Siemens SINAMICS G110D Operating Instructions Manual Download Page 179

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Functions

6.11 Operation in fieldbus systems

SINAMICS G110D
Operating Instructions, 07/2016, FW V3.63, A5E36768472B AB

179

The other part of the IND word is the parameter index. For tasks involving arrays, this byte

determines the part of the array to be accessed as shown below.

Table 6- 65 IND parameter index

Parameter index

Action

0 ≤ IDX ≤ 254

Access element IDX

IDX = 255

Access entire array

PWE components
The PWE part of the PKW message contains the parameter data. If the current PKW transfer

requires no parameter data the PKE may be of zero length, otherwise it is arranged as one

or more words. Data of length shorter than that available is packed in the PKE as shown in

the figure below. When a complete array is transferred the format below is repeated as many

times as required.

Image 6-37 PWE component structure

Summary of Contents for SINAMICS G110D

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Page 3: ..._________________ ___________________ SINAMICS SINAMICS G110D Distributed Converter SINAMICS G110D Operating Instructions Edition 07 2016 Firmware version 3 63 07 2016 FW V3 63 A5E36768472B AB Fundamental safety instructions 1 Introduction 2 Description 3 Connection 4 Commissioning 5 Functions 6 Service and maintenance 7 Messages and fault codes 8 Technical data 9 Appendix A A ...

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

Page 5: ...equired parameters 21 2 3 Extended adaptation of parameters 23 2 3 1 BICO technology basic principles 23 2 3 2 BICO technology example 26 3 Description 29 3 1 Overview of SINAMICS G110D Inverters 29 3 2 Components of the Inverter system 30 4 Connection 35 4 1 Procedure for installing the Inverter 35 4 2 General layout of SINAMICS G110D 36 4 3 Removal of CU area cover and braking resistor connectio...

Page 6: ...ing the motor using the fieldbus 104 6 4 Setpoint sources 105 6 4 1 Selecting the setpoint source P1000 105 6 4 2 Frequency setpoint using analog input P1000 2 106 6 4 3 Using a motorized potentiometer as a setpoint source 107 6 4 4 Using fixed frequencies as a setpoint source 108 6 4 5 Running the motor in jog mode JOG function 109 6 4 6 Specifying the motor speed via the fieldbus 110 6 5 Changin...

Page 7: ...1 1 Communication via AS i Network 157 6 11 1 1 Overview 157 6 11 1 2 Connecting the Inverter to AS i network 159 6 11 1 3 Example configuring the Inverter on the AS i network 160 6 11 1 4 AS i Profile 168 6 11 1 5 Step 7 example conveyor program 186 6 11 1 6 Example application 193 7 Service and maintenance 197 7 1 Behaviour of the Inverter when replacing components 197 7 2 Replacing the Inverter...

Page 8: ...Table of contents SINAMICS G110D 8 Operating Instructions 07 2016 FW V3 63 A5E36768472B AB ...

Page 9: ...hase conductor and phase conductor to protective conductor Check whether the existing auxiliary supply circuits are de energized Ensure that the motors cannot move 3 Identify all other dangerous energy sources e g compressed air hydraulic systems or water 4 Isolate or neutralize all hazardous energy sources by closing switches grounding or short circuiting or closing valves for example 5 Secure th...

Page 10: ...anger to life due to electric shock when not grounded For missing or incorrectly implemented protective conductor connection for devices with protection class I high voltages can be present at open exposed parts which when touched can result in death or severe injury Ground the device in compliance with the applicable regulations WARNING Danger to life due to electric shock when opening plug conne...

Page 11: ... machines therefore putting people at risk or causing material damage Switch the wireless devices or mobile phones off in the immediate vicinity of the components WARNING Danger to life due to the motor catching fire in the event of insulation overload There is higher stress on the motor insulation through a ground fault in an IT system If the insulation fails it is possible that death or severe i...

Page 12: ...he manufacturer and therefore it is not necessary to perform an additional test within the system machine WARNING Danger to life when safety functions are inactive Safety functions that are inactive or that have not been adjusted accordingly can cause operational faults on machines that could lead to serious injury or death Observe the information in the appropriate product documentation before co...

Page 13: ...ividual components integrated circuits modules or devices that may be damaged by either electric fields or electrostatic discharge NOTICE Damage through electric fields or electrostatic discharge Electric fields or electrostatic discharge can cause malfunctions through damaged individual components integrated circuits modules or devices Only pack store transport and send electronic components modu...

Page 14: ...more information visit this address http support automation siemens com WARNING Danger as a result of unsafe operating states resulting from software manipulation Software manipulation e g by viruses Trojan horses malware worms can cause unsafe operating states to develop in your installation which can result in death severe injuries and or material damage Keep the software up to date You will fin...

Page 15: ...ate vicinity of electronic components External influences damage X ray ionizing radiation and cosmic radiation 2 Unusually high temperatures including open flames as well as emissions of light noise particles gases etc can occur inside and outside the components under fault conditions caused by for example Component failure Software errors Operation and or environmental conditions outside the spec...

Page 16: ...Fundamental safety instructions 1 5 Residual risks of power drive systems SINAMICS G110D 16 Operating Instructions 07 2016 FW V3 63 A5E36768472B AB ...

Page 17: ... level personnel has been added The operating instructions also contain information about special applications Since it is assumed that readers already have a sound technical knowledge of how to configure and parameterize these applications the relevant information is summarized accordingly This relates e g to operation with fieldbus systems and safety related applications Additional information o...

Page 18: ...ICS G110D 18 Operating Instructions 07 2016 FW V3 63 A5E36768472B AB http sd nes siemens de sales_2003 support info catalogues html_00 index html Catalogs_I nverters The catalog includes ordering data as well as engineering and selection data ...

Page 19: ...commissioning tool that allows the inverter to be parameterized and controlled from a PC Inverters are used to improve and expand the starting and speed response of motors Many standard applications can function with the default parameters Although inverters can be parameterized for very specific applications many standard applications can be configured by means of just a few parameters Use the fa...

Page 20: ...rameter You can display the parameter value e g using an analog output of the inverter Change protection for setting parameters The process of changing parameter values is subject to certain conditions If an attempt to change a parameter is rejected by the inverter this can have a number of causes 1 The inverter operating state does not allow you to change parameters For example certain parameters...

Page 21: ...r more information about follow on parameterization for P0700 see the List Manual 2 2 4 Frequently required parameters Parameters that in many cases help Table 2 1 This is how you filter the parameter list to keep the number of displayed parameters to a minimum Parameter Description P0003 User access level 1 Standard Allows access to the most frequently used parameters factory setting 2 Extended E...

Page 22: ...setting 4 USS at RS 232 6 Fieldbus Table 2 7 This is how you parameterize the up and down ramps Parameters Description P1080 Minimum frequency 0 00 Hz factory setting P1082 Maximum frequency 50 00 Hz factory setting P1120 Ramp up time 10 00 s P1121 Ramp down time 10 00 s Table 2 8 This is how you optimize the starting behavior of the V f control for a high break loose torque and overload Parameter...

Page 23: ...nected as required The signal interconnection of the functions is realized contrary to electric circuitry not using cables but in the software The various functions use a range of inputs outputs and parameters Image 2 2 Example MOP function motorized potentiometer Binectors and connectors Connectors and binectors are elements used to exchange signals between the individual functions Connectors and...

Page 24: ...tor inputs CI Binector outputs BO Connector outputs CO Binector connector outputs CO BO Binector connector outputs CO BO are parameters that combine more than one binector output in a single word e g r0052 CO BO status word 1 Each bit in the word represents a digital binary signal This feature reduces the number of parameters and makes it easier to set parameters by means of the serial interface d...

Page 25: ...gy Always apply caution when handling internal interconnections Note which changes you make as you go along since the process of analyzing them later can be quite difficult The STARTER commissioning tool offers various screens that make it much easier for you to use BICO technology The signals that you can interconnect are displayed in plain text which means that you do not need any prior knowledg...

Page 26: ...erizing an interlock Parameter Description P0003 3 Enable expert access to parameters P0700 2 Select the command source Digital inputs P0701 e g 99 Enable open digital input 0 DI0 for BICO parameterization P0702 e g 99 Enable open digital input 1 DI1 for BICO parameterization P2800 1 Group enable all freely programmable function blocks FFB P2801 In000 1 Individual enable of the AND function block ...

Page 27: ...ignal source other than r0722 0 in this case r2811 Image 2 6 Interconnection after insertion of two functions Principle of connecting functions by means of BICO technology A connection between two functions comprises a connector binector and a BICO parameter Connections are always established with respect to the input of a particular function which means that the output of an upstream function mus...

Page 28: ...Introduction 2 3 Extended adaptation of parameters SINAMICS G110D 28 Operating Instructions 07 2016 FW V3 63 A5E36768472B AB ...

Page 29: ...ion to conveyor technology applications Each SINAMICS G110D Inverter is a complete Power Module and Control Unit in one unique housing which is IP65 rated The power output range extends from 0 75 kW to 7 5 kW The optional STARTER software allows commissioning of the Inverter using a PC with the optional optical cables A range of additional application specific components are also available for exa...

Page 30: ...lable in three frame sizes Frame size A FSA 6SL3511 0PE17 5AM0 0 75 kW 6SL3511 1PE17 5AM0 0 75 kW with repair switch 6SL3511 0PE21 5AM0 1 5 kW 6SL3511 1PE21 5AM0 1 5 kW with repair switch 6SL3511 0PE23 0AM0 3 0 kW 6SL3511 1PE23 0AM0 3 0 kW with repair switch Image 3 1 SINAMICS G110D FSA Frame size B FSB 6SL3511 0PE24 0AM0 4 0 kW 6SL3511 1PE24 0AM0 4 0 kW with repair switch Image 3 2 SINAMICS G110D...

Page 31: ...ontrol modes which can be selected as required It supports communication with a local or central controller as well as with monitoring devices To enable motors to operate with maximum reliability and flexibility the Inverter features state of the art IGBT technology with pulse width modulation The Inverter also features a range of functions designed to offer a high degree of protection for the Inv...

Page 32: ...ol the Inverter and the connected motor directly from the Inverter The Local remote switch cover replaces the standard control unit cover Order number 6SL3555 0PL00 2AA0 IOP Hand held Kit The Hand held Kit supplies the IOP with its own portable power supply which allows the IOP to be used for series commissioning and diagnosis on a number of Inverters To connect the IOP Hand held Kit to all decent...

Page 33: ... of more than one Inverter and for external data backup purposes Order number 6SL3054 4AG00 23AA0 Memory card holder The memory card holder allows a memory card to be fitted to the control unit of the Inverter The memory card holder is located underneath the control unit cover The memory card holder is capable of reading and writing to SD type memory cards Order number 6SL3555 0PM00 0AA0 ...

Page 34: ...uration and vice versa Order number 6SL3263 1GA20 0GA0 Braking resistors There are three different classes of braking resistors available for use with the Inverter Table 3 1 SINAMICS G110D Braking resistors Order Number Description Specification For use with Inverter 6SL3501 0BE08 6AA0 G110D Braking Resistor 390 ohms 86 watts average 0 75 kW 1 5 kW 6SL3501 0BE12 1AA0 G110D Braking Resistor 160 ohm...

Page 35: ...with the specifications Installation procedure Using the information from the drill pattern mark the necessary fixing points for the Inverter onto the area on which the Inverter is to be mounted Ensure that the correct orientation of the Inverter is observed Ensure that the ambient operating conditions are observed Ensure that the correct fuse protection is installed Install the memory card holder...

Page 36: ... General layout of SINAMICS G110D SINAMICS G110D 36 Operating Instructions 07 2016 FW V3 63 A5E36768472B AB 4 2 General layout of SINAMICS G110D General layout of SINAMICS G110D Image 4 1 Layout of the SINAMICS G110D ...

Page 37: ...hown in the diagram below The braking resistor connection hatch is removed using the same technique CAUTION Seals fitted correctly Should the CU area cover or the braking resistor connection hatch be removed from the Inverter it is important to ensure that the seals around these areas are fitted properly when reassembling the Inverter to ensure the IP65 rating TN and TT mains supplies The SINAMICS...

Page 38: ...2016 FW V3 63 A5E36768472B AB 4 4 Drill pattern for the SINAMICS G110D Drill pattern for the SINAMICS G110D Inverter The Inverter has an identical drill pattern for all frame sizes The drill pattern depth and tightening torques are shown in the diagram below Image 4 3 Drill pattern SINAMICS G110D ...

Page 39: ...10D Operating Instructions 07 2016 FW V3 63 A5E36768472B AB 39 4 5 Mounting orientation Correct mounting orientation of the Inverter In the figure below the correct mounting orientation of the Inverter is shown Image 4 4 Correct Inverter orientation ...

Page 40: ...temperature range is shown diagramatically in the figure below Image 4 5 Power derating for temperature Humidity range Relative air humidity for the Inverter is 95 non condensing Altitude If the Inverter is to be installed at an altitude 1000 m 3280 ft derating will be required The figures below show the derating required according to altitude Image 4 6 Derating for altitiude ...

Page 41: ...a where it is likely to be exposed to constant vibration Electromagnetic radiation Do not install the Inverter near sources of electromagnetic radiation Atmospheric pollution and water When fully assembled the inverter has an IP65 rating This means that the inverter is totally protected against dust and low pressure jets of water Any unused connections should be covered with the correct sealing ca...

Page 42: ...20 807 3RV1031 4EA10 0PE27 5AM0 C 7 5 10 19 17 9 32 812 3RV1031 4FA10 Branch Circuit Protect BCP The following information details the requirements for the Branch Circuit Protect BCP of the SINAMICS G110D converter Table 4 2 Non semiconductor fuses according to IEC SINAMICS G110D model no Max current rating of fuse A Fuse type Circuit breaker SINAMICS G110D SCCR with fuse 6SL3511 PE17 5AM 10 3NA3 ...

Page 43: ...cable routing Limit values of the cables and system components e g the T distributor Country specific regulations If it is precluded that all of the inverters of a group operate simultaneously it is permissible to form larger inverter groups on one 400 V feeder The sum of the rated input currents of all of the inverters operated simultaneously must always be less than 24 A Branch circuit protectio...

Page 44: ...rcuit breakers DIVQ SINAMICS G110D model no Max current rating of circuit breaker A Circuit breaker types SINAMICS G110D SCCR with circuit breakers 6SL3511 PE17 5AM 15 3RV1742 65 kA 480 V AC 3RV2711 65 kA 480 Y 277 V AC LGG 65 kA 480 V AC CED6 65 kA 480 V AC 6SL3511 PE21 5AM 15 3RV1742 65 kA 480 V AC 3RV2711 65 kA 480 Y 277 V AC LGG 65 kA 480 V AC CED6 65 kA 480 V AC 6SL3511 PE23 0AM 25 3RV1742 65...

Page 45: ...25 65 kA 480 Y 277 V AC Where _ in the CMC model no can be replaced by 1 or 2 Table 4 8 Non semiconductor fuses JDDZ for group installation SINAMICS G110D model no Max current rating of fuse A SINAMICS G110D SCCR for group installation using fuse 6SL3511 PE17 5AM 30 65 kA 480 V AC 6SL3511 PE21 5AM 6SL3511 PE23 0AM 6SL3511 PE24 0AM 6SL3511 PE25 5AM 6SL3511 PE27 5AM Table 4 9 Circuit breakers DIVQ f...

Page 46: ... installation SINAMICS G110D model no CMC model no Max rated current A Rated hp at 460 V AC SINAMICS G110D SCCR for group instal lation using CMC 6SL3511 PE17 5AM 3RV2021 4DA 25 15 65 kA 480 V AC 3RV_031 4DA 25 20 65 kA 480 Y 277 V AC 6SL3511 PE21 5AM 3RV2021 4DA 25 15 65 kA 480 V AC 3RV_031 4DA 25 20 65 kA 480 Y 277 V AC 6SL3511 PE23 0AM 3RV2021 4DA 25 15 65 kA 480 V AC 3RV_031 4DA 25 20 65 kA 48...

Page 47: ...y the brake should be rated for approximately 205VDC 230VAC with rectifier The brake voltage is dependent on the mains supply voltage brake voltage mains voltage x 0 9 The UL approved current rating for the brake output is 600mA The maximum current rating for the brake output without UL is 1A For operation of a 205VDC brake the parameter P1215 must be set P1215 2 Analog input DIP switches The anal...

Page 48: ...5E36768472B AB If the product is not connected to an AS i network then a 24V power supply still needs to be connected to the AS i AS i pins This can be the same power supply as connected to the AUX 24V 0V pins as shown in the block diagram below Block diagram Image 4 7 SINAMICS G110D block diagram ...

Page 49: ...999 000 0110 Removal tool Q8 0 0999 000 0319 Removal tool Q4 2 0999 000 0305 No special tools are required for the Control Unit connectors Table 4 12 Control Unit connectors Connector Binder part numbers Straight connector Right angle connector ASI M12 99 0436 14 05 99 0436 24 05 Digital input and Analog output M12 99 0437 14 05 99 0437 24 05 Table 4 13 Mains supply connector Power rating cable si...

Page 50: ...lcom DESINA Cable No Temperature sensor pair EM Brake pair Crimp size Crimp number Crimp size Crimp number 0 75 kW 1 mm2 18 AWG 13EBN17Z08P 0 75 mm2 20 AWG 0933 000 6114 0 75 mm2 20 AWG 0933 000 6114 1 50 kW 3 00 kW 2 5 mm2 14 AWG 13EBN13Z08P 1 mm2 18 AWG 0933 000 6105 1 mm2 18 AWG 0933 000 6105 4 00 kW 5 50 kW 4 mm2 12 or 10 AWG 13EBN11Z08P 1 mm2 18 AWG 0933 000 6105 1 5 mm2 18 AWG 0933 000 6104 ...

Page 51: ... protection Table 4 16 Mains supply and motor output specifications Mains supply Motor output Pin Function Pin Function 1 L1 1 U 2 L2 2 Not connected 3 L3 3 W 4 4 EM Brake 11 5 Temperature sensor 12 6 EM Brake PE Protective Earth 7 V 8 Temperature sensor PE Protective Earth Type HAN Q4 2 Male Type HAN Q8 Female Spec 3AC 380V 500V 10 Spec Table 4 17 Digital input specifications Digital input 2 sock...

Page 52: ...ifications Analog connections Pin Function 1 10V 10 mA 24 V 2 AIN 3 0V 4 AIN 5 Functional Earth Table 4 19 AS i connector specifications ASI connections Pin Function Description AS i system cable colour 1 ASi AS i positive Yellow 2 AUX Auxilary 0 V Black 3 ASi AS i negative Yellow 4 AUX Auxilary 24 V Black 5 Function earth Earth connection ...

Page 53: ...umbers between 1 and 31 with each slave device having a preset address of 0 If the AS i master detects a slave with address 0 it recognizes the device and can automaticallly assign an address to the device and integrate the device into the AS i network If more than one slave device has the address 0 the automatic address assignment and integration is not possible Note Profile 3 0 Under AS i Profil...

Page 54: ...e AS i communications and devices have to be set up correctly The equipment shown in the table below will be necessary for the successful integration of more than one Inverter onto the AS i bus network Table 4 20 Equipment for installation of SINAMICS G110D AS i Item Order Number Address cable 3RK1901 3HA01 AS i address programmer 3RK1904 2AB01 AS i connection kit 3RK1901 1NR21 ...

Page 55: ...G110D Operating Instructions 07 2016 FW V3 63 A5E36768472B AB 55 Typical AS i network structure In the diagram below a typical AS i network is shown to help visualise the structure and arrangement of an AS i network Image 4 8 Example AS i configuration ...

Page 56: ...input must be disconnected to prevent the Addressing Unit from being overloaded by their power consumption When the Addressing Unit is plugged into the device address port of the Inverter the AS i communications are terminated automatically Therefore there is no requirement to disconnect the M12 AS i connection on the Inverter 1 Connect the M12 connector to the Inverter AS i port 2 Connect the AS ...

Page 57: ...Connection 4 9 Configuring the AS i slave SINAMICS G110D Operating Instructions 07 2016 FW V3 63 A5E36768472B AB 57 Image 4 9 Addressing the ASi slave ...

Page 58: ...ressing used in the PLC program by either adherence to the memory map of the AS i master or the way in which the inputs and outputs can be allocated by the PLC hardware configuration The default address of both slaves is 0 Setting the AS i address of slave 1 1 Plug the AS i Programmer into the addressing socket of the Inverter 2 Turn the dial on the Programmer to the ADDR position The display will...

Page 59: ...that has already been allocated to slave 1 is shown at the bottom of the display 2 Press the button to select this number SEt 0 appears and the small 0 in the left of the display starts flash ing 3 Press the button until you reach the required number By pressing both the and simultaneously you can toggle between A and B identifiers of the address 4 Press the button to accept this number ProG is di...

Page 60: ...e other slave To change an existing address of a slave the following procedure should be performed 1 Plug the AS i Programmer into the addressing socket of the Inverter 2 Turn the dial on the Programmer to the ADDR position The display will indicate that this mode has been selected 3 Press the button the screen will display uSE and the number of the lower addressed slave The existing slave address...

Page 61: ...verter interface Parameter information and data can also be accessed and modified over the AS interface For further details please see the section Operation in fieldbus system Inverters can also be parameterized by saving the valid Inverter parameter set on an SD memory card then transferring it to a different Inverter with the same configuration and function The commissioning scenarios listed bel...

Page 62: ... 5 1 Typical commissioning scenarios SINAMICS G110D 62 Operating Instructions 07 2016 FW V3 63 A5E36768472B AB Users can access the inverter parameters via the following interfaces Image 5 1 Communication interfaces ...

Page 63: ...tings 1 Restore the factory parameter settings IOP select factory restart from the extras menu The IOP will display a message stating that a factory reset is taking place and display a progress bar When completed the display will display a mes sage that the factory reset has been successfully completed STARTER Displays a progress bar Note Data transfer is interrupted while the factory parameter se...

Page 64: ...ith factory settings When doing so you may find that you only need to change just a few parameters Which motor are you using P0300 A synchronous or induction motor The SINAMICS Inverters are preset in the factory for applications using 4 pole three phase induction motors that correspond to the performance data of the frequency inverter Motor data data on the motor rating plate If you use the START...

Page 65: ...f settings for P1300 the default being 0 which is V f with linear characteristic This setting is suitable for most applications For further information refer to the Parameter List for the SINAMICS G110D What command and setpoint sources are you using The command and setpoint sources that are available depend on the Inverter The SINAMICS G110D by default uses the fieldbus interface Possible command...

Page 66: ...or this purpose and how they are fulfilled 1 The Inverter and motor must match one another otherwise you must perform a complete quick commissioning this can be performed using the IOP Hand held Kit or STARTER 2 The binary and analog inputs must be connected in accordance with the requirement of the application 3 You then have to tell the Inverter the following the source of its commands from an o...

Page 67: ...vel 1 P0004 0 All parameters are displayed Parameter filter filters parameters in ac cordance with the functionality 1 P0010 0 Ready to be entered Commissioning parameter 1 P0100 0 Europe 50 Hz Frequency of the regional supply network IEC Europe NEMA North America 1 P0300 1 Induction motor Select the motor type induction motors synchronous motor 2 P0304 400 V Rated motor voltage in accordance with...

Page 68: ...oad factor entered in referred to P0305 2 P0700 6 6 default setting Select the command source 1 P0727 0 DI0 On off DI1 Direction reversal Control response when the motor starts start stop reverse 3 P0970 0 Blocked Restore factory settings 1 P1000 3 Fixed frequencies Select the source of the frequency setpoint setpoint input 1 P1080 0 Hz Minimum frequency 1 P1082 50 Hz Maximum frequency 1 P1120 10 ...

Page 69: ...d Note STARTER knowledge This procedure assumes that you have a working knowledge of the STARTER software What do you need The following items are required to commission the Inverter with STARTER The PC connection cable order number 3RK1922 2BP00 or the USB connection cable order number 6SL3555 0PA00 2AA0 STARTER software installed on your PC order number 6SL3072 0AA0 0AG0 the version of STARTER s...

Page 70: ...g it will present an empty screen from the File menu selected new project Image 5 3 Create new project dialog Click OK and the dialog disappears and the normal STARTER screen appears with the project name appears in the project tree on the right hand side of the screen Image 5 4 Insert drive Double click the Insert single drive unit the select drive dialog appears ...

Page 71: ...tructions 07 2016 FW V3 63 A5E36768472B AB 71 Image 5 5 Select drive dialog Select the appropriate Inverter and click OK The inserted drive will appear in the project tree Image 5 6 Configure drive unit Double click configure drive unit the select Inverter dialog will appear ...

Page 72: ...r unit dialog Using the order number of the Inverter select the appropriate Inverter power unit Press next to display the summary screen Image 5 8 Summary dialog The summary screen displays the configuration settings that have been completed up to this point of the process The details of the configuration can be copied to the clipboard and ...

Page 73: ...pplication such as Notepad to allow a permanent record of the configuration to be stored Ensure that Then start commissioning wizard is selected and click Finish The Control Method dialog is displayed Image 5 9 Select control method dialog Select the required control method and click Next The command and setpoints source dialog is displayed ...

Page 74: ...Select command and setpoint source dialog The default command and setpoint source for the Inverter is Fieldbus Click Next The drive setting characteristics dialog is displayed Image 5 11 Select drive settings dialog Select the appropriate settings for your region and supply characteristics Click Next The Motor dialog is displayed ...

Page 75: ...768472B AB 75 Image 5 12 Select motor type dialog Select the type of motor to which the Inverter is connected Click Next the motor data dialog is displayed Image 5 13 Motor data dialog Enter the motor data which can be found on the motor rating plate Click Next the Motor identification dialog is displayed ...

Page 76: ...r identification dialog Select which type of motor identification is required It is recommended that a motor identification is actually completed Click Next the Important parameters dialog is displayed Image 5 15 Important parameters dialog Enter the values for the listed parameters Click Next the motor calculation dialog is displayed ...

Page 77: ...77 Image 5 16 Calculate motor data dialog Select complete calculation and click Next the summary screen will be displayed Image 5 17 Configuration summary The summary information can be copied to the clipboard for pasting into another application such as Notepad as a permanent record of the configuration Click Finish ...

Page 78: ...d should be issued Ensure that the Inverter is correctly connected to the PC using the appropriate communications cable In the project tree under commissioning select Control panel The control panel will appear at the bottom of the screen Image 5 18 Control panel activation Press the Start I button and the motor calculation will be performed When this has been completed the basic commissioning of ...

Page 79: ...ion the Expert list should be used to gain access to any of the required parameters The values can be modified from within STARTER Image 5 20 Expert list Saving parameter data While the STARTER is online and connected to Inverter it is possible to save all the parameter data and configuration data to the Inverter by uploading the data to the Inverter memory To upload the data to the Inverter simpl...

Page 80: ...IOP Basic commissioning wizard Select Wizards Select required Commission ing wizard Select Factory Reset yes or no Select Continue Select Application Class Select Motor Data Select Enter Motor Data Select Motor Type Select Characteristic Select Continue Input Motor Frequency Input Motor Voltage Input Motor Current Input Power Rating Input Motor Speed ...

Page 81: ...B 81 Select Technology Applica tion Select required Motor Data ID function Select Macro Source Input the Minimum Frequen cy Input Maximum Frequency Input Ramp up time Input Ramp down time Summary of Settings Select Continue Save Settings Settings saved Status Screen displayed On first ON command Motor ID is performed ...

Page 82: ...he conveyor section consists of three sensors A This sensor detects the arrival of an item on the conveyor B This sensor detects the item and signals the next section to start and be ready to receive an item This requires two speeds one for the normal movement of the load and a faster speed for the transfer between conveyor sections C This sensor detects the load leaving the conveyor section The s...

Page 83: ...Commissioning 5 8 Example application SINAMICS G110D Operating Instructions 07 2016 FW V3 63 A5E36768472B AB 83 Image 5 21 Example conveyor application ...

Page 84: ...o the AS i specific parameters discussed in the previous section the following parameters should be modified to allow the digital inputs to be read by the controlling PLC Table 5 3 Conveyor application parameters Parameter Setting Description P0701 0 22 Digital input DI0 set to Quick Stop source 1 allowing DI0 to be used as Quick Stop input P0971 1 Transfers parameter values from RAM to EEPROM Exa...

Page 85: ...Commissioning 5 8 Example application SINAMICS G110D Operating Instructions 07 2016 FW V3 63 A5E36768472B AB 85 The following is an example ladder logic diagram Image 5 23 Example S7 ladder logic ...

Page 86: ... transfer data You can save a parameter set on the IOP and transfer it to other Inverters for example to identically parameterize several Inverters or to transfer the settings after an Inverter has been replaced Prerequisites for transferring data sets from the IOP to a different Inverter The Inverter to which the parameter set is transferred must be of the same type and have the same firmware rel...

Page 87: ...reen select Menu 2 From the Menu screen selected Up Download 3 Press the wheel to confirm the selection 4 Select one of the following Download Panel to drive Upload Drive to panel 5 Press the wheel to confirm selection 6 A scroll bar will appear showing the status of the download and the percentage completed 7 When the download or upload has completed a screen will be displayed stating that the do...

Page 88: ...or the parameter sets of an Inverter and does not require a power supply For instance this can be used to transfer parameter settings to a new Inverter after the previous one was replaced We recommend that SD memory card Order No 6SL3054 4AG00 2AA0 should be used Prerequisites for transferring data sets from the SD card to a different inverter The Control Unit to which the parameter set is transfe...

Page 89: ...D memory card into the frequency inverter download Parameter Description P0003 3 3 Access level 3 P0010 30 30 Parameter transfer P0803 2 2 Start data transfer from the SD card to the EEPROM in the CU RDY LED flashes If the upload procedure is successful P0010 and P0803 are set to 0 and the RDY LED lights up If the download procedure is unsuccessful F0061 or F0062 is displayed and the LED SF red li...

Page 90: ...Commissioning 5 9 Backup data and storage SINAMICS G110D 90 Operating Instructions 07 2016 FW V3 63 A5E36768472B AB ...

Page 91: ...SINAMICS G110D Operating Instructions 07 2016 FW V3 63 A5E36768472B AB 91 Functions 6 6 1 Overview of Inverter functions Image 6 1 Overview of Inverter functions ...

Page 92: ...gnals are received to switch on the motor e g via digital inputs or a fieldbus The setpoint source defines how the speed setpoint is for the motor is entered e g via an analog input or a fieldbus The setpoint calculation uses a ramp function generator to prevent speed steps occurring and to limit the speed to a permissible maximum value Functions required in special applications only The functions...

Page 93: ...ter has been designed to operate on an AS i network therefore you must connect the following inverter functions with the fieldbus Command sources Setpoint sources Status messages A connection with a fieldbus can be established using software tools in the control systems This manual includes descriptions of how connect and integrate the Inverter with a SIMATIC control ...

Page 94: ...cteristic at its output terminals Whether the connected motor actually rotates clockwise depends on the wiring between the inverter and motor Factory setting for start stop and direction reversal control commands In the factory setting P0727 0 the motor is operated using two control commands In this case two versions are available Further methods for start stop and direction reversal control comma...

Page 95: ...CW and CCW rotation are selected simultaneously the signal that was issued first has priority The second signal is ignored The motor cannot be reversed as long as it is still rotating 1 Control command Switch on or switch off the motor CW rotation 2 Control command Switch on or switch off the motor CCW rotation Two wire control method 3 P0727 1 When CW and CCW are simultaneously selected the motor...

Page 96: ...tor so that it can be switched on or switched off 2 Control command Switch on the motor CW rotation 3 Control command Switch on motor CCW rotation Three wire control method 2 P0727 3 1 Control command Enable the motor so that it can be switched on or switched off 2 Control command Switch the motor on or off 3 Control command Enter CW or CCW rotation of the motor A detailed description of all of th...

Page 97: ...motor decelerates to a standstill 0 1 OFF1 The motor decelerates to a standstill 1 0 The motor accelerates to the setpoint 1 1 The motor accelerates to the inverted setpoint Table 6 4 Parameterizing the function Parameter Description P0700 2 Controls the motor using the digital inputs of the inverter P0727 0 Two wire control method 1 or 2 P0701 1 The motor is power up with digital input 0 Further ...

Page 98: ...Motor ON CCW Function 0 0 OFF1 The motor decelerates to a standstill 0 1 The motor accelerates to the inverted setpoint 1 0 The motor accelerates to the setpoint 1 1 The first active signal has priority the second signal is ignored Table 6 6 Parameterizing the function Parameter Description P0700 2 Controls the motor using the digital inputs of the inverter P0727 0 Two wire control method 1 or 2 P...

Page 99: ...ol using digital inputs method 3 Table 6 7 Function table Motor ON CW Motor ON CCW Function 0 0 OFF1 The motor decelerates to a standstill 0 1 The motor accelerates to the inverted setpoint 1 0 The motor accelerates to the setpoint 1 1 OFF1 The motor decelerates to a standstill Table 6 8 Parameterizing the function Parameter Description P0700 2 Controls the motor using the digital inputs of the in...

Page 100: ... accelerates to the setpoint 1 0 0 1 The motor accelerates to the inverted setpoint 1 0 0 No effect on the direction of rotation 1 1 1 OFF1 The motor decelerates to a standstill Table 6 10 Parameterizing the function Parameter Description P0700 2 Controls the motor using the digital inputs of the inverter P0727 2 Three wire control method 1 P0701 1 The enable signal to power up the motor is issued...

Page 101: ...lerates to the setpoint No effect 1 0 1 1 The motor accelerates to the inverted setpoint No effect 1 0 1 0 No effect The motor reverses to the setpoint 1 0 0 1 No effect The motor reverses to the inverted setpoint Table 6 12 Parameterizing the function Parameter Description P0700 2 Controls the motor using the digital inputs of the inverter P0727 3 Three wire control method 2 P0701 2 The enable si...

Page 102: ...ed to specify these control commands Operator Panel automatically handled when HAND mode is selected Digital inputs Fieldbus The command sources available depend on the inverter version For inverters with a fieldbus interface the fieldbus P0700 6 is pre selected as the command source Table 6 13 Parameters to select the source for the inverter control commands Parameters Description P0700 0 Factory...

Page 103: ...rs Digital input 0 DI0 P0701 Possible values for P0701 to P0704 0 Digital input disabled 1 ON OFF1 2 ON reverse OFF1 3 OFF2 coast to standstill 4 OFF3 quick ramp down 9 Fault acknowledge 10 JOG right 11 JOG left 12 Reverse 13 MOP up increase frequency 14 MOP down decrease frequency 15 Fixed frequency selector bit0 16 Fixed frequency selector bit1 17 Fixed frequency selector bit2 18 Fixed frequency...

Page 104: ...A5E36768472B AB 6 3 3 Controlling the motor using the fieldbus Control commands using the fieldbus To control the motor using the fieldbus the inverter must be connected to a higher level control using the STARTER software tool For more information see Chapter Operation in fieldbus systems ...

Page 105: ...ing digital inputs default setting Motorized potentiometer Fieldbuses Table 6 16 Settings to select the possible frequency setpoint sources Parameter Description P0003 1 Standard Access to the most frequently used parameters P1000 0 No main setpoint 1 MOP setpoint motorized potentiometer 2 Analog setpoint 3 Fixed frequency default setting 4 USS on RS 232 6 Fieldbus Adding setpoints from different ...

Page 106: ...n the AI type of the source a suitable connection must be established Table 6 17 Set and parameterize the analog input for use as setpoint source Analog input Parameters Description Setting the DIP switch AI0 P0756 0 Analog input 0 AI0 P0756 0 Analog input type AI Defines the analog input type and enables analog input monitor ing 0 Unipolar voltage input 0 10 V factory setting 1 Unipolar voltage i...

Page 107: ...e setpoint Hz of the motorized potentiometer MOP Factory setting 5 Hz P2000 50 Reference frequency Hz An output value of the MOP of 100 corresponds to the frequency setpoint from P2000 P2000 should be changed if a maximum frequency greater than 50 Hz is required Table 6 19 Example Implementing a motorized potentiometer using digital inputs Parameters Description P0700 2 2 Digital inputs P0701 P070...

Page 108: ...1001 50 Fixed frequency 1 FF1 FF values in Hz P1002 50 Fixed frequency 2 FF2 P1003 10 Fixed frequency 3 FF3 P1004 15 Fixed frequency 4 FF4 P1020 2091 0 FF1 selection using fieldbus Additional information about binary coded selection of the fixed frequencies P1016 2 is provided in function chart 3210 of the List Manual Table 6 21 Example Selecting 2 fixed frequencies using digital input 2 and digit...

Page 109: ... up ready for operation status when the JOG button is pressed and rotates at the set JOG frequency When the button is released the motor stops This button has no effect when the motor is already running Table 6 22 Example Enabling the jog mode Parameters Description P0003 2 2 Extended P1057 1 JOG enable 0 JOG function locked 1 JOG function enabled factory setting P1058 5 JOG frequency CW 0 Hz 650 ...

Page 110: ...W Possible sources 722 x digital inputs 19 8 JOG key on the Operator Panel r2090 8 serial interface P1056 Enable JOG CCW Possible sources 722 x digital inputs 19 8 JOG key on the Operator Panel r2090 9 serial interface 6 4 6 Specifying the motor speed via the fieldbus Specifying the motor speed via the fieldbus To specify the speed of the motor via the fieldbus the inverter must be connected to a ...

Page 111: ...witch the operating priority of the inverter from control via fieldbus to local control Command data set CDS The inverter offers options to parameterize the settings for the command sources setpoint sources and status messages with the exception of analog outputs in three different ways The associated parameters are indexed index 0 1 or 2 When the inverter is operational control commands select on...

Page 112: ...Functions 6 5 Changing over the command data sets manual automatic SINAMICS G110D 112 Operating Instructions 07 2016 FW V3 63 A5E36768472B AB Image 6 7 CDS switchover in the inverter ...

Page 113: ... the fieldbus Digital inputs as command source The motor is switched on off via digital inputs Note Command data sets can be switched in the ready for operation and operation state The switchover time is approx 4 ms Table 6 25 Parameters for switching the command data sets Parameter Description P0810 1st control command for switching the command data sets Example When P0810 722 0 the system switch...

Page 114: ...preparation 6 6 1 Overview of setpoint preparation Overview of setpoint calculation The setpoint calculation modifies the speed setpoint e g it limits the setpoint to a maximum and minimum value and using the ramp function generator prevents the motor from executing speed steps Image 6 8 Setpoint calculation in the inverter ...

Page 115: ...ns of rotation In addition to its limiting role the minimum frequency can be used as a reference value for various monitoring functions e g if a motor holding brake is engaged when the minimum frequency is reached Maximum frequency The frequency setpoint is limited to the maximum frequency in both directions of rotation A message is output if the maximum frequency is exceeded The maximum frequency...

Page 116: ...pplication in question and can range from just a few 100 ms e g for belt conveyor drives to several minutes e g for centrifuges When the motor is switched on off via ON OFF1 the motor also accelerates decelerates in accordance with the times set in the ramp function generator Table 6 27 Parameters for ramp up time and ramp down time Parameters Description P1120 Ramp up time Duration of acceleratio...

Page 117: ...eleration times The ramp up down time parameterized in the ramp function generator is exceeded Rounding does not affect the ramp down time in the event of a quick stop OFF3 Table 6 28 Rounding parameters Parameter Description P1130 Initial rounding time for ramp up in seconds P1131 Final rounding time for ramp up in seconds P1132 Initial rounding time for ramp down in seconds P1133 Final rounding ...

Page 118: ...or when accelerating Driven machines with a high breakaway torque Holding a load Background information The linear characteristic of the V f control assumes an ideal motor without resistive losses The resistive losses in the motor stator resistance and in the motor cable reduce the available torque and must not be neglected in all applications These losses play a more significant role the smaller ...

Page 119: ...boost is limited by following equation sum V_Boost 1 3 sqrt 3 P0305 P0350 P0640 100 P1311 Acceleration boost Applies boost in relative to P0305 rated motor current following a positive set point change and drops back out once the setpoint is reached P1311 will only pro duce boost during ramping and is therefore useful for additional torque during acceleration and deceleration As opposed to paramet...

Page 120: ... Compressors Horizontal conveyors Basic properties of V f control V f control sets the voltage at the motor terminals on the basis of the specified speed setpoint The relationship between the speed setpoint and stator voltage is calculated using characteristic curves The inverter provides the two most important characteristics linear and square law User defined characteristic curves are also suppo...

Page 121: ...stator resistance in P350 is pa rameterized as accurately as possible P1300 3 Freely adjustable V f characteristic which supports the torque behavior of synchronous motors SIEMOSYN motors P1300 5 P1300 6 Linear V f characteristic for textile applications where it is important that the motor speed is kept constant under all circumstances This setting has the following ef fects 1 When the maximum cu...

Page 122: ...e frequency inverter The frequency inverter offers protective functions against overtemperature and overcurrent for both the frequency inverter as well as the motor Further the frequency inverter protects itself against an excessively high DC link voltage when the motor is regenerating The load torque monitoring functions provide effective plant and system protection ...

Page 123: ...load condition 0 Reduce output frequency and output current 1 No reduction trip F0004 5 6 when thermal limits reached 2 Reduce pulse frequency output current and output frequency 3 Reduce pulse freq only and trip F0006 when overload too high The following physical values influence the inverter overload protection see dia gram Heat sink temperature r0037 0 causes A0504 and F0004 IGBT Junction tempe...

Page 124: ...r0027 greater than r0067 current limit P0290 2 3 The pulse frequency P1800 is reduced only if higher than 2 kHz and if the operat ing frequency is below 2 Hz The actual pulse frequency is displayed in parameter r1801 0 and the minimal pulse frequency for reduction is displayed in r1801 1 Inverter I2t acts upon output current and output frequency but not on pulse fre quency A trip will always resul...

Page 125: ...0610 1 PTC thermistor P0604 2 KTY84 P0604 4 ThermoClick sensor 6 PT1000 8 PTC thermistor no short circuit protection mode P0604 Motor overtemperature alarm threshold 0 C 220 C factory setting 130 C Enter the alarm threshold for motor overtemperature protection The shutdown tem perature threshold alarm threshold 10 is the value at which either the inverter is shut down or Imax is reduced P0610 P061...

Page 126: ...tive mode the current only decreases if the torque decreases at a higher frequency Settings Note The factory setting of the Imax controller only needs to be changed in exceptional cases by appropriately trained personnel Table 6 34 Imax controller parameters Parameter Description P0003 3 User access level 3 Expert P0305 Rated motor current P0640 Maximum permissible motor overload referred to P0305...

Page 127: ...eptable limits for their specific application Protecting the motor and inverter against overvoltage The VDCmax controller prevents as far as is technically possible the DC link voltage from reaching critical levels The VDCmax controller is not suitable for applications in which the motor is permanently in the regenerative mode e g in hoisting gear or when large flywheel masses are subject to braki...

Page 128: ...e motor in different ways 1 No load monitoring The inverter generates a message if the motor torque is too low 2 Lock protection The inverter generates a message if the motor speed cannot match the speed setpoint despite maximum torque 3 Stall protection The inverter generates a message if the inverter control has lost the orientation of the motor 4 Frequency dependent torque monitoring The invert...

Page 129: ...reshold for frequency threshold 1 P2186 Lower torque threshold for frequency threshold 1 P2187 Upper torque threshold for frequency threshold 2 P2188 Lower torque threshold for frequency threshold 2 P2189 Upper torque threshold for frequency threshold 3 P2190 Lower torque threshold for frequency threshold 3 P2192 Delay time for the message Leave torque monitoring tolerance band For more informatio...

Page 130: ... so that the motor temperature is not unnecessarily increased Mechanical brakes are generally motor holding brakes that are closed when the motor is at a standstill Mechanical operating brakes that are closed while the motor is rotating are subject to a high wear and are therefore often only used as an emergency brake Electrical braking and regenerative energy If an induction motor electrically br...

Page 131: ...ntages of the braking methods DC braking Advantage The motor is braked without the inverter having to convert the braking energy Disadvantages significant increase in the motor temperature no defined braking characteristics no constant braking torque no braking torque at standstill braking energy is lost as heat does not function when the power fails Dynamic braking Advantages defined braking char...

Page 132: ...F1 or OFF3 command has the following timing sequence 1 Initially the motor speed is reduced along the down ramp of the ramp function generator until an adjustable speed threshold is reached 2 Once the motor speed reaches this threshold the inverter interrupts the braking operation using an internal OFF2 command until the motor is de magnetized 3 The inverter then starts the actual DC braking by al...

Page 133: ...mmissioning Only commissioning engineers who have the appropriate experience may change the pa rameter values The inverter can trip due to an overcurrent during DC braking if the demagnetizing time is too short DC braking using an external command This allows DC braking to be activated using a signal from an external source BICO The function remains active as long as the external signal is active ...

Page 134: ...Functions 6 9 Technological functions SINAMICS G110D 134 Operating Instructions 07 2016 FW V3 63 A5E36768472B AB Image 6 10 DC braking using external selection ...

Page 135: ...braking Dynamic braking converts the regenerative energy which is released when the motor brakes into heat Image 6 11 Braking chopper in the Inverter The inverter controls the dynamic braking depending on the DC link voltage The temperature monitoring of the braking resistor should be evaluated The inverter must be switched off if the braking resistor overheats WARNING If a braking resistor that i...

Page 136: ...ded access P1240 0 Deactivate the VDCmax controller P1237 Enable signal and ON period of dynamic braking 0 Dynamic braking is locked 1 5 ON period 2 10 ON period 3 20 ON period 4 50 ON period 5 100 ON period The ON period set here is only effective if the braking resistor has reached its operating temperature When required a cold braking resistor is switched in independent of this parameter SIEMEN...

Page 137: ...rning when the inverter is switched off The inverter has internal logic to control a motor holding brake The motor holding brake control inside the inverter is suitable for the following typical applications Pumps Fans Horizontal and vertical conveyors Operating characteristics of the motor holding brake control after an OFF1 and OFF3 command Image 6 12 Function diagram of the motor holding brake ...

Page 138: ...Controlling the motor holding brake after an OFF2 For the OFF2 command the brake closing time is not taken into account After these control commands the signal to close the motor holding brake is immediately output independent of the motor speed Image 6 13 Function diagram motor holding brake after an OFF2 command ...

Page 139: ...0346 the magnetizing time is pre assigned when commissioning the system and must be greater than zero For V f operation P1300 0 to 3 set the boost parameters P1310 P1311 4 Parameterize the opening and closing times of the motor holding brake It is extremely important that electromechanical braking is controlled with the correct timing brake release time brake closing time release time to protect t...

Page 140: ...rake release time relay opening time P1217 Holding time after runout 0 20 s factory setting 0 1 s Note P1217 brake closing time relay closing time P1227 Zero value detection monitoring time 0 300 s factory setting 4 s r0052 12 Brake active status Opening the motor holding brake via P1218 Using parameter P1218 you can force the brake to open e g in order to be able to manually move a conveyor drive...

Page 141: ...ch the line voltage fails momentarily and is then restored The power supply of the motor is interrupted but the AS i network power supply is still maintained The term power failure describes a situation in which the power fails for a longer period and the AS i network power supply is interrupted Important secondary condition An ON command must be present prior to the power failure and when the pow...

Page 142: ...motor can restart automatically once the power has been restored This is particularly critical if it is incorrectly assumed that the motors have been shut down after a long power failure For this reason death serious injury or considerable material damage can occur if personnel enters the working area of motors in this condition Commissioning the automatic restart 1 Parameterizing the automatic re...

Page 143: ...tomatic restart attempts minimum 0 maximum 10 3 factory setting P1200 Starts inverter onto a spinning motor by rapidly changing the output frequency of the inverter until the actual motor speed has been found Then the motor runs up to set point using the normal ramp time 0 Flying start disabled 1 Flying start always active start setpoint 2 Flying start active if power on fault OFF2 start setp 3 Fl...

Page 144: ... them as soon as the line supply voltage is again available and automatically restarts This behavior is independent of the power failure or line supply undervoltage Switching the ON command in the de energized state has no effect if the inverter was ready before the power failure The number of start attempts can be set If the automatic restart is interrupted due to a new fault P1210 4 Automatic re...

Page 145: ... Before power failure in operation 0 1 Fault acknowl edgement Fault acknowl edgement Fault acknowl edgement 2 Fault acknowl edgement restart Restart 3 Fault acknowl edgement restart Fault acknowl edgement restart Fault acknowl edgement restart Fault acknowl edgement restart Fault acknowl edgement restart 4 Fault acknowl edgement restart Fault acknowl edgement restart 5 Fault acknowl edgement resta...

Page 146: ...ne interruption When an inverter is shut down but air currents cause a fan impeller to rotate either CW or CCW If the motor is driven by a load This function is useful therefore with motors whose load exhibits a high moment of inertia since it can help prevent sudden loads in the mechanical components If this function is not used in such cases this could cause the motor to shut down due to overcur...

Page 147: ...aults OFF2 Search performed in both directions startup in direction of setpoint 4 Flying restart always active Search performed in direction of setpoint only 5 Flying restart is active after Power ON Faults OFF2 Search performed in direction of setpoint only 6 Flying restart is active after Faults OFF2 Search performed in direction of setpoint only Table 6 47 Additional commissioning parameters Pa...

Page 148: ...1203 the longer the search time A lower search rate shortens the search time The flying restart function decelerates the motor slightly The smaller the drive torque the more the drive is decelerated The flying restart function should not be activated for motors in group drives due to the different coasting characteristics of the individual motors ...

Page 149: ...oint The technology controller is designed as a PID controller which makes it highly flexible The technology controller setpoint can be supplied via the same setpoint sources as those available for the speed setpoint The technology controller is also equipped with its own motorized potentiometer and own fixed frequencies The setpoints actual values and control signals of the technology controller ...

Page 150: ...ital input 1 1 To do so interconnect the status signals of digital inputs r722 0 and r722 1 with the inputs of a free OR block via BICO 2 Now activate the OR block 3 Finally interconnect the OR block output with the internal ON command P0840 Table 6 49 Parameters for using the free function blocks Parameters Description P2800 Enable FFBs General enable for all function blocks 0 locked 1 enabled P2...

Page 151: ...inverter provides the possibility of parameterizing the following functions in up to three different ways Setpoint sources exceptions Analog inputs and fieldbus Setpoint calculation Motor control Motor and inverter protection Technological functions Exception Technology controller brake control automatic restart and unassigned function blocks The associated parameters are indexed index 0 1 or 2 Co...

Page 152: ... parameters P0820 and P0821 Parameters P0820 and P0821 are interlinked to control commands e g the digital inputs of the inverter using BICO technology Note Drive data sets can only be changed over in the ready for operation state The switchover time is approx 50 ms Exceptions The ramp function generator parameters the ramp down time for OFF3 and the speed controller gain can be switched during op...

Page 153: ...to drive data set 1 via digital input 0 P0821 2nd control command for switching the drive data sets r0051 Displaying the number of the DDS that is currently active A copy function is available making it easier to commission more than one drive data set P0819 0 Number of the drive data set to be copied source P0819 1 Number of the drive data to which the data is to be copied target P0819 2 1 Start ...

Page 154: ...em to be detected and if Quick Stop is enabled stop the load on the conveyor section The load on the conveyor section moves towards a dedicated sensor as shown in the figure below Image 6 16 Conveyor example 1 The front edge of the load is detected by the sensor which initiates the Quick Stop function Image 6 17 Conveyor example 2 The load is then slowed down and stopped Image 6 18 Conveyor exampl...

Page 155: ...op Enabled Yes No P0886 Quick Stop input type Control Word for selecting the Quick Stop input type 0 Quick Stop not selected 1 Quick Stop input active high 2 Quick Stop input active low 3 Quick Stop input positive edge triggered 4 Quick Stop input negative edge triggered When the Quick Stop function is activated an OFF1 command is initiated The motor will be slowed and brought to a standstill usin...

Page 156: ...20 High level triggered signals reactions The Quick Stop override command is normally sent by the controlling system but the local keypad can also be used to initiate the Quick Stop override The keypad is switched into local mode and by pressing the Quick Stop override button the motor will be started by the Inverter See figure below Image 6 21 Keypad Quick Stop override ...

Page 157: ...network by means of cyclic polling technique This means that the master polls all the data passed from all the slave nodes at a predefined interval A typical AS i network structure is shown in the figure below Image 6 22 AS i network structure AS i is a low speed 166 kbps two wire bus and the physical signalling method is Manchester coded current pulses superimposed on the 28 V power supply Since ...

Page 158: ...ication bits from the master is used to allow two slaves to share an address When this is done the two slaves are referred to as A and B and the master communicates with each on alternate cycles The basic communication system of AS i allows only 4 bits of digital data to be transferred between master and slave While this is sufficient for simple applications for which AS i was originally intended ...

Page 159: ...ermissible cables and cable lengths AS i yellow data cable 3RX9013 0AA00 AS i black power cable 3RX9023 0AA00 The maximum length of any one segment on the AS i network is normally 100 m 328 ft However there are a number of devices that allow the length of network segments to be extended Repeater A repeater allows the maximum cable length to be extended to 300 m 984 ft using the maximum of two repe...

Page 160: ...gher level controller through the AS i master What prior knowledge is required This section does not explain how to use the higher level controller or the varius software engineering tools Hardware components example Component Type Order no Qty AS i devices and cables AS i Master CP343 2 6GK7343 2AH01 0XA0 1 AS i Power supply unit 3RX9 501 0BA00 1 AS i Cable Trapezoidal Yellow 3RX9013 0AA00 See no...

Page 161: ...which combines the drive technology and Siemens controllers The STEP 7 Manager user interface acts as a basis with which Drive ES Basic is used to integrate drives in the automation environment with respect to communication configuration and data storage Integrating the Inverter in a AS i master The CP343 2 module can be operated in the automation systems AS or PLC of the S7 300 series and in the ...

Page 162: ...d 20 of the front connector Terminals 17 and 19 and terminals 18 and 20 are electrically connected within the CP343 2 The assignment of the terminal pair and the polarity are indicat ed on the front panel of the CP343 2 The second terminal pair 18 20 is intended for connecting the AS i power sup ply unit or a branch of the AS i cable This allows the CP343 2 to be looped into the AS i cable The AS ...

Page 163: ... the Inverter as shown below The AS i address connection is underneath the Control Module cover Once the AS i programming unit is connected turn the main dial to ADDR the screen will then display an AS i slave address of 1 Using the up and down cursor keys navigate to the required address Press the return button on the far right to confirm and enter the address into the slaves memory Repeat this p...

Page 164: ...7 300 station After you have inserted the CP343 2 there are still no AS i slaves configured In this default setting the rules of button configuration apply initially To view general information addresses and operating parameters and to configure or modify them change to the properties dialog of the CP343 2 in STEP 7 Image 6 27 Properties dialog CP343 2 addresses The start addresses for both the in...

Page 165: ...mage 6 28 Properties dialog CP343 2 operating parameters Configuring AS i slaves Note Configuration overwritten A configuration of the AS i slaves set by STEP 7 and downloaded to the S7 station is transferred from the CPU to the CP343 2 when the S7 station starts up Any configuration set with the buttons is then overwritten To configure a specific slave configuration select the Slave Configuration...

Page 166: ...ave are available AS i slave universal AS i slave with extended addressing mode AS i standard slave universal or AS i analog slave AS i slave for the standard address area if you use this slave type you cannot place an AS i A B slave at the same address in the B address area Siemens slaves with this option you can configure the AS i slave by simply selecting the relevant order number from the drop...

Page 167: ...figuration data of the specific AS i slave Specify the I O configuration Set the AS i parameters Image 6 31 Configuring standard AS i slave The AS i standard slave can only be placed at an AS i address in the A area This address is then no longer available in the B area As an option at start up parameters can be permitted whether this parameter can be used depends on the slave type If the AS i sla...

Page 168: ...e can be selected When the Inverter is configured as a single slave only process image data can be transferred over the AS i bus The single slave mode does not support extended addressing so the number of nodes available on the AS i bus is limited to a maximum of 32 slaves The structure and flow of data is given in the diagram below Table 6 53 AS i single slave identities Slave IO code ID code ID2...

Page 169: ...gical slaves on the AS i bus although the slaves are actually contained within the same unit The first slave Slave 1 utilizes the combined transaction type 2 CTT2 protocol to allow both cyclic and acyclic transter of parameter data to and from the master as well as digital process data The second slave Slave 2 transfers further process data and allows access to basic diagnostic information through...

Page 170: ...AB The details of the individual slave identities are given in the table below Table 6 55 AS i dual slave identities Slave IO code ID code ID2 code Description 1 7 A 5 Combi field device 2 7 A E Free profile A B slave The structure and flow of data is given in the diagram below Image 6 33 Dual slave internal data flow ...

Page 171: ...rates the device into the AS i network The automatic address assignment and integration only works as long as one slave with address 0 is present on the AS I master at a time The inverter has 2 slave addresses however the slave 1 will be hidden until the slave 2 has been assigned If there are more slaves with address 0 the automatic addressing is deactivated by the AS i master and integration into...

Page 172: ... 7 A E Addresses available 0 31 for A address 33 63 for B addresses Single slave mode P2021 1 Address for slave 2 profile 7 F E Addresses available 0 31 A address Note after this parameter is changed the Inverter will perform an AS i reset in order to load the new addresses ID1 Code The ID1 code according to the AS i profile has no specific meaning and therefore can be modified by the user Its pur...

Page 173: ...able 6 58 Default input process image slave to master Dual slave mode Bit Usage Description Slave 2 DI0 Ready 0 Inverter is not responsive to AS i master 1 Inverter is ready to respond to commands from the AS i master DI1 Motor active 0 Inverter motor outputs are high impedance 1 Inverter motor outputs are active DI2 Digital input 1 0 Input 1 is inactive 1 Input 1 is active DI3 Digital input 2 0 I...

Page 174: ... quick stop DO3 A B select 0 A slave active 1 B slave active 1 The AS i specification mandates the simultaneous use of Motor Left and Motor Right as fault acknowledge particu larly if there is no spare input available for this function 2 If no fault is active then simultaneous operation of Motor Left and Motor Right constitutes a process image error In this state both the inverter motor outputs an...

Page 175: ...ol bit 2 DO3 Motor contr0l bit 3 1 The AS i specification mandates the simultaneous use of Motor Left and Motor Right as fault acknowledge particu larly if there is no spare input available for this function 2 If no fault is active then simultaneous operation of Motor Left and Motor Right constitutes a process image error In this state both the inverter motor outputs and the motor holding brake ou...

Page 176: ...ll Table 6 62 Request IDs from master to slave Request Identifier Description Response identifier Positive Negative 0 No request 0 7 8 1 Request parameter value 1 2 7 8 2 Modify parameter value word 1 7 8 3 Modify parameter value double word 2 7 8 4 Request descriptive element 3 7 8 6 Request parameter value array 4 5 7 8 7 Modify parameter value array word 4 7 8 8 Modify parameter value array dou...

Page 177: ... or 1 the task will be executed The response ID is then 4 or 5 4 6 7 8 11 or 12 4 No array Note If the parameter in the drive is not an array the drive will reply with this error only if the index is 1 For index 0 or index 1 the task will be executed The response ID is then 4 or 5 6 7 8 11 or 12 5 Parameter type is wrong incorrect data type 2 3 7 8 or 11 to 14 6 Setting not allowed parameter value...

Page 178: ...ameter value cannot be changed because parameter is Locked 200 Modified lower limit exceeded 2 3 7 8 or 11 to 15 201 Modified upper limit exceeded 2 3 7 8 or 11 to 15 202 No display on the operator panel Parameter must be hidden on the operator panel 1 to 15 203 No display on the operator panel Parameter must be hidden on the operator panel 1 to 15 204 The available access authorization i e level ...

Page 179: ... Parameter index Action 0 IDX 254 Access element IDX IDX 255 Access entire array PWE components The PWE part of the PKW message contains the parameter data If the current PKW transfer requires no parameter data the PKE may be of zero length otherwise it is arranged as one or more words Data of length shorter than that available is packed in the PKE as shown in the figure below When a complete arra...

Page 180: ...d response error error object 19 0x13 Vendor specific write request Index length data 83 0x53 Vendor specific write response ok 147 0x93 Vendor specific write response error error object 29 0x1D Vendor specific exchange request index read length write length write data 93 0x5D Vendor specific exchange response ok read data 157 0x9D Vendor specific exchange response error error object CTT2 Error Co...

Page 181: ...mage 6 38 Cyclic data transfer In the inverter the four bytes from the master appear in read only parameter rxxxx and the four bytes to the master are the value of the parameter pointed to by Pyyyy Pxxxx is not connected to any function by default but can be connected to any BiCo connector input as required e g setting the value of P1070 to xxxx would connect the main inverter setpoint to the AS i...

Page 182: ...The standard method for inverter parameter transfer is dataset 47 which allows a flexible bidirectional transfer of data to and from a large number of parameters This is the method used in AS i inverters no other datasets are recognized Since the PKW transfer method itself specifies the direction in which data is transferred it is possible to perform all parameter transfers using the data exchange...

Page 183: ...6768472B AB 183 parameter to be transferred is not defined Note that unlike other inverter communication bus implementations the parameter data is not cached and so repeated read requests will always result in the most current available data being transferred Image 6 44 Parameter read request and response ...

Page 184: ...parameter data to the inverter Since the normal PKW response is not sent in the event that the PKW command is not successfully completed the inverter replies with an error response containing a standard error byte of no error and a further word value containing the error code This request only makes sense for a PKW write command Image 6 45 Parameter write request and response ...

Page 185: ...6 46 Parameter exchange request and response Error Responses As with acyclic standard requests any vendor specific requests other than those listed above including requests for any data set other than 47 will result in the appropriate request not implemented error response In the event that the inverter is unable to service an acyclic vendor specific request within the time required by the AS i st...

Page 186: ... are routed using block parameters so that the function block can be used repeatedly All binary addresses that were inputs have become input parameters all outputs have become output parameters and all memory bits have become static local data Names have also been changed because only alphanumeric characters and the underscore are permissible for block local variables Main program The structure of...

Page 187: ...Functions 6 11 Operation in fieldbus systems SINAMICS G110D Operating Instructions 07 2016 FW V3 63 A5E36768472B AB 187 Image 6 47 Example conveyor application script main program ...

Page 188: ... conveyor belts The program in the figure below controls 4 conveyor belts simultaneously with each belt being monitored for the position of the belt and any faults conditions that occur On completion of a belt cycle the number of items of the belt is recorded Image 6 48 Example conveyor application script control of several conveyor belts ...

Page 189: ...e figure below starts and stops the conveyor belt and monitors the belt of faults When parts reach the end of the conveyor belt the belt is stop so the items can be removed If a fault condition occurs the belt will be stop until the fault is rectified The progam utilized block parameters of an elementary data type Image 6 49 Example conveyor application script controlling a conveyor belt ...

Page 190: ...0 Operating Instructions 07 2016 FW V3 63 A5E36768472B AB In the figure below a method of accomplishing the control of a conveyor belt without the use of block parameters is shown Image 6 50 Example conveyor script control a conveyor belt without block parameters ...

Page 191: ...ting the actual items on the conveyor belt This is accomplished using light barriers which when the item passed the light barrier the count of items is decreased by 1 A pre assigned count value needs to be entered prior to the running of the conveyor system When the count reaches 0 the conveyor belt is stopped Image 6 51 Example conveyor application script parts counter with monitor ...

Page 192: ...ctions 07 2016 FW V3 63 A5E36768472B AB In the figure below a method of accomplishing the counting of items on the conveyor and monitoring the belt without the use of block parameters is shown Image 6 52 Example conveyor script parts counter and monitoring without block parameters ...

Page 193: ... PLC The conveyor section consists of three sensors A This sensor detects the arrival of an item on the conveyor B This sensor detects the item and signals the next section to start and be ready to receive an item This requires two speeds one for the normal movement of the load and a faster speed for the transfer between conveyor sections C This sensor detects the load leaving the conveyor section...

Page 194: ...Functions 6 11 Operation in fieldbus systems SINAMICS G110D 194 Operating Instructions 07 2016 FW V3 63 A5E36768472B AB Image 6 53 Example conveyor application ...

Page 195: ...on to the AS i specific parameters discussed in the previous section the following parameters should be modified to allow the digital inputs to be read by the controlling PLC Table 6 68 Conveyor application parameters Parameter Setting Description P0701 0 22 Digital input DI0 set to Quick Stop source 1 allowing DI0 to be used as Quick Stop input P0971 1 Transfers parameter values from RAM to EEPRO...

Page 196: ...unctions 6 11 Operation in fieldbus systems SINAMICS G110D 196 Operating Instructions 07 2016 FW V3 63 A5E36768472B AB The following is an example ladder logic diagram Image 6 55 Example S7 ladder logic ...

Page 197: ...ers are not automatically downloaded if there is no memory card or with the setting P8458 0 If a valid parameter set is available then the Inverter is parameterized by manually downloading this parameter set from the memory card IOP or PC Note A valid parameter set is a parameter set that matches the type and software release of the Inverter and that has been adapted to fit the particular applicat...

Page 198: ...g components How do I create a valid parameter set When commissioning you can create a valid parameter set either using the commissioning software STARTER or using the IOP Which options are available for saving a valid parameter set You can save a valid parameter set either on the memory card or on the computer that you use for commissioning with STARTER How do I load a valid parameter set into my...

Page 199: ...at the two slave nodes have been removed from the network This will not interrupt the communications or other devices on the ASi network 4 If a memory card has been used remove it from the Inverter 5 Remove the Inverter from its mounted position 6 Mount the new Inverter ensuring that if a memory card is used it is fitted before mounting the Inverter 7 Reconnect all the cables and ASi connections 8...

Page 200: ...rective 98 37 EC The local remote switch cover has been designed to enable the user to take control of the Inverter and motor from the automated system In the local mode the user can precisely control the movement of the motor for example starting stopping and inching the motor when fitting a new belt to a conveyor section The switch cover is an optional extra and can be ordered using the followin...

Page 201: ...Service and maintenance 7 3 Local remote switch cover SINAMICS G110D Operating Instructions 07 2016 FW V3 63 A5E36768472B AB 201 Image 7 1 Local remote switch cover layout ...

Page 202: ...s position the Inverter ignores the command source and setpoint source set in parameters P0700 and P1000 respectively The Inverter will only react to the local buttons on the switch cover Quickstop override The quickstop function enables the Inverter to react to sensors on a conveyor segment when items move passed the sensor The quickstop override button disables the Inverters reaction to the sens...

Page 203: ...ped before activating the Repair switch If the motor is not stopped the Inverter may be damaged Discharge of Inverter Wait at least five minutes to allow the unit to discharge after switching the Repair switch off before carrying out any maintenance work Electrical safety Regional installation and Safety Regulations regarding work on dangerous voltage installation e g EN50178 as well as relevant r...

Page 204: ...olated fault F0003 will be generated The Repair switch can be padlocked into position so that once it has been switched off it cannot be accidentally switched on The motor can be repaired or replaced as required Once the Repair has been completed the Repair switch can be unlocked and switched on the motor is then directly under the command of the Inverter or the controlling PLC It should be noted ...

Page 205: ... setting ambient temperature or if fitted the fan is working correctly F00030 Cause Fan failure Remedy Fain no longer working replace fan F00041 Cause Motor data identification failure Remedy check that the motor is connected to the inverter correctly and that the motor data entered is correct F00062 Cause SD card contents invalid Remedy Recopy data to SD card and ensure that the process is comple...

Page 206: ...2B AB 8 2 LED States LED description The Inverter has five main LEDs which are used to indicate the state of the Inverter Each digital input has its own status LED These are shown in the figure below Image 8 1 SINAMICS G110D LEDs In the table below is shown all the possible states of the LEDs and their meaning ...

Page 207: ...shing Flashing Update from memory card or parameter download ON OFF General fault OFF ON Inverter ready or running Flashing RED No communications between processors within the Inverter Flashing RED YELLOW Slave address 0 Flashing GREEN RED Inverter trip RED AS i master not connected GREEN System OK GREEN Power OK OFF No power yellow cable GREEN Power OK OFF No power black cable GREEN Digital input...

Page 208: ...Messages and fault codes 8 2 LED States SINAMICS G110D 208 Operating Instructions 07 2016 FW V3 63 A5E36768472B AB ...

Page 209: ...0 s See note 1 Digital inputs 4 PNP Low 5 V High 10 V maximum input voltage 30 V 5 5 mA Analog inputs 1 with 10 bit resolution AI0 0 V to 10 V unipolar voltage only Analog input can also be configured as a digital input Setpoint resolution 0 01 Hz Pulse frequency 4 kHz for 0 75 kW 7 5 kW HO Possible braking meth ods DC braking dynamic braking with integrated braking chopper Degree of protection IP...

Page 210: ...PE21 5AM0 1PE23 0AM0 1PE24 0AM0 1PE25 5AM0 1PE27 5AM0 Power rating kW 0 75 1 5 3 0 4 0 5 5 7 5 Net weight Kg 7 0 7 0 7 2 7 7 9 7 9 8 Net weight lbs 15 4 15 4 15 9 17 0 21 4 21 6 Gross weight Kg 7 8 7 8 7 9 9 0 10 8 10 9 Gross weight lbs 17 2 17 2 17 4 19 8 23 8 24 0 Table 9 2 Weight of SINAMICS G110 Inverters without repair switch Order Number 6SL3511 0PE17 5AM0 0PE21 5AM0 0PE23 0AM0 0PE24 0AM0 0P...

Page 211: ...e 9 3 Current reduction depending on pulse frequency Power rating at 400 V Frame size Inverter current rating Output current at pulse frequency of at 4 kHz 6 kHz 8 kHz 10 kHz 12 kHz 14 kHz 16 kHz kW A A A A A A A 0 75 A 2 2 1 9 1 5 1 3 1 1 1 0 0 9 1 5 A 4 1 3 5 2 9 2 5 2 1 1 8 1 6 3 B 7 7 6 5 5 4 4 6 3 9 3 5 3 1 4 C 10 2 8 7 7 1 6 1 5 1 4 6 4 1 5 5 C 13 2 11 2 9 2 7 9 6 6 5 9 5 3 7 5 C 19 16 2 13 ...

Page 212: ...Technical data 9 2 Pulse frequency and current reduction SINAMICS G110D 212 Operating Instructions 07 2016 FW V3 63 A5E36768472B AB ...

Page 213: ...facturer s declaration that the European standards applicable to the electrical environment for which the apparatus is intended have been met Only standards that have been officially published in the Official Journal of the European Community can be cited in the manufacturer s declaration Technical construction file A technical construction file can be prepared for the apparatus describing its EMC...

Page 214: ...nd technical areas of buildings fed from a dedicated transformer Category C1 Power Drive System PDS of rated voltage less than 1000 V intended for use in the First Domestic Environment Category C2 Power Drive System PDS of rated voltage less than 1000 V which is neither a plug in device nor a movable device and when used in the First Domestic Environment is only intended to be installed and commis...

Page 215: ...ariants 6SL3525 0PE A 0 Drives FSA FSB 400 V 0 75 kW 7 5 kW Class A 15 m screened cable type CY When used in the First Domestic Environment this product may cause radio interference in which case mitigation measures may be required Category C3 Second Environment Unfiltered Variants There are no unfiltered variants Note All drives should be installed and commissioned in accordance with the manufact...

Page 216: ...sions to EN 55011 Class B is largely dependent on the inverter being correctly installed inside a metallic enclosure The limits will not be met if the inverter is not enclosed or installed in accordance with good EMC practices Harmonic Currents The harmonic current emissions from the SINAMICS G110 D inverters is as follows Table A 3 Harmonic Currents Rating Typical Harmonic Current of rated input ...

Page 217: ...0 MHz 1000 MHz 10 V m A Amplitude modulated 80 AM at 1 kHz Fast Transient Bursts EN 61000 4 4 2 kV 5 kHz A Surge Voltage EN 61000 4 5 1 kV differential L L A 1 2 50 μs 2 kV common L E Conducted EN 61000 4 6 0 15 MHz 80 MHz 10 V rms A Radio frequency Common Mode 80 AM at 1 kHz Mains Interruptions Voltage Dips EN 61000 4 11 100 dip for 3 ms C 30 dip for 10 ms C 60 dip for 100 ms C 95 dip for 5000 ms...

Page 218: ... evaluated for compliance with the essential Health Safety requirements of the directive when used in a typical machine application A Declaration of Incorporation is available on request European EMC Directive When installed according to the recommendations described in this manual the SINAMICS G110D fulfils all requirements of the EMC Directive as de fined by the EMC Product Standard for Power Dr...

Page 219: ... Break loose torque 22 C Cable lengths 47 CDS 111 Classification of EMC performance 214 command and setpoint sources 67 Command Data Set 111 Command data set switchover 112 command source 102 Command source 65 92 Selecting 22 commissioning options 61 Commissioning situations 61 Commissioning the application 79 Compound braking 132 Configuring AS i slaves 165 Configuring the AS i master 164 Connect...

Page 220: ...chnological 92 Functions Overview 91 Fuses 42 G General layout 36 H Harmonic Currents 216 Humidity range 40 I Imax controller 126 Inching continuous 202 IND components 178 Input frequency 209 Installation altitude 209 Installation procedure 35 Installing and commissioning the CP343 2 162 Integrating the Inverter in a AS i master 161 Interfaces 62 Inverter control 92 Inverter functions 91 IOP Hand ...

Page 221: ...209 Remote 202 Repair switch 203 Repeater 159 Replacing the Inverter 197 Restoring factory settings 63 63 Rounding 117 S Saving parameter data 79 Saving the parameters on the IOP 87 Scaling 106 SD 61 88 SD Manual Collection 17 SD memory card 61 88 Seals fitted correctly 37 Selecting the setpoint source 22 Self certification 213 Serial data transfer 180 Setpoint calculation 92 114 Setpoint resoluti...

Page 222: ...Index SINAMICS G110D 222 Operating Instructions 07 2016 FW V3 63 A5E36768472B AB Upload 89 V V f control 120 Vendor Specific Acyclic Data Transfer 182 Voltage boost 118 119 Voltage input 106 W Water 41 ...

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