom 823 3 x2 y KK0820 U687 4096 0 2 31 1 LU Axis cycle length virtual master axis for rotary axis preferably set to number of LU per revolution of the master axis Velocity setpoint on virtual master axis in of U682 832 2 1 If U685 0 the ramp function generator is deactivated and output V follows input X wi...

Page 837: ...fault is reset if K0257 10 P809 1 PKW words PKW request r738 05 to 08 1 K3001 CB TB word 1 B3115 CB TB word 1 bit 15 2 K3002 CB TB word 2 3 K3003 CB TB word 3 B3100 CB TB word 1 bit 0 KK3033 CB TB double word 3 4 K3004 CB TB word 4 B3400 CB TB word 4 bit 0 B3415 CB TB word 4 bit 15 KK3035 CB TB double word 5 6 K3006 CB TB word 6 B3600 CB TB word 6 bit 0 B3615 CB TB word 6 bit 15 KK3034 CB TB doubl...

Page 838: ...ware configuration of Step 7 GMC control must continue to be operable as usual To be able to use GMC control at all make sure that GMC Basic has been installed and that the project has been adapted using the example P7MC1_EX Good help with this is available in file Getting_started_mc_10 pdf on the DriveMonitor CD under path Gmc Getting_Started English Please note that in the DB 100 you must enter ...

Page 839: ...ter transceiver it reads the position setpoint i e the value of the virtual master axis from the dispatcher has address 12 The additional six words to be sent KK817 KK820 and K255 are routed to the bus from the dispatcher as the actual value This is shown in Fig 9 51 under slot 7 They are then read by the dispatcher itself via slave to slave traffic Fig 9 51 Slot 8 and by the transceiver by slave ...

Page 840: ...t of the hardware configuration In the hardware configuration a window is opened on the CPU under X2 DP master with the right mouse button In it you can select the object properties A new window opens in which you can click on PROFIBUS properties Click on Properties again Click on the tab card System settings Select the transmission rate 12 Mbit s Click on Options Activate Equidistant Profibus in ...

Page 841: ...operties Network settings Please note If the CPU is reset communication via your PROFIBUS interface is not possible You must load the hardware configuration into the CPU via the MPI interface After that communication via the PROFIBUS interface will be possible again If you reset the CPU via the PROFIBUS interface communication is interrupted If you address the PLC via the MPI or PROFIBUS interface...

Page 842: ...connect any connector or binector to a display parameter in order to track signals during commissioning and troubleshooting These freely connectable display parameters are listed on sheets 30 and 705 of the function diagram Example U045 803 705 7 You can observe the status of binector B803 engaging disengaging cycle running 834 5 in display parameter n046 Recording signals with the integrated trac...

Page 843: ...transfer times 9 8 2 Commissioning the technology Commissioning step Use an application example to get started with the technology If you are not yet familiar with the positioning and synchronization functions in MASTERDRIVES MC you should study the example nearest to your application in the Application examples section using one or two MASTERDRIVES MC units and one or two idling motors you only n...

Page 844: ... the nameplate or by the absence of an encoder type designation on the nameplate Checking the encoder cable for 1FK6 1FT6 and 1PA6 motors The correct encoder cable for the resolver can be identified from the order number 6FX 002 2CF01 0 which is printed in red on the cable option and length specification The correct encoder cable for the ERN1387 1381 can be identified from the order number 6FX 002...

Page 845: ...rds SBx if special encoders or third party motors are used as described in the Encoder evaluation sections in Brief description of the technology functions and in the hardware instruction manual for the SBx board 9 8 4 Defining the actual speed value normalization Commissioning step Set the actual speed value normalization with P353 First set the actual speed normalization in parameter P353 20 as ...

Page 846: ...ode optimize the speed controller Set commission and test the parameters for the communication functions in the board configuration parameter menu if field bus CBx and or SIMOLINK SLB interface installed 9 8 6 Defining the length unit LU Commissioning step Define the length unit LU Define the length unit LU in which you want to define the positional values Please note that the position is defined ...

Page 847: ...ift division by 220 330 4 due to the factory setting P171 12 i e the resolution is 12 bits You will find detailed information on position detection in the section entitled Position sensing system for motor encoder Please note that although the actual position of the position sensing system has a range of 232 LU it is limited by the technology to a value range of 999 999 999 999 999 999 LU 815 4 Th...

Page 848: ...revolutions For larger traversing distances you must therefore reduce the resolution artificially by setting P171 to values 24 or by selecting a smaller AVWFactor i e a larger length unit LU Commissioning step Enter the actual value weighting factor AVWF P169 P170 or P152 P153 For the actual value weighting factor AVWF you must enter the number of length units per actual position increment LU incr...

Page 849: ...lculation for determining the AVWFactor 9 8 8 Defining the maximum traversing velocity Commissioning step Define the maximum traversing velocity MD23 P205 Enter the maximum traversing velocity which you defined in Section 1 in P205 340 2 and machine data MD23 P550 23 804 in the unit 1000 LU min MD23 should not be modified again unless absolutely necessary since this machine data is a normalization...

Page 850: ...cription in manual 1 is then set up via PPO type 5 10 process data words with 16 bits each in send and in receive direction This message assignment allows all the technology functions to be actuated from the SIMATIC S7 system The message assignment can also be useful if you do not use the GMC BASIC software if a SIMATIC S5 or third party controller is installed or if you use a field bus other than...

Page 851: ...hich can be selected with U710 i e if U530 860 809 7 you must nest the generation of positioning control signals block in a sampling time with U953 32 recommended value 4 The first step is to define which modes you want to activate with MODE_IN You will find detailed information on the individual modes in the Function description Chapter of the Motion Control for MASTERDRIVES MC and SIMATIC M7 man...

Page 852: ... specify where they are transmitted to 811 All control and checkback signals for positioning are described in detail in the Control and checkback signals chapter of manual 1 For example a simple linear axis with MDI positioning and resolver might use the following checkback signals Axis referenced ARFD Overtravel OTR Function terminated FUT Destination reached axis stationary DRS Mode checkback MO...

Page 853: ...encoder this is normally the case you only need to change the following parameter settings Position sensing for motor encoder in slot C 330 Connect to technology 330 815 836 U535 120 P172 302 U539 122 P174 301 P184 303 Additional connections usually required for synchronization 330 836 4 not required for positioning U665 122 Meas pos for pos correction 330 836 4 U671 120 Use actual position as ini...

Page 854: ...67 303 P162 308 P160 307 Additional connections usually required for synchronization 335 836 4 not required for positioning U665 127 Meas pos for pos correction U671 125 Use actual position as initial set value for slave path setpoint Configuration for incremental and absolute encoder P166 xx01 No homing e g for roll feed or synchronization P166 xx11 Home position to right of rough pulse BERO see ...

Page 855: ...ed in parameters U501 01 50 e g max traversing velocity MD23 10000 LU min Input on MASTERDRIVES MC U501 23 10 in OP screen 10 000 If you use the positioning functions the following machine data are relevant Machine Data Overview for Positioning MD1 MD2 MD11 Encoder and axis type MD3 MD7 Configuration of homing only relevant for incremental encoders see 821 and Positioning block section MD12 MD17 S...

Page 856: ...d position controller Commissioning step Connect the technology to the speed and position controllers 817 shows the setpoint outputs for the position controller and speed controller in addition to the enabling of the position controller by the technology These connections are established to a large extent in the factory settings Only the parameters below need to be modified see the section entitle...

Page 857: ...cy of 5 kHz U953 32 4 Nest positioning modes in sampling time T4 2 4 T0 16 200µs 3 2 ms with converter frequency 5 kHz Configure the MDI block definition and selection for the MDI positioning mode 823 For the first commissioning steps it is recommended to use MDI block 1 Define MDI block 1 for the first commissioning steps U710 09 1 Select MDI block number 1 809 3 823 3 U550 1 Define 1st and 2nd G...

Page 858: ...lue e g 1 4 You can monitor the current velocity override setting in display parameter n540 11 809 8 Virtually all traversing operations of the technology except for home position reducing velocity and synchronization are affected by the override You can use a contactor on the input or output side to isolate the drive from the power supply or you can use option K80 Safe STOP Option K80 contains a ...

Page 859: ...e evaluated with linear axes however with incremental position encoders they are only evaluated if a homing procedure was performed after the system was switched on You can now optimize the position controller in setup mode set the loop gain factor P204 1 of the position controller 340 3 for the optimum dynamic motion characteristic In special situations it can also be practical to smooth the actu...

Page 860: ...maller overshoot in movements by activating the speed precontrol To do this set the following parameters Wiring the speed precontrol KK312 P209 1 312 Apply speed precontrol setpoint 817 7 836 8 to output of position controller 340 7 The technology normally weights the precontrol value correctly provided that MD49 is 100 and P353 contains the exact motor speed that is reached at the maximum velocit...

Page 861: ...ch operates with rounded ramps and provides a large variety of control features and selection of acceleration deceleration times You can connect the output of the comfort ramp function generator to the virtual master axis with U681 571 832 1 and U683 0 U832 3 The virtual master axis is a separate free block it can be used independent of positioning and synchronization It is activated with the foll...

Page 862: ...sitioning functions There are two ways to activate the synchronization block The synchronization block 834 839 is normally nested as a mode in the positioning block with parameter U953 32 802 8 In special situations you can also activate the synchronization block as a completely independent free block with U953 33 In this case the positioning block must be deactivated U953 32 20 In this case the s...

Page 863: ... 836 4 to select the desired synchronization function FUNCTION U603 0 Angular synchronization 1 1 U603 1 Gear synchronization gearbox see 834 4 U603 2 Electronic cam table synchronization see 839 For rotary axes you normally set the number of LUs per position encoder revolution of the slave axis as the slave axis cycle length in U501 11 MD11 836 5 7 MD11 is required in order to generate the correc...

Page 864: ...ction you should repeat the procedure described above for Testing the virtual master axis and check in r750 150 5 that the output setpoints of the virtual master are received correctly by all drives 9 8 21 Testing the synchronization functions Commissioning step Commission the synchronization functions you can skip this step if you only want to use the positioning functions To test the synchroniza...

Page 865: ...eck in n541 03 811 7 whether the start enable is indicated in bit 10 of the positioning status word A missing start enable can have the following causes The start command STA is still set to 1 The start enable is not activated until the start command is reset to 0 The correct mode is not selected see below A positioning warning is active A129 A255 see display parameter n540 26 818 5 and the sectio...

Page 866: ...r fault Bit 3 is enabled in basic unit status word 1 200 You can monitor the current fault and warning numbers in connector K0250 510 4 There is a mismatch between the speed position encoder encoder cable and sensor board Follow the instructions in Checking the speed position controller 9 8 23 General commissioning information Changes to the axis type MD1 and AVWF factor do not become effective un...

Page 867: ...D42 thereby necessitating a series of commissioning steps Use the trace function integrated in the MASTERDRIVES MC if you want to record the timing sequence of important internal signals Any connector or binector can be recorded with the trace function The curves can be monitored in DriveMonitor oscilloscope function See also the section above entitled Measurement and diagnostics resources No doub...

Page 868: ...ings must be acknowledged before the traversing movement can be started again The warnings are acknowledged using the normal fault acknowledgement feature of MASTERDRIVES i e via bit 7 of basic unit control word 1 180 4 e g from a digital input serial interface if so wired or the PMU The following display parameters provide you with important diagnostic information n500 Error number of machine dat...

Page 869: ...technology option F01 has been enabled by PIN number 850 it remains enabled even if the software on the unit is replaced updated The PIN number is stored in a protected area of the parameter memory It is therefore not necessary to enable technology option F01 again after replacing the software If you obtain new firmware use DriveMonitor to copy all the MASTERDRIVES parameters into a download file ...

Page 870: ...0 Start of Shipping November 97 Original version for pilot customers only 9 11 2 Software version V1 1 Start of Shipping February 98 V1 1 was only supplied to pilot customers U529 01 02 These parameters have been omitted and no longer need to be set Basic unit connectors K030 control word 1 K032 status word 1 and K250 fault warning number are now connected permanently to the positioning function s...

Page 871: ...memory B304 replaces the old B801 POV position correction P175 01 304 instead of 801 B303 replaces the old B802 NOV position correction P175 02 303 instead of 802 All path and velocity signals are now fully normalized in the synchronization function with the virtual master axis and in the positioning function i e The velocity signals are now normalized in 10 LU min instead of in increments sec The...

Page 872: ...on of virtual master 1000 inc sec 2 1 1000 LU sec 2 the parameter previously set U685 should be divided by 1000 Normalization of slave velocity setpoint speed velocity precontrol 1000 inc sec 60 1000 LU min the parameter previously set should be multiplied by 0 06 Machine data 49 is defined in 1000 LU min unlike the velocity setpoints and actual values A series of enhancements has been made that d...

Page 873: ...s been introduced for position correction The deviation of the position of the printing or reference index from the setpoint position is available at this connector The new on the fly referencing function enables synchronization to a reference index BERO or similar to take place on the fly It is no longer necessary to approach the reference index in positioning mode beforehand and then to change o...

Page 874: ...h up function enables a drive to be uncoupled from an angular locked synchronizing multi motor system e g shaftless printing press and to be operated autonomously at its own speed setpoint isolated setpoint It also enables a drive to halt at a specified angular position The drive can catch up to the speed of the running machine from the halt position or from its current speed in autonomous operati...

Page 875: ...e displacement angle setting U675 01 02 Selection of the Enable position correction and Enable referencing binectors for synchronization parameter now indexed index 02 is new U676 Selection of the Synchronize to master value binector U677 01 02 Fixed setpoints for absolute and relative displacement angle U678 01 03 Selection of the following connectors for displacement angle setting Absolute displ...

Page 876: ...pport points 4 max 8 tables with a total of 400 support points New status binector Stop at table end B834 Supplementary in the case of synchronism external position setpoint setting possibility U460 and U461 To be used herewith Free block Additive offset adjustment analogous to offset angle adjustment in synchronism only external Offset adder with limitation for modulo calculation of position setp...

Page 877: ...ents 1 Homing with homing switch only 2 Homing with encoder zero mark only 3 Use of a reversing switch with homing Homing on the fly The assignment of the input for reference setting on the fly is by means of machine datum MD46 with identification and is dynamically released via binector input U675 2 Behaves analogously to referencing in synchronous operation Extensions of actual value dependent M...

Page 878: ...ion 7 Bero for homing 8 Reversing cam for homing 9 Release read in dependent on external program U627 3 4 Parameter Index 3 and 4 do not apply not used U628 3 4 Parameter Index 3 and 4 extended Acceleration deceleration for positioning n655 1 5 Position display parameter LU for synchronism extended n653 1 5 Speed display parameter for synchronism extended n668 1 8 Status of tables extended to Tabl...

Page 879: ...bles are to be found in which parameters Beginning of table end of table n466 1 2 Visualization parameters for offset angle adjustment and synchronization Residual offset Index 1 Current offset Index 2 U467 Maximum correction speed in 1000LU min alternative to U667 maximum correction speed in LU sampling time 9 11 6 Software version V2 1 delivery as of 06 03 Creation of a docking point between the...

Page 880: ...acceleration starting point ENG and deceleration ramp end ACC RA the point ACC RA or DEC RA is determined as a result thereof from MASTERDRIVES version 2 2 with special configuration U475 111 see also function diagram 834c column 1 note 4 U474 Src Variable Ramps has been newly introduced U474 1 Length of acceleration ramp LU WE 894 U474 2 Length of deceleration ramp LU WE 894 U609 has been extende...

Page 881: ... SC_ON Enable Stop Cam U866 15 SC_PLUS Stop Cam Plus U866 16 SC_MINUS Stop Cam Minus U873 Fixed Connectors for Basic Positioning U873 4 Fixed Connectors 896 Deceleration Stop Cam U850 Source Basic Positioning Position Setpoints U850 7 BPos SWLS Plus Software Limit Switch Plus U850 8 BPos SWLS Minus Software Limit Switch Minus K0896 Fixed Connector Deceleration Stop Cam KK0897 Position Difference a...

Page 882: ...ter U701 1 Enable register displacement U701 2 Set register displacement U701 3 Enable register decoupling U702 Function parameter Adaptation U702 1 Speed adaptation register displacement U702 2 Speed adaptation register decoupling U702 3 T constant adaptation register decoupling U703 Function parameter General parameters U703 1 Register displacement axis cycle U703 2 Circumference U703 3 Normaliz...

Page 883: ...RIVES KK0794 Register decoupling KK0795 Register displacement offset angle KK0796 Register displacement offset angle speed KK0797 Current circumference KK0798 Decoupling to successor KK0799 Adaptation of circumference KK0803 Current adjusting speed including v_inching as a percentage referred to U607 New connectors ...

Page 884: ...tics Center Fürth The configuring package also includes the GMC BASIC standard software 2 Motion Control HMI Package for SIMATIC S7 Order number 6AT1880 0AA10 1YA0 The HMI package also contains the GMC OP OAM standard software 3 DVA_S5 Option Package for SIMATIC S5 Order number 6DD1800 0SW0 Internal Siemens ordering location A D SE B1 TDL11 Order form recipient G610B WKF Fürth German English Commu...

Page 885: ...for S7 300 with CPUs with integrated DP interface program libraries DRVDPS7 POSMO S7 400 with CPUs with integrated DP interface or with CP443 5 program library DRVDPS7 POSMO S7 300 with CP342 5 program library DRVDPS7C USS Protocol communication software for S7 200 with CPU214 CPU215 CPU 216 driver program DRVUSS2 for STEP7 Micro programming tool S7 300 with CP340 341 and S7 400 with CP441 program...

Page 886: ... to connect the AC cable Internal Siemens ordering location A D SE B8 4 WKF Fürth Tel 4894 6 2 axis demonstration pack order no 6SX7000 0AF10 contents 1FT6 synchronous motor with optical sin cos encoder 1FK6 synchronous motor with resolver One toothed disc with position index per motor LED beam for checking the synchronization MASTERDRIVES MC Compact PLUS converters and inverters Brake resistor RI...

Page 887: ...OFF1 015 if the drive is in a status where the inverter is enabled For P290 0 and slave drive the system waits until the higher level open loop closed loop control shuts down the drive For P290 0 and master drive as well as for P290 1 v f characteristic the setpoint at the ramp function generator input is inhibited setpoint 0 so that the drive decelerates along the parameterized down ramp P464 to ...

Page 888: ...lly applied i e after brake closure time P607 has exceeded and if necessary delay brake threshold P617 P891 0 During this time the drive would necessarily hum on AUS3 because every sign inversion of the speed actual value noise to nact average value of nact 0 if brake is applied would also reverse the torque direction The brake control should be used with the AUS1 command In the case of drives wit...

Page 889: ...W signal For RESTART ON THE FLY 013 1 RUN 014 The drive changes over into the READY 011 condition and the inverter pulses are inhibited If OFF1 is active 015 the inverter pulses are inhibited the main bypass contactor if used is opened and the drive goes into the POWER ON INHIBIT 008 condition If OFF3 is active 016 fast stop the inverter inhibit command is ignored fast stop is continued and after ...

Page 890: ...and bit 9 are activated at the same time inching frequency 3 P450 is enabled The ON OFF1 command bit 0 is ignored for active inching operation The system must wait until the de energization time P603 has expired See also function diagram 310 LOW signal An OFF1 command is automatically executed refer to control word bit 0 Bit 9 Inch 2 3 Bit 1 ON command Inch 2 3 ON L Inch 2 3 OFF Rising positive ed...

Page 891: ...with bit 12 counter clockwise rotating field Refer to the function diagram Setpoint processing Part 1 310 Bit 12 Counter clockwise rotating field command H counter clockwise rotating field HIGH signal The setpoint is influenced in conjunction with bit 11 clockwise rotating field Refer to the function diagram Setpoint processing Part 1 310 The counter clockwise rotating field and the clockwise rota...

Page 892: ...le function data sets is energized Bit 18 19 Reserve Bit 20 Fixed setpoint FSW bit 0 command In conjunction with bit 21 FSW BIT 1 one of the four possible fixed setpoints is energized to input as percentage fixed setpoints referred to the reference frequency P352 or reference speed P353 Refer to the function diagram Fixed setpoints 290 also refer to FSW bit 2 and bit 3 parameter P417 P418 Bit 21 F...

Page 893: ...ler is enabled when P290 0 current control Refer to function diagram 360 Bit 26 Command external fault 2 L External fault 2 LOW signal it is only activated from the READY 011 condition onwards and after an additional time delay of 200 ms FAULT 007 and fault message F036 The inverter pulses are inhibited the main contactor if available is opened Bit 27 Slave master drive command H Slave drive L Mas...

Page 894: ...it 30 Select BICO data sets H data set 2 L data set 1 HIGH signal The parameter settings of data set 2 for all binector and connector commands and signals are activated LOW signal The parameter settings of data set 1 for all binector and connector commands and signals are activated Bit 31 Main contactor checkback signal command H main contactor checkback signal HIGH signal corresponding to the wir...

Page 895: ...DC link is still dead in this converter status Bit 1 Message Ready H PRE CHARGING 010 or READY 011 status The power supply the open loop and the closed loop control are operational The unit is powered up Pre charging has been completed The DC link has reached the rated voltage The inverter pulses are still inhibited Bit 2 Message Run H RESTART ON THE FLY 013 1 RUN 014 OFF1 015 or OFF3 016 The unit...

Page 896: ...ord bit 1 or an OFF3 command is available via control word bit 2 after the setpoint has been ramped down or an ON command is available via control word bit 0 edge evaluation Output at the terminal strip with L signal Bit 7 Message Alarm H Alarm Axxx An alarm has been issued The signal is present until the cause has been resolved Output at the terminal strip with L signal Bit 8 Message Setpoint act...

Page 897: ...oltage Refer to the Section Fault and alarm messages Output at the terminal strip with L signal Bit 12 Message Main contactor energized H The main contactor bypass contactor option is energized The main contactor bypass contactor option can be driven with the appropriate wiring and parameterization Bit 13 Message RFG active H Ramp function generator active The ramp function generator output KK0073...

Page 898: ...gain as soon as the speed actual value is smaller than or equal to the corresponding maximum speed See also function diagram 480 Bit 19 Message External fault 1 H External fault 1 A External fault 1 is present in control word bit 15 Output at the terminal strip with L signal Bit 20 Message External fault 2 H External fault 2 A External fault 2 is present in control word bit 26 Output at the termin...

Page 899: ...e H Alarm inverter temperature too high A022 The inverter temperature threshold to release an alarm has been exceeded Output at the terminal strip with L signal Bit 25 Message Alarm motor overtemperature H Alarm Motor overtemperature This is an overtemperature alarm triggered by the KTY P380 0 The precondition for the alarm is satisfied by a measurement with the KTY84 sensor r009 K0245 Parameters ...

Page 900: ...locked Output at the terminal strip with L signal Bit 29 Message Bypass contactor energized H The bypass contactor is energized With appropriate wiring and parameterization an external bypass contactor option can be energized only for DC devices Bit 30 Reserve Bit 31 Message Pre charging active H PRE CHARGING 010 condition Pre charging is realized after an ON command HIGH signal Significance HIGH ...

Page 901: ...n servomotors The type of motor which is selected either synchronous or induction depends on the requirements of the drive and on the required drive power Synchronous servomotors are preferred where a small unit volume low rotor inertia high overload capability and thus fast response levels are important Induction servomotors are of simpler design and are therefore very sturdy They only require a ...

Page 902: ...f drive technical data and other border conditions The procedure for calculating the load torque depends on the type of drive It may be a travel drive a lifting drive a turntable drive or a spindle drive In the case of linear motion for example power can be transmitted via a toothed belt a gear rack a spindle or via friction Normally a further set of gears is also needed for adapting the motor spe...

Page 903: ... curve is needed for deciding on the thermal rating of the motor and the type of braking resistors It should therefore represent a worst case scenario for the particular type of motor and resistors chosen t t t t b v tot k v max Area represents distance stot v t tp T Fig 11 1 Example of a simple travel curve Acceleration b time s t v a b b max Deceleration v time s t v a v v max vmax Maximum speed...

Page 904: ...he following specifies the calculation formulae for simple drive tasks m v a Guide Motor Gear Toothed belt M n load load D Fig 11 2 Horizontal travel drive Speed under load rpm n v p D load 60 v Travel speed m s D Diameter of load wheel pinion m Travel resistance frictional force N F m g w W F wF specific travel resistance Resistance frictional torque Nm M F D W W 2 Angular acceleration and decele...

Page 905: ...ue for the load Nm M J b load load b load v v α Load torque at the drive wheel pinion Nm M M M load b v load W mech Sign M M b v load W 1 η ηmech Mech efficiency of the travel drive Mb v load has to be applied with the correct sign accelerate decelerate If the deceleration is equal to the acceleration the load torque is at a maximum during the acceleration phase ...

Page 906: ... g H Lifting torque Nm M F D H H 2 Lifting torque at the drive wheel pinion Nm M M M load up b v load H mech Sign M M b v load H 1 η M M M Load down b v load H mech Sign M M b v load H η ηmech Mech efficiency of the lifting drive Mb v load has to be applied with the correct sign acceleration up deceleration down deceleration up acceleration down If the deceleration is equal to the acceleration the...

Page 907: ... load ω π 60 2 ωload Angular speed of the load s 1 αb v load Angular acceleration deceleration of the load s 2 Load torque Nm M J load load b v load mech sign b v load α η α 1 ηmech Mech efficiency of the turning drive αb v load has to be applied with the correct sign accelerate decelerate If the deceleration is equal to the acceleration the load torque is at a maximum during the acceleration phas...

Page 908: ...e drive Spindle speed rpm n v h Sp Sp 60 v Speed m s hSp Spindle pitch m Angle of pitch of spindle wheel α π SW Sp Sp h D arctan DSp Spindle diameter m Frictional angle of spindle wheel ρ α η α arctan tan SW Sp SW ηSp Spindle efficiency Angular acceleration and deceleration of the spindle s 2 α π b v Sp b v Sp a h 2 Frictional force of guide N F m g w W F wF Specific travel resistance Horizontal s...

Page 909: ...on and deceleration torque for spindle Nm M J b v Sp Sp b v Sp α JSp Inertia of spindle kgm2 Load torque at the spindle Nm M M F F sign F F D Sp b v Sp b v W SW b v W Sp tan α ρ 2 M F b Sp b v v has to be applied with the correct sign accelerate decelerate If the deceleration is equal to the acceleration the load torque is at a maximum during the acceleration phase ...

Page 910: ...v Sp see Horizontal spindle drive Lifting force N F m g H Load torque at the spindle Nm M M F F sign F F D Sp up b v Sp b v H SW b v H Sp tan α ρ 2 M M F F sign F F D Sp down b v Sp b v H SW b v H Sp tan α ρ 2 M F b Sp b v v has to be applied with the correct sign acceleration up deceleration down deceleration up acceleration down If the deceleration is equal to the acceleration the load torque is...

Page 911: ...has a favourable effect on positioning accuracy in relation to the encoder resolution The positioning accuracy is calculated as follows from the components gears encoder and mechanical system s D gear G π α 360 mm s D i z encoder π mm or s h i z encoder Sp with spindle drives mm s s s s total gear encoder mech steady state mm smech is the imprecision of the mechanical system such as due to expansi...

Page 912: ...kening area Adherence to the thermal limits i e with synchronous servomotors the motor rms torque at the mean motor speed resulting from the load cycle must be below the S1 curve With induction servomotors the rms value of the motor current within a load cycle must be smaller than the rated current of the motor When synchronous servomotors are used it must be borne in mind that the maximum permiss...

Page 913: ...motors induction servomotors In order to keep a check on the dynamic limits the relevant points of the torque curve must be calculated In general the motor torque at maximum speed during the acceleration phase is decisive The motor torque and motor speed are calculated as follows when load torque speed under load and angular acceleration deceleration on the gear output side are known Motor Transmi...

Page 914: ...ing these must also be taken into account In addition to the torque determined by the load and by the gears the torque required for accelerating or decelerating the rotor s moment of inertia during dynamic processes is added to the motor torque M J i b v Mot Mot b v load α Now a motor has to be selected which fullfils the condition for the maximum motor torque in the required speed range The propo...

Page 915: ...gment ti n n Mot A Mot E 2 Mean motor speed in time segment ti A initial value E final value When calculating the mean motor speed it must be borne in mind that the initial value and the final value of the motor speed should not have different signs Thus an interpolation point must exist for every zero passage M Mot M t Mot i t i n Mot E n Mot n Mot A t ti Fig 11 9 Example of motor speed and motor...

Page 916: ...x range k n n n n In the field weakening range The rms value of the motor current is calculated as follows I I I t T eff Mot A Mot E i 2 2 I I Mot A Mot E 2 Mean motor current in time segment ti A initial value E final value n Mot t ti Field weakening range nn I Mot t ti Mot A I Mot E I Increase of the motor current in the field weakening range Fig 11 10 Example of motor speed and motor current in...

Page 917: ...e the same for both The maximum motor current must be smaller than the maximum permissible output current of the converter inverter If three times the rated current is utilized in the case of the Compact PLUS unit 3 times at a 5 kHz pulse frequency 2 1 times at a 10 kHz pulse frequency this current must not flow for longer than 250 ms and then a pause of 750 ms has to be observed with only 0 91 ti...

Page 918: ...t Mmax Maximum permissible motor torque Imax Maximum permissible motor current For induction servomotors Calculation of the motor current is as described under 11 4 Acceleration into the field weakening range with a constant motor torque results in the maximum motor current in the field weakening range at maximum speed The following formula is used to calculate the arithmetic mean of the motor cur...

Page 919: ...k current must be smaller than the rated value of the DC link current of the rectifier unit when the maximum cycle time is 300 s The second condition arises from the fact that the forward losses in the rectifier are approximately proportional to the DC link current The rms value can also be calculated instead of the arithmetic mean value One is then more on the safe side but it requires more calcu...

Page 920: ...output in time segment ti W A initial value E final value T Cycle time Only positive motor outputs are evaluated When calculating the mean motor output one must make sure that the initial value and the final value of the motor speed do not have different signs An interpolation point must therefore exist for every zero passage nMot t ti P Mot t t i Mot E P Mot A P Motorized positive Regenerative ne...

Page 921: ...power output The following criteria apply to the selection process The maximum braking power which occurs must be smaller than 15 20 P This power must not occur for longer than 0 4 s when there is an internal braking resistor or 3 s when there is an external braking resistor see technical data The mean braking power must be smaller than P20 36 when an internal braking resistor is used or smaller t...

Page 922: ...Selection of other components The selection tables in Catalog DA65 11 are used to make a list of the other components needed on the rectifier side and on the load side Rectifier side Load side Line fuses Output reactor Line switch Line contactor Line reactor Line filter Table 11 1 Selection of other components Line fuses or circuit breakers in the lower output range are generally always necessary ...

Page 923: ...rmonics of the system on the one hand and protects the DC link capacitors from excessive current spikes on the other A line reactor with 2 uk is necessary from a ratio System fault power 33 x rated converter output or if a rectifier unit is used together with inverters System fault power 33 x total rated inverter outputs Line filters are necessary if a certain radio interference level in accordanc...

Page 924: ...or example from maximum speed to 0 within time tv the braking energy is calculated as follows W P t br br v 1 2 max with maximum motor braking power in W P M n br Mot v Mot Mot Inv max max max 9 55 η η MMot v max Maximum motor torque during braking in Nm nMot max Maximum motor speed during braking in rpm Maximum number of power back up modules which can be connected on a Compact PLUS unit is Two p...

Page 925: ... toothed belts The z axis is driven via a gear rack Three inverters are to be used on one rectifier unit Positioning is to be carried out non centrally in the inverter The Profibus is to be used for connection to a PLC Y X Z Fig 11 12 Line drawing of a three axis conveyor vehicle 11 9 1 Calculation of the x axis as the travel gear Mass to be transported m 400 kg Diameter of drive wheel D 0 14 m Ma...

Page 926: ...urve for forwards and reverse travel It is sufficient to only consider forwards travel because the conditions are the same for forwards and reverse travel The new cycle time is therefore T T 2 For the remaining values of the travel curve the following is obtained t t v a s b v max max 16 6 4 0 25 t s v t v t v s k b v max max max 2 2 2 16 0 25 2 16 0 25 2 16 1 t t t t s tot b k v 0 25 1 0 25 15 t ...

Page 927: ...Acceleration and deceleration torque for the load αload a D s max 2 6 4 2 014 914 2 J m D kgm load 2 400 014 2 196 2 2 2 M J Nm b v load load load α 196 914 179 2 Max torque on the output side of the gear unit M M M load b load W mech max 1 η 179 2 27 47 1 0 9 229 6 Nm An SPG140 M1 planetary gear unit for mounting on 1FT6 motors is therefore used where M Nm max 400 at i 10 J kgm G 0 001 2 moment o...

Page 928: ... the deceleration is equal to the acceleration MMot max M M M M i b Mot b G b load W mech G 1 η η Mb Mot 0 914 179 2 27 47 1 10 0 9 0 95 M Nm b Mot 25 08 where M J i J J s b Mot Mot load Mot Mot α 914 10 914 2 The first 1FT6 motor with nn 3000 rpm which satisfies the condition or the dynamic limit curve is the 1FT6084 8AF7 with Pn 4 6 kW Mn 14 7 Nm Mmax perm 65 Nm JMot 0 0065 kgm2 with brake kTn10...

Page 929: ...hin the travel curve in addition to the motor torque during acceleration Motor torque during constant travel M M i Nm Mot k W mech G 1 27 47 1 10 0 9 095 3 21 η η Motor torque during deceleration M M M M M i Mot v v Mot v G v Load W mech G sign M M v load W 1 η η 5 94 0 914 179 2 27 47 0 9 0 95 10 19 83 Nm Here the proportion of deceleration torque outweighs the resistance torque Regenerative oper...

Page 930: ...3 5 s t Fig 11 15 Torque characteristic for forwards travel The effective motor torque is obtained from the torque characteristic as follows M M t T eff Mot i i 2 3103 0 25 3 21 1 19 83 0 25 3 5 10 2 2 2 Nm By using the travel curve which is proportional to the speed the mean motor speed is obtained n n n t T mean A E i 2 2182 7 2 0 25 2182 7 1 2182 7 2 0 25 3 5 779 5 rpm ...

Page 931: ...he maximum motor current and the mean value of the motor current Maximum motor current the saturation influence can be neglected here I M k A Mot Mot Tn max max 100 3103 134 2316 Mean value of the motor current obtained from the magnitude of the torque characteristic I M t k T Mot mean Mot i i Tn 100 3103 0 25 3 21 1 19 83 0 25 134 3 5 3 4 A Because the accelerating and decelerating times are 0 25...

Page 932: ...C link current and the mean value of the DC link current for the inverter which occur during motor operation must be determined for later rating of the rectifier unit To do this all motor power output levels within the travel curve first have to be calculated Max power output of motor during acceleration P M n kW Mot b Mot b Mot max max 9550 3103 2182 7 9550 7 09 Power output of motor during const...

Page 933: ...The maximum DC link current during operation of the motor during acceleration is I P U Link Inv Mot Mot Inv line max max η η 135 7090 0 92 0 98 135 400 14 56 A The mean motor power output during operation of the motor is calculated from the positive characteristic of the motor power output as follows P P P t T Mot mean Mot A Mot E i 2 1 2 7 09 0 25 0 734 1 3 5 0 463 kW The mean value of the DC lin...

Page 934: ... transported m 100 kg Diameter of drive wheel D 0 1 m Max speed vmax 1 m s Max acceleration and deceleration amax 2 5 m s2 Distance travelled s 0 5 m Cycle time T 7 s Mech efficiency ηmech 0 9 Specific travelling resistance wf 0 1 Mech accuracy smech 0 1 mm Overall accuracy required stot 0 2 mm The same calculating procedures apply to the y axis as the propelling drive as to the x axis This calcul...

Page 935: ...ll accuracy required stot 0 2 mm T t b t v t tot v v max Area corresponds to lifting height Lifting Lowering t v max t k t p Fig 11 18 Travel curve for lifting and lowering The travel curve for lifting and lowering is symmetrical Since the lifting torque and the lowering torque are different however the whole travel curve has to be considered The following is obtained for the missing values of the...

Page 936: ... v load load load α 0 5 50 25 Max torque on the output side of the gear unit M M M Nm load b load H mech max 1 25 981 1 0 9 136 8 η A SPG140 M1 planetary gear unit for mounting on 1FT6 motors is selected with M Nm max 400 when i 10 J kgm G 0 001 2 Moment of inertia referred to the motor ηG 0 95 Gear unit efficiency αG 3 Torsional play Acceleration and deceleration torque for the gear unit M J i Nm...

Page 937: ...atches the dynamic limit curve is the 1FT6082 8AF7 with Pn 3 2 kW Mn 10 3 Nm Mmax perm 42 Nm JMot 0 00335 kgm2 with brake kTn100 1 18 Nm A ηMot 0 89 M0 13 Nm The acceleration and deceleration torque for the motor rotor is thus M Nm b v Mot 0 00335 500 168 The max motor torque is equal to the motor torque during acceleration M M Nm Mot Mot b up max 168 14 9 16 58 M Nm MMot max n min 1 n Mot max 45 ...

Page 938: ...ifting of the load motor torque during deceleration M M M M M i Motup v Mot v G v Load H mech G Sign M M v Load H 1 η η 168 0 5 25 981 1 10 0 9 0 95 6 37 Nm Lowering of the load motor torque during acceleration M M M M M i Motbdown b Mot b G b Load H mech G Sign M M b Load H η η 168 0 5 25 981 0 9 0 95 10 4 08 Nm Lowering of the load motor torque during deceleration M M M M M i Mot vdown v Mot v G...

Page 939: ...characteristic for lifting and lowering The effective motor torque is obtained from the torque characteristic as follows Meff M t T Mot i i 2 16 58 0 6 1147 0 3 6 37 0 6 4 08 0 6 8 39 0 3 12 7 0 6 7 2 2 2 2 2 2 714 Nm The speed proportional travel curve is used to obtain the mean motor speed as follows n n n t T mean A E i 2 2865 2 0 6 2865 0 3 2865 2 0 6 2 7 736 7 rpm due to the symmetry of the t...

Page 940: ...tor current and the mean motor current Maximum motor current the saturation influence here can be ignored I M k A Mot Mot Tn max max 100 16 57 118 14 Mean motor current obtained from the magnitude of the torque characteristic IMot mean M t k T Mot i i Tn 100 16 58 0 6 1147 0 3 6 37 0 6 4 08 0 6 8 39 0 3 12 7 0 6 118 7 3 6 A A 6SE7021 0TP50 Compact PLUS inverter is necessary with IUn 10 2 A Since t...

Page 941: ...5 9550 4 97 Lifting of the load power output of motor during constant travel P M n kW Mot k up Mot k up Mot max 9550 1147 2865 9550 3 44 Lifting of the load max power output of motor during deceleration P M n kW Mot v up Mot v up Mot max max 9550 6 37 2865 9550 191 Lowering of the load max power output of motor during acceleration P M n kW Mot b down Mot b down Mot max max 9550 4 08 2865 9550 122 ...

Page 942: ... lifting and lowering The maximum DC link current during motor operation during acceleration upwards is as follows I P U Link Inv Mot Mot Inv Line max max η η 135 4970 0 89 0 98 135 400 10 55 A The mean power output of the motor during motor operation is calculated from the positive characteristic of the motor power output as follows P P P t T Mot mean Mot A Mot E i 2 1 2 4 97 0 6 3 44 0 3 1 2 191...

Page 943: ...6 2 52 0 3 1 2 3 81 0 6 7 0 89 0 98 0 28 kW 11 9 4 Selection of the rectifier unit Now that the drives of the x y and z axes have been calculated the rectifier unit can be selected Here it is assumed that the drives of the x and z axes can operate simultaneously The maximum DC link currents of the two inverters during motor operation are therefore added together I I A A A Link ct Link Inv Re max m...

Page 944: ...ssumed that the drives of the x and z axes can brake simultaneously The maximum braking power levels of the two inverters are therefore added together P P kW kW kW br br Inv max 4 08 3 32 7 4 For the mean braking power the individual mean values are also added together P P kW kW kW br mean br Inv mean 0146 0 28 0 426 A 6SE7018 0ES87 2DC0 braking resistor of 80 Ω with P20 5 kW is necessary P kW br ...

Page 945: ...d U976 2 Save the F02 PIN in parameters U977 3 and U977 4 You can check whether option F02 is present via the display parameter n978 2 n978 2 1 Option F02 is enabled n978 2 0 Option F02 is blocked By halving the pulse frequency on units from 75 kW to 250 kW it is possible to expand the output by changing the derating see Chapter Technical Data Higher output by a lower pulse frequency If the pulse ...

Page 946: ... 2 18 160 110 132 260 355 309 286 6SE7032 6EG70 6SE7032 6TG70 3 40 2 75 160 132 160 315 430 375 346 6SE7033 2EG70 6SE7033 2TG70 4 30 3 47 180 160 200 370 503 440 407 6SE7033 7EG70 6SE7033 7TG70 5 05 4 05 180 200 250 510 694 607 6SE7035 1TJ70 5 8 350 200 250 510 694 607 561 6SE7035 1EK70 7 10 400 250 315 590 802 702 6SE7036 0TJ70 6 6 350 250 315 590 802 702 649 6SE7036 0EK70 8 20 400 400 690 938 82...

Page 947: ...08 2012 Siemens AG 6SE7087 6QX70 Version AN SIMOVERT MASTERDRIVES Compendium Motion Control Function Diagrams ...

Page 948: ...luation ext encoder not slot C 255 Setpoint input ext encoder with SBP 256 Multiturn enc eval motor encod slot C 260 Multiturn enc eval external encoder not slot C 270 Setpoint channel Fixed setpoints 290 Motorized potentiometer 300 Setpoint selection 310 Ramp function generator 320 Position sensing and control Position fixed values and fixed setp on the DSP 325 Motor encoder with mechanical geari...

Page 949: ...ge elements 760 Analog signal storages 760 of the free blocks of the supplementary boards Contents Sheet Contents Sheet Supplementary boards List of contents Y00 Supplementary boards EB1 No 1 Analog inputs combined digital inputs Y01 Analog outputs Y02 Digital inputs outputs Y03 EB1 No 2 Analog inputs combined digital inputs Y04 Analog outputs Y05 Digital inputs outputs Y06 EB2 No 1 Analog and dig...

Page 950: ...ts i e fixed value 1 see below Automatic conversion between connectors and double connectors 0 1 0 100 16384 200 32767 100 16384 200 32767 0 100 1 073 741 824 200 2 147 483 647 100 1 073 741 824 200 2 147 483 647 Converting a connector to a double connector K0139 is converted to a double connector by entering it in the high word of the double connector and by setting its LOW word to zero Convertin...

Page 951: ...equency 0 500 Hz P353 01 3000 Ref Speed 0 10000 1 min P353 02 4 digits after decimal point Reference speed 1 equiv 0 0001 to 9999 equiv 0 9999 P354 Ref Torque 0 6500 Nm Ref Temp 256 C P355 MachRefSpeed 0 10000 1 min Function Data Set P354 P113 100 4000Hex Process variable with normalization 4000 0000 Hex 100 Physical variable in A V Hz 1 min Torque in 4000 0000 Hex 100 Display parameter Connectors...

Page 952: ...Conn KK KK KK KK Disp DecConn r045 1 to 5 KK P044 x SrcDisp DecConn KK KK KK KK Disp HexConn r047 1 to 10 KK P046 x SrcDisp HexConn KK KK KK KK Disp Amps Conn Indicated in 0 01 A r037 1 to 5 K P036 x SrcDispAmpsConn K K K K Disp Volts Conn Indicated in 0 1 V r035 1 to 5 K P034 x SrcDispVoltsConn K K K K Ref Amps 20 5 Ref Volts 20 5 Disp Torq Conn Indicated in 0 01 Nm r039 1 to 5 K P038 x SrcDisp T...

Page 953: ...ating system fault acknowledgement to control word 1 see 180 2 Operating display r000 selected and operation 1 of sequence control Note Activation of the raise and lower keys is only effective if the operating display r000 is selected a changeover to the value display has taken place with the toggle key and the unit is in the Operation status P I O P PMU Compact PLUS type unit Seven segment displa...

Page 954: ... BICO wiring of OP1S please see Chapter 5 4 3 0 Deutsch 1 English 2 Español 3 Français 4 Italiano OFF key Inching key Lower key Raise key Reversing key Key for toggling between control levels Reset key Sign key 0 to 9 number keys OP OperDisp 2nd line actual 0 3999 P049 03 230 OP OperDisp 3rd line set 0 3999 P049 04 229 OP OperDisp 4th line 0 3999 P049 05 1 OP OperDisp 1st line left 0 3999 P049 01 ...

Page 955: ...othing 2 ms X101 11 AA X101 12 M 10 V 10 V 100 0 100 0 y V x 100 P643 K0010 AnaIn NL value AnaIn Scale 0 00 100 00 P630 1 00 AnaIn Conf 0 3 P632 0 AnaIn Smooth 0 0 100 0 ms P634 0 0 AnaIn Window 0 0 100 0 P635 0 0 K011 AnaIn Setp AnaIn Setp r637 B P633 0 Src AnaIn Invert AnaOut Conf 0 3 P641 F 0 AnaOut Smooth 0 100 ms P642 F 0 K0015 AnaOut ActV AnaOutScale 200 200 V P643 F 10 0 AA Offset 10 0 10 0...

Page 956: ...Immediate pulse disable OFF2 with falling signal edge 3 Adoption of position measured value with rising edge 4 Adoption of position measured value with falling edge 5 Configuration of position measured value per binector P645 P649 10 9 8 7 6 5 4 3 Signal status display for digital input output terminals on the PMU in r646 The digital inputs at terminals 6 7 and 8 are switched to positioning functi...

Page 957: ...4 V 2 1 A Compact type unit P24 1 M 2 X9 24 V 2 1 A 3 4 5 6 7 8 9 main cont Safe Stop SS 92 3 Switch is closed when safety relay is energized only for inverter to main contactor Inverter DC 30 V Converter AC 230 V 1 kVA Chassis type unit P24 1 M 2 X9 24 V 2 1 A 3 4 5 main cont Safe Stop SS 92 7 Switch is closed when safety relay is energized only for option K80 Safe Stop to main contactor AC 230 V...

Page 958: ... 24 V 30 mA M Safe Stop Shutdown path opto coupler fiber optic cable P15 1 2 3 4 Checkback contact Safe Stop DC 30 V 1 A DC 30 V 2 A DC 24 V 30 mA M SS 91 8 Shutdown path opto coupler fiber optic cable P15 X533 Safe Stop 91 5 1 2 1 2 Safe Stop 91 8 V2 5 Compact type unit only inverter Compact PLUS type unit Chassis type unit P24 M 3 4 3 4 3 Safety switch Safe Stop active when switch is open 4 resu...

Page 959: ...Delay 0 0 101 0 s P781 11 0 0 K2001 SCom1 Word 1 B2115 SCom1Word1Bit15 K2002 SCom1 Word 2 B2200 SCom1Word2Bit 0 B2215 SCom1Word2Bit15 KK2032 SCom1 DWord 2 K2003 SCom1 Word 3 B2300 SCom1Word3Bit0 B2315 SCom1Word3Bit15 B2100 SCom1Word1Bit 0 KK2033 SCom1 DWord 3 K2004 SCom1 Word 4 B2400 SCom1Word4Bit0 B2415 SCom1Word4Bit15 KK2035 SCom1 DWord 5 K2006 SCom1 Word 6 B2600 SCom1Word6Bit0 B2615 SCom1Word6B...

Page 960: ...lay 0 0 101 0 s P781 12 0 0 K6001 SCom2 Word 1 B6115 SCom2Word1Bit15 K6002 SCom2 Word 2 B6200 SCom2Word2Bit0 B6215 SCom2Word2Bit15 KK6032 SCom2 DWord 2 K6003 SCom2 Word 3 B6300 SCom2Word3Bit0 B6315 SCom2Word3Bit15 B6100 SCom2Word1Bit0 KK6033 SCom2 DWord 3 K6004 SCom2 Word 4 B6400 SCom2Word4Bit0 B6415 SCom2Word4Bit15 KK6035 SCom2 DWord 5 K6006 SCom2 Word 6 B6600 SCom2Word6Bit0 B6615 SCom2Word6Bit15...

Page 961: ...14 15 16 Transmitting 32 bit words If the same double word connector is connected up to two successive connector indices this is transferred as a 32 bit word Example 2 1 KK1000 is transferred as a 32 bit word 02 03 TxD Transmit telegram TLG End 15 14 PcD 3 2 1 TLG Head PKW 1 K P707 32 SrcSCom1TrnsData K 0 K 0 K 0 K 0 K 0 K 0 K 0 K 0 K 0 K 0 K 0 K 0 K 0 K 0 K 0 SCom1Trns RecvData r710 01 to 16 PKW ...

Page 962: ...s If the same double word connector is connected up to two successive connector indices this is transferred as a 32 bit word Examples 2 1 KK1000 is transferred as a 32 bit word 02 03 Only the high part of KK1000 and KK2000 is transferred as a 16 bit word 02 03 04 TxD Transmit telegram TLG End 15 14 PcD 3 2 1 TLG Head PKW 1 Not valid for Compact PLUS K P708 0 SrcSCom2TrnsData K K K K K K K K K K K ...

Page 963: ...65535 P721 01 to 05 CB TB TlgOFF 0 6500 ms P722 01 10 P722 01 0 No monitoring CB Bus Address 0 200 P918 01 3 B0035 CB TB TlgOFF Fault Delay 0 0 101 0 s P781 13 0 0 K3001 CB TB Word 1 B3115 CB TB Word 1 Bit 15 K3002 CB TB Word 2 K3003 CB TB Word 3 B3100 CB TB Word 1 Bit 0 KK3033 CB TB DWord 3 K3004 CB TB Word 4 B3400 CB TB Word 4 Bit 0 B3415 CB TB Word 4 Bit 15 KK3035 CB TB DWord 5 K3006 CB TB Word...

Page 964: ...software version V1 3x to V1 40 and higher changes the converter response and thereby conforms with the response of software versions V1 2x and lower as follows If the electronics supply is deactivated for a converter in the READY state which is linked with an automation system via a fieldbus PROFIBUS CAN DEVICE NET or CC Link an error message will be issued for the converter in the automation sys...

Page 965: ...ronism deviation 65535 Synchronization not active permissible deviation between 65515 and 20 010 Corrected pulse period in units of 100 ns 011 T0 counter 0 with active synchronization 012 Internal 013 Internal 014 Time counter 015 Implemented bus cycle time 016 Internal Diagnosis PROFIBUS synchronization Fine synchronization can cause a smaller synchronization deviation r748 9 Fine synchronization...

Page 966: ... RAM 01 02 03 04 Transmitting 32 bit words If the same double word connector is connected up to two successive connector indices this is transferred as a 32 bit word Examples 2 1 KK1000 is transferred as a 32 bit word 02 03 Only the high part of KK1000 and KK2000 is transferred as a 16 bit word 02 03 04 CB TB Communications board Technology board Transmit telegram K P734 0 SrcCB TBTrnsData K K K K...

Page 967: ... 11 0 65535 P721 06 to 10 CB TB TlgOFF 0 6500 ms P722 02 10 P722 02 0 No monitoring CB Bus Address 0 200 P918 02 3 B0045 2 CB TB TlgOFF Fault Delay 0 0 101 0 s P781 14 0 0 K8001 2 CB Word 1 B8115 2 CB Word 1 Bit 15 K8002 2 CB Word 2 B8200 2 CB Word 2 Bit 0 B8215 2 CB Word 2 Bit 15 KK8032 2 CB DWord 2 K8003 2 CB Word 3 B8300 2 CB Word 3 Bit 0 B8315 2 CB Word 3 Bit 15 B8100 2 CB Word 1 Bit 0 KK8033 ...

Page 968: ...software version V1 3x to V1 40 and higher changes the converter response and thereby conforms with the response of software versions V1 2x and lower as follows If the electronics supply is deactivated for a converter in the READY state which is linked with an automation system via a fieldbus PROFIBUS CAN DEVICE NET or CC Link an error message will be issued for the converter in the automation sys...

Page 969: ...ds PcD words Dual port RAM Transmit telegram 01 02 03 04 Transmitting 32 bit words If the same double word connector is connected up to two successive connector indices this is transferred as a 32 bit word Examples 2 1 Only the high part of KK1000 and KK2000 is transmitted as a 16 bit word 02 03 04 KK1000 is transmitted as a 32 bit word 02 03 K P736 0 SrcCB TB TrnsData K K K K K K K K K K K K K K ...

Page 970: ...terrupt delay 1 273 ns 007 Position of the node in the ring 008 Number of nodes in the ring 009 Synchronism deviation 65535 synchronisation not active should fluctuate between 65515 and 20 010 Corrected pulse periods in units of 100 ns 011 T0 counter 0 with active synchronization 012 internal 013 internal 014 Time counter telegram a for Time 6 36µs P745 1 2 µs 6 36 µs 3 18 P746 nodes addressed of ...

Page 971: ...e time x0xx Bus cycle time is corrected internally over all telegrams x1xx Bus cycle time is exactly implemented slot time ed synchroniz largest 754 P 2 m slot time ed synchroniz smallest m 2 340 P frequency Pulse 1 746 P time Cycle 0 754 P 2 n slot time ed synchroniz largest n 2 340 P frequency Pulse 1 746 P time Cycle 0 754 P conditions ing Synchroniz m n Fine synchronization can cause a smaller...

Page 972: ...ission words per node is according to the node which uses the most transmission channels 2 01 02 1 0 0 0 SLB in lower slot SLB in higher slot Select active SLB 0 SLB is source for synchronization When SIMOLINK is used telegram failure monitoring should always be activated For the SLB telegram failure time P741 4 P746 SLB bus cycle time is recommended This formula only applies if no special data FD...

Page 973: ...Word6Bit0 B7615 SLB Word6Bit15 KK7034 SLB DWord 4 K7005 SLB Word 5 B7500 SLB Word5Bit0 B7515 SLB Word5Bit15 KK7036 SLB DWord 6 K7007 SLB Word 7 B7700 SLB Word7Bit0 B7715 SLB Word7Bit15 KK7037 SLB DWord 7 K7008 SLB Word 8 B7800 SLB Word8Bit0 B7815 SLB Word8Bit15 KK7038 SLB DWord 8 K7009 SLB Word 9 B7900 SLB Word9Bit0 B7915 SLB Word9Bit15 KK7039 SLB DWord 9 K7010 SLB Word 10 KK7040 SLB DWord 10 K701...

Page 974: ... of its own module address In the above example module 1 can write telegrams 1 0 and 1 1 The dispatcher module address 0 provides the SYNC signal after the defined bus cycle time The number of nodes is determined by establishing the bus cycle time and the number of channels per module The dispatcher transmits as many telegrams with ascending node addresses and channel numbers as the bus cycle time...

Page 975: ...word 3 Double word 4 Notes Special data may only be transmitted by the dispatcher bus address P740 0 If at least one special datum is assigned P756 x 0 the number of addressed nodes is reduced vis a vis the formula on function diagram 140 telegram a for Time s µ 6 36 P745 1 6 µs 6 36 s µ 3 18 P746 data special with nodes addressed of Number 3 18 due to rounding off K P756 0 SrcSLBTrnsData K K K K ...

Page 976: ... must be acknowledged in the control word Maximum permissible number of sign of life faults A fault bit is set if the number of missing signs of life is higher than the fault level i e K0257 10 x P925 0 Sign of life begins with bit 0 1 Sign of life begins with bit 12 0 Sign of life begins with bit 0 1 Sign of life begins with bit 12 U953 20 ___ 20 K0255 Sign of life U953 21 ___ 20 K P807 0 Sign of...

Page 977: ...t extrapolator for bridging telegram failures 171 V2 5 Position setpoint t Telegram failure Extrapolation U953 29 ___ 20 KK0846 Position setpoint output B U801 0 Communication fault KK U800 2 0 Speed setpoint KK U800 1 0 Position setpoint KK0847 Speed setpoint output Axis cycle length 0 231 1 LU U802 4096 ...

Page 978: ...ror 2 Zero mark monitoring 4 Terminate reference mark search 5 Terminate collect reference value 6 Terminate flying measurement 7 Terminate collect measured value 8 Terminate absolute value transmission on A Error in reading absolute track of the absolute value encoder EnDat encoder 4 The reference value is shifted for example via an analog switch which acts on the position offset of the respectiv...

Page 979: ...he master 3 In the event of a fault the fault value will be active in Gx_XIST2 1 Encoder sum error 2 Zero mark monitoring 4 Terminate reference mark search 5 Terminate collect reference value 6 Terminate flying measurement 7 Terminate collect measured value 8 Terminate absolute value transmission on A Error in reading absolute track of the absolute value encoder EnDat encoder 4 The reference value...

Page 980: ...potentiometer 300 2 to sequence control 1 to fault processing Note This bit must be set in the first PcD word of the telegram received from the serial interfaces so that the converter will accept the process data as valid compare USS Profibus etc does not apply to SIMOLINK Bit No Bit 0 to setpoint processing part 2 320 2 The sequence control system is the internal control system software for imple...

Page 981: ...60 7 to speed control 360 2 to speed control 360 7 to sequence control 1 to alarm processing to sequence control 1 to alarm processing to sequence control 1 Bit No Bit 16 to sequence control 1 to alarm processing to data sets 540 4 The sequence control system is the internal control system software for implementing the drive status r001 1 1 to sequence control 1 Pre assignment of the BICO paramete...

Page 982: ... not active Reserve 1 Positive speed setpoint 0 Negative speed setpoint Bit No Bit 0 from sequence control 1 from sequence control 1 from sequence control 1 from sequence control 1 from sequence control 1 from sequence control 1 from sequence control 1 from sequence control 1 from sequence control 1 from alarm processing from messages 480 5 from messages 480 5 from fault processing from setpoint p...

Page 983: ...tive 0 Pre charging not active Reserve Bit No Bit 16 from sequence control 1 from messages 480 7 from sequence control 1 from sequence control 1 from sequence control 1 from alarm processing 490 4 from fault processing from fault processing 490 2 from alarm processing 490 2 from alarm processing 490 7 from fault processing 490 7 from sequence control 1 from sequence control 1 1 1 1 1 1 1 1 1 1 1 1...

Page 984: ...se encoder simulation RS 422 standard only for SBR2 to internal further processing in an SBP P130 1 P130 2 1 The number of pulses per revolution applies to a 2 pole resolver In the case of resolvers with more poles the number of pulses per revolution is correspondingly higher For further processing see Actual values sheet 500a 2 2 Range of values 0 232 1 for one motor revolution Note The signals a...

Page 985: ...ting the pulse number P136 0 Pulse from P144 P136 1 Reserved P136 2 14 Encoder with 2P136 pulses P136 15 Encoder with 2048 pulses without evaluation of zero pulse Encoder monitor 0000 9999 P142 1 1011 Setting of P142 1 xxx0 Position correction with zero pulse deactivated xxx1 Position correction with zero pulse activated xx0x Zero pulse monitoring deactivated xx1x Zero pulse monitoring activated x...

Page 986: ...assigned to position detection on the motor side P182 104 parameterization of the position detection on the motor side actual value evaluation factor IBF P169 P170 resolution P171 IBF numerator denominator P180 to FD330 is used for calculating the zero offset in LU Otherwise the corresponding parameter of the external position detection actual value evaluation factor P152 P153 resolution P154 IBF ...

Page 987: ...L track input level xxx0 A B track HTL unipolar xxx1 A B track TTL unipolar xxx2 A B track HTL differential input xxx3 A B track TTL RS422 Zero track input level xx0x zero track HTL unipolar xx1x zero track TTL unipolar xx2x zero track HTL differential input xx3x zero track TTL RS422 Encoder power supply x0xx 5 V x1xx 15 V P130 5 SBP in slot C P130 6 SBP in slot A with CUPM SBP in slot B with Comp...

Page 988: ...el xxx0 A B track HTL unipolar xxx1 A B track TTL unipolar xxx2 A B track HTL differential input xxx3 A B track TTL RS422 Zero track input level xx0x zero track HTL unipolar xx1x zero track TTL unipolar xx2x zero track HTL differential input xx3x zero track TTL RS422 Encoder power supply x0xx 5 V x1xx 15 V Current rotor position of the external machine encoder 335 1 1 The function always has the s...

Page 989: ...rs KK0094 and KK0095 Encoder signal evaluation mode Pulse number pulse numbers of connected encoders stated in P140 1 and 2 The reference value is P353 1 maximum input frequency 1 MHz Setting P139 Input level A B track xxx0 Channel 1 encoder input HTL unipolar xxx1 Channel 1 encoder input TTL unipolar xxx2 Channel 1 encoder input HTL differential input xxx3 Channel 1 encoder input TTL RS422 Input ...

Page 990: ...n multiplied by 4 Example EQN1325 with pulse number 2048 x 4 protocol value 8192 Setting of P142 1 0xxx Amplitude monitoring A2 B2 deactivated 1xxx Amplitude monitoring A2 B2 activated Note The signals are not isolated from potential A frame connection to X101 2 must also be made ZeroPt Displace P146 01 0 SelectMultiturn 0 11 P147 01 1 Pulse Multiturn 1 32 P148 01 11 P148 02 12 Conf Protocol 0000 ...

Page 991: ...ber incr rev corresponds to the protocol value when multiplied by 4 Example EQN1325 with pulse number 2048 x 4 protocol value 8192 Fine resolution external encoder 335 SBM2 only Absol pos from serial protocol in increments When using position detection via external encoder FP335 the following setting is required U950 18 U950 17 SBM 6SE7090 0XX84 0FD0 2 hook switches for voltage supply of the encod...

Page 992: ...etp r420 Active FSetp r419 B P418 B 0 Src FSetp Bit3 B P417 B 0 Src FSetp Bit2 KK0044 Fixed setpoint 4 200 000 200 000 P404 F 0 000 KK0045 Fixed setpoint 5 200 000 200 000 P405 F 0 000 KK0046 Fixed setpoint 6 200 000 200 000 P406 F 0 000 KK0047 Fixed setpoint 7 200 000 200 000 P407 F 0 000 KK0048 Fixed setpoint 8 200 000 200 000 P408 F 0 000 KK0049 Fixed setpoint 9 200 000 200 000 P409 F 0 000 KK0...

Page 993: ...active 0 Without initial rounding 1 With initial rounding the times set in P431 and P432 are therefore not precise P431 and P432 relate to a setpoint of 100 Raise MOP from control word 1 bit 13 180 7 Lower MOP from control word 1 bit 14 180 7 MOP Implementation via internal ramp generator with fixed initial rounding For U953 71 10 P431 0 1 ms or P432 0 1 ms is not permissible 1 1 1 MOP max 200 0 2...

Page 994: ... 1 1 The first selected jog setpoint is always valid A subsequently selected jog setpoint is not valid until the previously selected setpoint is deselected In order to select jog setpoint 3 both inching bits must be set at the same time KK P443 B 0 Src MainSetp Jog Setp 1 200 0 200 0 P448 F 0 0 Scale Main Setp 300 0 300 0 P444 F 100 0 KK P433 B 0 Src AddSetpoint1 Scale Add Setp1 300 0 300 0 P434 F...

Page 995: ...ntrol From process control Ramp function generator bypass 500 5 Actual speed value KK0091 0 360 4 370 1 480 7 0 480 6 360 4 370 1 Accel Time 0 00 600 00 s P462 F 0 50 KK P438 B 0 Src Add Setp 2 Scale Add Setp 2 300 0 300 0 P439 F 100 0 KK0073 n set RGenOut B0204 Limitr REV act KK0074 n set sum2 n set limitr r472 n959 43 2 SmoothRGenOut 0 000 60 000 s P469 F 0 000 Decel Time 0 00 600 00 s P464 F 0 ...

Page 996: ...1 0 n959 59 2 KK0142 PosFixValue 2 231 231 1 P775 02 0 PosFixValue 3 231 231 1 P775 03 0 KK0143 PosFixValue 4 231 231 1 P775 04 0 KK0144 KK0145 Fixed setpoint 1 200 000 199 999 P776 01 KK0146 Fixed setpoint 2 200 000 199 999 P776 02 Fixed setpoint 3 200 000 199 999 P776 03 KK0147 Fixed setpoint 4 200 000 199 999 P776 04 KK0148 KK P777 02 0 Diagnostics val 2 K0115 Diagnostics word 1 K0116 Diagnosti...

Page 997: ... 1 linear axis Index 2 15 Number of overflow incidents at linear axis max 15 Index 3 0 Setting value overflow counter 0 15 only for linear axis EnDat encoder P149 02 P148 02 Singleturn resolution of the EnDat protocol SSI encoder P148 01 Singleturn resolution of the SSI protocol P148 07 Ratio of singleturn resolution to number of pulses per revolution Opt encoder with C D track P136 P144 Number of...

Page 998: ...xample P171 12 Resolution position actual value 212 4096 increments revolution Appropriate values are For resolver 12 4096 increments revolution For encoder 24 16777216 increments revolution 0xxx 1xxx 2 2 When the position feedback scaling factor AVWF is changed or the resolution P171 the unit should be switched off and on again or if the absolute encoder is in drive setting P60 5 and changed back...

Page 999: ...rough pulse The first rotor zero position at the right of the rough pulse sets position sensing to the setting value The first rotor zero position at the left of rough pulse sets position sensing to the setting value x0xx x1xx Counting direction the same as direction of motor rotation Counting direction opposite to direction of motor rotation 0xxx 1xxx Input of position feedback scaling factor wit...

Page 1000: ...nts at linear axis max 15 Index 3 0 Setting value overflow counter 0 15 only for linear axis EnDat encoders P148 03 Number of pulses per revolution A B tracks P149 08 P148 04 Singleturn resolution of EnDat protocol SSI encoders P148 03 Singleturn resolution of SSI protocol P148 08 Ratio of singleturn resolution to number of pulses per revolution Opt encoder with C D track P137 Number of pulses per...

Page 1001: ...Y Normalization Determined speed 1 LU 815 815 100000000 0xxx 1xxx 2 2 When the position feedback scaling factor AVWF is changed the unit should be switched OFF and ON again or if the absolute encoder is in drive setting P60 5 and changed back again or a software reset P972 1 should be carried out KK P155 0 SrcPosSelVMEncod B P156 0 SrcPosSelMEncod KK P157 0 SrcPosConVMEnc B P158 0 SrcPosConMEnc B ...

Page 1002: ... pulse The first fine pulse at the right of the rough pulse sets the position sensing to the set value The first fine pulse at the left of the rough pulse sets the position sensing to the set value Reference point detection fine pulse only x0xx x1xx Counting direction encoder detection positive Counting direction encoder detection negative P166 01 P166 01 P166 01 xxx0 xxx1 Zero point offset encode...

Page 1003: ...31 1 P771 0 Smooth Pos Set 0 0 1000 0 ms P191 F 0 0 KK P192 B 0 Src SetV PosSet B P193 B 0 Src Set PosSet Pos Setp PosReg r200 Smooth Pos Diff 0 0 1000 0 ms P199 F 0 0 Pos Reg Time 0 ms P Regler 0 ms PI Regler 0 10000 ms P206 F 0 KK0132 PosReg P port KK0133 PosReg I port B0221 PosRegFWDLimitr B0222 PosRegREVLimitr KK0131 PosReg Outp Pos Reg Output r214 KK P212 B 311 Src Ctrl Setp KK P209 B 312 Src...

Page 1004: ...P238 Bit 0 1 reference model FD360a x y n max FWDSpeed 320 7 n max REVSpeed 320 7 0 1 in of P353 2 P238 Bit3 KK P228 B 152 Src n Deviation KK0152 n Deviation KK P225 B 150 Src2 n set act KK0150 n set smooth Torq set n Reg r255 n Reg Tn 0 4000 ms P240 F 50 K P241 B 0 SrcSetV n Reg I B P242 B 0 Src set n Reg I B P243 B 0 Src n Reg I STOP KK P226 B 151 Src3 n set act KK P227 B 0 Src4 n set act KK P22...

Page 1005: ... effected against the sequence there is a dead time of T0 in the speed control loop e g KK0153 P252 KK0158 P260 x y n max FWDSpeed 320 7 n max REVSpeed 320 7 x y n max FWDSpeed 320 7 n max REVSpeed 320 7 Droop block see 360 DT1 block see 360 0 KK P225 B 150 Src2 n set act K0154 n Reg P comp K0155 n Reg I comp K0153 Torq set n Reg Torq set n Reg r255 n Reg Tn 0 4000 ms P240 F 50 K P241 B 0 SrcSetV ...

Page 1006: ...ow examples of typical filter amplitude responses The exact bode diagram depends on the choosen parameters Transfer function for filter with 2nd order numerator denominator polynomial for P256 1 3 2 dN Z 2 N 2 Z N 2 dZ s2 s 1 s2 s 1 F Z 2 P254 N Z dZ 1 2 dN 1 P253 2 j s N Z for P256 1 KK P252 0 Src Band Stop Band Stop Gain 0 0 150 0 P251 100 0 U953 42 ___ 0 Filter character 0 3 P256 1 1 Qty Band S...

Page 1007: ...speed Compensation current Harmonic compensation 630 7 Cyclic load compensation CLC 631 6 K0167 Isq set limitr K P270 B 166 Src I sq set K P271 B 0 Src I sq add K0166 Isq set Magnetizing of current control 390 7 389 7 K0165 Torq set limit Torq set Lim r269 Nm K P260 B 153 Src Torq set K P261 B 0 Src Torq conseq K P262 B 0 Src Torque add FSetpTorq Lim1 200 0 200 0 P263 F 100 0 K0170 T limit1 set K ...

Page 1008: ...Estimator 393 to flux control 389 2 Magnetization to torque limitation 370 4 Transformation angle to transformation 389 2 from actual values 500 4 Is only calculated for P290 Sel V f I Reg 0 current control 420 3 1 0 0 K0241 is calculated in 4T0 FieldWeakDir 0 12000 1 min P299 0 Mot ShCirCurrent 0 00 600 00 A P105 0 0 B0251 Field weakening K0183 Isd set act Amps Reg Gain 0 0 200 0 P282 80 0 Dynami...

Page 1009: ... control Flux model Tr Adaption 394 to flux control 390 2 Magnetization to torque limitation 370 4 Transformation angle to transformation 390 2 from actual values 500 4 Is only calculated for P290 Sel V f I Reg 0 current control 420 3 K0241 is calculated in 4T0 FSetp Flux set 20 0 200 0 P291 100 0 K0180 K P292 180 Src Flux set Select Flux Reg 0 1 P294 0 FieldWKFreq 0 0 400 0 Hz P293 B0251 Field we...

Page 1010: ... 2 Magnetization to torque limitation 370 4 Transformation angle to transformation 390 2 from actual values 500 4 Is only calculated for P290 Sel V f I Reg 0 current control 420 3 and P296 3 K0241 is calculated in 4T0 FSetp Flux set 20 0 200 0 P291 100 0 K0180 K P292 180 Src Flux set Select Flux Reg 0 1 P294 0 FieldWKFreq 0 0 400 0 Hz P293 B0251 Field weakening K0183 Isd set act Amps Reg Gain 0 0 ...

Page 1011: ...09 2 Ls f isd 0 1 6553 5 P111 1 to 10 P095 Select Mot Type 0 No motor selected 1 1FT6 1FK6 2 1PA6 1PL6 1PH4 1PH7 3 Synchronous motor general 4 Induction motor general 5 1FW3 Mot Rtd Torque 0 00 6535 00 Nm P113 Mot Rtd Amps 0 00 1300 A P102 Mot ShCirCurrent 0 00 600 00 A P105 0 00 Main Field Induc 0 0 2000 0 mH P120 Stator Resist 0 50000 m P121 Tot Leak React 0 65535 m P122 Stator React 0 00 655 00...

Page 1012: ...cted rotor temperature adaptation is switched off Applies only to synchronous motors P95 1 P95 3 P95 5 or P95 6 x y 0 1 kT Estimator Motor temperature r009 Isd act Isq act n act usq act If no temperature sensor is connected estimator accuracy is greatly reduced Standstill torque constant kT0 0 10 15 00 Nm A P098 1 40 Nm A Max deviation 0 0 30 0 P091 2 0 0 Application speed x x 100 0 P091 1 20 kT n...

Page 1013: ...2 or P95 4 Tr Adaptation Isd act n act usq act usd act Isq act x y 0 1 x y 0 1 Max deviation 0 6 P124 Isq act 0 15 P102 n act 3Hz 0 1 Actual value of rotor time constant Tr for flux model 390 6 Bit2 status_word1 Operation Pulses blocked Rotor time const 0 10000 ms P124 0 ms Tr Actual value r093 Tr Adaptation Kp 0 00 200 00 P092 0 00 Stator reactance P123 Total contr reactance P122 Stator resistanc...

Page 1014: ...de with scaled moment of inertia in s 0 1 0 1 U389 1 Mode with moment of inertia in 0 1 0 1 1 1 1 100 Rated acceleration U953 46 ___ 20 K U373 B 0 Src J ext Scaling J 0 00 200 00 U379 100 00 KK U374 B 0 Src Accel Pre B U376 B 0 Src Sel J J FixValue 0 00 600 00 s U378 0 00 K0622 T Accel K U375 B 0 Src TFixValue B U377 B 0 SrcSelAccel T K U373 B 0 Src J ext Scaling J 0 00 200 00 U388 1 100 00 KK U37...

Page 1015: ...2 04 399 V2 5 n M 1 0 0 sign n959 58 2 n Friction Characteristic 0 000 200 000 U215 1 to 10 Weight T Fric 0 0 200 0 U217 F 100 0 B0690 Rec FricCharac B U218 B 0 Src On FricCharac K0615 T Fric T Friction Characteristic 0 0 200 0 U216 1 to 10 B U219 B 0 Src Rec FricChar KK U214 B 0 Src n FricChar ...

Page 1016: ...der to avoid the alarm Set Actual Deviation the P791 source variable should also be set to 200 In case further messages from the function diagram 480 are used the actual source value must be adjusted If P332 32000 the I component is set to zero The individual frequency values have to be in ascending order and must differ from each other by at least 1 Hz n959 55 4 Imax Reg Gain 0 001 0 500 P331 0 0...

Page 1017: ...lease from sequence control Parameters P348 and P349 are only effective for Compact and chassis units or generally if ASM specialized control is selected P296 3 SamplingFreq 5 0 10 0 kHz P340 5 0 K0222 100 full block modulation ModDepth abs K0223 Switch on Time1 K0224 Switch on Time2 K0225 Switch on Time3 Sel V f I Reg 0 1 P290 0 n959 56 0 PulseFreqRatio 0 1 P357 0 Max ModulatDepth 20 100 P342 100...

Page 1018: ...3 20 Checkback Brake Closed from dig input 6 90 5 470 4 P612 21 Checkback Brake Opened from dig input 6 90 5 470 5 1 Sampling time for braking control factory setting T7 128 T0 T Delay Pulse disabling and brake 480 6 Delay 1 2 2 Attention If braking control is used withdrawal of the inverter release B278 has to be effected prior to the gating pulse block on sheet 480 i e the following 2 conditions...

Page 1019: ...etpoint to status word 1 bit 14 200 2 0 1 A033 Overspeed Overspeed to status word 2 bit 18 210 2 320 7 n max REV Spd 320 7 n max REV Spd 1 If OFF3 is used the turn off time P801 0 0 must be set WARNING 1 n959 60 4 K P790 150 Src Setp K P791 91 Src ActV K P795 91 Src Comp ActV K P799 91 Src OFF ActV Set Act Hyst 0 0 200 0 P793 F 2 0 Perm Deviation 0 0 200 0 P792 F 3 0 Deviation Time 0 0 100 0 s P79...

Page 1020: ...Drive output current 0 1 Alarm Drive overload 0 1 100 A025 I2t converter 2 P74 may never be smaller than the peak rectified value at the maximum mains voltage occurring P71 Otherwise the brake chopper is continuously energized which may result in overheating of the braking resistor 0 1 1 2 to brake chopper control 1 For Compact PLUS inverters only AC AC Alarm with halved time constant to status wo...

Page 1021: ...itoring P131 2 Monitoring with PT100 P131 3 Monitoring with KTY83 P131 4 Coupling via Src Motor Temp P131 5 Temperature evaluation It is not possible to evaluate the motor temperature for encoder evaluations that are not inserted in slot C WARNING 0 1 1 0 2 C 0 1 F020 Motor overtemperature fault max temp 140 C min temp 55 C X 3 KTY83 selected X 5 Mot Tmp Fault 0 300 C P381 120 Mot Tmp Warning 0 30...

Page 1022: ...Fault F015 Motor stalled To status word 2 Bit2 210 2 Alarm A042 Motor stalled P806 2 De energized 1 Only stall protection 0 Stall and overload protection 0 1 0 2 0 1 1 Setpoint acceleration negative 0 Setpoint acceleration positive 1 Actual acceleration negative 0 Actual acceleration positive The circuit checks whether the specified direction of acceleration matches the direction of acceleration o...

Page 1023: ...x Controller active 400 2 Imax Reg Outp 400 3 50 U set v f Imax Reg Outp 400 3 25 U set v f 0 T Output deceleration 15 x Tab Alarm A042 Motor stalled 0 T P806 2 De energized 1 Stall protection 0 Stall protection 0 1 1 0 1 0 0 Voltage adjustment 1 Frequency adjustment n957 73 6 Fct Stall Overload 0 2 P806 0 Deviation Time P794 F 480 3 Stall Block Time 0 00 100 00 s P805 50 00 Set Act Hyst P793 F 48...

Page 1024: ... current control 390 2 to current control 390 2 I I α β 2 2 I act abs F011 Overcurrent F011 Overcurrent C L D L D A to alarms and faults 490 2 1 D A 100 ms Output Amps r004 n959 62 0 KK0240 DC Bus Volts act DC Bus Volts r006 V DCLink Thresh 0 1000 V P788 800 B0290 DC volts thr B0291 DC volts thr K0022 I Abs smooth K0242 I Outp Abs ...

Page 1025: ...xtEncDSP 3 Encoder 4 Multiturn encoder 7 Encoder without C D track If a connector other than KK90 or KK104 is connected to P244 the value is merely filtered and output to KK101 KK99 and KK102 are not taken into account here P130 Select MotEncod 0 Auto encoder detection without encoder 1 Resolver 2 pole slot C 2 Resolver ZpMot slot C 3 Encoder slot C 4 Multiturn encoder slot C 5 Pulse encoder slot ...

Page 1026: ...nk rises from the reduced range to the chopper switch in threshold in less than 3 s as a result of heavy braking proper functioning of the chopper cannot be assured The chopper can possibly fail to turn on which will cause the converter or inverter to cut out as a result of fault F006 Overvoltage Caution The DC link voltage may never be suddenly increased again 0 1 n957 83 4 Reduced Vdc_link MAX 1...

Page 1027: ...ledged fault Fault time in days Fault time in hours Fault time in seconds r947 33 FValue r949 33 r782 13 14 15 FNo 34 34 35 35 36 36 37 37 38 38 39 39 40 40 4th acknowledged fault Fault time in days Fault time in hours Fault time in seconds r947 41 FValue r949 41 r782 16 17 18 FNo 42 42 43 43 44 44 45 45 46 46 47 47 48 48 5th acknowledged fault Fault time in days Fault time in hours Fault time in ...

Page 1028: ...Compact PLUS Power section definition 517 n959 70 8 Generat Date r827 Firmware Version r069 Order No 6SE70 0 255 P070 Line Volts 90 1320 V P071 Rtd Drive Amps 0 0 6450 0 A P072 Rtd Drive Power 0 3 6400 0 kW P073 PCB Code r826 01 PCB Code r826 02 SW ID r828 02 SlotDeselect 0 1 U910 0 Board ID n911 02 PCB Code r826 03 SW ID r828 03 Board ID n911 03 PCB Code r826 04 SW ID r828 04 Board ID n911 04 PCB...

Page 1029: ...unication Board PROFIBUS 143 CBC Communication Board CANBUS 146 CBP2 Communication Board PROFIBUS 2 148 EB1 Expansion Board 1 151 EB2 Expansion Board 2 152 SLB SIMOLINK Bus Interface 161 SBP Sensor Board Puls 111 SBM Sensor Board Encoder Multiturn not supported for V2 0 and above 112 SBM2 Sensor Board Encoder Multiturn 2 113 SBR1 Sensor Board Resolver 114 SBR2 Sensor Board Resolver 2 115 CBD Commu...

Page 1030: ... OPERATION 11 INV stop OPERATION 14 INV release OFF_WITH_ FASTSTOP OFF3 16 OFF_WITH_ RGEN_REV OFF1 15 OFF3 OFF1 OFF3 FAULT 7 No ON or jogging OFF2 3 or Illegal ON 1 P060 4 5 OFF command B0270 OFF2 SAFE STOP OFF2 or SAFE STOP or OFF switch off speed reached P060 3 6 OFF2 or INV stop or SAFE STOP or OFF switch off speed reached All components ready Acknowledgement from all states 1 Switch on with e ...

Page 1031: ... P193 P194 P196 P197 P203 P210 P211 P212 P213 P220 P224 P225 P226 P227 P228 P232 P241 P242 P243 P245 P248 P260 P261 P262 P265 P266 P270 P271 P275 P321 P417 P418 P433 P438 P443 P554 P555 P556 P557 P558 P559 P560 P561 P562 P563 P564 P565 P567 P568 P569 P571 P572 P573 P574 P575 P576 P577 P580 P581 P583 P584 P585 P586 P587 P588 P589 P591 P640 P647 P648 P651 P652 P653 P654 Function data set parameters ...

Page 1032: ...P121 Stator Resist P105 Mot ShCirCurrrent only if P300 1 P299 FieldWeakDir only if P300 1 For both motor types are additionally set to motor rated values P128 Max Current P350 Ref Amps P351 Ref Volts P352 Ref Frequency P353 Ref Speed P354 Ref Torque Parameter P115 Calc MotModel 2 also affects the following parameters Induction motor connected P095 2 4 Synchronous motor connected P095 1 3 5 6 P119 ...

Page 1033: ...TERDRIVES MC 18 01 06 Vdmax control 610 V2 5 Kp Tn Vdmax on 370 1 0 0 P290 1 DC bus Volts Dyn 0 200 P516 25 B0296 Vd max Reg act Vdmax controller selection 0 1 P515 0 K0271 I Vdmax Reg n957 77 0 VdMax Volts Inp 600 800 V P517 K0240 DC link bus voltage Vdact 500 7 ...

Page 1034: ...orrection Indices 4 6 are available to 2nd HC channel K 1 Parameterization 1st channel K 2 Parameterization 2nd channel A quadratic mapping of the interpolation points designated via P312 to the interval 0 P311 takes place 1 12 1 P309 K K0272 HarmCompFunc n957 84 0 Current controller dynamics P296 KK P308 K 0 SrcAngleHC K0273 HarmComp I out Omega FD500a 6 180 180 degree 0 P310 K 0 2000 A 0 P311 0 ...

Page 1035: ...C Enable function Enable learn Learn input Position from position sensing KK0120 to torque summation point 370 2 K P374 0 Src Input CLC B P373 1 0 Src Enable CLC B P373 2 0 Src Enable CLC K0274 CLC output Load period 10 231 P375 4096 Tsmooth 0 3000 ms P376 1 2 0 Tdead 0 3000 ms P376 2 1 5 Learn rate 0 100 P377 1 40 Damping 0 100 P377 2 10 n957 85 1 ...

Page 1036: ...eet V2 5 Notes A free block is only processed if it is specifically assigned to a sampling time via the allocated U95x parameter see sheet 702 Parameterization of the sampling sequence is also described on sheet 702 The approximate calculating time per block is indicated in µs for each type of block ...

Page 1037: ...ral function blocks Fixed setpoints 705 Fixed control bits 705 Connector binector displays 705 Fault alarm trigger signals 710 Voltage monitoring of electronics power supply 710 Connector double connector converter 710 Double connector connector converter 710 Connector binector converters 715 Binector connector converters 720 Numeric function blocks and control blocks Adders 725 Subtracters 725 Si...

Page 1038: ...ocessed in the factory setting at the 3140th position By setting U963 14 to a value not equal to 3140 the block can be allocated to a different position in the sampling sequence Monitoring of calculating time Calculating time fault F042 Calculating time alarm A001 Parameter for setting the sampling time Value range 2 20 Factory setting 20 applies to most blocks Parameter value Sampling time T0 1 p...

Page 1039: ...10 U952 83 __ 10 U952 82 __ 10 U952 86 __ 10 U952 87 __ 10 K0401 K0402 K0403 K0404 K0405 K0406 K0407 K0408 K0409 B0408 B0402 B0407 B0403 B0406 B0404 B0405 B0401 KK0411 KK0412 KK0413 KK0414 KK0415 KK0416 KK0417 KK0418 KK U037 0 KK U041 0 KK U039 0 KK U043 0 B U045 0 B U049 0 B U047 0 B U051 0 K U031 0 K U035 0 K U033 0 K U053 0 KK U055 0 200 00 200 00 U001 F 0 00 200 00 200 00 U002 F 0 00 200 00 20...

Page 1040: ...FF POWER ON Hi Word Lo Word Hi Word Lo Word Hi Word Lo Word Hi Word Lo Word Hi Word Lo Word Hi Word Lo Word Voltage monitoring of electronics power supply n959 01 3 B U061 0 B U062 0 B U063 0 B U064 0 B U065 0 B U066 0 B U067 0 B U068 0 U952 59 __ 20 U952 60 __ 20 U952 61 __ 20 U952 62 __ 20 U952 63 __ 20 U952 64 __ 20 U952 65 __ 20 U952 66 __ 20 K U070 0 01 K 02 K 03 K 04 K 05 K 06 KK0420 KK0422 ...

Page 1041: ...176 B0177 B0178 B0179 B0180 B0181 B0182 B0183 B0184 B0185 B0172 n074 n075 n073 n010 01 n010 02 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit field 3 Connector binector converter 3 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit field 2 Connector binector converter 2 7 segment display of the bit field to n074 0 1 2 3 8 9 10 11 4 5 6 7 12 13 14 15 7 segment display of the bit field to n075 0 1 2 3 8 9 10 11 4...

Page 1042: ...B 15 B 16 U952 89 __ 20 K0431 0 FFFFh n077 B U078 0 01 B 02 B 03 B 04 B 05 B 06 B 07 B 08 B 09 B 10 B 11 B 12 B 13 B 14 B 15 B 16 U952 90 __ 20 K0432 0 FFFFh n079 B U057 0 01 B 02 B 03 B 04 B 05 B 06 B 07 B 08 B 09 B 10 B 11 B 12 B 13 B 14 B 15 B 16 U952 56 __ 20 K0490 0 FFFFh n058 B U080 0 01 B 02 B 03 B 04 B 05 B 06 B 07 B 08 B 09 B 10 B 11 B 12 B 13 B 14 B 15 B 16 U952 91 __ 20 K0433 0 FFFFh n0...

Page 1043: ...ge of 32 bit Example 232 1 40000 39999 at modulo 2 32 addition 1 y x x y 1 y x x y 1 y x x y 1 y x x y 1 y x x y 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 U950 83 __ 20 K U082 0 01 K 02 K0442 U951 01 __ 20 K U083 0 01 K 02 K0443 U951 42 __ 20 K U084 0 01 K 02 K0444 U952 20 __ 20 K U085 0 01 K 02 K0445 U951 15 __ 20 KK U090 0 01 ...

Page 1044: ...4 100 x3 16bit y2 Scaling y 1 32bit 200 200 200 200 U951 04 __ 20 K U107 0 01 K 02 K0467 U951 59 __ 20 K U108 0 01 K 02 K0468 U952 37 __ 20 K U109 0 01 K 02 K0469 U951 31 __ 20 KK U110 0 01 KK 02 KK0470 U951 43 __ 20 KK U113 0 01 KK 02 KK0473 U951 73 __ 20 K U116 0 01 K 02 KK0485 K 03 KK0486 U951 32 __ 20 K U115 0 01 K 02 KK0483 K 03 KK0484 U951 06 __ 20 K U114 0 01 K 02 KK0481 K 03 KK0482 When di...

Page 1045: ... n 0 31 x y 2 31 1 2 31 1 y x 2 n n n 0 31 Sign 0 0 31 1 n 0 31 x y 2 31 1 2 31 1 U951 12 __ 20 K U406 0 01 K 02 KK0602 KK U405 0 P amplification 1000 00 1000 00 U440 01 1 00 KK0616 U953 39 __ 20 KK U441 01 0 P amplification 1000 00 1000 00 U440 02 1 00 KK0617 U953 54 __ 20 KK U441 02 0 Number of shift steps 31 31 U442 01 0 KK0618 U953 36 __ 20 KK U443 01 0 y x 2 n n n 0 31 Sign 0 0 31 1 n 0 31 x ...

Page 1046: ...KK 03 0 KK 04 0 U951 53 __ 20 Integral time constant 0 000 60 000 s U433 0 000 KK U411 01 0 B U413 0 KK0604 B0579 B0580 K U412 612 K0612 KK 02 0 KK 03 0 KK 04 0 U951 85 __ 20 Integral time constant 0 000 60 000 s U434 0 000 Deceleration cycles 0 32 sampling times U401 0 KK0600 U950 63 __ 20 KK U400 0 Deceleration cycles 0 32 sampling times U403 0 KK0601 U950 64 __ 20 KK U402 0 Smoothing time 0 100...

Page 1047: ...x x B x B y x y B B 1 x 0 3 U118 0 K0491 U950 75 __ 20 K U117 0 Smoothing time const 0 10000 ms U119 0 0 3 U121 0 K0492 U952 47 __ 20 K U120 0 Smoothing time const 0 10000 ms U122 0 0 3 U124 0 K0493 U952 67 __ 20 K U123 0 Smoothing time const 0 10000 ms U125 0 0 3 U127 0 KK0494 U952 07 __ 20 KK U126 0 Smoothing time const 0 10000 ms U128 0 K U130 01 503 K 02 0 K 03 502 U951 74 __ 20 K0503 K0501 B0...

Page 1048: ... A U152 B U152 A B A B A B A B 0 2 517 1 0 A U148 U148 B B 0 A U148 B 0 A U148 B U148 A B A B A B A B 0 2 515 K U136 01 K 02 Smoothing time const 0 10000 ms U137 0 Hysteresis 0 00 199 99 U138 0 00 200 00 200 00 U135 0 00 U139 0 K0512 K0511 B0476 U951 18 __ 20 K U141 01 K 02 Smoothing time const 0 10000 ms U142 0 Hysteresis 0 00 199 99 U143 0 00 200 00 200 00 U140 0 00 U144 0 K0514 K0513 B0477 U952...

Page 1049: ... case of a round shaft a cam overscoring the zero point can be realized by ORing the two cam outputs 1 In the case of a round shaft a cam overscoring the zero point can be realized by ORing the two cam outputs If the input variable is a rotary axis and a cam passes the axis cycle jump of the rotary axis the axis cycle of the rotary axis has to be entered in parameter U155 2 To ensure that cam 1 do...

Page 1050: ... Hysteresis 0 2 147 483 647 U436 01 0 KK0568 Came3 FSetp3 KK0569 Cam3 FSetp4 Value range of On Off positions 2 147 483 647 2 147 483 647 1 extended cam contactor group with 2 cams If the input variable is a rotary axis and a cam passes the axis cycle jump of the rotary axis the axis cycle of the rotary axis has to be entered in parameter U436 6 To ensure that cam 1 does not overlap with itself the...

Page 1051: ... B U170 0 K U175 0 01 K 02 U951 76 __ 20 K0525 B U174 0 K U173 0 01 K 02 U951 60 __ 20 K0524 B U172 0 KK U177 0 01 KK 02 U950 86 __ 20 KK0526 B U176 0 KK U179 0 01 KK 02 U950 87 __ 20 KK0527 B U178 0 KK U181 0 01 KK 02 U951 20 __ 20 KK0528 B U180 0 KK U185 0 01 KK 02 U952 08 __ 20 KK0530 B U184 0 KK U183 0 01 KK 02 U951 77 __ 20 KK0529 B U182 0 KK U187 0 01 KK 02 U951 78 __ 20 KK0539 B U186 01 0 B...

Page 1052: ...ENABLE 22 21 20 7 6 5 4 3 2 1 0 Signal select MUX KK U790 0 01 KK 02 U950 72 __ 20 KK0547 B U789 01 0 B 02 0 B 03 0 B 0001 04 1 KK 03 KK 04 KK 05 KK 06 KK 07 KK 08 KK U792 0 01 KK 02 U951 88 __ 20 KK0548 B U791 01 0 B 02 0 B 03 0 B 0001 04 1 KK 03 KK 04 KK 05 KK 06 KK 07 KK 08 KK U794 0 01 KK 02 U952 17 __ 20 KK0549 B U793 01 0 B 02 0 B 03 0 B 0001 04 1 KK 03 KK 04 KK 05 KK 06 KK 07 KK 08 Signal s...

Page 1053: ...1 1 2 3 4 6 5 7 8 9 10 y10 200 y K0541 U951 07 __ 20 K U190 0 X values U191 01 to 10 0 Y values U192 01 to 10 0 K0542 U951 33 __ 20 K U193 0 X values U194 01 to 10 0 Y values U195 01 to 10 0 K0543 U952 09 __ 20 K U196 0 X values U197 01 to 10 0 Y values U198 01 to 10 0 K0544 U950 88 __ 20 K U199 0 Dead zone z U200 0 00 The distance between 2 adjacent X or Y values must not be more than 199 99 The ...

Page 1054: ...y 0 STORE TRACK x y freeze y 1 y x 1 KK U201 0 01 KK 02 B U203 0 01 B 02 B 03 KK 03 U952 24 __ 20 KK0545 KK U202 0 01 KK 02 KK 03 U952 25 __ 20 KK0546 KK U204 0 KK0551 Power On Mode U205 0 U950 76 __ 20 B U206 0 01 B 02 B 03 KK U207 0 KK0552 Power On Mode U208 0 U952 69 __ 20 B U210 0 KK U209 0 KK0553 U950 77 __ 20 B U212 0 KK U211 0 KK0554 U952 50 __ 20 Priority 1 RESET 2 TRACK 3 STORE 1 U208 0 N...

Page 1055: ...951 80 __ 20 B U231 1 01 B 02 B 03 B0611 U951 92 __ 20 B U232 1 01 B 02 B 03 B0612 U952 92 __ 20 B U238 1 01 B 02 B 03 B0618 U952 54 __ 20 B U237 1 01 B 02 B 03 B0617 U952 52 __ 20 B U236 1 01 B 02 B 03 B0616 U952 51 __ 20 B U235 1 01 B 02 B 03 B0615 U952 39 __ 20 B U234 1 01 B 02 B 03 B0614 U952 26 __ 20 B U233 1 01 B 02 B 03 B0613 U950 90 __ 20 B U239 0 01 B 02 B 03 B0619 U950 91 __ 20 B U240 0 ...

Page 1056: ...0 B U263 0 01 B 02 B 03 B0683 U952 42 __ 20 B U267 0 01 B 02 B 03 B0687 U951 24 __ 20 B U262 0 01 B 02 B 03 B0682 U952 27 __ 20 B U266 0 01 B 02 B 03 B0686 U950 92 __ 20 B U261 0 01 B 02 B 03 B0681 U952 12 __ 20 B U265 0 01 B 02 B 03 B0685 B 02 B 03 B0661 U950 97 __ 20 B U272 0 01 B 02 B 03 B0662 U951 48 __ 20 B U273 0 01 B 02 B 03 B0663 U951 65 __ 20 B U274 0 01 B 02 B 03 B0664 U951 96 __ 20 B U2...

Page 1057: ... RESET Q 0 SET Q 1 Q Q Priority 1 RESET 2 SET 1 POWER ON RESET Q 0 SET Q 1 Q Q Priority 1 RESET 2 SET 1 POWER ON RESET Q 0 SET Q 1 Q Q Priority 1 RESET 2 SET 1 POWER ON RESET Q 0 SET Q 1 Q Q Priority 1 RESET 2 SET U951 25 __ 20 B U279 0 01 B 02 B 03 B0525 B 04 B0526 U952 15 __ 20 B U280 0 01 B 02 B 03 B0527 B 04 B0528 U951 66 __ 20 B U284 0 01 B 02 B0507 B0508 U952 13 __ 20 B U288 0 01 B 02 B0515 ...

Page 1058: ... delay ON OFF delay Pulse generator T T 0 T T T 0 0 1 2 3 1 T T T 0 T T Pulse generator T 0 ON delay 0 1 2 3 1 T1 OFF delay ON OFF delay x1T1 100 T 1 Example T1 40 000 s x1 150 effective time T 60 s T is limited to the value range 0 60 000 s B U293 0 B0530 U950 95 __ 20 0 000 60 000 s U294 F 0 000 Mode U295 0 B0531 B U296 0 B0532 U951 67 __ 20 0 000 60 000 s U297 F 0 000 Mode U298 0 B0533 B U299 0...

Page 1059: ... signal sinks Note multiple of 2 x sampling time Example Tp 10 ms The implemented period Tp is always an integral Tab 3 2 ms Implemented period 6 4 ms Sampling ratio 1 1 Tp Max output frequency 1 2 x sampling time 1 Pulse generator flash encoder 3 µs 8 µs if Tp is changed 6 sampling time changers for control signals 1 µs B U404 03 0 U950 68 __ 20 B0572 B U404 06 0 U950 71 __ 20 B0575 B U404 05 0 U...

Page 1060: ...07 K 08 B 02 B 03 B 04 B 05 B 06 B 07 B 08 KK0640 KK0641 KK0642 KK0643 K0644 K0645 K0646 K0647 K0648 K0649 K0650 K0651 B0631 B0632 B0633 B0634 B0635 B0636 B0637 B0638 Sampling interval slower time slot 2 10 U349 2 U951 70 ___ 20 KK U346 Q SH3 KK KK 02 KK 03 KK 04 K U347 Q SH3 K K 02 K 03 K 04 K 05 K 06 K 07 K 08 B 02 B 03 B 04 B 05 B 06 B 07 B 08 KK0664 KK0665 KK0666 KK0667 K0668 K0669 K0670 K0671...

Page 1061: ...ment of inertia calculation KP adaption FD360 J total in KK0558 Diameter in KK0556 Machine speed U718 1 Diameter in LU K0557 Winding characteristic Acceleration precontrol factor KK0559 U718 3 556 Machine speed Diameter in LU U717 5 557 Tension setpoint K0550 FD398 K0623 P262 623 P232 555 Diameter in KK0556 FD320 Technology controller FD792 FD399 FD791 FD320 P438 588 FD398 U373 559 FD320 U P D A F...

Page 1062: ...minNormJ 1 65535 U714 7 100 JFixedJ 0 000 200 000 U715 4 0 000 JCoreJ 0 000 200 000 U715 3 0 000 K 0 U717 SrcAxialWinderK K0550 Tension setpoint TP U951 86 ___ 20 v minD 0 000 200 000 U715 1 1 000 n minD 0 000 200 000 U715 2 1 000 FilterRawD 0 60000ms U716 1 100 SymmetryD 0 1000ms U716 2 0 KK 0 U718 SrcAxialWinderKK K 0 U717 SrcAxialWinderK n NormD 0 65535 min 1 U707 0 B U719 0 SrcAxialWinderB Mat...

Page 1063: ...unting frequency 156 Hz 1 2 3 Attention The sampling time and sampling sequence of the upstream signal processing has to be taking into account Set counter to minimum value Set counter to setting value Set counter to starting value Priority 1 Enable counter 2 Set counter 3 Stop counter 4 Count up down Example Minimum value 2 Maximum value 7 Counter output Count up Count down Overflow Underflow 3 4...

Page 1064: ...t U816 5 1 Y is always kept within the value range between the lower and upper limits If during Enable motor potentiometer both signals MOP and MOP are 1 simultaneously output y remains unchanged U815 01 13 s Motor operated potentiometer 1 Changeover ramp function generator 0 K 0 U815 Input simple ramp generator KK 0 02 U953 55 ___ 20 LU sec U817 01 LU sec U817 02 B 0 U816 Selection of setting spe...

Page 1065: ...takes over the value set at U469 3 for as long as Set is at U470 5 1 Y is always kept within the value range between the lower and upper limits If during Enable motor potentiometer both signals MOP and MOP are 1 simultaneously output y remains unchanged 0 1 U469 01 13 s K 0 U469 Simple ramp generator input KK 0 02 U953 56 ___ 20 LU sec U471 01 LU sec U471 02 B 0 U470 B 0 02 B 0 03 B 0 04 B 0 05 Se...

Page 1066: ...3 s Calculating time with speed branch 107 s 1 The speed branch is only active if U841 01 and U841 02 are not equal to zero 1 1 KK U844 KK 02 U953 57 ___ 20 KK U842 Axis cycle length U840 01 4096 KK Scaling speed 0 20 000 000 00 1000 LU min U841 01 0 B U843 Set output KK U842 03 Output of set value KK0861 Distance setpoint LU KK0862 Speed setpoint Axis cycle length U840 02 4096 Scaling speed 0 20 ...

Page 1067: ...3 s Calculating time with speed branch 107 s 1 The speed branch is only active if U846 01 and U846 02 are not equal to zero 1 1 KK U849 KK 02 U953 58 ___ 20 KK U847 Axis cycle length U845 01 4096 KK Scaling speed 0 20 000 000 00 1000 LU min U846 01 0 B U848 Set output KK U847 03 Output of set value KK0863 Distance setpoint LU KK0864 Speed setpoint Axis cycle length U845 02 4096 Scaling speed 0 20 ...

Page 1068: ...ataset 49 Dataset 02 Dataset 01 B 0 7 B 0 7 B 0 7 B 0 7 KK KK KK KK 1 SR1 B0 Data valid SR1 B1 SR1 B2 SR1 B3 SR1 B4 SR1 B5 SR1 B6 SR1 B7 0 MUX 49 1 0 1 231 1 231 1 20 21 22 23 24 25 26 27 1 SR MemDpthFull indicates after reset or power ON that the shift register is full of data 2 SR MemDpthOverf indicates that the memory depth has been run through once 3 SR MemDpthAct is the actual memory depth th...

Page 1069: ... 49 Dataset 02 Dataset 01 B 0 7 B 0 7 B 0 7 B 0 7 KK KK KK KK 9 SR2 B0 Data valid SR2 B1 SR2 B2 SR2 B3 SR2 B4 SR2 B5 SR2 B6 SR2 B7 0 MUX 49 1 0 1 231 1 231 1 20 21 22 23 24 25 26 27 1 SR MemDpthFull indicates after reset or power ON that the shift register is full of data 2 SR MemDpthOverf indicates that the memory depth has been run through once 3 SR MemDpthAct is the actual memory depth that can...

Page 1070: ...of desired distance sensing by means of BICO connection Position actual value U850 3 4 U877 i2 WE 788 789 Acceleration precontrol e g from position control 340 P209 881 Speed setpoint of ramp gen 320 at P772 1 WE Speed precontrol value Position setpoint 340 1 sact s Position actual value from position detection 788 4 1 0 Torque control M Brake control 470 Speed detection 500 nact Motor encoder P19...

Page 1071: ...V_RIE_TYP REF_TYPE REF_BWD_STOP REF_FWD_STOP REF_STOP REF_D 0 1 1 Note Further helpful notes are to be found in function diagram 788b Setup positioning Setpoint transfer mode management Mode management e g REF homing POS positioning SETUP setup with U858 2 1 0 11 Checkback signals ARFD 0 9 Recommended U953 6x 4 U858 0 Linear axis U875 1 10 0 Fixed bin control word 10 11 V Nom 0 20 000 000 00 1000L...

Page 1072: ...able source Enable position controller P210 340 4 A graphical overview is given in function diagram 788 Since almost all variables of the basic positioner including those between free blocks are binector inputs outputs or connector inputs outputs the function is controllable both with only one signal and also in parts with the desired process sequence interlocking The user must therefore secure th...

Page 1073: ...m V2 21 After the enable the limit switches act continually on the valid modes to interlock the movements V 0 Static STOP cam from V2 40 In this mode overtravel of the cam is not supported which is why the cams must be executed up to the end stop 1 U953 60 ___ 20 B0877 PSR B0871 REF Homing on the fly B0872 POS Positioning B0873 SETUP Setup B0870 Enable basic positioner ENABLE_POS_REF n870 1 0 3 B ...

Page 1074: ...c 8 KK0882 789c 8 RM 1 0 0 S_SET 7 898 Software limit switch for POS SETUP Linear axis SWE 231 1 231 1 LU PLUS U865 1 0 MINUS U865 2 0 U953 61 ___ 20 KK U850 3 120 Position setting value K U852 K 2 873 V Nom 0 231 1 1000LU min U856 12288 00 Axis cycle ACL 0 231 1 U858 1 4096 Nom acceleration 0 20 000 000 00 1000LU s2 U857 204 00 Speed setpoint n860 2 KK U850 1 875 Position setpoint LU KK U850 2 88...

Page 1075: ...nc REF_D_REF 0 CW REF_D_REF_EN REF_D B0212 330 7 ACKNOWLEDGEMENT Valid meas val U953 62 ___ 20 B0891 Enable measured value memory e g P179 891 330 5 B0890 NOV Pos correction COR e g P175 2 890 330 5 B0889 POV Pos correction COR e g P175 1 889 330 5 KK0885 KK U877 2 120 Position setpoint setting KK U877 1 871 Src Position set IN KK KK U876 870 Src V set IN Smoothing time 0 10 000 s U880 0 F1 Inner ...

Page 1076: ...factor AR 2 ER 2 adaption factor 1 At U328 552 the RGen only acts once in each case after enabling edge 6 Priority of control commands 1 Set RGen to zero 2 Quick stop comfort RGen 3 Set ramp function generator 4 Bypass RGen y x 5 Bring RGen to a standstill 6 Stop ramp function generator Priority 1 S SET 2 R RESET with this acceleration time dy dt 100 4 Tdn 100 5 Tup_eff 2 Tdn_eff 2 100 Comfort ram...

Page 1077: ...e technology controller Setting value of simple ramp function generator U352 577 792 1 U381 556 792 3 U382 value of U335 792 1 Simple ramp function generator 6 µs Virtual Master 14 µs ACL to synchronization block Normalization 01 02 Speed value in e g from comfort ramp function generator Integrator with ACL limitation x y KK U429 0 Input value B U432 0 Set KK Set value KK0610 Pos Setpoint U953 35 ...

Page 1078: ...put K0585 1 Enable technology controller 0 2 Set I component 1 However Setting the I component also acts on K0585 when controller is disabled Use the simple ramp function generator on sheet 791 4 if you wish to avoid an abrupt switch in of the TeCntr setpoint With U360 556 the Setting value I component is adopted 5 when Enable technology controller is activated 2 1 3 1 4 3 5 x 25 µs B B Limiting r...

Page 1079: ...it x x Actual value 0 32767 from SIMOLINK transmission channel Setpoint deadtime adapted from master 1 Offset gives the position of the zero pulse relative to the setpoint U803 01 With rising edge at U804 1 The function block is used for simple setpoint correction of the SIMOLINK Encoder SLE Order No 6SX7005 0AG0 The Handbook SLE SLE DP SIMOLINK Encoder describes the SIMOLINK Encoder and the funct...

Page 1080: ...tor KK0833 Additive residual offset B0840 Additive positioning active KK0835 KK U821 1 0 Additive relative offset angle B U822 0 n826 3 ACL 0 231 U820 4096 n826 1 KK0832 Displace speed Setting speed 0 00 20 000 000 00 1000 LU min U825 2 60000 00 Nominal speed 0 00 20 000 000 00 1000 LU min U825 3 0 B 1 U819 Enable positioning B U822 0 KK U824 2 1 Factor Acceleration 0 00 20 000 000 00 1000 LU s2 U...

Page 1081: ...o ACL Offset adder 2 with limitation to ACL 14 s Limitation to ACL Offset adder 3 with limitation to ACL 14 s 1 1 The sum of the four input values must be in the range of 231 1 to 231 1 1 1 KK836 KK U828 1 0 KK 4 n829 KK 3 KK 2 U953 52 ___ 20 ACL31 U830 4096 KK867 KK U831 1 0 KK 4 n832 KK 3 KK 2 U953 53 ___ 20 ACL 0 231 U833 4096 KK868 KK U834 1 0 KK 4 n835 KK 3 KK 2 U953 54 ___ 20 ACL 0 231 U836 ...

Page 1082: ...ne another 15 µs typical 45 µs max Sampling time slow time slot P767 01 2 KK0118 LU KK0138 Axis cycle AZL 0 Linear axis 0 231 1 P769 01 0 Sampling time slow time slot P767 02 2 KK0119 LU KK0139 Sampling time slow time slot P767 03 2 KK0137 LU KK0140 Axis cycle AZL 0 Linear axis 0 231 1 P769 02 0 Axis cycle AZL 0 Linear axis 0 231 1 P769 03 0 KK P765 02 0 Src ExtrapolPosition KK P766 02 0 Src Extra...

Page 1083: ...tive zero passage and always ends with the next zero passage at U395 360 1 1 Synchronizing signal from master is not taken notice of freewheeling wobbling Wobble amplitude 0 00 20 00 U393 F 0 00 Wobble frequency 0 1 120 0 1 min U394 F 60 0 Phase displacement 0 360 el U395 F 360 P skip negative 0 00 100 00 U396 F 0 00 P skip positive 0 00 100 00 U397 F 0 00 Duty factor 0 100 U398 F 50 B U391 0 Sync...

Page 1084: ...t to DriveMonitor Data analysis is the user s respon sibility Channel 1 System output Only the values 20 and 02 are permitted To avoid overlaps the usual trace must be switched off with U953 72 20 Mean value first period A032 Alarm Overflow Trace words or double words DriveMonitor To be set by means of the DriveMonitor mask Diagnostics trace Trace settings Start noise and trace with the Start butt...

Page 1085: ...Out KK U483 Src Trigger In KK 02 KK U480 Src Trace In Trigger Thresh 231 231 1 U484 01 08 0 Trigger BitNr 0 16 U485 01 08 16 TraceDoubleWord 0 1 U481 01 08 0 TraceSamplingTime 1 200 U482 01 08 1 KK 03 KK 04 KK 05 KK 06 KK 07 KK 08 KK 02 KK 03 KK 04 KK 05 KK 06 KK 07 KK 08 Trigger Cond 0 6 U486 01 08 0 Pre Trigger 0 100 U487 01 08 0 TriggerStatusStart 0 2 U488 01 08 0 B 02 B 03 B 04 B 05 B 06 B 07 ...

Page 1086: ... decimal form incl decimal places and are signalled back in decimal form as well PKW normalization 5 5 Block is not calculated in T6 Time of processing of block is not defined 1 Example of connector to parameter conversion The value of connector K0409 should be fed to parameter U279 02 Alteration in the RAM U445 1 2279 parameter number U446 1 2 index U449 1 0 connector parameter conversion U447 1 ...

Page 1087: ...Digital outputs slave 1 Z15 Digital outputs slave 2 Z16 Analog inputs slave 1 Z20 Analog inputs slave 2 Z21 Analog outputs slave 1 Z25 Analog outputs slave 2 Z26 SCB1 with SCI2 Digital inputs slave 1 Z30 Digital inputs slave 2 Z31 Digital outputs slave 1 Z35 Digital outputs slave 2 Z36 Supplementary boards List of contents Y00 Supplementary boards EB1 No 1 Analog inputs combined digital inputs Y01...

Page 1088: ...ing Enable analog input 1 0 1 Sign inversion 1 1 3 2 1 0 y x P656 3 y x A D 10 V 100 200 s Hardware smoothing 53 1 2 3 X487 10 V 54 10 V 10 V 24 V High at input U_in 8 V High at input U_in 8 V Wire break i 2 mA 13 Bit sign 13 Bit sign K5101 r662 1 Time constant 0 1000 ms P660 1 0 B P661 1 1 B P659 1 0 P658 1 0 Offset 100 00 100 00 P657 1 0 00 Normalization 0 00 100 00 P656 1 1 00 Signal type 0 1 1...

Page 1089: ... Normalizat 100 K5104 V Uout V Offset V ion Normalizat 100 K5105 V Uout 11 bit sign 11 bit sign 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 EB1 Viewed from the front when installed U953 03 ___ Time constant 0 10000 ms P665 1 0 P664 1 0 Offset 200 00 200 00 V P667 1 0 00 Normalization 200 00 200 00 V P666 1 10 00 K5104 r668 1 K P663 1 0 Time constant 0 10000 ms P665 2 0 P664 2 0 Offset 200 0...

Page 1090: ...3 0 out in 24 V 38 39 20 43 44 45 46 21 22 23 40 41 42 Inputs 24 25 26 4 bidirectional digital inputs outputs Inputs Outputs 1 out in 1 out in 1 out in 1 out in 3 digital inputs 5 V 5 V 5 V 24 V 24 V 24 V 1 1 1 5 V 24 V out in out in Display of the terminal statuses via r670 1 on the PMU 42 41 40 46 45 44 43 M_external M_external M_external U953 04 ___ K5106 r670 1 B P669 4 0 B5110 B5111 B P669 3 ...

Page 1091: ...oothing Enable analog input 1 0 1 Sign inversion 1 1 3 2 1 0 y x P656 6 y x A D 10 V 100 200 s Hardware smoothing 53 1 2 3 X487 10 V 54 10 V 10 V 24 V High at input U_in 8 V High at input U_in 8 V Wire break i 2 mA 13 Bit sign 13 Bit sign K5201 r662 4 Time constant 0 1000 ms P660 4 0 B P661 4 1 B P659 4 0 P658 4 0 Offset 100 00 100 00 P657 4 0 00 Normalization 0 00 100 00 P656 4 1 00 Signaltyp 0 1...

Page 1092: ... bit sign V Offset V ion Normalizat 100 K5204 V Uout V Offset V ion Normalizat 100 K5205 V Uout 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 EB1 Viewed from the front when installed U953 08 ___ Time constant 0 10000 ms P665 3 0 P664 3 0 Offset 200 00 200 00 V P667 3 0 00 Normalization 200 00 200 00 V P666 3 10 00 K5204 r668 3 K P663 3 0 Time constant 0 10000 ms P665 4 0 P664 4 0 Offset 200 0...

Page 1093: ...7 0 out in 24 V 38 39 20 43 44 45 46 21 22 23 40 41 42 Inputs 24 25 26 4 bidirectional digital inputs outputs Inputs Outputs 1 out in 1 out in 1 out in 1 out in 3 digital inputs 5 V 5 V 5 V M_external 24 V 24 V 24 V 1 1 1 5 V 24 V out in out in Display of the terminal statuses via r670 2 on the PMU 42 41 40 46 45 44 43 M_external M_external U953 09 ___ K5206 r670 2 B P669 8 0 B5210 B5211 B P669 7 ...

Page 1094: ... 24 V 52 P24aux 24 V 51 Mextern Display of the terminal statuses via r673 1 on the PMU 45 43 41 39 54 53 46 45 44 43 42 41 40 39 38 01 02 03 04 23 25 24 22 2 digital inputs 4 digital relay outputs 1 2 3 X499 9 Bit sign 11 Bit sign 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 EB2 Viewed from the front when installed 1 1 K5111 r682 1 Time constant 0 1000 ms P680 1 0 B P681 1 1 B P679 1 0 P678 ...

Page 1095: ...rnal 5 V Mexternal 24 V 24 V 52 P24aux 24 V 51 Mextern Display of the terminal statuses via r673 2 on the PMU 45 43 41 39 54 53 46 45 44 43 42 41 40 39 38 05 06 07 08 23 25 24 22 2 digital inputs 4 digital relay outputs 1 2 3 X499 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 EB2 Viewed from the front when installed 1 1 K5211 r682 2 Time constant 0 1000 ms P680 2 0 B P681 2 1 B P679 2 0 P678 ...

Page 1096: ...ion T 0 to F079 SCB telegram failure P704 3 x x 0 no monitoring SCB 4 5 SCB 1 xx see parameter list Not with Compact PLUS No fault when P781 15 101 0 s K4501 SCB Word 1 B4515 Word 1 Bit 15 K4502 SCB Word 2 B4600 Word 2 Bit 0 B4615 Word 2 Bit 15 KK4532 SCB DWord 2 K4503 SCB Word 3 B4700 Word 3 Bit 0 B4715 Word 3 Bit 15 B4500 Word 1 Bit 0 KK4533 SCB DWord 3 K4504 SCB Word 4 B4800 Word 4 Bit 0 B4815 ...

Page 1097: ... SCB1 2 MASTERDRIVES MC 06 08 12 Peer to peer transmitting Z02 V2 5 PZD words 2 3 4 5 01 02 03 04 05 Transmit Transmit telegram Peer to peer 1 DPR PZD Not with Compact PLUS K P706 0 Src SCB TrnsData K K K K SCB SCI Values r699 01 to 05 U953 26 ___ 4 ...

Page 1098: ...x x 0 no monitoring SCB SCom 1 xx see parameter list Not with Compact PLUS No fault when P781 15 101 0 s K4501 Word 1 B4515 Word 1 Bit 15 K4502 Word 2 B4600 Word 2 Bit 0 B4615 Word 2 Bit 15 KK4532 DWord 2 K4503 Word 3 B4700 Word 3 Bit 0 B4715 Word 3 Bit 15 B4500 Word 1 Bit 0 KK4533 DWord 3 K4504 Word 4 B4800 Word 4 Bit 0 B4815 Word 4 Bit 15 KK4535 DWord 5 K4506 Word 6 KK4534 DWord 4 K4505 Word 5 B...

Page 1099: ...0 11 12 13 14 15 16 PKW Word 1 USS SCB PKW Word 2 USS SCB PKW Word 4 USS SCB PKW Word 3 USS SCB 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 Transmit TxD Transmit telegram TLG end 15 14 PZD 3 2 1 TLG head PKW 1 DPR Not with Compact PLUS K P706 0 Src SCB TrnsData K K K K K K K K K K K K K K K SCB SCI Values r699 01 to 16 PKW Reply r739 9 to 12 U953 26 ___ 4 ...

Page 1100: ...nary inputs B10 11 External power supply connection P24 VDC A2 9 10 11 Aux voltage M for binary inputs B1 Binary output 8 driver P24 VDC B2 Binary output 8 driver 100 mA external short circuit proof See function diagram Digital outputs slave 1 SCI SL1 Not with Compact PLUS U953 25 ___ 4 SCB SCI Values r699 1 B4100 DigIn 1 B4120 DigInN 1 B4101 DigIn 2 B4121 DigInN 2 B4102 DigIn 3 B4122 DigInN 3 B41...

Page 1101: ...nary inputs B10 11 External power supply connection P24 VDC A2 9 10 11 Aux voltage M for binary inputs B1 Binary output 8 driver P24 VDC B2 Binary output 8 driver 100 mA external short circuit proof See function diagram Digital outputs slave 2 SCI SL2 Not with Compact PLUS U953 25 ___ 4 SCB SCI Values r699 5 B4200 DigIn 1 B4220 DigInN 1 B4201 DigIn 2 B4221 DigInN 2 B4202 DigIn 3 B4222 DigInN 3 B42...

Page 1102: ...1 02 Digital outputs slave 1 Z15 V2 5 01 20 02 03 04 05 06 07 08 21 22 23 24 25 26 27 2 X429 4 3 6 5 9 7 8 12 10 11 15 13 14 18 16 17 1 see function diagram Digital inputs slave 1 B2 B1 X427 Not with Compact PLUS U953 26 ___ 4 B P698 0 Src SCI DigOut B B B B B B B SCB SCI Values r699 9 ...

Page 1103: ... 02 Digital outputs slave 2 Z16 V2 5 13 20 14 15 16 17 18 19 20 21 22 23 24 25 26 27 2 X429 4 3 6 5 9 7 8 12 10 11 15 13 14 18 16 17 1 see function diagram Digital inputs slave 2 B2 B1 X427 Not with Compact PLUS U953 26 ___ 4 B P698 0 Src SCI DigOut B B B B B B B SCB SCI Values r699 13 ...

Page 1104: ...ing equation T 2 ms 2P691 x 1 Value range For further terminals see function diagram SCI1 analog outputs slave1 Terminals Terminals X428 3 6 9 X428 5 8 11 0 10 10 V 20 20 mA 1 0 10 V 0 20 mA 2 4 20 mA 2 Signal type Not with Compact PLUS SCI AnaIn Offset 20 00 20 00 V P692 1 0 K4101 SCI Sl 1 AnaIn SCI AnaIn Conf 0 2 P690 1 0 SCB SCI Values r699 2 SCI AnaInSmooth 0 15 P691 1 2 SCI AnaIn Offset 20 00...

Page 1105: ...to following equation T 2 ms 2P691 x 1 Value range For further terminals see function diagram SCI1 analog outputs slave2 Terminals Terminals X428 3 6 9 X428 5 8 11 0 10 10 V 0 20 mA 2 4 20 mA 2 Signal type Not with Compact PLUS SCI AnaIn Offset 20 00 20 00 V P692 4 0 K4201 SCI Sl 1 AnaIn SCI AnaIn Conf 0 2 P690 4 0 SCB SCI Values r699 6 SCI AnaInSmooth 0 15 P691 4 2 SCI AnaIn Offset 20 00 20 00 V ...

Page 1106: ...0 20 mA For further terminals see function diagram SCI1 analog inputs slave1 R 500 R 500 R 500 Not with Compact PLUS K P693 1 0 SCI AnaOut ActV SCB SCI Values r699 10 SCI AnaOutOffset 100 100 V P695 1 0 SCI AnaOut Gain 320 320 V P694 1 10 U953 26 ___ 4 K P693 3 0 Src SCI AnaOut SCB SCI Values r699 12 SCI AnaOutOffset 100 100 V P695 3 0 SCI AnaOut Gain 320 320 V P694 3 10 K P693 2 0 SCI AnaOut ActV...

Page 1107: ... 20 mA For further terminals see function diagram SCI1 analog inputs slave 2 R 500 R 500 R 500 Not with Compact PLUS K P693 4 0 SCI AnaOut ActV SCB SCI Values r699 14 SCI AnaOutOffset 100 100 V P695 4 0 SCI AnaOut Gain 320 320 V P694 4 10 U953 26 ___ 4 K P693 6 0 SCI AnaOut ActV SCB SCI Values r699 16 SCI AnaOutOffset 100 100 V P695 6 0 SCI AnaOut Gain 320 320 V P694 6 10 K P693 5 0 SCI AnaOut Act...

Page 1108: ...ection P24 VDC B11 12 Reference point binary inputs 9 to 16 A9 Aux voltage M for binary inputs A10 External power supply connection M A11 12 SCI SL1 SCI SL1 Not with Compact PLUS U953 25 ___ 4 SCB SCI Values r699 1 B4100 DigIn 1 B4120 DigInN 1 B4101 DigIn 2 B4121 DigInN 2 B4102 DigIn 3 B4122 DigInN 3 B4103 DigIn 4 B4123 DigInN 4 B4104 DigIn 5 B4124 DigInN 5 B4105 DigIn 6 B4125 DigInN 6 B4106 DigIn...

Page 1109: ...ection P24 VDC B11 12 Reference point binary inputs 9 to 16 A9 Aux voltage M for binary inputs A10 External power supply connection M A11 12 SCI SL2 SCI SL2 Not with Compact PLUS U953 25 ___ 4 SCB SCI Values r699 4 B4200 DigIn 1 B4220 DigInN 1 B4201 DigIn 2 B4221 DigInN 2 B4202 DigIn 3 B4222 DigInN 3 B4203 DigIn 4 B4223 DigInN 4 B4204 DigIn 5 B4224 DigInN 5 B4205 DigIn 6 B4225 DigInN 6 B4206 DigIn...

Page 1110: ... 01 20 02 03 04 05 06 07 08 21 22 23 24 25 26 27 09 10 11 12 28 29 210 211 2 X439 4 3 6 5 9 7 8 12 10 11 15 13 14 18 16 17 1 B3 B4 B5 B6 A1 A2 B1 B2 X438 A5 Aux voltage P24 VDC A3 A4 A6 Aux voltage M for binary outputs Not with Compact PLUS U953 26 ___ 4 B P698 0 Src SCI DigOut B B B B B B B SCB SCI Values r699 9 B B B B ...

Page 1111: ... 13 20 14 15 16 17 18 19 20 21 22 23 24 25 26 27 21 22 23 24 28 29 210 211 2 X439 4 3 6 5 9 7 8 12 10 11 15 13 14 18 16 17 1 B3 B4 B5 B6 A1 A2 B1 B2 X438 A5 Aux voltage P24 VDC A3 A4 A6 Aux voltage M for binary outputs Not with Compact PLUS U953 26 ___ 4 B P698 0 Src SCI DigOut B B B B B B B SCB SCI Values r699 13 B B B B ...

Page 1112: ... 500 hours trial period The technology functions are performed only if they are specifically nested in a sampling time by means of the assigned U95x parameter see also sheets 702 and 802 If the F01 technology option has not been enabled when an attempt is made to nest a technology function in a sampling time error message F063 appears MD1 MD50 Machine data for positioning stored in parameters U501...

Page 1113: ... to point positioning 823 Control mode 825 Automatic positioning mode 826 Entering and editing automatic programs 828 Roll feeding 830 Synchronism Synchronism operating mode overview 831 Virtual master axis 832 Real master with deadtime compensation 833 Engaging disengaging actions catch up 834 Engaging disengaging actions catch up 834a 834c Electronic gearbox function changeover 835 Generation of...

Page 1114: ...n sensing for external machine encoder Encoder pos Measured values valid 335 Free blocks 702 795 WE WE WE WE WE WE WE 1 815 836 Selection of the desired position unit by means of BICO connection Actual position Actual position O K Pos MeasV from pos memory Acknowl Pos MeasV valid Reference point detected Position setting value Set position Position correction value Correct position Correct positio...

Page 1115: ...rsing programs 826 828 MD45 MD46 Mode 11 Synchronism Overview 831 832 833 834 843 3 3 2 2 Check Operating mode manager Operation mode Positioning status signal 811 Digital outputs for positioning 813 Control signals for position sensing 815 Setpoint output and release 817 Faults Diagnosis 818 A129 A255 External encoder Position sensing for motor encoder 330 or external encoder 335 Speed sensing 50...

Page 1116: ... W A I A W I A W I A W I A W I A W I A W W I A W W I A W I A W Acceleration breakpoint velocity for roll feeding 0 830 2 Deceleration breakpoint velocity for roll feeding 0 830 Accelerating breakpoint acceleration for roll feeding 0 830 Deceleration breakpoint deceleration 830 for roll feeding 0 Constant travel time for roll feeding 0 830 Pre position reached lead time for roll feeding 0 830 Pre p...

Page 1117: ...31 FAULT 1 Fault Bit 4 from K431 OFF2 0 OFF2 Bit 5 from K431 OFF3 0 OFF3 Bit 6 from K431 WARN 1 Alarm Bit 7 from K431 0 Reserve Bit 8 from K431 SMAX 0 Overspeed 480 Bit 9 from K431 OLC 1 Alarm converter overload Bit 10 from K431 OTC 1 Alarm converter overtemp Bit 11 from K431 OTM 1 Fault motor overtemp Bit 12 from K431 0 Reserve Bit 13 from K431 0 Reserve Bit 14 from K431 0 Reserve Bit 15 from K43...

Page 1118: ...Program number for automatic mode J_FWD Jog forwards Jog ForWarD 1 F_S Fast slow Fast Slow for setting up homing J_BWD Jog backwards Jog BackWarD 1 BLSK Block skip BLock SKip SIST Single step SIngle STep RST Reset technology ReSeT FUM Follow up mode Follow Up Mode s_setp s_act ACK_M Acknowledge M function ACKnowledge M Function CRD Clear remaining distance Clear Remaining Distance STA Start Start ...

Page 1119: ... out 2 Coding of the operating modes as with MODE_IN 809 4 0 Non permissible op mode A change of mode during movement causes stop by means of braking ramp MD19 or MD42 V2 5 KK0315 Positioning status word B0362 STR_M M change signal STRobe signal for M functions B0361 ARFD Axis referenced Axis ReFerenceD B0360 FUR_VM Virtual master running 832 6 FUnction Running Virtual master B0359 OTR Software li...

Page 1120: ...on 2 5 0 No function 1 Disable actual value 2 External Read in enable 3 External read in enable AND operation 4 Reference point setting on the fly 4 5 7 No function 8 Trigger signal engage disengage OR d 9 Synchronize travel table OR d to the operating modes Digital inputs for positioning Selection of function 1 0 No function 1 Position reached an stop DRS 2 Axis moves forwards FWD 3 Axis moves ba...

Page 1121: ...ry setting 2 Complete revolutions in the encoder e g P146 260 3 parameterize offset within a revolution via MD10 3 The technology limits the position actual value to the range 999 999 999 999 999 999 position sensing system supplies 2 31 2 31 from the operating modes 1 See also note 3 on sheet 836 regarding pos sensing during synchronous operation Pos setting value Set position Position correction...

Page 1122: ...3 Acceleration compensation value MD50 0 1 99 999 x 1000 LU s2 0 Acceleration precontrol inactive Evaluation factor rated acceleration 815 8 Simulation mode x y Jerk limitation y 0 from P353 20 x1 x2 x4 y from MD23 from P353 20 from P354 20 1 Precondition P210 P211 1 340 3 806 2 n540 10 is not functioning if synchronous operation has been inserted as a free component 3 Acceleration precontrol is n...

Page 1123: ...tatus bits used by the operating mode manager and the operating modes ACK_F Acknowledge fault ACKnowl Fault ENC Enable controller ENable Controller OFF3 OFF3 OFF2 OFF2 OFF1 OFF1 Basic unit status word 1 Fault and alarm number K032 200 6 K250 K030 180 7 Control word 1 Control bits Bit 3 Bit 2 Bit 1 Bit 0 Bit 7 F063 Technology option disabled see 800 n591 Current positioning fault message WARN_NO A1...

Page 1124: ...rt enable FUR Fuction running FWD Forwards BWD Backwards OTR Overtravel ARFD Axis referenced 1 99 999 x 1000 LU s2 Accel eration MD18 1000 Decel eration MD19 1000 Jog backwards 1 The software limit switches are only evaluated on incremental position encoders if the axis is referenced status bit ARFD 1 815 Control signals for position detection Status bits 811 Diagnostic data 818 Position signals 8...

Page 1125: ...rwards J_BWD backwards 2 Operating mode Homing procedure Homing position sensed Digital inputs for positioning 813 BERO signal with MD45 813 4 and P178 330 5 determined Homing Procedure operating mode 999 999 999 999 999 999 LU Home position coordinate MD3 0 Direction of approach MD5 A B 4 1 Home positon displacement MD4 0 ST_EN Start enable FUR Processing runs DRS Destination reached and stationa...

Page 1126: ...orr Enable without referencing Referencing window Reference mark outside window 2 Position signals 815 Reference point setting on the fly acts in control setup MDI and automatic For synchronism see 843 Measured position value from position memory Measured position value valid Reference point setting on the fly from terminal 6 or 7 MD46 xx4xxx or x4xxxx 813 Start Enable ARFD s s s_corr F2 F1 Positi...

Page 1127: ... positioning 90 91 absolute relative positioning ARFD Axis is referenced OTR Limit switch reached FUT Function finished BWD Backwards FWD Forwards DRS Pos reached and stop FUR Processing runs ST_EN Start enable TGL_O Toggle output Accelerate override Jerk limiting see 817 t t t s v a Ovr 100 F Ovr 3 operating mode MDI Position Speed Acceleration v_end 823 5 X Sampling time for positioning Recommen...

Page 1128: ... 99 999 ms from 0 to MD23 or from MD23 to 0 Accel time MD41 100 Decel time MD42 100 Jog backwards 815 Control signals for position sensing Status bits 811 Diagnostic data 818 Position signals 815 Override 809 0 255 Control mode speed controlled jogging without limit switch evaluation Positioning input signals Ramp function generator Positioning output signals Follow up mode Reset technology Setpoi...

Page 1129: ...tic mode 6 Automatic single block mode Positioning input signals Control bits 809 Position signals 815 Operating mode 809 Override 809 Digital inputs for positioning 813 1 2 edges e g from master control digital signal output in the block is acknowledged by master control 2 E g waiting time initiated by G04 Input of automatic blocks via the parameterizing interface When MD1 3 Block specification f...

Page 1130: ... M functions 1 3 by means of U580 582 e g Value 18 M18 Infinite loop Edit D function tool offset memory Edit D function tool offset memory by means of U583 Edit subprogram number by means of U584 range of values 1 20 Edit number of loops by means of U585 range of values 0 65535 Perform program action with the block in the editing buffer U590 0 Action ended No action active 1 Adopt block from editi...

Page 1131: ...m U507 to 0 is set to U507 with start command and decremented for each DRS F Speed X length Acceleration breakpoint velocity 1 1 500 000 x 1000 LU min MD29 0 Deceleration breakpoint velocity 1 1 500 000 x 1000 LU min MD30 0 Acceleration 1 99 999 x 1000 LU s2 MD18 1000 Control bits 809 Positioning input signals Operating mode 809 Override 809 t v 100 F Ovr MD23 Acceleration overshoot 0 100 MD36 0 C...

Page 1132: ...tion displace ment angle adjustm Sheet 839 Cam y x x y s Sheet 837 Catch up v 0 Sheet 843 Position correc referencing 1 MD13 MD12 s t SIMOLINK transmit channel Sheet 832 Virtual master axis s t Ramp function generator Virtual master value s v 160 s t Sampling time for real master and virtual master axis Recommended U953 31 34 4 use same time slot as for synchronism The real and virtual master axes...

Page 1133: ...xis t ACL_V S 0 S ACL_V ACL_V V ACL_V 0 t SET SET VAL EN S e g for SIMOLINK transmit words 1 und 2 P751 01 817 P752 02 817 160 1 Integrator set S initial position V Speed ramp function generator 2 Factory setting 1 228 800 corresponds to 3000 rpm at an axis cycle length of ACL_V 4096 LU rev e g set at MD23 3 Factory setting 204 corresponds to 1 s acceleration time at an axis cycle length of ACL_V ...

Page 1134: ...set the axis cycle lengths U425 1 and U425 2 to the same value 3 d dt Deadt comp Should be calculated in the same time slot as the synchronization block Integrator with ACL limitation AZL SET VALUE SET AZL 3 2 0 0 U422 03 Normalization Normally to position sensing external encoder if limitation should be effected to axis cycle 335 5 P158 01 582 P158 02 581 P157 01 614 U953 31 ___ 20 KK0609 Output ...

Page 1135: ...a c 8 Input engaging disengaging 834a c 1 t d dt Scaling V setpoint Master axis master val 01 0 LU 02 0 U600 0 Continuous operation valid for sheet 834 843 recommended value U953 33 4 see also 831 3 3 2 1 0 21 20 OPERATION 0 1 804 0 2 805 1 0 1 2 for precontrol sampling time LU 0 0 V2 5 KK U600 Position setpoint Master axis master value Master value source U606 0 KK U460 Q Add offset M U953 33 ___...

Page 1136: ... Standard configuration U475 0 or U601 0 The position at which the constant travel phase of engaging is finished results from the engage position and the engaging disengaging length The disengaging position is not taken into account Special configuration U475 1 and U601 0 The position at which the constant travel phase of engaging is finished is determined exclusively by the disengaging position T...

Page 1137: ...ly Special configuration U475 11 and U601 0 Variable Ramps Acceleration ramp and deceleration ramp can be adjusted independently of each other The position at which the constant travel phase of engaging disengaging is finished is determined exclusively by the disengaging position The engaging disengaging length is not taken into account but it must be set greater than the desired total length of t...

Page 1138: ...length of the acceleration deceleration ramp 3 1 Decel ramp DEC RA LU Acc ramp ACC RA LU 1 1 1 2 4 LU D U609 2 A C D 4 0 Standard configuration 1 Special configuration specified disengaging position 11 Special configuration specified disengaging position variable acceleration deceleration ramp from V2 1 111 Special configuration as in 11 peak travel C B from V2 2 Special configuration U475 111 and...

Page 1139: ...ifier Cam 0 1 806 0 2 807 Gearbox Cam see sheet 839 Input cam 839 1 Output cam 839 8 FUNCTION 1 Numerator denominator 1 Slave travels slower than master Numerator denominator negative Slave travels different sense of rotation to master 2 Denominator 0 denominator 1 x1 y 836 1 V2 5 2 U953 33 ___ 20 K U605 Gearbox transmission K K0805 B U657 0 B0806 B0807 n654 1 Gear factor n654 2 Synchronism functi...

Page 1140: ...Application example see Chapter 9 4 40 5 If the new function Continue synchronism is activated via binector input U674 2 the internal values statuses are frozen No internal reset of values statuses takes place Thus when synchronism is temporarily deactivated it behaves as if it had never been shut down ACL_S LU 1 3 01 0 LU Scaling 0 0 01 v 0 v 0 1 v 0 v 0 Backstop 1 S Q R U607 1 3 2 1 0 21 20 01 0...

Page 1141: ...chronism must be explicitly established e g by linking the message Catch up finished with the command Synchronize master value U676 820 841 2 This causes a compensating movement if catch up is not selected as a mode U602 3 5 Mode 1 With ramp up ramp down 0 Without ramp up ramp down 801 for sheet 834 843 Catch up Accelerate the drive to the speed of the running machine Mode 5 DECEL 2 ACCEL 2 CU_PR ...

Page 1142: ... 839c 8 tables each with 50 support points 839d 8 tables with a variable number of support points 839e 1 1 1 Denominator 0 denominator 1 Y X 1 2 3 4 Y1 Y2 Y3 Y4 X1 X2 X3 X4 X_max Relative U616 xxx1 Absolute U616 xxx0 U620 U629 KK0824 U953 33 ___ 20 B U619 0 Set table to setting value B U621 0 Synchronize table adopt scaling of Y axis K U624 Scaling X axis acts as a gear K KK0825 K U652 Scaling of ...

Page 1143: ...nowledgement if the table is not OK U617 jumps back to the value 1 U617 x 10 Table not present 2 Can only be changed when curve cam is not selected Cam input X X101 X150 X1 X50 X51 X100 X151 X200 X201 X250 X251 X300 X301 X350 X351 X400 Table 1 Y1 Y50 Y51 Y100 Y101 Y150 Y151 Y200 Y201 Y250 Y251 Y300 836 1 Table configuration 0 One table with 400 points Table 1 X1 X400 1 Two tables with 200 points e...

Page 1144: ...6 1 Y351 Y400 2 2 2 Support points Y axis 2 31 2 31 1 LU Table configuration 0 One table with 400 Punkten Table 1 X1 X400 1 Two tables with 200 points each Tables 1 X1 X200 and 2 X201 X400 2 Four tables with 100 points each Tables 1 2 3 and 4 3 Eight tables with 50 points each Tables 1 8 4 Variable up to 8 tables with a total of 400 support points 1 U617 x 0 Table OK U617 x 1 Table has been change...

Page 1145: ...ed 2 Cam input X X101 X150 X1 X50 X51 X100 X151 X200 X201 X250 X251 X300 X301 X350 X351 X400 Table 1 Table 2 Table 3 Table 4 Y1 Y50 Y51 Y100 Y101 Y150 Y151 Y200 Y201 Y250 Y251 Y300 Y301 Y350 Y351 Y400 836 1 2 2 2 Table configuration 0 One table with 400 points Table 1 X1 X400 1 Two tables with 200 points each Tables 1 X1 X200 and 2 X201 X400 2 Four tables with 100 points each Tables 1 2 3 and 4 3 ...

Page 1146: ...00 X201 X250 X251 X300 X301 X350 X351 X400 Table 1 Table 2 Table 3 Table 4 Table 5 Table 6 Table 7 Table 8 Y1 Y50 Y51 Y100 Y101 Y150 Y151 Y200 Y201 Y250 Y251 Y300 Y301 Y350 Y351 Y400 2 2 2 Table configuration 0 One table with 400 points Table 1 X1 X400 1 Two tables with 200 points each Tables 1 X1 X200 and 2 X201 X400 2 Four tables with 100 points each Tables 1 2 3 and 4 3 Eight tables with 50 poi...

Page 1147: ...f support points a total of 400 points can be variably assigned The support points still free are shown in n661 The starting and ending indexes of each table indicating where the tables are entered are given in n660 1 16 Table configuration 0 One table with 400 points Table 1 X1 X400 1 Two tables with 200 points each Tables 1 X1 X200 and 2 X201 X400 2 Four tables with 100 points each Tables 1 2 3 ...

Page 1148: ...ative displacement angle KK0814 B U694 0 KK U698 02 1 Factor B U696 0 B0811 Synchronizing status 1 is synchronized KK U698 01 1 Factor KK0827 Residual displacement B0810 Adjustm active KK0812 Current displacement for visualizing or for non volatile storage by means of tracking storage element 760 KK U678 02 0 Displacement set value e g from tracking storage element 760 B U672 0 Set displacement U9...

Page 1149: ...ster value synchronization 831 2 4 3 1 0 2 s_Master_Slave Synchronization in window 2 841 5 4 3 1 0 2 841 6 Current displacement 841 8 Displace set value 841 6 Set displacement Correction of motion direction shortest path in positive direction in negative direction Correction value Current displacement Current displacement 841 8 S R V2 5 KK0828 B0837 B0811 Synchronizing status 1 is synchronized B0...

Page 1150: ...EC KK0796 OffAngleDIS KK U700 SrcRegisterKK KK0795 phi OffsetDIS KK0798 v SuccessorDEC KK0794 v DecouplDIS Axis cycle DIS 1 231 1 U703 1 4096 v AdaptDIS 0 00 200 00 U702 1 100 00 KK0799 CircAdaptDEC B U701 SrcRegisterB U953 27 ___ 20 U953 59 ___ 20 KK U700 SrcRegisterKK v NormDIS 0 00 20 000 000 00 U704 1 0 00 Characteristic 0 normal U705 2 0 Mode 0 Circumferential register 1 Register rollers U705...

Page 1151: ...out referencing Correction value s_corr Deviation of the printing or reference index from the setpoint position 7 See note 3 on sheet 836 4 s _ corr F s _ corr F 2 F 1 F1 Inner window U504 2 0 F2 Outer window U504 3 0 1 Mark outside window 2 0 0 Start Enable B0808 Note Window active when B0808 1 axis is referenced Referencing t t v s Compensation movement x1 x2 100 Correct position Correct positio...

Page 1152: ...aster setpoint 2 LU 0 231 1 U456 2 4096 Normalization speed master setpt 2 0 00 20000000 00 1000 LU min U455 3 12288 A V max A V Max Corr 1000 LU min 0 00 20000000 00 U455 2 60000 00 KK U454 1 Speed adjustment Acceleration 1000 LU s2 0 00 20000000 00 U455 1 0 00 B 1 5 B U452 3 0 Enable directional reversal 0 1 U458 0 E Z H T 0 1 2 3 w out Sync short path pos path neg path 0 1 Master setpt corr Mas...

Page 1153: ...out sync KK U454 1 Speed adjustment V Max Corr 1000 LU min 0 00 20000000 00 U455 2 600 00 Acceleration 1000 LU s2 0 00 20000000 00 U455 1 0 00 B0830 Master setpoint correction active KK0831 Residual path master setp corr KK0838 Correction speed Denominator U457 2 1 Numerator U457 1 1 0 1 Axis cycle length Master setpoint output LU 0 231 1 U456 3 4096 U953 50 __ 20 KK0830 Master setpoint AZL IVAL S...

Page 1154: ... LU min U455 4 0 Numerator U457 3 1 Denominator U457 4 1 32768 32767 KK0858 Delta speed U953 50 __ 20 Normalization To position path FD 845c 8 0 1 KK0837 v ynew yold x1 A Acceleration 1000 LU s2 0 00 20000000 00 U455 1 0 00 x1 KK866 Differential speed 1 Master setpoint correction speed path U458 xx0x Master setpoint changeover y 1 Gears U457 1 2 B0827 Speed adjustment active from V2 1 1 If no perc...

Page 1155: ...ltaPos 0 1 Master setpoint changeover 1 AZL IVAL SET VALUE SET Axis cycle length Master setpoint output LU 0 231 1 U456 3 4096 B U452 4 KK U451 3 0 KK0830 Master setpoint U953 50 __ 20 B0830 Master setp corr active from speed path FD 845b 8 KK0831 Residual path master setp corr KK0838 Correction speed Acceleration 1000 LU s2 0 00 20000000 00 U455 1 0 00 V Max Corr 1000 LU min 0 00 20000000 00 U455...

Page 1156: ...Start active B0833 BIT4 Stop active B0831 BIT5 Ramp inactive Start stop in constant speed operation B0810 BIT8 Adjustment active B0811 BIT9 Synchronous with master setpoint B0808 BIT10 Axis referenced B0809 BIT11 Axis not referenced B0820 BIT12 Catch up ended B0821 BIT13 Catch up is positioned B0822 BIT14 Catch up setpoint speed reached B0836 Bit16 CorrValue on synchronization F1 B0837 Bit17 CorrV...

Page 1157: ... PIN has been entered in the meantime The 500 hours can no longer be interrupted e g by changing the PIN entries Input of the special PIN number can only be done via the PMU The special PIN is the same for all units and is as follows U977 1 0727 U977 2 0101 Retrospective enabling of the F01 technology function involves extra costs Proceed as follows if you want to permanently enable the F01 techno...

Page 1158: ... Special parameters to 849 Functions 2 to 549 Special parameters OP1S DriveMonitor to 899 Technology parameters to 1999 Free function blocks to 2449 Technology Synchronism master setpoint correction to 2479 Trace 2480 2499 Technology Positioning F01 2500 2599 Printing functions 2800 2849 Technology Synchronism F01 2600 2699 Reserved 2890 2899 Technology Positioning F01 2700 2799 Reserved 2921 2949...

Page 1159: ...um value which can be set Is only given in the case of setting parameters The value can be limited due to converter dependent variables 6 Maximum value which can be set Is only given in the case of setting parameters The value can be limited due to converter dependent variables 7 Unit of the parameter value In the case of percentages these refer to the pertinent reference values P350 to P354 see a...

Page 1160: ...03 2010 Siemens AG 6SE7087 6QX70 Version AL SIMOVERT MASTERDRIVES Compendium Motion Control General parameter list ...

Page 1161: ...tion Drive setting Download Upread free access Power section definition r002 n act 2 Visualization parameter for the speed actual value Dec Plc 0 Unit 1 min Indices Type I2 Menus Parameter menu General parameters Upread free access r003 Output Volts 3 Visualization parameter for output voltage of the converter or inverter fundamental frequency rms value In function diagram 390 7 389 7 Dec Plc 1 Un...

Page 1162: ...tput current A value of 100 is achieved with the rated current during continuous operation If 108 utilization is exceeded corresponds to 100 taking the measured value tolerance into account a warning is tripped A025 and the output current is reduced to 91 of the rated current In function diagram 490 3 Dec Plc 0 Unit Indices Type O2 Menus Parameter menu General parameters Upread free access r012 Ac...

Page 1163: ...ation Drive setting r027 AssignmtCoupCh 27 Service parameter only for Siemens service personnel The visualization parameter shows the assignments made to coupling channels C167 DSP The parameter value indicates the connector number Parameter values 0 Coupling channel free 9999 Coupling channel occupied by internal datum Indices Index channel number Channels 01 40 Coupling to T2 4TO Channels 41 56 ...

Page 1164: ...rameter menu General parameters Upread free access P036 S DispAmpsConn 36 BICO parameter for selecting connectors which contain a current and are to be displayed in visualization parameter r037 in A The connector numbers entered in the respective index are displayed in the same index of parameter r037 In function diagram 30 4 index1 0 Unit Indices 5 Type L2 K Menus Parameter menu General parameter...

Page 1165: ...rs displayed in the respective index have been selected in the same index of parameter P042 The normalization is specified in P352 The following method of calculation must be used r043 P352 x Connector Value in 100 In function diagram 30 8 Dec Plc 2 Unit Hz Indices 5 Type I4 Menus Parameter menu General parameters Upread free access P044 S Disp DecConn 44 BICO parameter for selecting connectors wh...

Page 1166: ... Operation enabled P049 OP OperDisp 49 Function parameter for selecting parameters whose values are to be shown in the operating display of the optional OP1S user friendly operator control panel Index 1 1st line left Index 2 1st line right Index 3 2nd line actual value only visualization parameters Index 4 3rd line setpoint Index 5 4th line In function diagram For Compact Chassis units 60 1 For Co...

Page 1167: ... the PMU and serial interface 1 and thus for the OP1S as well The parameter can always be written from any interface This also applies if this interface has not been released for parameterization purposes During factory setting via CBx SCB TXXX SCom2 or a second CB board this parameter is not reset Init 7 Min 0 Max 127 Unit Indices Type V2 Menus All menus Changeable in All states r054 Requester 54...

Page 1168: ...s All menus Changeable in All states P067 Cool SpecTypes 67 not Compact PLUS Only for customer specific special MASTERDRIVES types of construction For future use not implemented at present Init 0 Min 0 Max 1 Unit Indices Type O2 Menus Parameter menu Upread free access Power section definition Changeable in Power section definition r069 SW Version 69 Compact PLUS only Visualization parameter for di...

Page 1169: ...are entered in the power section definition state and only need to be entered after the CU has been replaced For parameter values see Chapter Power section definition of the Compendium Init 0 Min 0 Max 254 Unit Indices Type O2 Menus Parameter menu Upread free access Power section definition Changeable in Power section definition P071 Line Volts 71 Function parameter for entering the supply voltage...

Page 1170: ...O2 Menus Parameter menu General parameters Drive setting Upread free access Power section definition Changeable in Power section definition Drive setting Ready to switch on r088 kT Rated Value 88 Torque constant kT0 kT_rated value correction by the observer This measured value can be entered in P98 as kT0_rated value to improve torque accuracy even with the observer deactivated Dec Plc 2 Unit Nm A...

Page 1171: ...be entered separately In the case of P095 3 or 4 automatic parameterization P115 1 should be called up after all the motor data have been entered and before the start of automatic motor identification The motor designation 1PA6 has been changed to 1PH7 without changing the motor data Init 1 Min 0 Max 5 Unit Indices Type O2 Menus Parameter menu Motor encoder Motor data Quick parameterization Drive ...

Page 1172: ...d for the current type of connection star or delta Init 400 Min 100 Max 1000 Unit V Indices Type O2 Menus Parameter menu Motor encoder Motor data Drive setting Upread free access Changeable in Drive setting P102 Motor Rtd Amps 102 Function parameter for entering the rated motor current of the connected synchronous or induction motor The rating plate value is to be entered for the current type of c...

Page 1173: ...setting Upread free access Changeable in Drive setting P109 Motor PolePairs 109 Function parameter for entering the number of pole pairs for the connected synchronous or induction motor In function diagram 389 7 390 7 Init 2 Min 1 Max 110 Unit Indices Type O2 Menus Parameter menu Motor encoder Motor data Drive setting Upread free access Changeable in Drive setting P111 Ls f Isd 111 Function parame...

Page 1174: ... 4 automatic parameterization P115 1 should be called after entry of all motor data and before the start of automatic motor identification Warning The motor is live and the rotor behaves accordingly The shaft may turn After the P button has been pressed alarm A078 appears The converter must be switched on within 20 s 4 Selection of no load measurement for induction motors With the next ON command ...

Page 1175: ... 119 Function parameter for entering the ratio of the mutual inductance transversal to the rotor axis Lq to the mutual inductance along the rotor axis Ld of a connected synchronous motor The parameter value is calculated during the automatic motor data identification of derived motor data P115 Init 0 880 Min 0 200 Max 5 000 Unit Indices Type O2 Menus Parameter menu Motor encoder Motor data Drive s...

Page 1176: ... switch on P128 Max Current 128 Function parameter for entering the maximum current r m s value of the fundamental component The output current is limited to the value entered The limitation of the output current serves to protect the connected motor The maximum current that can be input is limited by converter current parameter P072 Any derating that may be necessary because of increased pulse fr...

Page 1177: ...le for SBP 4 KTY83 e g Lenze motors 5 Coupling of temperature via P138 Init 1 Min 0 Max 5 Unit Indices Type O2 Menus Parameter menu Motor encoder Motor data Drive setting Upread free access Changeable in Drive setting P132 Angle Offset 132 Function parameter for entering the angle offset of the motor encoder For synchronous motors the position of the encoder in relation to the rotor must be known ...

Page 1178: ...cial setting 0 Number of pulses in P144 Special setting 1 Without function Number of pulses in P144 and actual value is inverted See description of P144 Pulse number Parameter 4 2 8 3 16 4 32 5 64 6 128 7 256 8 512 9 1024 10 2048 11 preset value 4096 12 8192 13 16384 14 Special setting 2048 15 without evaluation of the zero pulse In function diagram 240 Init 11 Min 0 Max 15 Unit Indices Type O2 Me...

Page 1179: ...n P140 SetpEnc Pulse 140 Function parameter for the pulse number of the setpoint encoder The parameter has to be set to the number of pulses of the setpoint encoder connected to an SBP board If the first frequency channel of the setpoint encoder is in the encoder signal evaluation mode P139 2xxx the parameter value is used for normalizing the setpoint generation together with the motor ref frequen...

Page 1180: ...ack activated When one track is at zero passage the other must have the correct level 0xxx Monitoring of operating voltage deactivated 0 1xxx Monitoring of operating voltage activated The operating voltage must attain the value set in P145 2 Index 3 Motor encoder xxx0 The starting position is not checked 1 xxx1 The serial protocol must deliver the same starting position 6 times x0xx Protocol monit...

Page 1181: ...set for motor encoder in revolutions Index 2 Offset for external encoder in increments index1 0 Min 2147483647 Max 2147483647 Unit Indices 2 Type I4 Menus Parameter menu Motor encoder Encoder data Drive setting Upread free access Changeable in Drive setting P147 SelectMultiturn 147 Function parameter for entering the type of encoder Setting is performed in the Drive settings menu and it configures...

Page 1182: ...Indices 1 4 No high resolution encoders are permitted for the external encoder P148 3 14 Resolution in bits for SSI encoder No of pulses for Parameter value incremental encoders Revolutions for multiturn encoders presetting 1 0 2 1 4 2 8 3 16 4 32 5 64 6 128 7 256 8 512 9 1024 10 2048 11 Singleturn motor encoder 4096 12 Multiturn motor and external encoder 8192 13 Singleturn external encoder 16384...

Page 1183: ... periods are derived from the singleturn resolution taking into account the pulse multiplication Example ROQ424 Signal periods 512 P148 01 9 Singleturn ser SSI protocol 4096 inc rev ratio P148 07 3 2 3 8 4096 8 512 23 Siemens AG 6SE7087 6QX70 Edition AL SIMOVERT MASTERDRIVES Compendium Motion Control ...

Page 1184: ... encoders such as RCN226 727 Example EQI1325 Singleturn proportion of EnDat protocol 13 bits P148 01 5 bits 2 5 resolution of the incremental tracks number of pulses per revolution Resolution ratio 2 13 2 5 256 The bit must be set because the resolution ratio is not equal to 4 From V2 40 onwards the bit is set automatically Index 03 Protocol setup SSI 0000 xxxz z Number of non significant leading ...

Page 1185: ...col 13 bits P148 03 5 bits 2 5 resolution of the incremental tracks number of pulses per revolution Resolution ratio 2 13 2 5 256 The bit must be set because the resolution ratio is not equal to 4 From V2 40 onwards the bit is set automatically Index 09 Protocol setup SSI 0010 xxxz z Number of non significant leading zero bits SSI xx0x Binary data SSI xx1x Gray coded data SSI x0xx No alarm bit SSI...

Page 1186: ...he parameter value entered is an integral value representing the component of the actual value weighting factor The real weighting factor of the actual value is obtained by adding P152 to P153 100000000 Example P152 5 P153 10000000 from which follows Actual value weighting factor 5 1 In function diagram 335 3 index1 1 Min 0 Max 999 Unit Indices 2 Type O2 Menus Parameter menu Control gating unit Po...

Page 1187: ...PosMEncod 156 BICO parameter for selecting the binector from which the command for setting the actual position is to be read in index1 0 Unit Indices 2 Type L2 B Menus Parameter menu Control gating unit Position control Upread free access Changeable in Ready to switch on Operation enabled P157 S PosCorrVMEnc 157 BICO parameter for selecting the connector from which the corrected position value is ...

Page 1188: ...ter menu Control gating unit Position control Upread free access Changeable in Ready to switch on Operation enabled r163 MeasValStore 163 Visualization parameter for displaying the measured value memory for the external machine encoder Dec Plc 0 Unit Indices Type I4 Menus Parameter menu Control gating unit Position control Upread free access P164 Tdead n PRE 164 Function parameter for entering the...

Page 1189: ... Parameter menu Control gating unit Position control Upread free access Changeable in Ready to switch on P167 S PosOffsetMEnc 167 BICO parameter for selecting the connector from which the offset for correcting the actual position generated by the position detection is to be read in index1 0 Unit Indices 2 Type L2 K K Menus Parameter menu Control gating unit Position control Upread free access Chan...

Page 1190: ...ion resolution This parameter defines the resolution with which the position measured at the motor encoder is provided for further processing The number of increments is set which is to correspond to one mechanical revolution The squared value is to be entered as the parameter value Inc Rev Parameter value 512 9 1024 10 2048 11 4096 12 preset value 536870912 29 1073741824 30 Example P171 12 After ...

Page 1191: ...menu Control gating unit Position control Upread free access Changeable in Ready to switch on Operation enabled P177 S Release Ref 177 BICO parameter for selecting the binector from which the command for releasing the Reference Point Detection operating mode is to be read in Init 307 Unit Indices Type L2 B Menus Parameter menu Control gating unit Position control Upread free access Changeable in R...

Page 1192: ... 8 decimal places Parameter P166 is used for selecting between input of the actual value weighting factor for the external encoder in decimal form with digits before and after the decimal point and input of a fraction with numerator and denominator Index 1 Numerator Index 2 Denominator In function diagram 335 3 index1 1 Min 0 Max 2147483647 Unit Indices 2 Type I4 Menus Parameter menu Motor encoder...

Page 1193: ...e set 0xxx Actual value weighting factor as decimal fraction in parameter P0169 places before the decimal point and P0170 places after the decimal point 1xxx Actual value weighting factor as fraction with numerator P0180 1 and denominator P0180 2 Index 2 xxx0 No account is taken of the zero point offset of an encoder KK0089 xxx1 Addition of the zero point offset of an encoder to an SBM2 for actual...

Page 1194: ... for selecting the connector from which the setpoint for the position controller is to be read in index1 310 Unit Indices 2 BDS Type L2 K K Menus Parameter menu Control gating unit Position control Upread free access Changeable in Ready to switch on Operation enabled P191 Smooth Pos Set 191 Function parameter for entering the smoothing time constant for the position setpoint index1 0 0 Min 0 0 Max...

Page 1195: ...time constant for the devation actual setpoint difference of the position controller index1 0 0 Min 0 0 Max 1000 0 Unit ms Indices 4 FDS Type O2 Menus Parameter menu Control gating unit Position control Upread free access Changeable in Ready to switch on Operation enabled r200 Pos Setp PosReg 200 Visualization parameter for displaying the position setpoint directly at the input of the position con...

Page 1196: ... positive and a negative direction index1 100 0 Min 0 0 Max 199 9 Unit Indices 4 FDS Type O2 Menus Parameter menu Control gating unit Position control Upread free access Changeable in Ready to switch on Operation enabled r208 PosRegGain act 208 Actually active KP factor of the position controller with the influencing variables Kv factor Kv adaption AVWF and rated speed With this factor the deviati...

Page 1197: ... Indices Type I4 Menus Parameter menu Control gating unit Position control Upread free access P220 S n set 220 BICO parameter for selecting the connector from which the setpoint for the speed controller is to be read in index1 75 Unit Indices 2 BDS Type L2 K K Menus Parameter menu Control gating unit Speed control Upread free access Changeable in Ready to switch on Operation enabled P221 Smooth n ...

Page 1198: ...act 227 BICO parameter for selecting the connector from which the 4th signal for calculating the difference actual setpoint difference for the speed controller is to be read in The connected signal is treated as an actual value and subtracted from the other signals index1 0 Unit Indices 2 BDS Type L2 K K Menus Parameter menu Control gating unit Speed control Upread free access Changeable in Ready ...

Page 1199: ...ing unit Speed control Upread free access Changeable in Ready to switch on Operation enabled P235 n Reg Gain1 235 Function parameter for entering the 1st gain value for gain adaptation of the speed controller Starting from the factory setting this value can be used to reset the gain of the speed controller index1 10 0 Min 0 0 Max 1000 0 Unit Indices 4 FDS Type O2 Menus Parameter menu Control gatin...

Page 1200: ...trol for position speed controller with reference model and M pre control function diagram 340 8 is active See function diagram 340 and 360a Only effective with activated reference model i e bit0 must be set P238 Bit2 0 The speed limiting controller is active at 110 of the maximum speed specified in P0452 P0453 Function diagram 370 P238 Bit2 1 The speed limiting controller is active at 100 of the ...

Page 1201: ...Type L2 B Menus Parameter menu Control gating unit Speed control Upread free access Changeable in Ready to switch on Operation enabled P244 S Speed ext 244 Souce for speed measurement of the external encoder Connector KK90 or KK104 can be used here Init 0 Unit Indices Type L2 K K Menus Parameter menu Upread free access Changeable in Ready to switch on P245 S Droop 245 BICO parameter for selecting ...

Page 1202: ...d free access Changeable in Ready to switch on P252 S Band Stop 252 BICO parameter for selecting the connector from which the input signal for the band stop filter is to be read in A band stop filter can be used specifically to prevent excitation of mechanical or electrical resonances Init 0 Unit Indices Type L2 K K Menus Parameter menu Control gating unit Speed control Upread free access Changeab...

Page 1203: ...ter characteristic 1 band stop The remaining amplitude at filter frequency can be preset via this parameter In view of the phase response it can be worthwhile not to suppress this amplitude completely Filter characteristic 2 low pass Without function index1 0 000 Min 0 000 Max 200 000 Unit Indices 3 Type I4 Menus Parameter menu Control gating unit Speed control Upread free access Changeable in Rea...

Page 1204: ...que entered in P354 IMPORTANT Only negative values are permissible In function diagram 370 1 index1 100 0 Min 200 0 Max 200 0 Unit Indices 4 FDS Type I2 Menus Parameter menu Control gating unit Speed control Upread free access Changeable in Ready to switch on Operation enabled P265 S Torq Limit1 265 BICO parameter for selecting the connector from which the upper limit for the torque is to be read ...

Page 1205: ... maximum current is to be read in index1 2 Unit Indices 2 BDS Type L2 K Menus Parameter menu Control gating unit Speed control Upread free access Changeable in Ready to switch on Operation enabled P282 Amps Reg Gain 282 Gain of the current controller In function diagram 389 6 390 6 Init 80 0 Min 0 0 Max 200 0 Unit Indices Type O2 Menus Parameter menu Control gating unit Current control Upread free...

Page 1206: ...nit Indices Type O2 Menus Parameter menu Control gating unit Current control Upread free access Changeable in Ready to switch on Operation enabled P292 S Flux set 292 BICO parameter for selecting the connector from which the flux setpoint for the connected induction motor is to be read in Init 180 Unit Indices Type L2 K Menus Parameter menu Control gating unit Current control Upread free access Ch...

Page 1207: ...ter which a setpoint step change is to be fully corrected 0 2 sampling steps highest dynamic response 1 3 sampling steps medium dynamic response 2 4 sampling steps lowest dynamic response In function diagram 389 6 390 6 Init 1 Min 0 Max 3 Unit Indices Type O2 Menus Parameter menu Control gating unit Current control Drive setting Upread free access Changeable in Drive setting P297 Flux Reg Gain 297...

Page 1208: ...tting Upread free access Changeable in Drive setting Ready to switch on Operation enabled P309 HC Harmonic 309 Function parameter for entering the harmonic in the motor torque to be compensated for With P309 0 compensation is deenergized index1 1 Min 1 Max 12 Unit Indices 2 Type O2 Menus Parameter menu Control gating unit Speed control Drive setting Upread free access Changeable in Drive setting R...

Page 1209: ...Init Min 0 00 Max 600 00 Unit Hz Indices Type O2 Menus Parameter menu Control gating unit Current control Upread free access Changeable in Ready to switch on Operation enabled P314 f EMFtoCURRENT 314 Function parameter for the frequency limit for changing over from the counter EMF model to the current model referred to f cEMF Mod P313 Example Frequency limit Hz P313 P314 Synchronous motor P095 12 ...

Page 1210: ...ead free access Changeable in Ready to switch on Operation enabled P324 S Rel AddBoost 324 BICO parameter for selecting the binector from which the command for applying the additional boost during operation with V f control is to be read in The additional boost can e g be applied during heavy starting Init 0 Unit Indices Type L2 B Menus Parameter menu Control gating unit V f open loop control Upre...

Page 1211: ...0 BICO parameter for selecting the binector from which the command for changing between V f characteristic curves 1 and 2 is to be read in The signals are assigned as follows Signal logical 0 V f characteristic curve 1 active Signal logical 1 V f characteristic curve 2 active Init 0 Unit Indices Type L2 B Menus Parameter menu Control gating unit V f open loop control Upread free access Changeable ...

Page 1212: ...ve setting Upread free access Changeable in Drive setting P341 f Changeover 341 The deadtime compensation can also be automatically activated or de activated irrespective of the stator frequency Index 1 determines the center frequency Index 2 determines the hysterisis Function is not implemented at present index1 5 0 Min 0 0 Max 6553 5 Unit Hz Indices 2 Type O2 Menus Parameter menu Gating unit Upr...

Page 1213: ...nduction motors the value is pre set during motor data indentification P115 2 Setting instructions For positioning drives or for the improvement of the smooth running characteristics at low frequencies it may be practical to disable the compensation P348 0 In this case it is not permissible to reset P349 in order that the missing compensation voltage can be calculated internally from it At high pu...

Page 1214: ...ng Upread free access Changeable in Drive setting P353 Ref Speed 353 Parameter for entering the reference speed The value entered is for normalizing all the speed variables and corresponds to a connector value of 4000 H 100 The closed loop control system can process up to twice the value entered That part of the reference speed value before the decimal point is entered in Index 1 If the reference ...

Page 1215: ...eter P353 index1 3000 Min 0 Max 10000 Unit 1 min Indices 2 Type O2 Menus Parameter menu Functions Drive setting Upread free access Changeable in Drive setting P356 n act Filtercha 356 The parameter defines the filter characteristic for the speed actual value filter For future use index1 0 Min 0 Max 7 Unit Indices 2 Type O2 Menus Parameter menu Control gating unit Speed control Upread free access C...

Page 1216: ...apart from parameters P53 and P60 only those parameters are visible whose numbers have been entered in indices 3 to 100 IMPORTANT If the parameters Key P358 or Lock P359 are missing in the selection of user parameters P360 it is only possible to change parameterization by a factory setting The original parameterization is then lost index1 60 Min 0 Max 2999 Unit Indices 100 Type O2 Menus Parameter ...

Page 1217: ...367 Function parameter for selecting a control configuration which is to be parameterized when a quick parameterization P370 is carried out 0 V f control 1 not used 2 Torque control 3 Speed control Init 0 Min 0 Max 3 Unit Indices Type O2 Menus Parameter menu Quick parameterization Upread free access Changeable in Ready to switch on P368 Select Setp S 368 Compact PLUS only Function parameter for se...

Page 1218: ...load compensation Connector input for the source for compensation by the function Init Unit Indices Type L2 K K Menus Parameter menu Functions Upread free access Changeable in Ready to switch on Operation enabled P375 CLC Periodicity 375 Function parameter for parameterizing the cyclic load compensation function Describes the load period to be compensated This value refers to the value of the posi...

Page 1219: ... alarm message Motor Overtemperature F020 is to be tripped Example for temperature class B 120 C 60 K value for 1FK6 1FT6 for temperature class F 155 C 100 K value for 1FK6 1FT6 If a temperature 220 C is entered the I2t monitoring is automatically activated for the motor Precondition for this is that the thermal motor time constant P383 is 100s factory setting Init 120 Min 0 Max 200 Unit C Indices...

Page 1220: ...53 40 45 50 60 1LA6280 40 50 55 65 1LA6283 40 50 55 65 1LA6310 45 55 60 75 1LA6313 55 60 75 1LA6316 48 58 63 78 1LA6317 58 63 78 1LA6318 63 78 1LA831 35 40 45 45 50 50 1LA835 40 45 50 50 55 55 1LA840 45 50 55 55 60 60 1LA845 55 55 60 60 70 70 1LL831 25 25 30 30 35 35 1LL835 30 30 35 35 40 40 1LL840 35 35 35 35 40 40 1LL845 40 35 40 40 45 45 1LA135 30 35 40 1LA140 35 40 45 45 1LA145 40 45 50 50 55 ...

Page 1221: ...Operation enabled P385 EEPROMtoRAM_Op t 385 Service parameter only for Siemens service personnel Init 0 Min 0 Max 15 Unit Indices Type O2 Menus Parameter menu Functions Upread free access Changeable in Ready to switch on P386 Src Sel_E2toRAM 386 Service parameter only for Siemens service personnel Init 0 Unit Indices Type L2 B Menus Parameter menu Functions Upread free access Changeable in Ready t...

Page 1222: ...00 000 Max 200 000 Unit Indices 4 FDS Type I4 Menus Parameter menu Setpoint channel Upread free access Changeable in Ready to switch on Operation enabled P406 Fixed Setp 6 406 Function parameter for entering fixed setpoint 6 index1 0 000 Min 200 000 Max 200 000 Unit Indices 4 FDS Type I4 Menus Parameter menu Setpoint channel Upread free access Changeable in Ready to switch on Operation enabled P40...

Page 1223: ...ter menu Setpoint channel Upread free access Changeable in Ready to switch on Operation enabled P416 Fixed Setp 16 416 Function parameter for entering fixed setpoint 16 index1 0 000 Min 200 000 Max 200 000 Unit Indices 4 FDS Type I4 Menus Parameter menu Setpoint channel Upread free access Changeable in Ready to switch on Operation enabled P417 S FSetp Bit2 417 BICO parameter for selecting the bine...

Page 1224: ...e provided by the motor operated potentiometer for further processing Dec Plc 2 Unit 1 min Indices Type I4 Menus Parameter menu Setpoint channel Upread free access P425 Conf MOP 425 Function parameter for configuring the motor operated potentiometer xxx0 MOP output is not stored during OFF Starting point is stipulated by P426 after ON xxx1 MOP output is stored after OFF After ON the MOP is set to ...

Page 1225: ...r potentiometer is to need for decelerating from 100 to zero In the event of deceleration with initial rounding the deceleration time increases Rounding can be activated in P425 index1 10 0 Min 0 0 Max 1000 0 Unit s Indices 4 FDS Type O2 Menus Parameter menu Setpoint channel Upread free access Changeable in Ready to switch on P433 S AddSetpoint1 433 BICO parameter for selecting the connector from ...

Page 1226: ...ss Changeable in Ready to switch on Operation enabled r446 Main Setp act 446 Parameter is only necessary for the parameter model of PROFIdrive V3 standard Parameter is only visible if PROFIdrive V3 is set Dec Plc 0 Unit Indices Type N4 Menus Parameter menu Upread free access P448 Jog Setp 1 448 Function parameter for entering jogging setpoint 1 Selection of the jogging setpoints and the transition...

Page 1227: ... for specifying a variable maximum speed Index 1 Connector input for positive direction of rotation Index 2 Connector input for negative direction of rotation In function diagram 320 5 index1 2 Unit Indices 2 Type L2 K Menus Parameter menu Setpoint channel Drive setting Upread free access Changeable in Drive setting r461 n set speed sel 461 Visualization parameter for displaying the speed setpoint...

Page 1228: ...released With a Vdmax controller dynamic response of P516 0 the controller is switched off Init 0 Min 0 Max 1 Unit Indices Type O2 Menus Parameter menu Functions Upread free access Changeable in Ready to switch on P516 DC bus Volts Dyn 516 Function parameter for dynamic response of the Vdmax controller At P516 0 the Vdmax controller is switched off Precondition P515 1 select Vdmax controller Init ...

Page 1229: ...isplaying control word 1 Bits 0 to 15 are displayed Dec Plc 0 Unit Indices Type V2 Menus Parameter menu Control and status words Upread free access r551 Control Word 2 551 Visualization parameter for displaying control word 2 Bits 16 to 31 are displayed Dec Plc 0 Unit Indices Type V2 Menus Parameter menu Control and status words Upread free access r552 Status Word 1 552 Visualization parameter for...

Page 1230: ...he 2nd binector from which the OFF3 command control word 1 bit 2 is to be read in Further sources for the OFF3 command are selected in P558 and P560 index1 1 Unit Indices 2 BDS Type L2 B Menus Parameter menu Control and status words Upread free access Changeable in Ready to switch on Operation enabled P560 S 3 OFF3 QStop 560 BICO parameter for selecting the 3rd binector from which the OFF3 command...

Page 1231: ... index1 0 Unit Indices 2 BDS Type L2 B Menus Parameter menu Control and status words Upread free access Changeable in Ready to switch on Operation enabled P567 S 3 Fault Reset 567 BICO parameter for selecting the 3rd binector from which the command for acknowledging a fault control word 1 bit 7 is to be read in Further sources for the fault acknowledgement are selected in P565 and P566 index1 0 Un...

Page 1232: ...d 1 bit 14 is to be read in index1 0 Unit Indices 2 BDS Type L2 B Menus Parameter menu Control and status words Upread free access Changeable in Ready to switch on Operation enabled P575 S No ExtFault1 575 BICO parameter for selecting the binector from which the command for tripping an external fault 1 control word 1 bit 15 is to be read in index1 1 Unit Indices 2 BDS Type L2 B Menus Parameter men...

Page 1233: ...the droop control word 2 bit 24 is to be read in index1 0 Unit Indices 2 BDS Type L2 B Menus Parameter menu Control and status words Upread free access Changeable in Ready to switch on Operation enabled P585 S n Reg Rel 585 BICO parameter for selecting the binector from which the command for releasing the speed controller control word 2 bit 25 is to be read in index1 1 Unit Indices 2 BDS Type L2 B...

Page 1234: ...ack message of the main contactor is parameterized input value not equal to 0 a transition to precharging only takes place when the check back message is logical 1 index1 0 Unit Indices 2 BDS Type L2 B Menus Parameter menu Control and status words Upread free access Changeable in Ready to switch on Operation enabled P595 Cl AntiClRot 595 The parameter defines the direction of rotation of the motor...

Page 1235: ...for the main contactor checkback P591 0 the parameterized checkback time has to elapse after the ON command and then precharging is commenced During this time the main contactor has to close If a main contactor is available a checkback time of at least 120 ms is recommended The checkback time is applicable both for energizing and de energizing the contactor If the line contactor is controlled from...

Page 1236: ...e motor is de energised In addition the turn off time set in P0801 must be greater than the sum of the set times in P617 and P607 Init 0 10 Min 0 00 Max 10 00 Unit s Indices Type O2 Menus Parameter menu Sequence control Diagnostics Messages displays Upread free access Changeable in Ready to switch on P608 S BrakeOpen 608 BICO parameter for selecting the binectors from which the command for opening...

Page 1237: ...er an OFF command the brake is closed and a firing pulse block is initiated by the brake control unit B278 The value entered here should not be smaller than the turn off value parameterized in P800 Init 0 5 Min 0 0 Max 200 0 Unit Indices Type O2 Menus Parameter menu Sequence control Upread free access Changeable in Ready to switch on Operation enabled P617 BrakeThresh2Time 617 Function parameter f...

Page 1238: ...n enabled P635 AnaIn Window 635 Function parameter for entering the window for the analog input on the terminal strip of the basic unit Only when the analog input signal has been changed by the set parameter value in relation to its old comparison value is this change passed on The new signal value is stored and serves as the comparison value in the next processing cycle Entry of a parameter value...

Page 1239: ...signal which has already been scaled P643 index1 0 0 Min 10 0 Max 10 0 Unit V Indices 4 FDS Type I2 Menus Parameter menu Terminals Upread free access Changeable in Ready to switch on Operation enabled P645 S Conf DigIn4 645 If parameter value 5 is set in parameter P647 648 then this binector is used to change the transfer of the position measurement between rising and falling edge Index 1 enable d...

Page 1240: ...se terminal X101 4 as a digital input both indices must be set to 0 index1 0 Unit Indices 2 BDS Type L2 B Menus Parameter menu Terminals Upread free access Changeable in Ready to switch on Operation enabled P653 S DigOut3 653 BICO parameter for selecting the binector whose value is to be output at terminal X101 5 of the terminal strip for the basic unit In order to use terminal X101 5 as a digital...

Page 1241: ...witch on Operation enabled P660 EB1 AnaInSmooth2 660 Parameter for entering the smoothing time constants for the analog inputs on EB1 Index 1 to 3 AI1 to AI3 of the first inserted EB1 Index 4 to 6 AI1 to AI3 of the second inserted EB1 index1 0 Min 0 Max 1000 Unit ms Indices 6 Type O2 Menus Parameter menu Terminals Upread free access Changeable in Ready to switch on Operation enabled P661 EB1 S Ana...

Page 1242: ...ed EB1 index1 0 00 Min 200 00 Max 200 00 Unit V Indices 4 Type I2 Menus Parameter menu Terminals Upread free access Changeable in Ready to switch on Operation enabled r668 EB1 AnaOut Value 668 Visualization parameter for displaying the actual values which are connected to the analog outputs of EB1 Index 1 and 2 AO1 and AO2 of the first inserted EB1 Index 3 and 4 AO1 and AO2 of the second inserted ...

Page 1243: ...n can be changed again by the Invert analog input command P681 index1 0 Min 0 Max 3 Unit Indices 2 Type O2 Menus Parameter menu Terminals Upread free access Changeable in Ready to switch on P679 EB2 S AnaInInv 679 Parameter for selecting the binector from which the command to invert the analog input signal on EB2 has to be read in Index 1 First inserted EB2 Index 2 Second inserted EB2 index1 0 Uni...

Page 1244: ... O2 Menus Parameter menu Terminals Upread free access Changeable in Ready to switch on Operation enabled P686 EB2 AnaOutNorm 686 Parameter for scaling the analog output on EB2 With the help of the entered parameter value it is determined which analog output voltage an internal signal value of 100 4000 H should correspond to Index 1 First inserted EB2 Index 2 Second inserted EB2 index1 10 00 Min 20...

Page 1245: ...esponding bus SL SIMOLINK PN PROFINET divided up into numerator and denominator index1 1 Min 2147483647 Max 2147483647 Unit Indices 32 Type I4 Menus Parameter menu Communication Field bus interfaces Board configuration Upread free access Changeable in Board configuration Ready to switch on P691 SCI AnaInSmooth 691 not Compact PLUS Smoothing time constant of the analog inputs of the SCI boards Form...

Page 1246: ...e 1 Copy 2 Linear or 3 Square index1 0 Min 0 Max 3 Unit Indices 16 Type O2 Menus Parameter menu Communication Field bus interfaces Board configuration Upread free access Changeable in Board configuration Ready to switch on P694 SCI AnaOut Gain 694 not Compact PLUS Gain for the analog outputs via the SCI slaves Setting instruction see operating instructions for SCI For indices see P693 index1 10 00...

Page 1247: ...eter menu Communication SCB SCI Board configuration Upread free access Changeable in Board configuration P696 SIGATE InputTran 696 Compact PLUS only Setting parameter for the number of the additional channel that contains the relevant speed during square transformation index1 0 Min 0 Max 8 Unit Indices 16 Type O2 Menus Parameter menu Communication Field bus interfaces Board configuration Upread fr...

Page 1248: ...s required maximum number of terminals according to process data wiring P 554 to P631 i010 USS Timeout SCI modules highest maximum number of analog inputs outputs as per process data wiring of the setpoint channel and actual value output via SCI P664 i011 Reserve i012 Reserve i013 SCB DPR alarm word i014 Information whether slave No 1 is needed and if yes which type 0 no slave needed 1 SCI1 2 SCI2...

Page 1249: ...ry output2 i0015 Select binector for SCI slave2 binary output3 i0016 Select binector for SCI slave2 binary output4 i0017 Select binector for SCI slave2 binary output5 i0018 Select binector for SCI slave 2 binary output6 i0019 Select binector for SCI slave2 binary output7 i0020 Select binector for SCI slave2 binary outpu 8 i0021 Select binector for SC slave2 binary output9 i0022 Select binector for...

Page 1250: ...ive word8 i0025 Process data receive word9 i0026 Process data receive word10 i0027 Process data receive word11 i0028 Process data receive word12 i0029 Process data receive word13 i0030 Process data receive word14 i0031 Process data receive word15 i0032 Process data receive word16 Meaning for SCI modules i001 SCI Slave1 digital inputs i002 SCI Slave1 analog input1 i003 SCI Slave1 analog input2 i004...

Page 1251: ... 2 The settings in indices 2 and 3 have no significance for units of the Compact PLUS type In the case of a factory setting via SCom1 SCom2 or SCB2 this parameter is not reset index1 6 Min 0 Max 13 Unit Indices 3 Type O2 Menus Parameter menu Communication SCom1 SCom2 SCB SCI Drive setting Upread free access Changeable in Drive setting Ready to switch on Operation enabled P702 SCom PKW 702 Function...

Page 1252: ...nus Parameter menu Communication SCom1 SCom2 SCB SCI Upread free access Changeable in Ready to switch on Operation enabled P705 SCB Peer2PeerExt 705 not Compact PLUS Direct transfer of peer to peer receive data of the SCB Identification of the words of the received peer to peer telegram which are to be transferred directly Parameter values 0 no direct transfer only to CU 1 direct transfer and tran...

Page 1253: ...uble word connectors the relevant connector number must be entered at 2 consecutive indices otherwise only the higher value word will be transferred The number of the words transferred in the PZD part of the telegram is set in P703 Index i002 index1 0 Unit Indices 16 Type L2 K Menus Parameter menu Communication SCom1 SCom2 Upread free access Changeable in Ready to switch on Operation enabled r709 ...

Page 1254: ...setting P713 CB Parameter 3 713 See P711 for description index1 0 Min 0 Max 65535 Unit Indices 2 Type O2 Menus Parameter menu Communication Field bus interfaces Board configuration Drive setting Upread free access Changeable in Board configuration Drive setting P714 CB Parameter 4 714 See P711 for description index1 0 Min 0 Max 65535 Unit Indices 2 Type O2 Menus Parameter menu Communication Field ...

Page 1255: ...rameter The parameter is only relevant if there is a communication board CBx Its meaning depends on the type of Cbx built in If a set parameter value is outside the value range accepted by the built in Cbx the unit trips a fault Index 1 5 1st CB Index 6 10 2nd CB In the case of a factory setting via 1st CB or 2nd CB this parameter is not reset index1 0 Min 0 Max 65535 Unit Indices 10 Type O2 Menus...

Page 1256: ...ctors which are to be transmitted by a communication board CBx or a technology board TB In addition to the connectors themselves their place in the transmitted telegram is also defined Index 1 Word 1 in the PZD part of the telegram Index 2 Word 2 in the PZD part of the telegram Index 16 Word 16 in the PZD part of the telegram Word 1 should be assigned status word 1 K0032 For double word connectors...

Page 1257: ...ddress also defines whether a node also acts as the dispatcher 0 Dispatcher generates telegram circulation Not equal to 0 Transceiver In the SIMOLINK ring only one node is allowed to perform the dispatcher function It is not permitted to allocate node address 0 if a higher level automation unit automation master performs the dispatcher function index1 1 Min 0 Max 200 Unit Indices 2 Type O2 Menus P...

Page 1258: ...figuration Upread free access Changeable in Board configuration Ready to switch on P746 SLB Cycle Time 746 Function parameter for entering the cycle time for SIMOLINK The cycle time is the time which is needed for complete circulation of all telegrams in the SIMOLINK ring It also determines the time reference in which the transceivers receive synchronizing telegrams For synchronization of the tran...

Page 1259: ...ccess is set in P740 index1 0 0 Min 0 0 Max 200 7 Unit Indices 8 Type O2 Menus Parameter menu SIMOLINK Board configuration Upread free access Changeable in Board configuration Ready to switch on r750 SLB Rcv Data 750 Visualization parameter for the data received via SIMOLINK Dec Plc 0 Unit Indices 16 Type L2 Menus Parameter menu SIMOLINK Upread free access P751 S SLBTrnsData 751 BICO parameter for...

Page 1260: ...4 high word In the case of double word connectors the relevant connector number must be entered at 2 successive indices as otherwise only the higher value word will be transmitted index1 0 Unit Indices 8 Type L2 K Menus Parameter menu SIMOLINK Upread free access Changeable in Ready to switch on Operation enabled P765 SrcExtrapolPos 765 Input extrapolator interpolator Index 1 Position setpoint bloc...

Page 1261: ... from the rough jump of the position setpoint For this the transmission ratio of the time slots of the position controller or position sensing and the position setpoint setting have to be specified The transmission ratio is specified in grading 2 n Example Sampling time of position setpoint generation T5 Sampling time of position controller T1 Transmission ratio 4 2 4 16 Init 3 Min 8 Max 8 Unit In...

Page 1262: ...n Ready to switch on Operation enabled P775 PosFixV 775 With this parameter position fixed values in LU can be specified for the position control and sensing index1 0 Min 2147483647 Max 2147483647 Unit Indices 4 Type I4 Menus Parameter menu Control gating unit Position control Upread free access Changeable in Ready to switch on Operation enabled P776 FixedSetpoints 776 This parameter can be used t...

Page 1263: ...P952 The fault memory is deleted with the help of P952 Dec Plc 0 Unit Indices 24 Type O2 Menus Parameter menu Diagnostics Faults warnings Drive setting Upread free access P788 V DCLink Thresh 788 Function parameter for entering the comparison value for the DC link voltage If the DC link voltage drops due to voltage dips in the power system the drive can still be brought to a guided standstill if t...

Page 1264: ...e reaches the comparison value P796 this is indicated in status word 1 bit 10 Init 91 Unit Indices Type L2 K Menus Parameter menu Diagnostics Messages displays Upread free access Changeable in Ready to switch on Operation enabled P796 Compare Value 796 Function parameter for entering the comparison value If the actual value reaches the comparison value entered this is indicated in status word 1 bi...

Page 1265: ...ad in for detecting the direction of rotation Preferably the speed setpoint KK0150 is used The message Positive speed setpoint is indicated in status word 1 bit 14 Init 150 Unit Indices Type L2 K Menus Parameter menu Functions Upread free access Changeable in Ready to switch on Operation enabled P803 S Speed ActV 803 BICO parameter for selecting the connector from which the actual speed is to be r...

Page 1266: ...urrent fault value of the LC receive block In the event of a ready signal failure the fault value is incremented by 10 When a value ready signal is received the fault value is decremented by 1 In function diagram 170 Dec Plc 0 Unit Indices Type O2 Menus Parameter menu Free blocks Upread free access r813 LZ Rec AbsFail 813 Parameter for output of the LC receive block ready signal that has failed si...

Page 1267: ...nics boards can be determined Index 1 Basic board Index 2 Optional board in slot A Index 3 Optional board in slot B Index 4 Optional board in slot C Index 5 Optional board in slot D Index 6 Optional board in slot E Index 7 Optional board in slot F Index 8 Optional board in slot G Board codes 90 to 109 Main board or Control Unit CUx 110 to 119 Sensor Board SBx 120 to 129 Serial Communication Board ...

Page 1268: ...nication Board CC Link 148 CBP2 Communication Board PROFIBUS 2 150 to 169 Special boards EBx SLB 151 EB1 Extension Board 1 152 EB2 Extension Board 2 161 SLB SIMOLINK Board Dec Plc 0 Unit Indices 4 Type O2 Menus Parameter menu Diagnostics Messages displays Fixed settings Quick parameterization Board configuration Drive setting Download Upread free access Power section definition r827 Generat Date 8...

Page 1269: ... overflow Index 12 to Index 19 display the remaining calculating time of the 8 DSP residual time slots The values refer to an empirical value of an empty residual time slot Dec Plc 0 Unit Indices 19 Type O2 Menus Parameter menu Diagnostics Messages displays Upread free access P830 Fault Mask 830 The faults entered in this parameter are suppressed Setting note Despite suppression a pulse disable oc...

Page 1270: ...8 Service parameter only for Siemens service personnel The result of the UCE and Imax test can be read out in this parameter The result is coded bit wise Bit 7 Overvoltage Bit 6 Overcurrent phase W Bit 5 Overcurrent phase V Bit 4 Overcurrent phase U Bit 3 Not used Bit 2 UCE phase W Bit 1 UCE phase V Bit 0 UCE phase U Dec Plc 0 Unit Indices Type V2 Menus Parameter menu Functions Upread free access ...

Page 1271: ...842 Service parameter only for Siemens service personnel index1 0 Unit Indices 2 Type L2 Menus Parameter menu Upread free access Changeable in Power section definition Board configuration Drive setting Ready to switch on Operation enabled P843 DSP RAM Value 843 Service parameter only for Siemens service personnel Init 0 Min 0 Max 4294967295 Unit Indices Type O4 Menus Parameter menu Upread free acc...

Page 1272: ...e use If a fault counter counts beyond 100 F51 is tripped provided that fault tripping is implemented in the counter in question see r849 and the fault trip is not suppressed in P848 Init 1 Min 0 Max 3 Unit Indices Type O2 Menus Parameter menu Upread free access Changeable in Ready to switch on Operation enabled P848 Config_Diagnos 848 Parameter for suppressing the fult causes given in r849 and al...

Page 1273: ...R external encoders SSI alarm bit or EnDat alarm bit F51 149 in operation otherwise A21 Index 3 COMM_ERROR_NUMBER motor encoders Protocol error or CRC error F51 30 in operation otherwise A19 Index 4 COMM_ERROR_NUMBER external encoders Protocol error or CRC error F51 130 in operation otherwise A21 Index 5 REST LEVEL ERROR_NUMBER motor encoders Data line SSI or EnDat has the wrong level F51 32 in op...

Page 1274: ...othing else Index 18 ORIENTATION_ERROR_NUMBER external encoders No evaluation Index 19 DELTA_PROTOCOL_ERROR_NUMBER motor encoders No evaluation Index 20 DELTA_PROTOCOL_ERROR_NUMBER external encoders The change of position in the last sampling time was greater than the parameterized maximum value F51 160 in operation otherwise A21 Index 21 to 30 Reserved r850 OP Special 1 850 Service parameter only...

Page 1275: ...via the OP1S Dec Plc 0 Unit Indices Type O2 Menus Parameter menu Upread free access P880 Toolinterface S 880 Service parameter only for Siemens service personnel Parameter is not visible via the OP1S index1 0 Unit Indices 32 Type L2 Menus Parameter menu Upread free access Changeable in Ready to switch on Operation enabled r881 Toolinterface I 881 Service parameter only for Siemens service personne...

Page 1276: ... parameter only for Siemens service personnel Parameter is not visible via the OP1S Init 0 Min 0 Max 1 Unit Indices Type O2 Menus Parameter menu Upread free access Changeable in P895 Communication 895 Service parameter only for Siemens service personnel Parameter is not visible via the OP1S Init 0 Min 0 Max 3 Unit Indices Type O2 Menus Parameter menu Upread free access Changeable in P896 Parameter...

Page 1277: ...es for the following standard telegrams are available 5 Only visible if the unit is parameterized acc to PROFIdrive V3 Init 999 Min 0 Max 65535 Unit Indices Type O2 Menus Parameter menu Communication Field bus interfaces Quick parameterization Board configuration Drive setting Download Upread free access Changeable in Ready to switch on r923 Profibus StdSig 923 List of all parameters for standard ...

Page 1278: ... additional information on the faults which have occurred and allow more exact diagnosis The fault values are assigned to the faults and are stored in the same indices as the associated fault numbers in r947 Indices 1 to 8 1st last fault trip fault values 1 to 8 Indices 9 to 16 2nd fault trip fault values 1 to 8 Indices 17 to 24 3rd fault trip fault values 1 to 8 Indices 25 to 32 4th fault trip fa...

Page 1279: ...y board Dec Plc 0 Unit Indices Type V2 Menus Parameter menu Diagnostics Faults warnings Upread free access r960 Warning Param 8 960 Visualization parameter for displaying which of warnings 113 to 128 are active Warnings 113 to 128 are tripped by a built in technology board Dec Plc 0 Unit Indices Type V2 Menus Parameter menu Diagnostics Faults warnings Upread free access r964 Drive ID 964 Function ...

Page 1280: ...meter values are then stored non volatilely and are secured against mains failure 0 No saving 1 One time saving The parameter must be reset manually to 0 Init 0 Min 0 Max 1 Unit Indices Type O2 Menus Parameter menu General parameters Upread free access Changeable in Ready to switch on Operation enabled P972 Power On Reset 972 Power On reset The Power On reset works in the same way as Electronic vo...

Page 1281: ...ued Dec Plc 0 Unit Indices 101 Type O2 Menus Parameter menu Upread free access r985 Par List pt6 985 Visualization parameter for displaying the sixth 100 parameter numbers in the range 0 to 999 The parameter numbers are arranged in ascending order The first 0 occuring in the index signals that there are no further parameter numbers If the number of indices is not sufficient to display all paramete...

Page 1282: ...ation parameters for displaying the third 100 changed parameter numbers in the range 0 to 999 The parameter numbers are arranged in ascending order The first 0 occuring in the index signals that there are no further parameters Dec Plc 0 Unit Indices 101 Type O2 Menus Parameter menu Upread free access U001 FixSetp 17 2001 Function parameter for entering fixed setpoint 17 index1 0 00 Min 200 00 Max ...

Page 1283: ...inConv 2010 Visualization parameter of connector binector converter 4 5 Dec Plc 0 Unit Indices 2 Type V2 Menus Parameter menu Upread free access U011 FixSetp 26 2011 Function parameter for entering fixed setpoint 26 index1 0 000 Min 200 000 Max 200 000 Unit Indices 4 FDS Type I4 Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled U012 FixSetp 27 2...

Page 1284: ...Setp 33 2018 Function parameter for entering fixed setpoint 33 index1 0 Min 2147483647 Max 2147483647 Unit Indices 4 FDS Type I4 Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled U019 S SH1 KK 2019 Sample Hold element Input parameter for the double word connectors index1 0 Unit Indices 4 Type L2 K K Menus Parameter menu Free blocks Upread free a...

Page 1285: ...parameter for entering fixed bit 6 index1 0 Min 0 Max 1 Unit Indices 4 FDS Type O2 Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled U027 Fixed Bit 7 2027 Function parameter for entering fixed bit 7 index1 0 Min 0 Max 1 Unit Indices 4 FDS Type O2 Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabl...

Page 1286: ...ameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled n036 Conn Disp 3 2036 Visualization parameter for connector display 3 Dec Plc 1 Unit Indices Type I2 Menus Parameter menu Free blocks Upread free access U037 S DConn Disp 1 2037 BICO parameter for selecting the connector for double connector display 1 Init 0 Unit Indices Type L2 K K Menus Parameter menu F...

Page 1287: ...1 Init 0 Unit Indices Type L2 B Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled n046 Bin Disp 1 2046 Visualization parameter for binector display 1 Dec Plc 0 Unit Indices Type O2 Menus Parameter menu Free blocks Upread free access U047 S Bin Disp 2 2047 BICO parameter for selecting the binector for binector display 2 Init 0 Unit Indices Type L...

Page 1288: ...nu Free blocks Upread free access Changeable in Ready to switch on Operation enabled n056 DConnDisp Smooth 2056 Visualization parameter of the double connector display with smoothing Dec Plc 3 Unit Indices Type I4 Menus Parameter menu Free blocks Upread free access U057 S Bin Con Conv4 2057 BICO parameter for selecting the binectors for binector connector converter 1 index1 0 Unit Indices 16 Type ...

Page 1289: ...the binector for warning trip 1 A061 Init 0 Unit Indices Type L2 B Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled U066 S Warning A062 2066 BICO parameter for selecting the binector for warning trip 2 A062 Init 0 Unit Indices Type L2 B Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled U067 S...

Page 1290: ...074 Visualization parameter of connector binector converter 2 Dec Plc 0 Unit Indices Type V2 Menus Parameter menu Free blocks Upread free access n075 Conn BinC3 2075 Visualization parameter of connector binector converter 3 Dec Plc 0 Unit Indices Type V2 Menus Parameter menu Free blocks Upread free access U076 S Bin ConnC1 2076 BICO parameter for selecting the binectors for binector connector conv...

Page 1291: ...r adder 3 1 word index1 0 Unit Indices 2 Type L2 K Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled U085 S Conn Add 4 2085 BICO parameter for selecting the connectors for adder 4 1 word index1 0 Unit Indices 2 Type L2 K Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled U086 S Conn Add 5 2086 ...

Page 1292: ...the connectors for adder 4 2 word index1 0 Unit Indices 2 Type L2 K K Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled U094 S DConnSub1 2094 BICO parameter for selecting the connectors for subtracter 1 2 word index1 0 Unit Indices 2 Type L2 K K Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enable...

Page 1293: ...or sign inverter 2 2 word Init 0 Unit Indices Type L2 K K Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled U103 S 1 Conn SwInv 2103 BICO parameter for selecting the binector for the switchable sign inverter 1 word Init 0 Unit Indices Type L2 B Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled...

Page 1294: ...ectors for divider 1 1 word index1 0 Unit Indices 2 Type L2 K Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled U112 S Conn Div2 2112 BICO parameter for selecting the connectors for divider 2 1 word index1 0 Unit Indices 2 Type L2 K Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled U113 S DCon...

Page 1295: ...lecting the connector for the 2nd absolute value generator with smoothing 1 word Init 0 Unit Indices Type L2 K Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled U121 Mode ConnAbsV2 2121 Function parameter for selecting the mode of the 2nd absolute value generator with smoothing 1 word Init 0 Min 0 Max 3 Unit Indices Type O2 Menus Parameter menu ...

Page 1296: ... Unit ms Indices Type O2 Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled U129 FSetpConnLimitr1 2129 Function parameter for entering the fixed setpoint for limiter 1 1 word index1 100 00 Min 200 00 Max 200 00 Unit Indices 4 FDS Type I2 Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled U130 S ...

Page 1297: ...of the 1st limit value monitor with smoothing 1 word Init 0 Min 0 Max 10000 Unit ms Indices Type O2 Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled U138 HysConnLmtMon1 2138 Function parameter for entering the hysteresis of the 1st limit value monitor with smoothing 1 word Init 0 00 Min 0 00 Max 199 99 Unit Indices Type O2 Menus Parameter menu ...

Page 1298: ... connector for the 1st limit value monitor with smoothing 2 word index1 0 Unit Indices 2 Type L2 K K Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled U147 SmDConnLmtMon1 2147 Function parameter for entering the smooothing time constants of the 1st limit value monitor with smoothing 2 word Init 0 Min 0 Max 10000 Unit ms Indices Type O2 Menus Par...

Page 1299: ... Changeable in Ready to switch on Operation enabled U155 Hys Cam 1 2 2155 Function parameter for entering the hysteresis of the cam controller with cam 1 and cam 2 index1 0 Min 0 Max 2147483647 Unit Indices 2 Type O4 Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled U156 ON Pos Cam1 2156 Function parameter for entering the ON position of cam 1 T...

Page 1300: ...r entering the ON position of cam 3 index1 0 Min 2147483647 Max 2147483647 Unit Indices 4 FDS Type I4 Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled U163 OFF Pos Cam3 2163 Function parameter for entering the OFF position of cam 3 index1 0 Min 2147483647 Max 2147483647 Unit Indices 4 FDS Type I4 Menus Parameter menu Free blocks Upread free acc...

Page 1301: ...lecting the binector for analog signal changeover switch 3 1 word Init 0 Unit Indices Type L2 B Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled U171 S 2 ConnCh3 2171 BICO parameter for selecting the connectors for analog signal changeover switch 3 1 word index1 0 Unit Indices 2 Type L2 K Menus Parameter menu Free blocks Upread free access Chan...

Page 1302: ...menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled U179 S 2DConnCh2 2179 BICO parameter for selecting the connectors for analog signal changeover switch 2 2 word index1 0 Unit Indices 2 Type L2 K K Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled U180 S 1DConnCh3 2180 BICO parameter for selecting the binector...

Page 1303: ...ultiplex 2187 The parameter defines the connector inputs of the multiplexer with 8 channels Index 1 Input 1 to Index 8 Input 8 index1 0 Unit Indices 8 Type L2 K K Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled U188 S 1 Demultiplex 2188 BICO for selecting the binectors for the demultiplexer with 8 channels 2 word index1 0 Unit Indices 5 Type L...

Page 1304: ...r for selecting the connectors for the characteristic block 3 1 word Init 0 Unit Indices Type L2 K Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled U197 X Vals Char3 2197 Function parameters for entering the X values for characteristic block 2 1 word index1 0 00 Min 200 00 Max 200 00 Unit Indices 10 Type I2 Menus Parameter menu Free blocks Upre...

Page 1305: ...ameter value 0 non volatile memory off 1 non volatile memory on Init 0 Min 0 Max 1 Unit Indices Type O2 Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on U206 S 1 Tra Stor2 2206 BICO parameter for selecting the binectors for the control inputs of the tracking storage element Index 1 Track Index 2 Store Index 3 Reset index1 0 Unit Indices 3 Type L2 B Menus Paramet...

Page 1306: ...ive values are acceptable index1 1 000 Min 0 000 Max 200 000 Unit Indices 10 Type I4 Menus Parameter menu Functions Upread free access Changeable in Ready to switch on U216 T FrictChar 2216 Function parameter for entering the supplementary torque values of the friction characteristic Are automatically set upon recording of the friction characteristic index1 0 0 Min 0 0 Max 200 0 Unit Indices 10 Ty...

Page 1307: ...electing the binectors for AND element 5 Output B605 index1 1 Unit Indices 3 Type L2 B Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled U226 S AND6 2226 BICO parameter for selecting the binectors for AND element 6 Output B606 index1 1 Unit Indices 3 Type L2 B Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on O...

Page 1308: ...electing the binectors for AND element 14 Output B614 index1 1 Unit Indices 3 Type L2 B Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled U235 S AND15 2235 BICO parameter for selecting the binectors for AND element 15 Output B615 index1 1 Unit Indices 3 Type L2 B Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch o...

Page 1309: ...electing the binectors for OR element 5 Output B623 index1 0 Unit Indices 3 Type L2 B Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled U244 S OR6 2244 BICO parameter for selecting the binectors for OR element 6 Output B624 index1 0 Unit Indices 3 Type L2 B Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Oper...

Page 1310: ...rameter for selecting the binector for inverter 2 Output B642 Init 0 Unit Indices Type L2 B Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled U253 S BinInv3 2253 BICO parameter for selecting the binector for inverter 3 Output B643 Init 0 Unit Indices Type L2 B Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on O...

Page 1311: ...binectors for NAND element 1 Output B681 index1 0 Unit Indices 3 Type L2 B Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled U262 S NAND2 2262 BICO parameter for selecting the binectors for NAND element 2 Output B682 index1 0 Unit Indices 3 Type L2 B Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation e...

Page 1312: ...slot Init 2 Min 2 Max 10 Unit Indices Type O2 Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on U271 S BinCh1 2271 BICO parameter for selecting the binectors for binary signal changeover switch 1 Output B661 index1 0 Unit Indices 3 Type L2 B Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled U272 S BinCh2 2272 B...

Page 1313: ...rs for D flipflop element 1 Outputs Q B525 Q B526 index1 0 Unit Indices 4 Type L2 B Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled U280 S D FlipFlop2 2280 BICO parameter for selecting the binectors for D flipflop 2 Outputs Q B527 Q B528 index1 0 Unit Indices 4 Type L2 B Menus Parameter menu Free blocks Upread free access Changeable in Ready t...

Page 1314: ...ting the binectors for RS flipflop 8 Outputs Q B515 Q B516 index1 0 Unit Indices 2 Type L2 B Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled U289 S RS FlipFlop9 2289 BICO parameter for selecting the binectors for RS flipflop 9 Outputs Q B517 Q B518 index1 0 Unit Indices 2 Type L2 B Menus Parameter menu Free blocks Upread free access Changeable...

Page 1315: ...he time for the 2nd timer 1 to 60 000 s FDS index1 0 000 Min 0 000 Max 60 000 Unit s Indices 4 FDS Type O2 Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled U298 Mode Timer2 2298 Function parameter for entering the mode for the 2nd timer 1 to 60 000 s Init 0 Min 0 Max 3 Unit Indices Type O2 Menus Parameter menu Free blocks Upread free access Cha...

Page 1316: ...ing the time for the 5th timer 0 to 600 000s FDS index1 0 00 Min 0 00 Max 600 00 Unit s Indices 4 FDS Type O2 Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled U307 Mode Timer5 2307 Function parameter for entering the mode for the 5th timer 0 to 600 000s Init 0 Min 0 Max 3 Unit Indices Type O2 Menus Parameter menu Free blocks Upread free access ...

Page 1317: ...am Counter 2315 Function parameter for entering the fixed setpoints for the 16 bit software counter index1 0 Min 0 Max 65535 Unit Indices 4 Type O2 Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled U316 S ParamCounter 2316 BICO parameter for selecting the connectors for the 16 bit software counter index1 561 Unit Indices 4 Type L2 K Menus Parame...

Page 1318: ...ng the comfort ramp function generator Init 1 Unit Indices Type L2 B Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled n326 ComfRGen Input 2326 Visualization parameter input of comfort ramp function generator Dec Plc 2 Unit Indices Type I4 Menus Parameter menu Free blocks Upread free access U327 ComfRGen Round 2327 Operating mode for rounding of...

Page 1319: ...U334 ComfRGenInitRd 2334 Function parameter for input of the initial rounding time of the comfort ramp function generator index1 0 00 Min 0 00 Max 10 00 Unit s Indices 4 FDS Type O2 Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled U335 ComfRGenEndRd 2335 Function parameter for input of the final rounding time of the comfort ramp function genera...

Page 1320: ...Changeable in Ready to switch on Operation enabled U344 S ComfRGenNegL 2344 BICO parameter for selecting the connector for the negative internal limitation of the comfort ramp function generator Init 574 Unit Indices Type L2 K K Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled U345 S FDS CoRFG 2345 The parameter makes it possible to disconnect ...

Page 1321: ...e O2 Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled n354 TeCntr Setp 2354 Visualization parameter smoothed setpoint of the technology controller Dec Plc 1 Unit Indices Type I2 Menus Parameter menu Free blocks Upread free access U355 S TeCntr ActV 2355 BICO parameter for selecting the connector for the actual value of the technology contoller ...

Page 1322: ...s Changeable in Ready to switch on Operation enabled U364 TeCntr BasicGain 2364 Function parameter for entering the basic gain of the technology controller index1 3 00 Min 0 00 Max 125 00 Unit Indices 4 FDS Type O2 Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled n365 TeCntr Eff Gain 2365 Visualization parameter effective gain of the technology...

Page 1323: ...ameter menu Free blocks Upread free access U373 S J_Ext 2373 BICO parameter for selecting the connector from which the moment of inertia for torque pre control is read in index1 0 Unit Indices 2 BDS Type L2 K Menus Parameter menu Control gating unit Speed control Upread free access Changeable in Ready to switch on Operation enabled U374 S AccPre 2374 BICO parameter for selecting a connector from w...

Page 1324: ...generator Init 0 Unit Indices Type L2 K Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled U381 S Set SimpRGen 2381 BICO parameter for selecting the binector for setting the simple ramp function generator Init 0 Unit Indices Type L2 B Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled U382 S Set...

Page 1325: ... Max 200 00 Unit Indices 2 Type O2 Menus Parameter menu Control gating unit Current control Upread free access Changeable in Ready to switch on Operation enabled U389 Ber M accel 2389 Selection of calculation of the acceleration torque 0 with scaled moment of inertia 1 with moment of inertia in Init 0 Min 0 Max 1 Unit Indices Type O2 Menus Parameter menu Control gating unit Current control Upread ...

Page 1326: ...ee blocks Upread free access Changeable in Ready to switch on Operation enabled U397 Wobb P Step 2397 Function parameter for entering the amount of the positive P step as a percentage of the wobble amplitude index1 0 00 Min 0 00 Max 100 00 Unit Indices 4 FDS Type O2 Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled U398 Wobb Sampl Ratio 2398 Fun...

Page 1327: ...lier divider 1 2 word index1 0 Unit Indices 2 Type L2 K Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled U407 S PulsGen Tp 2407 Parameter for selecting a connector as input for determination of the period of the 1st pulse generator Init 613 Unit Indices Type L2 K Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch ...

Page 1328: ...lement32_1_t 2415 Parameter for entering the filtering time for the 1st 32 bit PT1 element Init 0 Min 0 Max 10000 Unit ms Indices Type O2 Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled U416 S PT1Elem32_1_s 2416 Parameter for selecting a binector as setting comand for the 1st 32 bit PT1 element Init 0 Unit Indices Type L2 B Menus Parameter men...

Page 1329: ...he deadtime compensation of the real master Init 0 00 Min 0 00 Max 100 00 Unit ms Indices Type O2 Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled U425 ACL RealMaster 2425 Parameter for entering the axis cycle length for the real master Index 1 Axis cycle length for integrator Index 2 Axis cycle length of input value index1 0 Min 0 Max 21474836...

Page 1330: ...t VM 2432 Parameter for selecting a binector as setting command for the integrator of the virtual master axis Init 0 Unit Indices Type L2 B Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled U433 Integr32_1_Ti 2433 Parameter for entering the integral time constant of the 1st 32 bit integrator Init 0 000 Min 0 000 Max 60 000 Unit s Indices Type O2...

Page 1331: ...ree access Changeable in Ready to switch on Operation enabled U439 S ConnToPar Ind 2439 BICO parameter for selecting the connector whose value supplies the parameter index for the connector to parameter converter index1 480 Unit Indices 5 Type L2 K Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled U440 P Ampf Gain 2440 Kp for the P amplifier mul...

Page 1332: ...ameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled U447 S ConnToPar Trg 2447 BICO parameter for selecting the binector for the trigger signal which results in storage of the connector value on the parameter IMPORTANT If the softwiring is changed during the Operation drive status the trigger condition must always be softwired and be at 0 as otherwise unint...

Page 1333: ...led U453 Offset Corr 2453 Displacement value LU of master setpoint correction This value is passed via the ramp to the master setpoint as correction or adjustment value depending on the function Init 826 Unit Indices Type L2 K K Menus Parameter menu Technology Synchronism Upread free access Changeable in Ready to switch on Operation enabled U454 SpeedAdj MastV 2454 Speed adjustment of the master s...

Page 1334: ...stment A relative displacement can be injected onto the setpoint similarly to the displacement angle adjustment procedure during synchronizing The function is triggered by U452 1 Init 0 Unit Indices Type L2 Menus Parameter menu Technology Synchronism Upread free access Changeable in Ready to switch on Operation enabled n459 Synch TabPos 2459 Display parameter of the table position of Index 1 K824 ...

Page 1335: ...e for release displacement angle setting Index 2 Binector source for adding remaining distance to current displacement index1 1 Unit Indices 2 Type L2 B Menus Parameter menu Technology Synchronism Upread free access Changeable in Ready to switch on Operation enabled n465 DispSpeed 2465 Index 1 Current adjustment speed in percent referred to U697 2 in function diagram 841 Index 2 Current adjustment...

Page 1336: ...ration enabled U472 BasicRFG2 LU 2472 Parameter input LU for 2nd basic ramp generator 32Bit Index 1 Upper limit Index 2 Lower limit Index 3 Fixed setpoint setting value Function diagram 786b index1 2147483647 Min 2147483647 Max 2147483647 Unit Indices 3 Type I4 Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled U473 Actval Wndow Tab 2473 Window f...

Page 1337: ...chnology Synchronism Upread free access Changeable in Ready to switch on U476 PRBS Shiftdiv 2476 Shift division for weakening the signal amplitude before summation Index 1 channel 1 Index 2 channel 2 index1 0 Min 0 Max 10 Unit Indices 2 Type O2 Menus Parameter menu Upread free access Changeable in Ready to switch on U477 PRBS Ampl 2477 Function parameter for amplitude input for the white noise pro...

Page 1338: ...annel number index1 0 Unit Indices 8 Type L2 K K Menus Parameter menu Diagnostics Trace Upread free access Changeable in Power section definition Board configuration Drive setting Ready to switch on Operation enabled U484 TriggerThresh 2484 Function parameter for entering the trigger threshold The parameter value has to be entered in the format of a double word connector If bit trigger U485 16 is ...

Page 1339: ...pread free access Changeable in Power section definition Board configuration Drive setting Ready to switch on Operation enabled U488 TraceStatusStart 2488 Function visualization parameter of the trace status The trace consists of a maximum of 8 channels corresponding to Indices 1 to 8 The trace memory is dynamically distributed according to the number of channels activated Only parameter values 0 ...

Page 1340: ...2 100 Trace data When recording double word connectors first the high word appears and then the low word Dec Plc 0 Unit Indices 100 Type O2 Menus Parameter menu Diagnostics Trace Upread free access n492 TraceData Ch2 2492 Description see n491 Dec Plc 0 Unit Indices 100 Type O2 Menus Parameter menu Diagnostics Trace Upread free access n493 TraceData Ch3 2493 Description see n491 Dec Plc 0 Unit Indi...

Page 1341: ...be found in the Technology Manual F01 in Section 4 Annex A2 Error Messages of the Technology for Task Management The Technology Manual can be found on the CD enclosed with the converter under GMC GMC Dokumentation English P7MC17CA pdf If the data is transferred without any error the value zero is displayed Dec Plc 0 Unit Indices Type O2 Menus Parameter menu Technology Positioning Upread free acces...

Page 1342: ...Rotary axis length MD12 Limit switch negative 999 999 999 999 999 999 LU MD13 Limit switch positive 999 999 999 999 999 999 LU MD14 Following error monitoring standstill 1 99 999 LU MD15 Following error monitoring traveling 1 999 999 999 LU MD16 Position reached time monitoring 10 999 999 ms MD17 Position reached exact hold window 1 99 999 LU MD18 Acceleration 1 99 999 1000 ILU s 2 MD19 Decelerati...

Page 1343: ...sition without evaluation of the direction of movement 2 Approach of the last target position with evaluation of the direction of movement MD38 Dead travel on reversing compensation 0 9 999 LU MD39 Dead travel on reversing compensation preferable position only for absolute position encoder 1 Preferable position positive during first positive traversing movement no dead travel on reversing compensa...

Page 1344: ... MD Activation 2502 The machine data are adopted by parameter U501 with an edge of 1 to 2 or after board run up After this the parameter value is automatically reset to 0 or to 1 if the machine data are incorrect If the machine data are incorrect acceptance of the data is refused and an alarm message is tripped in n500 U502 0 Maschine data O K U502 1 Maschine data were changed and net yet transfer...

Page 1345: ...ecord after G88 89 is predecoded as far as possible in order to avoid a setpoint sag after the record with G88 89 Preconditions no skip block index1 0 Min 2147483647 Max 2147483647 Unit Indices 10 Type I4 Menus Parameter menu Technology Positioning Upread free access Changeable in Ready to switch on Operation enabled U505 RoundingTime 2505 The parameter determines the smoothing time constant for p...

Page 1346: ...is not set until the loop counter has been executed When the start command STA is reset FUT also returns to 0 Such a succession of feeding movements can be started again by a 0 1 edge of the start command STA The remaining number of loops to be executed in each case can be visualized at parameter n540 36 Init 0 Min 0 Max 999999999 Unit Indices Type O4 Menus Parameter menu Technology Positioning Up...

Page 1347: ...Indices 40 Type I4 Menus Parameter menu Upread free access Changeable in Ready to switch on Operation enabled U525 Set Input 2525 Input of automatic records ____________________________________________ ATTENTION U525 U527 ONLY FOR TEST PURPOSES and for access by the Menu promted start up DriveMonitor SIMOVIS The input of automatic records via parameters U525 U527 is intended for test purposes only...

Page 1348: ...e entire program memory U526 01 255 U526 02 255 U527 2 U527 3 Teach in The current position is stored in the set which is selected with U526 and U527 U527 4 Acknowledgement of the positioning specific fault messages See parameter descriptions of P2525 P2527 index1 0 Min 2147483647 Max 2147483647 Unit Indices 15 Type I4 Menus Parameter menu Technology Positioning Upread free access Changeable in Re...

Page 1349: ... the position F function for the MDI record 0 is to be read in For specifying the traversing data set via connectors the same setting rules apply as in the case of traversing data sets via parameter U550 ff Function diagram 823 5 Init 0 Unit Indices Type L2 K K Menus Parameter menu Technology Positioning Upread free access Changeable in Ready to switch on Operation enabled U533 S Speed MDI 2533 Pa...

Page 1350: ... Indices 3 Type L2 B Menus Parameter menu Upread free access Changeable in Ready to switch on Operation enabled U538 S MVal Valid 2538 The parameter defines the source for the checkback of position sensing that a valid position measured value is available The binector is set by position sensing if e g a printing index is detected The following sources are available 1 Position sensing with motor en...

Page 1351: ...t override 809 8 12 Position setpoint for MDI is only updated if the MDI operating mode is active 13 Number of selected MDI record 823 7 14 Specified operating mode MODE_IN 15 Active checked back operating mode MODE_OUT Diagnostic informationen for automatic mode 826 16 Program number level 0 main program 17 Record number level 0 18 Program number subprogram level 1 19 Record number level 1 20 Rem...

Page 1352: ... fast digital inputs and outputs of positioning Index 1 Digital inputs E1 E6 for positioning 813 1 Index2 Digital outputs A1 A6 for positioning 813 8 Dec Plc 0 Unit Indices 2 Type V2 Menus Parameter menu Technology Positioning Upread free access U545 OP Input 2545 The parameter represents the interface of the MASTERDRIVES MC unit for the SIMATIC OP operator control interface The parameter is set b...

Page 1353: ...verride to Value 39 G39 90 Override Example U511 1 9030 Positioning type G90 absolute measure Acceleration override G30 100 Index 2 Position setpoint The value is preset in the length unit LU which was defined by the actual value weighting factor in position sensing e g P169 and P170 for motor encoder Example Position setpoint 123 5mm has to be set Length unit is LU 0 001mm U550 2 123500 Index 3 T...

Page 1354: ...see U550 Function diagram 823 index1 9030 Min 2147483647 Max 2147483647 Unit Indices 3 Type I4 Menus Parameter menu Technology Positioning Setting up MDI Upread free access Changeable in Ready to switch on Operation enabled U556 MDI Set 7 2556 Setting of MDI traversing data record 7 description see U550 Function diagram 823 index1 9030 Min 2147483647 Max 2147483647 Unit Indices 3 Type I4 Menus Par...

Page 1355: ... 1 21 Value 1 20 Traversing program number Value 21 Automatic individual record Value 255 Delete program See parameter description see U590 Init 0 Min 0 Max 65535 Unit Indices Type O2 Menus Parameter menu Technology Positioning Upread free access Changeable in Ready to switch on Operation enabled U572 Set Number 2572 Record number Index 1 Mask out record yes no Value 0 Do not mask out record norma...

Page 1356: ... function 4 exists in Index 2 Index 2 G function 4 index1 0 Min 0 Max 65535 Unit Indices 2 Type O2 Menus Parameter menu Technology Positioning Upread free access Changeable in Ready to switch on Operation enabled U578 Position 2578 Definition of the position setpoint or of the subprogram number Index 1 Position or SP number exists yes no Value 0 no position or SP number exists Value 1 Position set...

Page 1357: ...ubprogram number Index 1 SP number in Index 2 exists or is valid yes no Value 0 SP number in Index 2 not valid Value 1 SP number in Index 2 valid Index 2 SP number 1 20 index1 0 Min 0 Max 65535 Unit Indices 2 Type O2 Menus Parameter menu Technology Positioning Upread free access Changeable in Ready to switch on Operation enabled U585 Loop Number 2585 Definition of the loop number Index 1 Loop numb...

Page 1358: ...arameter menu Technology Positioning Upread free access U599 Dist Disp 2599 Significance Index 1 Length Resolution Position of decimal point in length unit 0 1 1 0 1 2 0 01 3 0 001 4 0 0001 Index 2 Length Interpretation Physical unit of length 0 user defined 8 ASCII characters of the customer unit are in the index 3 10 1 mm 2 Inch 3 Degree Index 3 User defined text for unit of length only relevant...

Page 1359: ... dead time differences between the drives at an optimal minimum 2 Use of a real master externally In this case the position actual value of another unit is transferred via SIMOLINK to synchronism During the transfer a dead time occurs which results in an angular error 3 Use of a real master internally With the internal master the encoder of the master drive is also applied with the slave drive wit...

Page 1360: ...is connected via Index 1 the denominator via Index 2 Function diagram 834 6 index1 804 Unit Indices 2 Type L2 K Menus Parameter menu Technology Synchronism Upread free access Changeable in Ready to switch on Operation enabled U606 S RecomVal 2606 Changeover for the master setpoint of the axis for synchronism The following master setpoint sources can for example be interconnected via U600 0 externa...

Page 1361: ...r the length of a ramp This ramp can be freely wired via KK0895 Example engaging U475 0 Ramp 10000 LU increments Engaging length 100000 LU increments After the start of engaging action the drive accelerates in ramp 2 5000 inc up to the master speed travels synchronously along the engaging length ramp 100000 10000 90000 inc with the master setpoint and is then shut down in 5000 increments Function ...

Page 1362: ...tchPosOffset 2613 Index 1 Parameter for offset of the engaging position in LU As standard it is connected to the input connector offset engaging position U609 1 Index 2 Parameter for the disengaging position in LU As standard it is connected to the input connector engaging position U609 2 Function diagram 834a 1 or 834b 1 index1 0 Min 2147483648 Max 2147483647 Unit Indices 2 Type I4 Menus Paramete...

Page 1363: ...or up to eight tables with as many interpolation points of the possible 400 as desired parameter value 4 Parameter values 10 to 14 for special applications only after consultation with the Applications Center Erlangen The parameter can be changed only if the cam synchronism function U603 U657 in function diagram 835 6 is not selected Changing the configuration sets the status U617 of the table to ...

Page 1364: ...eristics the speed is output exactly as ZERO without interpolation Function diagram 839 5 index1 0 Unit Indices 2 Type L2 Menus Parameter menu Technology Synchronism Upread free access Changeable in Ready to switch on Operation enabled U617 Check Table 2617 The parameter starts the table check A table can only be operated if it is checked beforehand If table values are changed U617 is automaticall...

Page 1365: ... scaling of Y axis U614 is at 0 this binector is not effective A jump at the output has to be expected for the table operating mode If the operating mode scaling of the Y axis U614 is at 1 this binector is effective 0 Scaling is adopted in the next axis cycle 1 Scaling is adopted immediately In function diagram 839 4 Init 0 Unit Indices Type L2 B Menus Parameter menu Technology Synchronism Upread ...

Page 1366: ...us Parameter menu Technology Synchronism Upread free access Changeable in Ready to switch on U627 HLZ RLZ Round 2627 Index 1 Deceleration time during acceleration 0 60 sec ms Index 2 Acceleration time of catch up 0 60 Sec ms Note If acceleration 0 U628 1 2 0 no smoothing is performed because A 0 is interpreted as A infinity index1 1000 Min 0 Max 60000 Unit ms Indices 2 Type O2 Menus Parameter menu...

Page 1367: ...chnology Synchronism Upread free access Changeable in Ready to switch on Operation enabled U632 Tab X201 X250 2632 This parameter is used to input x coordinates 201 to 250 of the table Function diagram 839 4 index1 0 Min 0 Max 2147483647 Unit Indices 50 Type I4 Menus Parameter menu Technology Synchronism Upread free access Changeable in Ready to switch on Operation enabled U633 Tab X251 X300 2633 ...

Page 1368: ...1 to 250 of the table Function diagram 839 4 index1 0 Min 2147483648 Max 2147483647 Unit Indices 50 Type I4 Menus Parameter menu Technology Synchronism Upread free access Changeable in Ready to switch on Operation enabled U638 Tab Y251 Y300 2638 This parameter is used to input y coordinates 251 to 300 of the table Function diagram 839 4 index1 0 Min 2147483648 Max 2147483647 Unit Indices 50 Type I...

Page 1369: ...r H Index Z E INDEX 5 Table 3 The table begins in Parameter H Index Z E INDEX 6 Table 3 The table ends in Parameter H Index Z E etc Dec Plc 0 Unit Indices 16 Type O2 Menus Parameter menu Technology Synchronism Upread free access U640 Tab X101 X150 2640 This parameter is used to input x coordinates 101 to 150 of the table Function diagram 839 4 index1 0 Min 0 Max 2147483647 Unit Indices 50 Type I4 ...

Page 1370: ...on enabled U646 Tab Y151 Y200 2646 This parameter is used to input y coordinates 151 to 200 of the table Function diagram 839 4 index1 0 Min 2147483648 Max 2147483647 Unit Indices 50 Type I4 Menus Parameter menu Technology Synchronism Upread free access Changeable in Ready to switch on Operation enabled U647 Tab Y301 Y350 2647 This parameter is used to input y coordinates 301 to 350 of the table F...

Page 1371: ...on enabled U652 S Scale Y Axis 2652 The parameter defines the connectors from which the numerator and denominator of the scaling factor for the Y axis of the table are to be read Index 1 Numerator Index 2 Denominator Function diagram 839 6 index1 808 Unit Indices 2 Type L2 K Menus Parameter menu Technology Synchronism Upread free access Changeable in Ready to switch on Operation enabled n653 TG Sp...

Page 1372: ...ameter menu Technology Synchronism Upread free access Changeable in Ready to switch on Operation enabled U657 S FuncSync 2657 The parameter defines the source for changeover of the snychronism function FUNCTION The function is selected by two binectors which are coded as follows U657 02 U657 01 0 0 Angular synchronism function 0 1 Electronic gearbox function 1 0 Cam function 1 1 Cam function Funct...

Page 1373: ...positive edge at control bit Start position correction U666 the difference between reference position and the measured actual position is determined upon occurrence of the printing index This difference is conveyed to the position correction and reduced with the correction speed indicated at U667 U661 defines whether the correction direction is positive or negative Function diagram 836 4 Init 0 Mi...

Page 1374: ...ee access Changeable in Ready to switch on Operation enabled n668 Status Table 2668 Status of the last checked table PMU display X X X X T H Z E Z E 1 50 Index of the last error free support value H 1 U630 error 2 U631 error 3 U640 error 4 U641 error 5 U632 error 6 U633 error 7 U642 error 8 U643 error T 0 no error 1 Number of support points 0 2 Support value table width 3 Ascending order of suppor...

Page 1375: ...el Sync 2674 Index 1 Selection of the binector Enable synchronism The parameter defines the source for enabling synchronism If synchronism is not enabled the output of the synchronism KK0310 is permanently tracked to the input of setting value position setpoint output U671 If the position actual value of the slave axis e g KK0120 is softwired as setting value jolt free changeover to synchronism ca...

Page 1376: ... Displacement angle setting value Index 3 Displacement angle relative index1 813 Unit Indices 3 Type L2 K K Menus Parameter menu Technology Synchronism Upread free access Changeable in Ready to switch on Operation enabled U679 VsetVirtMastFix 2679 Fixed setpoint for the virtual master axis in 10 LU min at KK818 U680 default Init 0 Min 2147483647 Max 2147483647 Unit Indices Type I4 Menus Parameter ...

Page 1377: ...e ramp function generator in the virtual master axis Acceleration is specified in 100 LU s 2 Function diagram 832 5 Init 204 Min 0 Max 2147483647 Unit Indices Type I4 Menus Parameter menu Technology Synchronism Upread free access Changeable in Ready to switch on Operation enabled U686 S SetV VMAx 2686 BICO parameter for selecting the connector for the setting value of the virtual master axis In fu...

Page 1378: ...ism Upread free access Changeable in Ready to switch on Operation enabled U695 Adj Spd Para 2695 The adjusting speed for manual adjustment is specified here via binectors U696 1 and U696 2 index1 60000 00 Min 0 00 Max 20000000 00 Unit Indices 3 Type I4 Menus Parameter menu Technology Synchronism Upread free access Changeable in Ready to switch on Operation enabled U696 DispAngle 2696 Index 1 Displ...

Page 1379: ...cement Enable register displacement Index 2 Register displacement Setting command Index 3 Register decoupling Enable register decoupling index1 820 Unit Indices 3 Type L2 B Menus Parameter menu Upread free access Changeable in Ready to switch on Operation enabled U702 Adaptation 2702 FP842 Register decoupling Index 1 Register displacement Adaptation of speed Index 2 Register decoupling Adaptation ...

Page 1380: ...as to be set If zero is specified the plausibility check is switched off Example Motor speed winding speed gear ratio 3 1 P353 1 3000 rpm P353 2 0 Value to be set at U707 1000 rpm Init 0 Min 0 Max 65535 Unit 1 min Indices Type O2 Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled U708 Override Fixed 2708 Parameter for entering the fixed override ...

Page 1381: ... standstill Index29 Mode Bit0 Index30 Mode Bit1 Index31 Mode Bit2 Index32 Mode Bit3 index1 0 Unit Indices 32 Type L2 B Menus Parameter menu Technology Positioning Upread free access Changeable in Ready to switch on Operation enabled U711 CharacteristicTP 2711 FD784b Taper tension Characteristic 0 Reduction in the infinite Lowering of the tension setpoint U717 4 is achieved only upon an infinitely ...

Page 1382: ... Taper tension Minimum diameter starting point for reducing the tension setpoint Index 6 Taper tension Maximum diameter At this diameter the taper tension characteristic achieves the reduction indicated in U717 4 The indication is only relevant at U711 1 Index 7 Moment of inertia Minimum diameter for normalization Here the minimum possible diameter is entered Normally the same value can be entered...

Page 1383: ...s Changeable in Ready to switch on Operation enabled U717 SrcAxialWinderK 2717 FP784b Input connectors for axial winders Index 1 Moment of inertia Material width as a percentage of the rated value Index 2 Moment of inertia Material constant comprises the thickness and scaling Index 3 Taper tension Tension setpoint Index 4 Taper tension The taper tension defines the final value of the reduction of ...

Page 1384: ...ype I4 Menus Parameter menu Technology Positioning Upread free access Changeable in Ready to switch on Operation enabled U722 AutomaticRecord 2722 The automatic record stored in the EEPROM is displayed on parameters The automatic record consists of the following data 1 Program number continuation number record number 2 Validity bits of functions or values 3 1 4 G function 4 Position 5 Speed 6 1 3 ...

Page 1385: ...oning Upread free access Changeable in Ready to switch on Operation enabled U728 AutomaticRecord 2728 The automatic record stored in the EEPROM is displayed on parameters The automatic record consists of the following data 1 Program number continuation number record number 2 Validity bits of functions or values 3 1 4 G function 4 Position 5 Speed 6 1 3 M function D number index1 0 Min 2147483647 M...

Page 1386: ...oning Upread free access Changeable in Ready to switch on Operation enabled U734 AutomaticRecord 2734 The automatic record stored in the EEPROM is displayed on parameters The automatic record consists of the following data 1 Program number continuation number record number 2 Validity bits of functions or values 3 1 4 G function 4 Position 5 Speed 6 1 3 M function D number index1 0 Min 2147483647 M...

Page 1387: ...oning Upread free access Changeable in Ready to switch on Operation enabled U740 AutomaticRecord 2740 The automatic record stored in the EEPROM is displayed on parameters The automatic record consists of the following data 1 Program number continuation number record number 2 Validity bits of functions or values 3 1 4 G function 4 Position 5 Speed 6 1 3 M function D number index1 0 Min 2147483647 M...

Page 1388: ...oning Upread free access Changeable in Ready to switch on Operation enabled U746 AutomaticRecord 2746 The automatic record stored in the EEPROM is displayed on parameters The automatic record consists of the following data 1 Program number continuation number record number 2 Validity bits of functions or values 3 1 4 G function 4 Position 5 Speed 6 1 3 M function D number index1 0 Min 2147483647 M...

Page 1389: ...oning Upread free access Changeable in Ready to switch on Operation enabled U752 AutomaticRecord 2752 The automatic record stored in the EEPROM is displayed on parameters The automatic record consists of the following data 1 Program number continuation number record number 2 Validity bits of functions or values 3 1 4 G function 4 Position 5 Speed 6 1 3 M function D number index1 0 Min 2147483647 M...

Page 1390: ...oning Upread free access Changeable in Ready to switch on Operation enabled U758 AutomaticRecord 2758 The automatic record stored in the EEPROM is displayed on parameters The automatic record consists of the following data 1 Program number continuation number record number 2 Validity bits of functions or values 3 1 4 G function 4 Position 5 Speed 6 1 3 M function D number index1 0 Min 2147483647 M...

Page 1391: ...oning Upread free access Changeable in Ready to switch on Operation enabled U764 AutomaticRecord 2764 The automatic record stored in the EEPROM is displayed on parameters The automatic record consists of the following data 1 Program number continuation number record number 2 Validity bits of functions or values 3 1 4 G function 4 Position 5 Speed 6 1 3 M function D number index1 0 Min 2147483647 M...

Page 1392: ...2147483647 Max 2147483647 Unit Indices 6 Type I4 Menus Parameter menu Technology Positioning Upread free access Changeable in Ready to switch on Operation enabled U789 S Multiplexer 2 2789 Source for the binectors of the multiplexer with 8 channels Index 1 Signal selection Bit 0 Index 2 Signal selection Bit 1 Index 3 Signal selection Bit 2 Index 4 Enable signal selection index1 0 Unit Indices 4 Ty...

Page 1393: ...3 index1 0 Unit Indices 2 Type L2 K K Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled U797 S BiPosTrackEx 2797 Definition of the input binectors for the free block Start position of external encoder Index 1 Reset overflow counter for linear axis to the value specified in U798 03 for rotary axis to zero Index 2 Reserve FD 333 index1 0 Unit Indi...

Page 1394: ... encoder Init 0 Unit Indices Type L2 B Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled U805 SL Encoder AZL 2805 Axis cycle length for Simolink encoder Init 32768 Min 1 Max 2147483647 Unit Indices Type I4 Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled U806 SLE V Rtd 2806 Parameter for rate...

Page 1395: ...ess Changeable in Ready to switch on n814 StatLTrackEncder 2814 The parameter displays the status of position tracking for the motor encoder Index 1 Current status of the overflow counter of the encoder Index 2 Current status of the revolution counter of the encoder Index 3 Value transferred to position sensing of motor encoder during acceleration FD327 Dec Plc 0 Unit Indices 4 Type I4 Menus Param...

Page 1396: ... Input of additive relative displacement angle Index 2 Set input of additive displacement angle Index 3 Input of absolute displacement angle index1 0 Unit Indices 3 Type L2 K K Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled U822 S AddDisplTrig 2822 Index 1 0 1 Increase displacement angle Index 2 0 1 Decrease displacement angle Index 3 0 1 Inc...

Page 1397: ...edge at the input the current displacement is set to the setting value of the connector U678 2 setting input Init 0 Unit Indices Type L2 B Menus Parameter menu Upread free access Changeable in Ready to switch on Operation enabled U828 S DisplAdd 2828 Input of the modulo displacement adder Function diagram 794a index1 0 Unit Indices 4 Type L2 K K Menus Parameter menu Free blocks Upread free access ...

Page 1398: ...or voltage Uzk with reduced DC link voltage Error message F002 precharging is not triggered in this voltage range If the DC link voltage is lower than the value parameterized in Index 2 binector B0856 goes high Index 1 Minimum Uzk with reduced DC link voltage Index 2 Maximum Uzk with reduced DC link voltage The value in Index 2 must always be greater than or equal to the value in Index 1 The funct...

Page 1399: ...free access Changeable in Ready to switch on Operation enabled U844 S 32BGear1 Fact 2844 Factors of the 32 bit gear Index 1 Numerator Index 2 Denominator Function diagram 786c index1 0 Unit Indices 2 Type L2 K K Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled U845 32BGear 2 ACL 2845 Axis cycle lengths of the 32 bit gear Index 1 Axis cycle leng...

Page 1400: ... Indices 8 Type L2 K K Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on U851 S BPos V Max 2851 Source basic positioner V Max In function diagram 789a 1 Init 874 Unit Indices Type L2 K K Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled U852 S BPos A Max 2852 Source basic positioner A Max Index1 Acceleration ad...

Page 1401: ... in which the maximum speed is to be achieved sec Note The parameter cannot be changed when the basic positioner is enabled if the binector softwired to U866 01 has the value 1 In function diagram 789b 4 Init 204 00 Min 0 00 Max 20000000 00 Unit Indices Type O4 Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled U858 BPos Linear Rnd 2858 The axis ...

Page 1402: ...BIT1 RESERVED BIT2 POS BIT3 SETUP BIT4 POS_TYP_ACT old ABS_REL BIT5 D_FWD_ACT BIT6 D_BWD_ACT BIT7 EXT_REF_OK B0888 or B0210 1 BIT8 EXT_POS_OK BIT9 SET_TRIG BIT10 Internal POS_OK position reached Index 2 Output BPos and homing function K0889 BIT16 B0860 POS_OK BIT17 B0861 POS_RUN BIT18 B0862 RFG_RUN BIT19 B0863 RU_ACT BIT20 B0864 RD_ACT BIT21 B0866 FWD_RUN BIT22 B0867 BWD_RUN BIT23 B0865 POS_DELTA ...

Page 1403: ...REF_STOP_BWD Reverse cam home bwd negative Index 12 REF_STOP_FWD Reverse cam home fwd positive Index 13 REF_STOP Stop homing e g axis home position ARFD Index 14 REF_D Preferred direction for home position acquisition 0 BWD 1 FWD Index 15 Enable stop cam Index 16 Stop cam plus Index 17 Stop cam minus In function diagram 789a 2 index1 220 Unit Indices 17 Type L2 B Menus Parameter menu Free blocks U...

Page 1404: ...ex 1 DOWN positioner Function diagram 788b c Dec Plc 3 Unit Indices 4 Type I4 Menus Parameter menu Free blocks Upread free access U872 BPos PlayComp 2872 Backlash compensation Parameter value 0 The backlash compensation serves to compensate a mechanical backlash In the case of an indirect measuring system encoder on motor after every reversal of direction the backlash is first traversed before eff...

Page 1405: ... index1 0 Min 0 Max 1 Unit Indices 10 Type O2 Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled U876 S BPos REF V IN 2876 Source speed setpoint for position correction homing block In function diagram 789c 1 Init 870 Unit Indices Type L2 K K Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled U8...

Page 1406: ... or linked to POWER ON The RESET has a static action LOW RESET y 0 all valid output values of the set setpoint transfer are reset In function diagram 789a 5 Init 1 Unit Indices Type L2 B Menus Parameter menu Free blocks Upread free access Changeable in Ready to switch on Operation enabled U883 BPos REL MOD 2883 Basic positioner Positioning mode for relative 0 In the case of relative positioning PO...

Page 1407: ...AND U888 02 input value 1 index1 0 Unit Indices 2 Type L2 B Menus Parameter menu Upread free access Changeable in Ready to switch on U890 Tab Y401 Y450 2890 With this parameter Y interpolation points 401 to 450 are entered in the table The interpolation values are evaluated only for U615 10 to 14 The X nterpolation points are then assumed to be equidistant Only for special applications after consu...

Page 1408: ...ion points 701 to 750 are entered in the table The interpolation values are evaluated only for U615 10 to 14 Only for special applications after consultation with the Applications Center Function diagram 839 4 index1 0 Min 2147483648 Max 2147483647 Unit Indices 50 Type I4 Menus Parameter menu Technology Synchronism Upread free access Changeable in Ready to switch on Operation enabled U897 Tab Y751...

Page 1409: ...P972 Index 1 Basic board Index 2 Deselection of slot A Index 3 Deselection of slot B Index 4 Deselection of slot C Index 5 Deselection of slot D Index 6 Deselection of slot E Index 7 Deselection of slot F Index 8 Deselection of slot G index1 0 Min 0 Max 1 Unit Indices 8 Type O2 Menus Parameter menu Board configuration Upread free access Changeable in Board configuration n911 Board ID 2911 Compact ...

Page 1410: ...1 SD12 Index 2 Status encoder 2 SD1 SD12 Dec Plc 0 Unit Indices 2 Type O2 Menus Parameter menu Communication Field bus interfaces Upread free access n925 G1_STW 2925 Parameter is only necessary for the parameter model of PROFIdrive V3 standard Parameter is only visible if PROFIdrive V3 is set Dec Plc 0 Unit Indices Type V2 Menus Parameter menu Communication Field bus interfaces Upread free access ...

Page 1411: ...ed storage elements is calculated from memory depth 1 and is thus between 1 and 50 Due to the separate clock inputs for write and read the actual internal memory depth can deviate from the value of the function parameter If the parameter is changed a reset is implicitly carried out index1 0 Min 0 Max 49 Unit Indices 2 Type O2 Menus Parameter menu Free blocks Upread free access Changeable in Ready ...

Page 1412: ...t dataset at data output Index 8 14 FD787b index1 0 Unit Indices 14 Type L2 B Menus Parameter menu Upread free access Changeable in Ready to switch on Operation enabled n938 SR Status 2938 Visualization parameter status shift register Index 1 Shift register 1 FD787a Index 2 Shift register 2 FD787b Dec Plc 0 Unit Indices 2 Type V2 Menus Parameter menu Upread free access n939 SR OutputKK 2939 Visual...

Page 1413: ... time of the function with function numbers 201 to 300 index1 20 Min 2 Max 20 Unit Indices 100 Type O2 Menus Parameter menu Releases Upread free access Changeable in Ready to switch on U953 Sampling Times4 2953 Parameter for setting the sampling time of the functions with function numbers 301 to 400 index1 20 Min 0 Max 20 Unit Indices 72 Type O2 Menus Parameter menu Releases Upread free access Cha...

Page 1414: ... the internal functions with function number 901 1000 Dec Plc 0 Unit Indices 100 Type O2 Menus Parameter menu Releases Upread free access U976 FID 2976 Individual unit identification number written during production of the unit cannot be changed index1 0 Unit Indices 2 Type L2 Menus Parameter menu Releases Upread free access Power section definition Changeable in Power section definition U977 PIN ...

Page 1415: ...eter menu Upread free access n985 Par List pt16 2985 Dec Plc 0 Unit Indices 101 Type O2 Menus Parameter menu Upread free access n986 Par List pt17 2986 Dec Plc 0 Unit Indices 101 Type O2 Menus Parameter menu Upread free access n987 Par List pt18 2987 Dec Plc 0 Unit Indices 101 Type O2 Menus Parameter menu Upread free access n988 Par List pt19 2988 Dec Plc 0 Unit Indices 101 Type O2 Menus Parameter...

Page 1416: ...03 2010 Siemens AG 6SE7087 6QX70 Version AL SIMOVERT MASTERDRIVES Compendium Motion Control Connector list ...

Page 1417: ...t 1 after smoothing before scaling and offset In function diagram 80 3 no no K0022 I Abs smooth Output current quantity smoothed in function diagram 500 6 no no K0030 Control Word 1 Control word 1 in function diagram 180 7 no no K0031 Control Word 2 Control word 2 bits 16 31 in function diagram 190 5 no no K0032 Status Word 1 Status word 1 in function diagram 200 5 no no K0033 Status Word 2 Status...

Page 1418: ...d by the zero pulse If an external encoder is used for motor position measurement P0182 104 the position feedback scaling factor and the resolution of the motor encoder apply Otherwise the position feedback scaling factor and the resolution of the external encoder are used In function diagram FP242 yes no KK0089 ZeroPtDev Deviation of the actual position of the motor encoder freom the reference po...

Page 1419: ...as motor encoder in function diagram 260 6 yes no KK0101 n ExtEncoder Speed external encoder SBM2 yes yes KK0102 n Difference Speed difference KK91 KK101 The connector is calculated only when the motor encoder position or the external encoder position is connected to P244 yes yes KK0104 AngleEncExt Mechanical angle machine encoder with SBM2 board In function diagram 242 6 270 6 The connector KK104...

Page 1420: ...pos meas ref point detection active In function diagram 330 7 yes yes KK0125 PosActV MEncod Position actual value of machine encoder in linear units in function diagram 335 8 yes no KK0126 MachEncPosTest Test output for position sensing of machine encoder in function diagram 335 7 yes no KK0127 MVal Mem MEncod Position measured value of external encoder in function diagram 335 7 yes no KK0128 n ac...

Page 1421: ... setpoint generated on the control processor DSP in function diagram 325 4 yes yes KK0150 n set smooth Smoothed speed setpoint prior to setpoint actual value comparison of speed controller In function diagram 360 4 yes yes KK0151 n act smooth Smoothed speed actual value prior to setpoint actual value comparison of speed controller In function diagram 360 4 yes yes KK0152 n Deviation Setpoint actua...

Page 1422: ...0172 Torq limit1 act Upper torque limit of speed limitation controller in function diagram 370 2 no yes K0173 Torq limit2 act Lower torque limit of speed limitation controller in function diagram 370 2 no yes K0175 Imax perm Currently valid value of maximum current in function diagram 370 5 no no K0176 Isq max abs Amount of torque forming current component to which limitation takes place in curren...

Page 1423: ...aracteristic in function diagram 400 7 no yes K0205 A set V f Setpoint modulation depth v f characteristic in function diagram 400 8 no yes KK0206 n set V f Setpoint speed v f characteristic in function diagram 400 2 yes yes KK0207 f set V f 1 Reference frequency v f characteristic before intervention of I max controller in function diagram 400 3 yes yes K0208 I max Reg Out Output I max controller...

Page 1424: ...eeds 1 6 times the converter rated current I_Conv_Rated The integrator does not return until the current quantity falls below 0 9 I_Conv_Rated If the connector achieves the value 100 the current limit r129 is reduced to 0 9 I_Conv_Rated in function diagram 490 3 no no K0255 LZSendValue Connector output of sign of life counter transmit block Value range 1 15 In function diagram 170 4 no no K0256 LZ...

Page 1425: ... the following function K0272 100 sin P310 1 Theta P308 1 P311 1 100 sin P310 2 Theta P308 2 P311 2 no yes K0273 HarmComp I out Output of the harmonic compensation function The signal consists of two sinusoidal components which are evaluated with an amplitude growth function The amplitude growth function is second order and is written in parameter P312 by three interpolation points no yes K0274 CL...

Page 1426: ...in function diagram 705 2 no no K0403 FIXSETP K U003 FB 3rd fixed setpoint 16 bit in function diagram 705 2 no no K0404 FIXSETP K U004 FB 4th fixed setpoint 16 bit in function diagram 705 2 no no K0405 FIXSETP K U005 FB 5th fixed setpoint 16 bit in function diagram 705 2 no no K0406 FIXSETP K U006 FB 6th fixed setpoint 16 bit in function diagram 705 2 no no K0407 FIXSETP K U007 FB 7th fixed setpoi...

Page 1427: ...447 SUB K 1 02 Output of the 1st 16 bit subtracter in function diagram 725 2 no no K0448 SUB K 1 58 Output of the 2nd 16 bit subtracter in function diagram 725 2 no no K0449 SUB K 2 06 Output of the 3rd 16 bit subtracter in function diagram 725 3 no no KK0450 ADD KK 1 15 Output of the 1st 32 bit adder in function diagram 725 2 yes no KK0451 ADD KK 1 29 Output of the 2nd 32 bit adder in function di...

Page 1428: ... 730 4 yes no KK0474 KK0478 ConnToPar Value Return value for connector to parameter converter in function diagram 798 8 yes no K0479 ConnToPar ParNo First parameter number for connector to parameter conversion The connector supplies internally all possible parameter numbers if the respective index is softwired and externally only the parameter number of the first index is shown In function diagram...

Page 1429: ...r KK0499 Shift register 1 FD787a KK0500 Shift register 2 FD787b yes no K0501 K0503 LIMITR K 1 74 1st 16 bit limiter in function diagram 735 7 no no K0504 K0506 LIMITR K 2 38 2nd 16 bit limiter in function diagram 735 7 no no KK0507 KK0509 LIMITR KK 2 48 1st 32 bit limiter in function diagram 735 7 yes no K0511 K0512 LMTMON K 1 18 1st limit value monitor 16 bit fixed setpoint and output smooothing ...

Page 1430: ...ic curve in function diagram 755 8 no no K0544 DEADZONE K 0 88 Dead zone output 1 in function diagram 755 5 no no KK0545 MAX KK 2 24 Output maximum selection 32 bit in function diagram 760 2 yes no KK0546 MIN KK 2 25 Output minimum selection 32 bit in function diagram 760 2 yes no KK0547 OutpMultiplex 2 Output of the second 8 fold multiplexer In function diagram 753 yes no KK0548 OutpMultiplex 3 O...

Page 1431: ...5 2 no no K0564 COUNT STA K U31 Fixed setpoint starting value 16 bit counter in function diagram 785 2 no no K0565 COUNTER K 1 38 Output of the 16 bit counter in function diagram 785 7 no no KK0566 KK0569 Cam3 Fsetp Connector outputs of fixed setpoints for cam controller 3 KK0566 Fixed setpoint 1 On Position 1 KK0567 Fixed setpoint 2 Off Position 1 KK0568 Fixed setpoint 3 On Position 2 KK0569 Fixe...

Page 1432: ...8 TeCntr Output Output of the technology controller after output limitation in function diagram 792 8 no no K0590 WobbleSignal Output signal of wobble generator in function diagram 795 8 no no K0591 Setp Wobbled Wobbled setpoint in function diagram 795 8 no no KK0592 KK0599 TraceValueOutp Output connector for the trace values in function diagram 797 6 yes no KK0600 AnaDelayEl 1 KK Analog output va...

Page 1433: ... of the 1st P amplifier multiplier 2 word in function diagram 732 2 yes no KK0617 PAmpf 32_2 KK 32 bit result of the 2nd P amplifier multiplier 2 word in function diagram 732 2 yes no KK0618 Shift32_1 KK 32 bit result of the 1st shift multiplier divider in function diagram 732 5 yes no KK0619 Shift32_2 KK 32 bit result of the 2nd shift multiplier divider in function diagram 732 5 yes no KK0620 Shi...

Page 1434: ... Register decoupling Current circumference yes no KK0798 v SuccessorDEC FD842 Register decoupling Decoupling to successor yes no KK0799 CircAdaptionDEC FD842 Register decoupling Adaptation circumference yes no KK0800 StatusWordSync Connector indicates the status of the synchronism status signal in function diagram 846 4 yes no KK0801 Catch up Stop Fixed connector of parameter U688 1 shutdown posit...

Page 1435: ...ansfer to the table The next support point is therefore the faulty support point See fault code In function diagram 839 2 yes no KK0811 Status_Table2 Bit 0 to 15 Number of support values up to last fault free support value Bit 16 to 23 Fault code Bit 24 Table reset running Bit 25 Table transfer running Bit 26 to Bit 29 Spare Bit 30 Group fault Bit 31 Transfer finished and fault free Fault code 0 N...

Page 1436: ...es no KK0822 TG_FK_ClutchPos Fixed setpoint for offset coupling position in function diagram 834a 2 yes no KK0823 SetVal Table Fixed connector for set value table U622 in function diagram 839 4 yes no KK0824 X Pos Table Table position of the x axis can be read out here x axis master position in function diagram 839 3 yes no KK0825 Y Pos Table Table position of the y axis can be read out here y axi...

Page 1437: ...ActSpeedPosC Contains the current speed in percent referred to compensation speed yes no KK0840 Status Table 3 Bit 0 to 15 Number of support values up to last fault free support value Bit 16 to 23 Fault code Bit 24 Table reset running Bit 25 Table transfer running Bit 26 to Bit 29 Spare Bit 30 Group fault Bit 31 Transfer finished and fault free Fault code 0 No fault 1 Number of support values 0 or...

Page 1438: ...e the faulty support point See fault code In function diagramm 839c 2 839d 2 839e 2 yes no KK0842 Status Table 5 Bit 0 to 15 Number of support values up to last fault free support value Bit 16 to 23 Fault code Bit 24 Table reset running Bit 25 Table transfer running Bit 26 to Bit 29 Spare Bit 30 Group fault Bit 31 Transfer finished and fault free Fault code 0 No fault 1 Number of support values 0 ...

Page 1439: ...efore the faulty support point See fault code In function diagramm 839d 2 839e 2 yes no KK0844 Status Table 7 Bit 0 to 15 Number of support values up to last fault free support value Bit 16 to 23 Fault code Bit 24 Table reset running Bit 25 Table transfer running Bit 26 to Bit 29 Spare Bit 30 Group fault Bit 31 Transfer finished and fault free Fault code 0 No fault 1 Number of support values 0 or ...

Page 1440: ...olSpeed Extrapolator speed setpoint output In function diagram 171 yes no KK0848 SLE Setpoint Simolink encoder setpoint output Preferably wired to Simolinkwort 0 P0751 1 2 In function diagram 793 6 yes no K0849 SLE ActVal Simolink encoder actual value output In function diagram 793 6 no no KK0850 SLE Setpt32Bit Setpoint SLE LU Axis cycle setpoint compensated from source SLE setpoint U803 01 calcul...

Page 1441: ...een master setpoint 1 and master setpoint 2 yes no KK0867 FB_DisplActVal2 Output of offset adder 2 with limitation to ACL LU 32 Bit FD794a yes no KK0868 FB_DisplActVal3 Output of offset adder 3 with limitation to ACL LU 32 Bit FD794a yes no KK0870 BPos RFG V out 32 bit speed output of basic positioner ramp generator see function diagram 789b 8 yes no KK0871 BPos RFG S out 32 bit position setpoint ...

Page 1442: ... yes no KK0884 BP delta S Corr Internal 32 bit position correction value LU of basic positioner outputs the correction value of the referencing process U877 3 U877 4 window function see function diagram 789c 7 yes no KK0885 BP CorrVal POS 32 bit output connector LU of basic positioner Correction value for motor encoder position detection e g P174 B together with correction signals KOR KOR see func...

Page 1443: ...S_FC_Ramp Fixed setpoint length of ramp In function diagram 834a 7 yes no K0896 BP FC CamDec Fixed connector 896 deceleration stop cam In function diagram 789a 1 no no KK0897 Delta_S_LU Position difference at input Delta S in LU In function diagram 789b 2 yes no KK0898 KK0899 BPos SW LimSw KK0898 Fixed connector software limit switch plus U865 1 KK0899 Fixed connector software limit switch minus U...

Page 1444: ...2 5 no no K5106 1EB1stat DI DO Display of status of the terminals status of digital inputs outputs of the first inserted EB1 In function diagram Y03 2 no no K5111 AnaIn 1st EB2 Analog input of the first inserted EB2 In function diagram Y07 8 no no K5112 AnaIn 1st EB2 Setpoint analog output of the first inserted EB2 In function diagram Y07 5 no no K5113 Stat DI DO 1EB2 Display of status of the term...

Page 1445: ...o K7083 Ind Timeout Number of timeout errors corresponding to P748 3 in function diagram 140 8 no no K7085 NodeAddrTimeout Address of the node that sends the Time out special telegram corresponding to P748 5 in function diagram 140 8 no no K7089 SYNCDeviation Synchronicity deviation 65535 synchronization not active corresponding to P748 9 in function diagram 140 8 no no K7091 T0 Counter T0 counter...

Page 1446: ...03 2010 Siemens AG 6SE7087 6QX70 Version AL SIMOVERT MASTERDRIVES Compendium Motion Control Binector list ...

Page 1447: ...gIn 3 Binary input digital input 3 In function diagram 90 5 B0015 DigIn 3 inv Binary input digital input 3 inverted In function diagram 90 5 B0016 DigIn 4 Binary input digital input 4 In function diagram 90 5 B0017 DigIn 4 inv Binary input digital input 4 inverted In function diagram 90 5 B0018 DigIn 5 Binary input digital input 5 B0019 DigIn 5 inv Binary input digital input 5 inverted B0020 DigIn...

Page 1448: ...P fine pulse 2 from the machine encoder B0070 MeasV valid If this binector is 1 the position measured values are applicable During initialization or during any encoder faults the angles and the position values are not applicable Only when this binector is set can the angle or the position be evaluated In the case of resolvers encoders and multiturn encoders the analog tracks are evaluated for moni...

Page 1449: ...ue deviation binector B0117 Deviation Setpoint actual value deviation binector B0120 CompV OK Comparison setpoint value achieved binector B0121 CompV not OK Comparison setpoint value NOT achieved binector B0122 Low Voltage Undervoltage binector B0123 No Low Voltage NO undervoltage binector B0124 Energize MCon Demand to energize main contactor binector B0125 N Energ MCon Demand NOT to energize main...

Page 1450: ...3 Prechrg n act Precharging NOT active binector B0170 B0185 C B CONV4 16 binectors of the 4th connector binector converter B0200 No SpdDir Sel No direction of rotation selected B0201 Accel active Acceleration active B0202 Decel active Deceleration active B0203 Limitr FWD act Speed limitation positive rotation direction reached B0204 Limitr REV act Speed limitation negative rotation direction reach...

Page 1451: ... recalculated In function diagram 170 B0250 I Reg in Limitr Current controller in limitation voltage limit achieved In function diagram 389 7 390 7 B0251 Field Weakening Field weakening active In function diagram 389 3 390 3 B0253 EMF Model act The EMF model is active B0255 Excitation End The excitation time of the motor has expired B0270 Energize MCon Energize main contactor Same significance as ...

Page 1452: ...itioning The significance is determined with MD47 and MD48 U501 47 and 48 B0313 QuickOutp3 P Quick output of positioning The significance is determined with MD47 and MD48 U501 47 and 48 B0314 QuickOutp4 P Quick output of positioning The significance is determined with MD47 and MD48 U501 47 and 48 B0315 FastOutp5 P Fixed binector 0 In function diagram 15 2 15 4 B0316 FastOutp6 P Fixed binector 0 In...

Page 1453: ...binector converter B0430 B0445 K B CONV2 16 binectors of the 2nd connector binector converter B0450 B0465 K B CONV3 16 binectors of the 3rd connector binector converter B0470 B0471 LIMITR B 1 74 1st limiter 16 bit B0472 B0473 LIMITR B 2 38 2nd limiter 16 bit B0474 B0475 LIMITR B 2 48 1st limiter 32 bit B0476 LMTMON B 1 18 1st limit value monitor 16 bit B0477 LMTMON B 2 49 2nd limit value monitor 1...

Page 1454: ...9 TIMER 1 83 5th timer B0540 B0541 TIMER 2 16 6th timer B0542 B0543 TIMER 1 50 7th timer B0544 B0548 ConnToParChkbk Checkback for connector parameter converter 0 No memory access 1 Memory access necessary B0550 ComfRGen Out 0 Output of the comfort ramp function generator is zero B0551 ComfRGen y x Acceleration deceleration of the comfort ramp function generator is finished y x B0552 ComfRGen First...

Page 1455: ...ing a positive overflow of the input value B0582 RealMaster N OV Binector for indicating a negative overflow of the input value B0585 ErrorTrackMg This binector indicates that the motor encoder position tracking has detected an overflow This overflow occurs when the permissible range of encoder overflows with a linear axis has been exceeded U813 2 In function diagram 327 4 B0586 ErrorTrackEg B0587...

Page 1456: ...element B0626 OR 2 10 8th OR element B0627 OR 2 11 9th OR element B0628 OR 2 40 10th OR element B0629 OR 2 70 11th OR element B0630 OR 2 93 12th OR element B0631 B0638 SH 1 68 B Binectors of 1st S H Block B0641 INVERTER 1 08 1st inverter B0642 INVERTER 1 10 2nd inverter B0643 INVERTER 1 11 3rd inverter B0644 INVERTER 1 37 4th inverter B0645 INVERTER 1 46 5th inverter B0646 INVERTER 1 64 6th invert...

Page 1457: ... n658 2 0 Acceleration ramp inactive 1 Disengage action is accelerating along ramp Function diagram 834a 7 834b 7 834c 7 B0802 DecelRampActive Start mode n658 1 0 Deceleration ramp inactive 1 Engage action is decelerating along ramp Stop mode n658 2 0 Deceleration ramp inactive 1 Disengage action is decelerating along ramp Function diagram 834a 7 834b 7 834c 7 B0803 Start Stop 1 Engage disengage a...

Page 1458: ...ed V X B0818 RGen A ACT 1 Deceleration ramp of the speed ramp function generator is active X V B0819 RGen_zero 1 Output of the speed ramp function generator is 0 V 0 B0820 CatchUp_end Catch up finished CU_TE The catch up function has been completed after shutdown The current speed has been reached and synchronization to the master value can be softwired to the synchronization master value U676 via...

Page 1459: ...ed at KK866 is not 0 In function diagram 845b 8 B0828 Trig MastV Cor Trigger master value correction is used with the master value correction function during homing to compensate for the actual value jump To this end this binector can be connected to Trigger master value correction B0828 and Absolute value master value correction KK0308 can be connected to Correction displacement U453 Function dia...

Page 1460: ...nerator 32 bit for displaying the lower limit active FP786b B0856 Emerg lowering Fixed binector 0 In function diagram 15 2 15 4 B0858 Uzk max lower Fixed binector 0 In function diagram 15 2 15 4 B0859 Uzk min lower Fixed binector 0 In function diagram 15 2 15 4 B0860 BPos POS OK POS_OK in window B0861 BPos POS_RUN POS_RUN positioner running B0862 BPos RFG_RUN RFG_RUN ramp generator running B0863 B...

Page 1461: ...am 788a B0888 BPos ARFD Basic positioner correction referencing check back signal ARFD axis referenced Function diagram 789c 7 B0889 BPos Ref POV Basic positioner correction referencing correction signals POV positive overflow Function diagram 789c 7 B0890 BPos Ref NOV Basic positioner correction referencing correction signals NOV negative overflow Function diagram 789c 7 B0891 BPos Frg IRQ Basic ...

Page 1462: ...t external encoder reference point in function diagram 172 7 B0924 DPV3 EnaMotMVM DP V3 Enable motor encoder measured value memory FP172 4 B0925 DPV3 EnaExtMVM DP V3 Enable external encoder measured value memory FP172 4 B0926 DPV3 Conf DIN4 DP V3 Configuration measured value memory for digital input4 FP172 4 0 pos edge 1 neg edge B0927 DPV3 Conf DIN5 DP V3 Configuration measured value memory for d...

Page 1463: ...nputs inverted SC1 Slave 1 B4200 B4215 not Compact PLUS SCI Sl2DigIn Digital inputs SC1 slave 2 B4220 B4235 not Compact PLUS SCI Sl2DigInN Binary inputs inverted SC1 Slave 2 B4500 B4515 not Compact PLUS SCB Word1 Bit SCB 1st word B4600 B4615 not Compact PLUS SCB Word2 Bit SCB 2nd word B4700 B4715 not Compact PLUS SCB Word3 Bit SCB 3rd word B4800 B4815 not Compact PLUS SCB Word4 Bit SCB 4th word B4...

Page 1464: ...aIn3 Signal for high at input U_in 8V at analog input 3 on the second inserted EB1 B5204 2ndEB1 DI1 inv Digital input 1 inverted on the second inserted EB1 B5205 2ndEB1 DI1 Digital input 1 on the second inserted EB1 B5206 2ndEB1 DI2 inv Digital input 2 inverted on the second inserted EB1 B5207 2ndEB1 DI2 Digital input 2 on the second inserted EB1 B5208 2ndEB1 DI3 inv Digital input 3 inverted on th...

Page 1465: ... 3 B7013 SLB Appl Flag 3 SIMOLINK application flag 4 B7100 B7115 SLB Word1 Bit SIMOLINK 1st word B7200 B7215 SLB Word2 Bit SIMOLINK 2nd word B7300 B7315 SLB Word3 Bit SIMOLINK 3rd word B7400 B7415 SLB Word4 Bit SIMOLINK 4th word B7500 B7515 SLB Word5 Bit SIMOLINK 5th word B7600 B7615 SLB Word6 Bit SIMOLINK 6th word B7700 B7715 SLB Word7 Bit SIMOLINK 7th word B7800 B7815 SLB Word8 Bit SIMOLINK 8th ...

Page 1466: ...03 2010 Siemens AG 6SE7087 6QX70 Version AL SIMOVERT MASTERDRIVES Compendium Motion Control List of function data set parameters ...

Page 1467: ... n Reg Time 50 50 50 50 P246 Scale Droop 0 0 0 0 P247 Scale kp n Limtr 1 1 1 1 P249 DT1 Function T1 0 0 0 0 P250 DT1 Function Td 0 0 0 0 P259 Tdead RefModel 2 2 2 2 P263 FSetpTorq Lim1 100 100 100 100 P264 FSetpTorq Lim2 100 100 100 100 P401 Fixed Setp 1 0 0 0 0 P402 Fixed Setp 2 0 0 0 0 P403 Fixed Setp 3 0 0 0 0 P404 Fixed Setp 4 0 0 0 0 P405 Fixed Setp 5 0 0 0 0 P406 Fixed Setp 6 0 0 0 0 P407 Fi...

Page 1468: ...t Conf 0 0 0 0 P642 AnaOut Smooth 0 0 0 0 P643 CU AnalogOutGain 10 10 10 10 P644 AnaOut Offset 0 0 0 0 P792 Perm Deviation 3 3 3 3 P793 Set Act Hyst 2 2 2 2 P794 Deviation Time 3 3 3 3 P796 Compare Value 100 100 100 100 P797 Compare Hyst 3 3 3 3 P798 Compare Time 3 3 3 3 P800 OFF Value 0 5 0 5 0 5 0 5 P801 OFF Time 0 0 0 0 U001 FixSetp 17 0 0 0 0 U002 FixSetp 18 0 0 0 0 U003 FixSetp 19 0 0 0 0 U00...

Page 1469: ...s Cam3 0 0 0 0 U164 ON Pos Cam4 0 0 0 0 U165 OFF Pos Cam4 0 0 0 0 U217 Weight T Char 100 100 100 100 U294 Time Timer1 0 0 0 0 U297 Time Timer2 0 0 0 0 U300 Time Timer3 0 0 0 0 U303 Time Timer4 0 0 0 0 U306 Time Timer5 0 0 0 0 U309 Time Timer6 0 0 0 0 U313 Time Timer7 0 0 0 0 U330 ComfRGenAccelT 10 10 10 10 U331 ComfRGenUnitAT 0 0 0 0 U332 ComfRGenDecelT 10 10 10 10 U333 ComfRGenUnitDT 0 0 0 0 U334...

Page 1470: ...Parameter number Parameter name Index 1 Index 2 Index 3 Index 4 U398 Wobb Sampl Ratio 50 50 50 50 4 Siemens AG 6SE7087 6QX70 Edition AL SIMOVERT MASTERDRIVES Compendium Motion Control ...

Page 1471: ...03 2010 Siemens AG 6SE7087 6QX70 Version AL SIMOVERT MASTERDRIVES Compendium Motion Control List of binector data set parameters ...

Page 1472: ... n set act 0 0 P225 S 2 n set act 150 150 P226 S 3 n set act 151 151 P227 S 4 n set act 0 0 P228 S n Deviation 152 152 P232 S n Reg Adapt 0 0 P241 S SetV n Reg1 0 0 P242 S Set n Reg1 0 0 P243 S n Reg1 STOP 0 0 P245 S Droop 0 0 P248 S DT1 Function 0 0 P260 S Torq set 153 153 P261 S Torq conseq 0 0 P262 S Torque add 0 0 P265 S Torq Limit1 170 170 P266 S Torq Limit2 171 171 P267 S Torque add3 0 0 P27...

Page 1473: ...571 S FWD Speed 1 1 P572 S REV Speed 1 1 P573 S MOP UP 0 0 P574 S MOP Down 0 0 P575 S No ExtFault1 1 1 P576 S FuncDSetBit0 0 0 P577 S FuncDSetBit1 0 0 P580 S FixSetp Bit0 0 16 P581 S FixSetp Bit1 0 0 P583 S Fly Release 0 0 P584 S Droop Rel 0 0 P585 S n Reg Rel 1 1 P586 S No ExtFault2 1 1 P587 S Master Slave 0 0 P588 S No Ext Warn1 1 1 P589 S No Ext Warn2 1 1 P591 S ContactorMsg 0 P601 not Compact ...

Page 1474: ...CharON 0 0 U219 S PlotFricChar 0 0 U373 S J_Ext 0 0 U374 S AccPre 0 0 U375 S T FixVal 0 0 U376 S Select J 0 0 U377 S Sel Acc T 0 0 U385 S T total1 0 0 U386 S T total2 0 0 U387 S T total3 0 0 3 Siemens AG 6SE7087 6QX70 Edition AL SIMOVERT MASTERDRIVES Compendium Motion Control ...

Page 1475: ...03 2010 Siemens AG 6SE7087 6QX70 Version AL SIMOVERT MASTERDRIVES Compendium Motion Control List of binector and connector parameters ...

Page 1476: ...Protocol 101 0 0 25 P150 SBP Config 0 0 P155 S PosSetVMEncod 0 0 P156 S SetPosMEncod 0 0 P157 S PosCorrVMEnc 0 0 P158 S CorrPosMEnc 0 0 0 0 P159 S RefSetVMEnc 0 0 P160 S RelRefMEncod 0 0 P162 S RelMVlMemMEnc 0 0 P166 ConfPosSensMEnc 0 0 P167 S PosOffsetMEnc 0 0 P172 S Pos SetV 0 P173 S Set Position 302 P174 S PosCorr nV 0 P175 S Pos Corr n 303 304 P176 S Ref SetV 0 P177 S Release Ref 307 P178 S Ro...

Page 1477: ...cDiaFactor 1 P454 Src n max 2 4 P549 S PosTest 0 P590 S BICO DSet 0 P608 S BrakeOpen 104 1 P609 S BrakeClose 105 0 0 0 P610 S BrakeThresh1 242 P612 S SigBrakeOp 1 P613 S SigBrakeClos 0 P614 S PBrakeClos 0 P615 S BrakeThresh2 91 P618 Compact PLUS only SrcFanControl 0 P633 S AnaIn Invert 0 P636 S AnaIn Rel 1 P645 S Conf DigIn4 1 0 P649 S Conf DigIn5 1 0 P659 EB1S AnaIn inv 0 0 0 0 P661 EB1 S AnaInRe...

Page 1478: ...trapolSpeed 0 0 0 P772 S EnRGenByp 1 P777 S DiagnosticVals 0 0 P790 S Setp 150 P791 S ActV 91 P795 S Comp ActV 91 P799 S OFF ActV 91 P802 S Speed Setp 150 P803 S Speed ActV 91 P807 S LZ Receive Val 0 P808 S LZ Receive Res 0 P811 S LZRec F152 EN 1 P839 AdrConnector 0 0 0 0 P880 Toolinterface S 0 0 0 0 P882 Compact PLUS only Src K Toolinterf 0 0 0 0 P883 Compact PLUS only Src B Toolinterf 0 0 0 0 U0...

Page 1479: ...nC 0 0 0 U072 SrcConn BinConv 0 0 0 0 U076 S Bin ConnC1 0 0 0 0 U078 S Bin ConnC2 0 0 0 0 U080 S Bin ConnC3 0 0 0 0 U082 S Conn Add 1 0 0 U083 S Conn Add 2 0 0 U084 S Conn Add 3 0 0 U085 S Conn Add 4 0 0 U086 S Conn Add 5 0 0 0 0 U087 S ConnSub1 0 0 U088 S ConnSub2 0 0 U089 S ConnSub3 0 0 U090 S DConnAdd 1 0 0 U091 S DConnAdd 2 0 0 U092 S DConnAdd 3 0 0 U093 S DConnAdd 4 0 0 U094 S DConnSub1 0 0 U...

Page 1480: ...26 S DConnAbsV 0 U130 S ConnLimitr1 503 502 0 U132 S ConnLimitr2 506 505 0 U134 S DConnLimitr 509 508 0 U136 S ConnLmtMon1 0 511 U141 S ConnLmtMon2 0 513 U146 S DConnLmtMon1 0 515 U151 S DConnLmtMon2 0 517 U154 S Cam 1 2 0 U160 S Cam 3 4 0 U166 S 1 ConnCh1 0 U167 S 2 ConnCh1 0 0 U168 S 1 ConnCh2 0 U169 S 2 ConnCh2 0 0 U170 S 1 ConnCh3 0 U171 S 2 ConnCh3 0 0 U172 S 1 ConnCh4 0 U173 S 2 ConnCh4 0 0 ...

Page 1481: ...r1 0 U206 S 1 Tra Stor2 0 0 0 U207 S 2 Tra Stor2 0 U209 S 1 Store 1 0 U210 S 2 Store 1 0 U211 S 1 Store 2 0 U212 S 2 Store 2 0 U221 S AND1 1 1 1 U222 S AND2 1 1 1 U223 S AND3 1 1 1 U224 S AND4 1 1 1 U225 S AND5 1 1 1 U226 S AND6 1 1 1 U227 S AND7 1 1 1 U228 S AND8 1 1 1 U229 S AND9 1 1 1 U230 S AND10 1 1 1 U231 S AND11 1 1 1 U232 S AND12 1 1 1 U233 S AND13 1 1 1 U234 S AND14 1 1 1 U235 S AND15 1 1...

Page 1482: ...10 0 U261 S NAND1 0 0 0 U262 S NAND2 0 0 0 U263 S NAND3 0 0 0 U264 S NAND4 0 0 0 U265 S NAND5 0 0 0 U266 S NAND6 0 0 0 U267 S NAND7 0 0 0 U268 S NAND8 0 0 0 U269 S SH2 B 0 0 0 0 U271 S BinCh1 0 0 0 U272 S BinCh2 0 0 0 U273 S BinCh3 0 0 0 U274 S BinCh4 0 0 0 U275 S BinCh5 0 0 0 U276 S EXOR1 0 0 U277 S EXOR2 0 0 U278 S EXOR3 0 0 U279 S D FlipFlop1 0 0 0 0 U280 S D FlipFlop2 0 0 0 0 U281 S RS FlipFlo...

Page 1483: ...n In 0 U321 S ComfRGen Stop 0 U322 S ComfRGen SD 0 U323 S ComfRGenSetV 0 U324 S Set ComfRGen 0 U325 S Rel ComfRGen 1 U328 S ComfRGenBridg 0 U329 S ComfRGenAdap 1 U338 S ComfRGen QS 0 U343 S ComfRGenPosL 573 U344 S ComfRGenNegL 574 U345 S FDS CoRFG 92 93 U346 S SH3 KK 0 0 0 0 U347 S SH3 K 0 0 0 0 U348 S SH3 B 0 0 0 0 U350 S TeCntr Rel 0 U352 S TeCntr Setp 0 U355 S TeCntr ActV 0 U360 S TeCntr I Set ...

Page 1484: ...PT1Elem32_2 0 U419 S PT1El32_2_s 0 U420 S DElem32_1 0 U422 S Inputs RM 0 0 0 U426 S Set RM 0 U429 S Inputs VM 0 0 U432 S Set VM 0 U437 S Cam 5 6 0 568 567 566 U438 S ConnToPar 479 479 479 479 U439 S ConnToPar Ind 480 480 480 480 U441 S P Amplifier 0 0 U443 S Shift32 0 0 0 0 U444 S ConnToPar V 0 0 0 0 U447 S ConnToPar Trg 0 0 0 0 U448 S ConnToParEEPR 0 0 0 0 U449 S ParToConnRd 0 0 0 0 U451 S MastV ...

Page 1485: ...sActV 0 0 U536 S QuickInp 0 16 0 0 U537 S TechInputs P 0 0 210 U538 S MVal Valid 212 U539 S Mvalue 0 U600 S RecomV Sync 7031 0 817 0 U605 S GearFactor 804 805 U609 S OffsetClutchP 822 821 U612 S RelStart Stop 0 0 0 U614 OperMode TabSync 0 U615 TableConfig 1 U616 Mode Table 0 1 U618 X SetV Tab 823 U619 S Set Tab 0 U621 S Tab Sync 0 U624 S Scale X Axis 806 807 U625 S CW 0 0 1 0 U626 S Setp 802 801 0...

Page 1486: ...rcAxialWinderK 540 0 0 560 U718 SrcAxialWinderKK 0 556 91 U719 SrcAxialWinderB 0 0 0 0 U789 S Multiplexer 2 0 1 0 0 U790 S Multiplexer 2 0 0 0 0 U791 S Multiplexer 3 0 1 0 0 U792 S Multiplexer 3 0 0 0 0 U793 S Multiplexer 4 0 1 0 0 U794 S Multiplexer 4 0 0 0 0 U796 S CoPosTrackEx 0 0 U797 S BiPosTrackEx 0 0 U800 S Setpt Extrapol 0 0 U801 S Expol Error 0 U803 S SL Encoder 0 0 0 0 U804 S SL Encoder ...

Page 1487: ... BPos Set 0 870 U863 S BPos ExtPOSOK 1 210 888 U866 S BPos STW SET 220 880 879 878 U867 S BPos SET POS 879 U868 S BPosSET V Max 876 U869 S BPosSET A Max 877 896 878 U876 S BPos REF V IN 870 U877 S BPos REF POS 871 122 880 120 U878 S BPos STW REF 0 871 212 870 U881 S BPos Pt1 Adapt 1 U882 Reset SET SETP 1 U885 Src SyncLocal ON U886 Src SyncLocal 0 0 U888 S DirPosEnSync 0 0 U921 DP V3 Gx_STW 0 0 U92...

Page 1488: ...819 V Due to component tolerances shutdown can take place in the range from 803 V to 835 V In the fault value the DC link voltage upon occurence of the fault is indicated normalization 0x7FFF corresponds to 1000 V Check the line voltage AC AC or the input direct voltage DC AC Compare value with P071 Line Volts F008 DC link undervoltage The lower limit value of 76 of the DC link voltage has been fa...

Page 1489: ...xcess temperature of motor The motor temperature limit value has been exceeded r949 1 Motor temperature limit value exceeded r949 2 Short circuit in the motor temperature sensor cable or sensor defective r949 4 Wire break of motor temperature sensor cable or sensor defective Temperature threshold adjustable in P381 P131 0 fault de activated Check the motor load ventilation etc The current motor te...

Page 1490: ...fault 1 Parameterizable external fault input 1 has been activated Check whether there is an external fault Check whether the cable to the corresponding digital output is interrupted P575 Src No ExtFault1 F036 External fault 2 Parameterizable external fault input 2 has been activated Check whether there is an external fault Check whether the cable to the corresponding digital output is interrupted ...

Page 1491: ... Fault value r949 1000 Fault during connector softwiring 2000 Fault during binector softwiring Voltage OFF and ON Factory setting and new parameterization Exchange the board 1028 Link memory is full The link area between the two processors is full No further connectors can be transferred Reduction of the linked connections between the two processors Interface between the two processors is position...

Page 1492: ...outside the permitted range 27 No encoder zero pulse has occurred 28 Encoder multiturn Voltage supply Encoder fault Short circuit in encoder connection Encoder faulty Encoder incorrectly connected up Power off on or in drive settings and back to new initialization of the starting position 29 A B track undervoltage In the zero passage of one track the amount of the other track was less than 0 025 V...

Page 1493: ...at encoder 2xxx Temperature EnDat encoder 3xxx Control reserve light EnDat encoder 4xxx Battery charge EnDat encoder 5xxx Reference point not reached F054 Encoder board initialization fault A fault has occurred during initialization of the encoder board Fault value r949 1 Board code is incorrect 2 TSY not compatible 3 SBP not compatible 4 SBR not compatible 5 SBM not compatible from V2 0 only the ...

Page 1494: ...technology functions are inserted in the time slots without enabling the technology function through the PIN the message F063 is generated This fault can only be cleared by putting in the correct PIN at U977 01 and U977 02 and switching the power off and on again or by disabling the technology functions put U953 32 20 and U053 33 20 F065 SCom telegram failure No telegram has been received at an SC...

Page 1495: ...connections of the SCB1 2 Check P704 03 SCom SCB Tlg OFF Replace SCB1 2 Replace CU A10 F080 TB CB initialization fault Fault during initialization of the board at the DPR interface Fault value r949 1 Board code incorrect 2 TB CB board not compatible 3 CB board not compatible 5 Error in configuration data 6 Initialization timeout 7 TB CB board double 10 Channel error Check the T300 CB board for cor...

Page 1496: ... fault has occurred during the Mot Id r949 1 The current does not build up when voltage pulses are applied r949 2 only for P115 4 The difference between speed setpoint and actual value is too large during measurement r949 3 only for P115 4 The magnetizing current determined is too high r949 4 only for P115 4 Two phases of the motor or the a b tracks of the encoder were swapped when they were conne...

Page 1497: ... documentation See TB documentation F121 Technology board fault not Compact PLUS See TB documentation See TB documentation F122 Technology board fault not Compact PLUS See TB documentation See TB documentation F123 Technology board fault not Compact PLUS See TB documentation See TB documentation F124 Technology board fault not Compact PLUS See TB documentation See TB documentation F125 Technology ...

Page 1498: ... documentation See TB documentation F134 Technology board fault not Compact PLUS See TB documentation See TB documentation F135 Technology board fault not Compact PLUS See TB documentation See TB documentation F136 Technology board fault not Compact PLUS See TB documentation See TB documentation F137 Technology board fault not Compact PLUS See TB documentation See TB documentation F138 Technology ...

Page 1499: ...ector U062 1 Examine cause of fault see function diagram 710 F150 Fault 3 Function blocks An active signal is present at binector U063 1 Examine cause of fault see function diagram 710 F151 Fault 4 Function blocks An active signal is present at binector U064 1 Examine cause of fault see function diagram 710 F152 Signs of life repeatedly invalid After an appropriate number of invalid signs of life ...

Page 1500: ...nchronization of slow time slots synchronizing can last for 1 2 minutes in the worst case Incorrect wiring of the time counter only if P754 P746 T0 SIMOLINK SLB Check r748 i002 and i003 counters for CRC faults and timeout faults Check the fiber optic cable connection Check P751 on the dispatcher connector 260 must be softwired Check P753 on the transceiver corresponding SIMOLINK connector K70xx mu...

Page 1501: ...urred during processing of the serial protocol to an external code rotary encoder SSI or Endat Multiturn Faulty serial protocol in the case of an external multiturn encoder Cause remedies see F051 As a general rule it is necessary to initialize the starting position again power OFF ON or switch to the drive settings and back again A022 Inverter temperature The threshold for tripping an alarm has b...

Page 1502: ...be influenced by P805 PullOut BlckTime but by P794 Deviation Time Check whether the drive is blocked Whether the drive has stalled A049 No slave not Compact PLUS At serial I O SCB1 with SCI1 2 no slave is connected or fiber optic cable is interrupted or slaves are without voltage P690 SSCI AnaIn Conf Check slave Check cable A050 Slave incorrect not Compact PLUS At ser I O the slaves required accor...

Page 1503: ...ctions Grant enable for both directions of rotation Set the speed limitations for both directions such that all characteristic points can be approached A075 Ls Rr Dev The measured values of the leakage measurement or of rotor resistance deviate significantly If individual measured values significantly deviate from the average values they are automatically disregarded in the calculation for RI or t...

Page 1504: ...for the CB board Failure of the heartbeat counter on the basic unit The heartbeat counter on the basic unit is no longer being incremented The communication between the CBP and the basic board is disturbed See operating instructions of the CB board A087 CB alarm The following description refers to the 1st CBP For other CBs or the TB see the operating instructions for the CB board Fault in the DPS ...

Page 1505: ... board A101 TB alarm 1 not Compact PLUS See user manual for TB board See user manual for TB board A102 TB alarm 1 not Compact PLUS See user manual for TB board See user manual for TB board A103 TB alarm 1 not Compact PLUS See user manual for TB board See user manual for TB board A104 TB alarm 1 not Compact PLUS See user manual for TB board See user manual for TB board A105 TB alarm 1 not Compact P...

Page 1506: ... See user manual for TB board A115 TB alarm 2 not Compact PLUS See user manual for TB board See user manual for TB board A116 TB alarm 2 not Compact PLUS See user manual for TB board See user manual for TB board A117 TB alarm 2 not Compact PLUS See user manual for TB board See user manual for TB board A118 TB alarm 2 not Compact PLUS See user manual for TB board See user manual for TB board A119 T...

Page 1507: ...tion IOP checkback signal was missing when a traversing command was initiated The following causes inhibit the in operation checkback signal status bit No 2 refer to function diagram sheet 200 Control signals OFF1 OFF2 OFF3 and or enable controller ENC are not activated Checkback signals OFF2 and or OFF3 are not activated A fault FAULT is active Effect The traversing command is inhibited Activate ...

Page 1508: ... pulse disable is initiated immediately If the motor is not braked it coasts down Check the activation of the enable controller ENC control signal from the user program A135 Actual position value not o k Actual position value not o k from position sensing B0070 B0071 Check interconnection of B0070 and B0071 check position encoder and evaluation board check encoder cable A136 Machine data 1 changed...

Page 1509: ...ck and correct the machine data Optimize the speed current controller Rectify mechanical problem A141 Following error in motion The following error limit for motion was exceeded during a traversing movement Following error monitoring in motion machine data 15 was entered incorrectly The mechanical system cannot follow the commands of the position controller Actual position value invalid Incorrect ...

Page 1510: ...ition control system is deactivated and the drive is decelerated via the deceleration time during errors machine data 43 This fault should not normally occur It is used as an emergency stop feature for the technology software Replace the hardware M7 MCT A149 Distance to go negative Internal error in the technology software Effect The position control system is deactivated and the drive is decelera...

Page 1511: ...gram execution is inhibited or aborted the axis is brought to a standstill via the deceleration ramp Cancel the reset RST control signal in the slave axis A156 Axis type MD1 of slave axis not allowed An NC program was started in which a slave axis is defined as a roll feed axis type M7 only not significant for the F01 technology option The warning is output in the master axis and indicates an ille...

Page 1512: ...t yet been transferred Effect NC block execution is inhibited Transfer the block A172 Program with this number does not exist The program number specified in PROG_NO for automatic mode is not stored in the memory of the technology Effect NC program execution is inhibited Transfer the program to the technology Select the correct program number A173 Program number not allowed The program number spec...

Page 1513: ...l 2 A183 Block no of block search fwd l 0 does not exist The block number for the main program level 0 which was transferred with block search does not exist in the main program Effect NC program execution is inhibited For the block search function an existing block number must be specified as the block number for the main program A184 Block no of block search forward is no UP call The block numbe...

Page 1514: ...igital input A195 Negative overtravel reached Negative software limit switch position approached Software limit switches negative machine data 12 entered incorrectly The programmed position is less than the negative software limit switch Reference point coordinate machine data 3 is less than the negative software limit switch Incorrect encoder actual value Effect The axis movement is stopped via t...

Page 1515: ...ock which was read in contains an illegal 1st G function The NC program number and NC block number in which the NC block decoder detected the error can be read out with the output actual values decoder error location task Effect The axis movement is inhibited or stopped via the deceleration ramp MDI mode Only G90 absolute dimensions or G91 incremental dimensions can be entered as the 1st G functio...

Page 1516: ... is inhibited or stopped via the deceleration ramp Correct the NC block A210 Interpolation of 3 axes not allowed The decoded NC block contains an interpolation of 3 or more axes The NC program number and NC block number in which the NC block decoder detected the error can be read out with the output actual values decoder error location task Effect NC program execution is inhibited or aborted the a...

Page 1517: ...th the output actual values decoder error location task Effect NC program execution is inhibited or aborted the axis is brought to a standstill via the deceleration ramp Correct the NC block A214 Multiple acceleration behaviour not allowed The decoded NC block contains several mutually exclusive G functions from the acceleration override group G30 to G39 Example N1 G34 G35 The NC program number an...

Page 1518: ... Effect NC program execution is inhibited or aborted the axis is brought to a standstill via the deceleration ramp Correct the NC block A218 Multiple path condition not allowed The decoded NC block contains several mutually exclusive G functions from the preparatory function group G00 G01 G76 G77 Example N1 G01 linear interpolation G77 chaining X10 F100 The NC program number and NC block number in...

Page 1519: ...ck decoder detected the error can be read out with the output actual values decoder error location task Effect NC program execution is inhibited or aborted the axis is brought to a standstill via the deceleration ramp Correct the NC block A223 Subprogram number does not exist The decoded NC block contains a subprogram call however the NC program which was called does not exist in the memory of the...

Page 1520: ...ne data A228 Positive overtravel violated The look ahead function of the decoder has detected that the positive software limit switch will be crossed See also error message A196 Positive overtravel reached The NC program number and NC block number in which the NC block decoder detected the error can be read out with the output actual values decoder error location task Effect NC program execution i...

Page 1521: ...only be newly adopted if it is not selected When travel table 5 has been successfully adopted the alarm message is automatically canceled A247 Travel table 6 not valid Travel table 6 has not been correctly adopted or has been reset Consequence Travel table 6 cannot be processed Adopt travel table 6 again Note Travel table 6 can only be newly adopted if it is not selected When travel table 6 has be...

Page 1522: ...ease sampling time P357 For MC Reduce pulse frequency P340 Replace CU or replace the unit Compact PLUS type FF07 Stack Underflow Stack underflow Replace CU or replace the unit Compact PLUS type Replace firmware FF08 Undefined Opcode Invalid processor command should be processed Replace CU or replace the unit Compact PLUS type Replace firmware FF09 Protection Fault Invalid format in a protected pro...

Page 1523: ...0 6AF7 3000 6 8 5 2 3 7 1FK6083 6AF7 3000 10 5 7 7 3 8 1FK6100 8AF7 3000 12 0 8 4 4 9 1FK6101 8AF7 3000 15 5 10 8 4 10 1FK6103 8AF7 3000 16 5 11 8 4 11 1FT6031 4AK7_ 6000 0 75 1 2 2 12 1FT6034 1AK7_ 3A 1FT6034 4AK7_ 6000 1 4 2 1 2 13 1FT6041 4AF7_ 3000 2 15 1 7 2 14 1FT6041 4AK7_ 6000 1 7 2 4 2 15 1FT6044 1AF7_ 3A 1FT6044 4AF7_ 3000 4 3 2 9 2 16 1FT6044 4AK7_ 6000 3 0 4 1 2 17 1FT6061 6AC7_ 2000 3...

Page 1524: ...82 1AH7_ 1FT6082 8AH7_ 4500 8 5 11 0 4 36 1FT6082 8AK7_ 6000 5 5 9 1 4 37 1FT6084 8AC7_ 2000 16 9 8 3 4 38 1FT6084 1AF7_ 1A 1FT6084 8AF7_ 3000 14 7 11 0 4 39 1FT6084 8AH7_ 1FT6084 1AH71 4500 10 5 12 5 4 40 1FT6084 8AK7_ 1FT6084 1AK71 6000 6 5 9 2 4 41 1FT6084 8SC7_ 2000 23 5 12 5 4 42 1FT6084 8SF7_ 3000 22 0 17 0 4 43 1FT6084 8SH7_ 4500 20 0 24 5 4 44 1FT6084 8SK7_ 6000 17 0 25 5 4 45 1FT6086 8AC7...

Page 1525: ...FT6132 6AB7_ 1500 62 0 19 0 3 67 1FT6132 6AC7_ 2000 55 0 23 0 3 68 1FT6132 6AF7_ 3000 36 0 23 0 3 69 1FT6132 6SB7_ 1500 102 0 36 0 3 70 1FT6132 6SC7_ 2000 98 0 46 0 3 71 1FT6132 6SF7_ 3000 90 0 62 0 3 72 1FT6134 6AB7_ 1500 75 0 24 0 3 73 1FT6134 6AC7_ 2000 65 0 27 0 3 74 1FT6134 6SB7_ 1500 130 0 45 0 3 75 1FT6134 6SC7_ 2000 125 0 57 0 3 76 1FT6134 6SF7_ 3000 110 0 72 0 3 77 1FT6136 6AB7_ 1500 88 0...

Page 1526: ...1FT6134 6WD7 2500 185 0 115 0 3 104 1FT6136 6WB7 1500 230 0 90 0 3 105 1FT6136 6WD7 2500 220 0 149 0 3 106 1FT6138 6WB7 1500 290 0 112 0 3 107 1FT6138 6WD7 2500 275 0 162 0 3 108 1FT6163 8WB7 1500 450 0 160 0 4 109 1FT6163 8WD7 2500 450 0 240 0 4 110 1FT6168 8WB7 1500 690 0 221 0 4 111 1FT6168 8WC7 2000 550 0 250 0 4 112 to 119 for future applications 120 1FT6062 6WF7 3000 10 1 7 5 3 121 1FT6062 6...

Page 1527: ...3000 145 0 104 0 3 153 1FT6021 6AK7 6000 0 3 1 1 3 154 1FT6024 6AK7 6000 0 5 0 9 3 155 1FT6163 8SB7 1500 385 0 136 0 4 156 1FT6163 8SD7 2500 340 0 185 0 4 157 1FT6168 8SB7 1500 540 0 174 0 4 158 to 159 for future applications Compact 160 1FK7022 5AK71 6000 0 6 1 4 3 161 1FK7032 5AK71 6000 0 75 1 4 3 162 1FK7040 5AK71 6000 1 1 1 7 4 163 1FK7042 5AF71 3000 2 6 1 9 4 164 1FK7042 5AK71 6000 1 5 2 4 4 ...

Page 1528: ...to 199 for future applications Explosion proof 200 1FS6074 6AC71 2000 7 2 3 4 3 201 1FS6074 6AF71 3000 6 3 4 4 3 202 1FS6074 6AH71 4500 4 5 5 0 3 203 1FS6074 6AK71 6000 1 9 3 2 3 204 1FS6096 8AC71 2000 20 0 9 8 4 205 1FS6096 6AF71 3000 17 0 12 0 4 206 1FS6096 8AH71 4500 11 0 11 5 4 207 1FS6115 8AB73 1500 37 0 13 0 4 208 1FS6115 8AC73 2000 34 0 16 0 4 209 1FS6115 8AF73 3000 28 0 20 0 4 210 1FS6134 ...

Page 1529: ... specific 1FW3 17 10 1FW3281 1 G 250 2400 153 17 11 1FW3283 1 G 250 3400 222 17 12 1FW3285 1 G 250 4800 306 17 13 1FW3288 1 G 250 6700 435 17 14 1FW3281 1 E 150 2500 108 17 15 1FW3283 1 E 150 3500 150 17 16 1FW3285 1 E 150 5000 207 17 17 1FW3288 1 E 150 7000 292 17 18 to 30 for future applications 31 1FW3150 1 H 300 100 7 7 32 1FW3150 1 L 500 100 11 7 33 1FW3150 1 P 800 100 17 7 34 1FW3152 1 H 300...

Page 1530: ...tions 61 1FW3201 1 E 150 300 12 14 62 1FW3201 1 L 500 300 37 14 63 1FW3202 1 E 150 500 21 14 64 1FW3202 1 L 500 500 59 14 65 1FW3203 1 E 150 750 30 14 66 1FW3203 1 L 500 750 92 14 67 1FW3204 1 E 150 1000 40 14 68 1FW3204 1 L 500 1000 118 14 69 1FW3206 1 E 150 1500 65 14 70 1FW3206 1 L 500 1400 169 14 71 1FW3208 1 E 150 2000 84 14 72 1FW3208 1 L 500 1850 226 14 73 to 253 for future applications Tab...

Page 1531: ...1 360 59 8 40 3 7 1PH7107 2_F 1750 2 21 7 381 54 6 60 3 8 1PH7131 2_F 1750 2 23 7 398 70 9 59 7 9 1PH7133 2_D 1150 2 27 5 381 112 1 39 7 10 1PH7133 2_F 1750 2 33 1 398 95 5 59 7 11 1PH7133 2_G 2300 2 42 4 398 93 4 78 0 12 1PH7135 2_F 1750 2 40 1 398 117 3 59 5 13 1PH7137 2_D 1150 2 40 6 367 161 9 39 6 14 1PH7137 2_F 1750 2 53 1 357 136 4 59 5 15 1PH7137 2_G 2300 2 54 1 398 120 4 77 8 16 1PH7163 2_...

Page 1532: ...84 4_B 400 2 69 0 300 585 14 4 44 1PL6184 4_D 1150 2 121 0 400 540 39 4 45 1PL6184 4_F 1750 2 166 0 400 486 59 3 46 1PL6184 4_L 2900 2 209 0 400 372 97 6 47 1PL6186 4_B 400 2 90 0 290 752 14 3 48 1PL6186 4_D 1150 2 158 0 400 706 39 4 49 1PL6186 4_F 1750 2 231 0 400 682 59 3 50 1PL6186 4_L 2900 2 280 0 390 494 97 5 51 1PL6224 4_B 400 2 117 0 300 1074 14 2 52 1PL6224 4_D 1150 2 218 0 400 997 39 1 53...

Page 1533: ...le 4 Motor list 1PH7 1PL6 1PH4 For information about motor ratings and availability please see Catalog DA65 3 Synchronous and asynchronous servomotors for SIMOVERT MASTERDRIVES The data stored under the motor numbers describe the design point of the motor In Chapter 3 Induction servo motors of Catalog DA65 3 two operating points are indicated for operation with MASTERDRIVES MC The operating points...

Page 1534: ...RDRIVES Compendium Motion Control Dimension Drawings 475 221 9000 00 MB 475 241 9000 00 MB 475 242 9000 00 MB 475 244 9000 00 MB 476 245 9000 00 MB 476 254 9000 00 MB 476 256 9000 00 MB 476 233 9100 00 MB 476 233 9000 00 MB Type A B C D Type E F G Type J AC K ...

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Page 1544: ...on 9 05 2003 5 Parameterization reviewed edition 43 03 2010 6 Parameterizing Steps reviewed edition 44 08 2012 7 Functions reviewed edition 77 09 2008 8 Communication first edition 1 05 2003 8 1 Universal Serial lnterface USS reviewed edition 43 02 2004 8 2 PROFIBUS reviewed edition 141 09 2008 8 3 SIMOLINK reviewed edition 27 12 2010 8 4 CBC Communications Board reviewed edition 60 03 2010 8 5 CB...

Page 1545: ...rant or registration of a utility model or design are reserved We have checked the contents of this document to ensure that they coincide with the described hardware and software However differences cannot be completely excluded so that we do not accept any guarantee for complete conformance However the information in this document is regularly checked and necessary corrections will be included in...

Page 1546: ......

Page 1547: ...s AG Industry Sector Motion Control Systems P O Box 3180 D 91050 Erlangen Germany www siemens com motioncontrol Siemens AG 2012 Subject to change without prior notice Order No 6SE7087 6QX70 Printed in Germany ...

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