Siemens SINAMICS G120D Operating Instructions Manual Download Page 171

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Advanced commissioning

7.6 Basic positioner and position control

Converter with control units CU250D-2
Operating Instructions, 04/2015, FW V4.7.3, A5E34261542B AB

171

Correcting backlash

Precondition
You have selected the "Mechanical system" screen.

Procedure
To correct the measured backlash, set the following:

●

If the axis has not traveled far enough, then set a positive backlash.

●

If the axis has traveled too far, then set a negative backlash.

You have corrected the backlash.

Parameter

Meaning

p2583

Backlash compensation

r2685

Offset value

Summary of Contents for SINAMICS G120D

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Page 3: ..._________ SINAMICS SINAMICS G120D Converter with control units CU250D 2 Operating Instructions Edition 04 2015 Firmware V4 7 3 Original instructions 04 2015 FW V4 7 3 A5E34261542B AB Changes in this manual Fundamental safety instructions 1 Introduction 2 Description 3 Installation 4 Commissioning 5 Adapt fieldbus configuration 6 Advanced commissioning 7 Backing up data and series commissioning 8 C...

Page 4: ... 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 Siemens p...

Page 5: ...ristic Page 153 An overview of all the new and changed functions in the V4 7 firmware can be found in Section New and extended functions Page 357 Revised descriptions In Chapter Factory settings and default settings of the inputs and out puts Connections and cables Page 41 Startdrive commissioning tool added Basic commissioning with a PC Page 69 Manual optimization of the speed controller Optimizi...

Page 6: ...Changes in this manual Converter with control units CU250D 2 6 Operating Instructions 04 2015 FW V4 7 3 A5E34261542B AB ...

Page 7: ...llation 29 4 1 1 Drill pattern SINAMICS G120D 30 4 2 Electrical Installation 32 4 2 1 Permissible line supplies 32 4 2 2 Basic EMC Rules 33 4 2 3 Overview of the interfaces 34 4 2 4 Feeder protection of individual inverters 35 4 2 5 Feeder protection of multiple inverters 37 4 2 6 24 V power supply with multiple inverters 40 4 2 7 Connections and cables 41 4 2 8 Star delta motor connection 49 4 2 ...

Page 8: ...cation 88 6 2 1 1 Positioner Cyclic communication 88 6 2 1 2 Control and status word 1 91 6 2 1 3 Control and status word 2 93 6 2 1 4 Control and status word for the positioner 94 6 2 1 5 Control and status word 1 for the positioner 96 6 2 1 6 Control and status word 2 for the positioner 98 6 2 1 7 Control word block selection 100 6 2 1 8 Control word MDI mode 101 6 2 1 9 Status word messages 102...

Page 9: ...V f control 143 7 5 1 1 Characteristics of U f control 144 7 5 1 2 Selecting the U f characteristic 145 7 5 1 3 Optimizing motor starting 145 7 5 2 Vector control with speed controller 147 7 5 2 1 Checking the encoder signal 148 7 5 2 2 Select motor control 149 7 5 2 3 Optimizing the speed controller 150 7 5 2 4 Advanced settings 152 7 5 2 5 Friction characteristic 153 7 5 2 6 Moment of inertia es...

Page 10: ...7 8 2 1 Changing over the motor standard 237 7 8 2 2 Changing over the unit system 238 7 8 2 3 Switching units with STARTER 238 7 8 3 Electrically braking the motor 240 7 8 3 1 DC braking 240 7 8 3 2 Braking with regenerative feedback to the line 243 7 8 4 Motor holding brake 244 7 8 5 System protection 248 7 8 5 1 No load monitoring blocking protection stall protection 249 7 8 5 2 Load monitoring...

Page 11: ...nabled 301 9 1 5 Replacing the Control Unit without data backup 304 9 1 6 Replacing a Control Unit with active know how protection 305 9 1 7 Replacing a Power Module with enabled safety function 307 9 1 8 Replacing a Power Module without the safety function being enabled 308 9 2 Firmware upgrade and downgrade 309 9 2 1 Upgrading firmware 310 9 2 2 Firmware downgrade 312 9 2 3 Correcting a failed f...

Page 12: ...70 A 5 Application Examples 372 A 5 1 Setting an absolute encoder 372 A 5 2 Connecting the safety related input 376 A 5 3 Connecting fail safe digital inputs 376 A 6 Setting a non standard HTL encoder 377 A 7 Setting a non standard SSI encoder 378 A 8 Acceptance tests for the safety functions 381 A 8 1 Recommended acceptance test 381 A 8 2 Machine documentation 384 A 8 3 Log of the settings for th...

Page 13: ...nductor to phase 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...

Page 14: ...ounded housing potential WARNING Danger 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 elec...

Page 15: ...possible that death or severe injury can occur as a result of smoke and fire Use a monitoring device that signals an insulation fault Correct the fault as quickly as possible so the motor insulation is not overloaded WARNING Danger to life due to fire if overheating occurs because of insufficient ventilation clearances Inadequate ventilation clearances can cause overheating of components with subs...

Page 16: ... documentation before commissioning Carry out a safety inspection for functions relevant to safety on the entire system including all safety related components Ensure that the safety functions used in your drives and automation tasks are adjusted and activated through appropriate parameterizing Perform a function test Only put your plant into live operation once you have guaranteed that the functi...

Page 17: ... ESD are individual 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 com...

Page 18: ...in use should also be considered For more information about industrial security visit this address http www siemens com industrialsecurity To stay informed about product updates as they occur sign up for a product specific newsletter For more information visit this address http support automation siemens com WARNING Danger as a result of unsafe operating states resulting from software manipulation...

Page 19: ...nt the following residual risks emanating from the control and drive components of a drive system 1 Unintentional movements of driven machine components during commissioning operation maintenance and repairs caused by for example Hardware and or software errors in the sensors control system actuators and cables and connections Response times of the control system and of the drive Operation and or ...

Page 20: ...can pose a risk to people with a pacemaker implants or metal replacement joints etc if they are too close 5 Release of environmental pollutants or emissions as a result of improper operation of the system and or failure to dispose of components safely and correctly Note The components must be protected against conductive contamination e g by installing them in a control cabinet with degree of prot...

Page 21: ...nstructions has been compiled in such a way that it is sufficient for all standard applications and enables drives to be commissioned as efficiently as possible Where it appears useful additional information for entry 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 knowledg...

Page 22: ...the function of the inputs and outputs Configure communication via PROFIBUS or PROFINET Communication using other fieldbuses can be found in the Fieldbus function manual see also Manuals and technical support Page 387 Set up the functions e g setpoint processing motor control and protection functions Backup the inverter s settings to an external data storage medium e g a memory card or an operator...

Page 23: ...ndicated on the rating plate and in the operating instructions 3 1 SINAMICS G120D CU250D 2 Inverter Overview The SINAMICS G120D is a converter for controlling the position of a drive The converter consists of two parts the Control Unit CU and the Power Module PM Table 3 1 CU250D 2 Control Units Designation Interface Encoder type Order number CU250D 2 DP F PROFIBUS HTL Encoder SSI Absolute Encoder ...

Page 24: ...61542B AB Table 3 2 PM250D Power Modules Frame size Rated output power Rated output current Order number based on High Overload HO FSA 0 75 kW 2 2 A 6SL3525 0PE17 5AA1 1 5 kW 4 1 A 6SL3525 0PE21 5AA1 FSB 3 0 kW 7 7 A 6SL3525 0PE23 0AA1 FSC 4 0 kW 10 2 A 6SL3525 0PE24 0AA1 5 5 kW 13 2 A 6SL3525 0PE25 5AA1 7 5 kW 19 0 A 6SL3525 0PE27 5AA1 ...

Page 25: ...iption 3 2 Commissioning tools Converter with control units CU250D 2 Operating Instructions 04 2015 FW V4 7 3 A5E34261542B AB 25 3 2 Commissioning tools Figure 3 1 Commissioning tools PC or IOP Handheld Kit ...

Page 26: ...d STARTER http support automation siemens com W W view en 26233208 Startdrive You obtain Startdrive on a DVD Article number 6SL3072 4CA02 1XG0 and it can be downloaded Startdrive http support automation siemens com W W view en 68034568 PC Connection Kit Comprising USB cable 3 m 6SL3255 0AA00 2CA0 Memory cards Table 3 4 Memory cards to back up inverter settings Scope of delivery Article number Memo...

Page 27: ...5 Motor series suitable for the inverter SIMOTICS GP SIMOTICS SD IEC motors 1LG6 1LA7 1LA9 and 1LE1 standard induction motors Multi motor drive is permissible i e multiple mo tors operated on one inverter See also Multi motor drive http support automation siemens com WW view en 84049346 SIMOTICS M main motors 1PH8 induction motors Motors from other manufacturers Standard induction motors ...

Page 28: ...Description 3 3 Supported motor series Converter with control units CU250D 2 28 Operating Instructions 04 2015 FW V4 7 3 A5E34261542B AB ...

Page 29: ...tted to the PM prior to any further commissioning taking place CAUTION Seals fitted correctly It is important that when assembling the Power Module and the Control Unit that all the seals are fitted correctly to ensure IP65 rating TN and TT mains supplies The SINAMICS PM250D Power Module with the Class A integrated mains filter is only suitable for operation on TN and TT mains supplies The CU is f...

Page 30: ... Instructions 04 2015 FW V4 7 3 A5E34261542B AB 4 1 1 Drill pattern SINAMICS G120D Drill pattern and dimensions The inverter has an identical drill pattern for all frame sizes The drill pattern depth and tightening torques are shown in the diagram below Figure 4 2 SINAMICS G120D drill pattern ...

Page 31: ...equired Above and below the inverter 150 mm 5 9 inches Figure 4 3 Mounting orientation correct impermissible X permissible with restrictions Restrictions due to vertical mounting If the converter is mounted in the vertical position the maximum ambient temperature is 40 C Additionally you have to reduce the converter output current to 80 of rated converter current If the output current derating adv...

Page 32: ...s the PE conductor to the installation via a conductor Generally in a TN line system the neutral point is grounded There are versions of a TN line supply with a grounded line the conductor e g with grounded L1 A TN line system can transfer the neutral conductor N and the PE protective conductor either separately or combined TT system In a TT line system the transformer grounding and the installati...

Page 33: ...ends Route all power cables line supply cables as well as motor cables separately from signal and data cables The minimum distance should be approximately 25 cm Exception hybrid motor cables with integrated shielded temperature sensor and brake control wires are allowed Shield the power cable between inverter and motor We recommend shielded cables with symmetrical three phase conductors L1 L2 and ...

Page 34: ...N and OUT PROFINET or PROFIBUS SSI Encoder connection 24 V DC supply IN and OUT Slot for a memory card at rear of the Control Unit Optical interface for operator panel IOP handheld PROFINET status LED Converter status LED PE grounding terminal USB PC connection address and bus termi nation switch for PROFIBUS Mains supply connection Digital outputs 0 and 1 with status LED Motor brake and temperatu...

Page 35: ...cuit breaker 0 75 kW 6SL3525 0PE17 5AA1 FSA 3NA3803 3RV2011 1JA10 10 A 1 5 kW 6SL3525 0PE21 5AA1 3 kW 6SL3525 0PE23 0AA1 FSB 3NA3805 3RV2011 4AA10 16 A 4 kW 6SL3525 0PE24 0AA1 FSC 3NA3807 3RV2021 4BA10 20 A 5 5 kW 6SL3525 0PE25 5AA1 7 5 kW 6SL3525 0PE27 5AA1 3NA3812 3RV2021 4PA10 32 A Feeder protection according to UL standards Use in North America requires protection devices that meet UL standard...

Page 36: ... circuit current rating SCCR Short circuit current rating 0 75 kW 6SL3525 0PE17 5AA1 FSA 3RV2711 3RV1742 LGG or CED6 DIVQ 15 A 65 kA 480 V 3AC 3RV2021 1JA NKJH 10 A 65 kA 480 V 3AC 1 5 kW 6SL3525 0PE21 5AA1 FSA 3RV2711 3RV1742 LGG or CED6 DIVQ 15 A 65 kA 480 V 3AC 3RV2021 1JA NKJH 10 A 65 kA 480 V 3AC 3 kW 6SL3525 0PE23 0AA1 FSB 3RV1742 LGG or CED6 DIVQ 25 A 65 kA 480 V 3AC 3RV2721 22 A 50 kA 480 ...

Page 37: ...nput currents of the inverter group The sum of all rated input currents must be 24 A Use one of the following protection devices for the inverter group Fuse or circuit breaker with a rated current of 30 A Intrinsically safe circuit breaker with a rated current of 25 A The feeder protection also depends on the following conditions Type of cable routing Limit values of the cables and system componen...

Page 38: ...neously Figure 4 7 Protection of two inverter groups via a shared 400 V feeder The sum of the rated input currents is Group 7 2 A 7 2 A 9 5 A 23 9 A 24 A Group 17 7 A 3 8 A 2 1 A 23 6 A 24 A You can power all the inverters through a shared fuse Feeder protection according to IEC Table 4 5 Feeder protection according to IEC Max rated current of the protec tion device Article No of the fuse Article ...

Page 39: ... characteristic than class RK5 e g class J time CC G or CF JDDZ SIEMENS circuit breaker DIVQ Intrinsically safe SIEMENS circuit breaker NKJH Table 4 7 Feeder protection with fuse UL category JDDZ Max rated current of the fuse Short circuit current rating SCCR Short circuit current rating 30 A 65 kA 480 V 3AC Table 4 8 Feeder protection with circuit breaker UL categories DIVQ and NKJH Max rated cur...

Page 40: ...he 24 V supply of the inverter 1 A T distributor with integrated power supply unit supplies the 24 V Advantage Low installation costs 2 An external power supply unit supplies the 24 V Advantage You can switch off the 400 V without interrupting the 24 V supply and thus the fieldbus communication of the inverter The inverter can conduct a maximum current of 8 A through its 24 V connector Figure 4 8 ...

Page 41: ...propriate insulation on the cables NOTICE Damage of the converter by disconnecting the motor during operation The disconnection of the motor cable by a switch or contactor during operation may damage the converter Disconnect converter and motor during operation only if it is necessary in terms of personal security or machine protection Connectors Switched and unswitched 24 V power supply The unswi...

Page 42: ...Installation 4 2 Electrical Installation Converter with control units CU250D 2 42 Operating Instructions 04 2015 FW V4 7 3 A5E34261542B AB Figure 4 9 G120D CU250D 2 PROFIBUS connectors ...

Page 43: ...Installation 4 2 Electrical Installation Converter with control units CU250D 2 Operating Instructions 04 2015 FW V4 7 3 A5E34261542B AB 43 Figure 4 10 G120D CU250D 2 PROFINET connectors ...

Page 44: ...Installation 4 2 Electrical Installation Converter with control units CU250D 2 44 Operating Instructions 04 2015 FW V4 7 3 A5E34261542B AB Figure 4 11 G120D CU250D 2 PROFINET Push Pull connectors ...

Page 45: ...Installation 4 2 Electrical Installation Converter with control units CU250D 2 Operating Instructions 04 2015 FW V4 7 3 A5E34261542B AB 45 Figure 4 12 G120D CU250D 2 PROFINET FO terminal diagram ...

Page 46: ...for the preparation and construction of the individual connectors have separate detailed instructions delivered with the ordered parts direct from the manufacturers Use 75 C copper wire only Note NFPA compatibility These devices are intended only for installation on industrial machines in accordance with the Electrical Standard for Industrial Machinery NFPA79 Due to the nature of these devices the...

Page 47: ...siemens solution partner Digital input and output M12 3RK1902 4BA00 5AA0 3RK1902 4DA00 5AA0 Table 4 11 Push Pull variant PROFINET and POWER connectors Connector Order number 24 V DC power supply 6GK1907 0AB10 6AA0 RJ45 PROFINET 6GK1901 1BB10 6AA0 Table 4 12 Fibre optic connectors Connector Order number IE SC RJ POF PLUG PRO 6GK1900 0MB00 6AA0 IE SC RJ PCF PLUG PRO 6GK1900 0NB00 6AA0 Table 4 13 Mai...

Page 48: ...ed 30 m 98 ft Temperature sensor 1 Screened 15 m 49 ft Unscreened 30 m 98 ft Motor holding brake 1 Screened 15 m 49 ft Unscreened 30 m 98 ft Digital inputs Screened 30 m 98 ft Digital outputs Screened 30 m 98 ft Encoder SSI and HTL Screened 30 m 98 ft 1 The motor temperature sensor and motor holding brake connections are all carried in a single cable which is connected to the Power Module using a ...

Page 49: ... case you need to connect the motor in Y Operating the motor above its rated speed is only possible in field weakening i e the motor torque available is reduced above the rated speed Case 2 If you want to operate the motor with the 87 Hz characteristic you need to connect the motor in Δ With the 87 Hz characteristic the motor s power output increases The 87 Hz characteristic is mainly used with ge...

Page 50: ... Insulate cables that are not used NOTICE Device damage by earthing the motor cable The temperature sensor and motor holding brake connections are at DC link negative potential Earthing these connections will damage the device Use appropriate insulation on the cables Insulate cables that are not used Do not earth cables that are not used The brake is connected to the converter using Pin 4 Brake an...

Page 51: ...verter is not active Figure 4 15 Factory settings of the CU250D 2 control units Changing the function of the inputs and outputs The function of each color identified input and output can be set To avoid having to change each input individually you can set multiple inputs and outputs together using default settings The factory setting of the inputs and outputs described above corresponds to the def...

Page 52: ...0D 2 52 Operating Instructions 04 2015 FW V4 7 3 A5E34261542B AB 4 2 11 Default settings of inputs and outputs Default setting 26 EPOS without fieldbus Factory setting DO 0 p0730 DO 1 p0731 DI 0 r0722 0 DI 5 r0722 5 Default setting 27 EPOS with fieldbus DO 0 p0730 DO 1 p0731 ...

Page 53: ...FC Marine Cable 2 x 2 85 m 278 ft 6XV1840 4AH10 Cable screening The screen of the PROFINET cable must be connected with the protective earth The solid copper core must not be scored when the insulation is removed from the core ends 4 2 13 Encoders examples Examples The following SSI encoders have been commissioned successfully in several applications with the CU250D 2 Table 4 15 SSI encoders Manuf...

Page 54: ...e left hand side of the converter to the metal frame it is mounted on Recommended cable cross section 10 mm Use a short wire connection preferably Clean the connection to the steel construction from paint or dirt Use a ring clamp to ensure a good physical connection which is resistant to accidental disconnection Grounding the motor Ground the motor via the PE connection in the motor connector Grou...

Page 55: ...i M20 x 1 5 6 5 29 14 9 12 7 24 x 26 5 bg220mstri M25 x 1 5 7 5 29 20 13 16 10 30 x 33 bg255mstri M32 x 1 5 8 0 32 25 20 20 13 36 x 39 5 bg232mstri 4 2 15 Connections and interference suppression All connections should be made so that they are permanent Screwed connections on painted or anodized metal components must be made either by means of special contact washers which penetrate the isolating ...

Page 56: ...are established by means of standard heavy power PE cables which do not need to have any special high frequency properties In addition to these connections the inverter as the source of the high frequency interference and the motor must be interconnected with respect to the high frequency point of view 1 Use a shielded motor cable 2 Connect the cable shield both to the motor connector on the inver...

Page 57: ...tion of motor cable shield and motor terminal box via electrically conductive PG gland Driven machine Conventional grounding system Standard heavy power PE conductors without special high frequency properties Ensures low frequency equipotential bonding as well as protection against injury Foundation ground Figure 4 18 Grounding and high frequency equipotential bonding measures in the drive system ...

Page 58: ...Installation 4 2 Electrical Installation Converter with control units CU250D 2 58 Operating Instructions 04 2015 FW V4 7 3 A5E34261542B AB ...

Page 59: ...commend a certain procedure when commissioning your converter Explanation of the commissioning steps Preparing for commissioning Page 60 Restoring the factory setting Page 82 Basic commissioning with STARTER Page 69 orOperator Panel Page 65 Adapt inputs and outputs Page 115 Adapt fieldbus configuration Page 87 Motor control Page 143 Basic positioner and position control Page 163 Advanced commissio...

Page 60: ...ontrol system What technological requirements must the drive fulfill Introduction V f control vector control Page 62 Defining additional requirements for the application Page 63 Before starting commissioning you must know the following data Which motor is connected to the inverter Note down the Article No of the motor and the motor s nameplate data If available note down the motor code on the moto...

Page 61: ...otor fits the converter Ratio of the motor and inverter rated currents The rated current of the motor must be in the range 13 to 100 of the rated converter current Example With an inverter with a rated current of 10 2 A you can operate motors whose rated currents are within the range of 1 3 A 10 2 A Figure 5 1 The rated currents of inverter and motor match ...

Page 62: ...sition control provides the best results Limited functionality of the position control Low accuracy Travel to fixed stop is not possi ble Not recommended in conjunction with position control Low accuracy Low dynamic response Travel to fixed stop is not possi ble It is not permissible to use vector control in the following cases If the motor is too small in comparison to the inverter the rated moto...

Page 63: ...he application The ramp up and ramp down time define the maximum motor acceleration when the speed setpoint changes The ramp up and ramp down time is the time between motor standstill and the maximum speed or between the maximum speed and motor standstill Ramp up time factory setting 10 s Ramp down time factory setting 10 s 5 2 4 Encoder assignment Description The converter offers three options of...

Page 64: ...ge Favorably priced solution Disadvantage Depending on the gear ratio restrictions regarding the accuracy of the position control Position controller operates with SSI encoder speed controller without an encoder Figure 5 4 SSI encoder on the load side for the position controller speed controller without an encoder Advantage Favorably priced solution Disadvantages Restrictions regarding the accurac...

Page 65: ...ing the basic commissioning of the converter with the IOP operator panel proceed the following steps 1 Select Basic Commissioning from the Wizards menu 2 Select Yes or No to a factory reset The factory reset is performed prior to saving all the parameter changes that have been made during the basic commissioning process 3 Select the Control Mode for the attached motor 4 Select the correct Motor Da...

Page 66: ... to operate at 1 73 times of its normal speed 6 At this stage the wizard will begin to ask for the data relating specifically to the attached motor The data is obtained from the motor rating plate 7 The Motor Data screen indicates the frequency charac teristic of the attached motor 8 Input the correct Motor Voltage from the motor rating plate 9 Input the correct Motor Current from the motor rating...

Page 67: ...pulse on no zero pulse for the at tached encoder If no encoder is fitted to the motor the option will not be displayed 14 Enter the correct pulses per revolution for the encoder This information is normally printed on the casing of the encoder 15 Select the macro that is suitable for your application Once selected all inputs outputs command sources and setpoints will be automatically configured by...

Page 68: ...is is the time the Inverter motor system will take from being given the OFF1 command for the motor to reach a standstill 19 A summary of all the settings is display If the settings are correct select Continue 20 The final screen gives two options Save settings Cancel Wizard If save is selected a factory reset will be performed then the settings are saved to the Inverter memory The loca tion of saf...

Page 69: ...the inverter with STARTER or Startdrive either via a USB connection or via the fieldbus System requirements and download STARTER download http support automation siemens com WW view en 10804 985 133100 Startdrive http support automation siemens com WW view en 88851 265 Help for operation and for the functions of the commissioning tools STARTER videos http www automation siemens com mcms mc drives ...

Page 70: ...a USB into the project Transferring inverters connected via USB to the project Procedure Proceed as follows to transfer an inverter connected via USB to your project 1 Switch on the inverter supply voltage 2 First insert a USB cable into your PC and then into the inverter 3 The PC operating system installs the USB driver when you are connecting the inverter and PC together for the first time Windo...

Page 71: ...re 5 7 Inverters found in STARTER Figure 5 8 Inverters found in Startdrive If you have not correctly set the USB interface then the following No additional nodes found message is displayed In this case follow the description below 7 Proceed as follows With STARTER With Startdrive Select the inverter Press the Accept button Accept the inverter into the project using the menu Online Upload device as...

Page 72: ...015 FW V4 7 3 A5E34261542B AB Setting the USB interface in STARTER Procedure Proceed as follows to set the USB interface in STARTER 1 Set the Access point to DEVICE STARTER Scout and the PG PC interface to S7USB 2 Press the Update button You have set the USB interface STARTER now shows the inverters connected via USB ...

Page 73: ...d the hardware configuration found online in your project PG or PC Significance of the symbol in front of the inverter A The inverter is online B The inverter is offline 4 When you are online double click on Control Unit 5 Start the configuration wizards You have started to configure the inverter Procedure with Startdrive Proceed as follows to start configuration of the inverter 1 Select your proj...

Page 74: ... Page 51 and Default settings of inputs and outputs Page 52 3 Set the applicable motor standard and the inverter supply voltage Select the application for the inverter 0 Load cycle with high overload for applications requiring a high dynamic performance e g conveyor systems 1 Load cycle with low overload for applications that do not require a high dynamic performance e g pumps or fans 6 7 Load cyc...

Page 75: ... speed control After an ON command the inverter identifies the motor data and with a new ON command optimizes the speed controller 2 After an ON command the inverter identifies the motor data at standstill Recommended setting for the following cases You have selected Speed control as control mode however the motor cannot freely rotate e g for mechanically limited traversing sections You have set V...

Page 76: ... for position sensing as well as for speed measurement for the speed controller 2 An encoder with an SSI interface on the load side You can use the SSI encoder only for position sensing If you use an HTL encoder either select one of the standard encoders or enter the encoder data also see section Adapting the encoder data Page 78 R Encoder with zero mark If you use an SSI encoder either select one...

Page 77: ...lly The settings are explained in the con text of commissioning of the basic positioner in the section Basic posi tioner and position control Page 163 11 Set the check mark for RAM to ROM save data in the drive to save your data in the inverter so that it is not lost when the power fails 12 Click Finish to complete the basic commissioning You have entered all of the data that is necessary for the ...

Page 78: ... completely configured the drive Procedure with STARTER Proceed as follows to adapt the encoder data 1 Select the Motor encoder screen form 2 Select the Encoder data button 3 You have access to the following settings in the Encoder data screen form You can change all of the encoder data You can select another encoder In this screen form STARTER only lists the encoder types which are permitted for ...

Page 79: ... are permitted for the configured interface If you wish to set another encoder interface you must reconfigure the inverter You have adapted the encoder data 5 4 6 Identify motor data Identify motor data WARNING Danger to life from machine movements while motor data identification is in progress The stationary measurement can turn the motor a number of revolutions The rotating measurement accelerat...

Page 80: ...n excessively high motor temperature distorts the results of motor data identification Procedure with STARTER To initiate motor data identification and optimize the motor control proceed as follows 1 Open the control panel Figure 5 9 Control panel 2 Assume master control for the inverter 3 Set the Enable signals 4 Switch on the motor The inverter starts the motor data identification This measureme...

Page 81: ... inverter starts the motor data identification This measurement can take several minutes After the measurement the inverter switches off the motor 5 Relinquish the master control after the motor data identification 6 Save the settings in the inverter RAM EEPROM You have completed the motor data identification Self optimization of the speed control If you have selected not only motor data identific...

Page 82: ...d safety functions of the inverter e g Safe Torque Off you must reset the safety functions separately from the remaining inverter settings The settings of the safety functions are protected by a password Settings that are not changed when restoring the factory setting The communication settings and the settings of the motor standard IEC NEMA are kept when restoring the factory setting Procedure wi...

Page 83: ...thout changing the standard settings proceed as follows 1 Go online 2 Open the screen form of the safety functions 3 Select the button to restore the factory settings 4 Enter the password for the safety functions 5 Confirm that the parameters have been saved RAM to ROM 6 Go offline 7 Switch off the inverter supply voltage 8 Wait until all LEDs on the inverter go dark 9 Switch on the inverter suppl...

Page 84: ...6 Enter the password for the safety functions 7 Confirm that the parameters have been saved RAM to ROM 8 Go offline 9 Switch off the inverter supply voltage 10 Wait until all LEDs on the inverter go dark 11 Switch on the inverter supply voltage again You have restored the safety functions in the inverter to the factory settings 5 5 3 Restore the settings to the factory settings without safety func...

Page 85: ...ttings 1 Go online 2 Select Commissioning 3 Select Backing up reset 4 Select All parameters are reset 5 Press the Start button You have reset the inverter to factory settings Procedure with operator panel Proceed as follows to reset the inverter to factory settings 1 Select the Extras menu 2 Select the Parameter settings menu 3 Select the entry Restore drive to factory settings You have reset the ...

Page 86: ...Commissioning 5 5 Restoring the factory setting Converter with control units CU250D 2 86 Operating Instructions 04 2015 FW V4 7 3 A5E34261542B AB ...

Page 87: ...with a higher level control system Fieldbus Profiles S7 communi cation 2 Control Unit PROFIdrive PROFIsafe 1 PROFIenergy 2 PROFIBUS Page 105 CU250D 2 DF F PROFINET Page 110 CU250D 2 PN F CU250D 2 PN F PP CU250D 2 PN F FO EtherNet IP 2 1 Information on PROFIsafe can be found in the Safety Integrated function manual 2 Information about these fieldbuses profiles and communication types can be found i...

Page 88: ...ing Instructions 04 2015 FW V4 7 3 A5E34261542B AB 6 2 PROFIdrive profile for PROFIBUS and PROFINET 6 2 1 Cyclic communication 6 2 1 1 Positioner Cyclic communication The send and receive telegrams of the inverter for cyclic communication are structured as follows Figure 6 1 Telegrams for cyclic communication Position control ...

Page 89: ... for messages See Status word messages Page 102 NIST_B Actual speed value 32 bits Not assigned Freely interconnectable MDI_VELOCITY MDI velocity MDI_ACC MDI acceleration MDI_DEC MDI deceleration MDI_MOD Selects the positioning mode in the case of direct setpoint input MDI See Control word MDI mode Page 101 POS_STW Control word for basic positioner See Control and status word for the posi tioner Pa...

Page 90: ...5E34261542B AB Interconnection of the process data Figure 6 2 Interconnection of the send words Figure 6 3 Interconnection of the receive words If you require an individual telegram for your application you can adapt one of the pre defined telegrams using the parameters p0922 and p2079 For details please refer to the List Manual function diagrams 2420 and 2472 ...

Page 91: ... Reject traversing job Axis brakes down to standstill with the maximum deceleration Converter rejects the actual traversing block p2641 r2090 4 1 Do not reject traversing task Axis can be started or travel to position setpoint 5 0 Intermediate stop Axis brakes down to standstill with the specified deceleration override Converter remains in the actual traversing block p2640 r2090 5 1 No intermediat...

Page 92: ...s not active p2080 4 r0899 4 5 1 OFF3 inactive Quick stop is not active p2080 5 r0899 5 6 1 Closing lockout active It is only possible to switch on the motor after an OFF1 com mand and an additional ON command p2080 6 r0899 6 7 1 Alarm present Motor remains switched on no acknowledgment necessary p2080 7 r2139 7 8 1 Following error in tolerance The actual difference between the actual position and...

Page 93: ...Reserved 7 1 Parking axis selection p0897 r2092 7 p0897 r2093 7 8 1 Travel to fixed stop p1545 0 r2092 8 p1545 0 r2093 8 9 to 15 Reserved Status word 2 ZSW2 Table 6 5 Control word 2 and interconnection in the converter Bit Meaning Description Interconnection 0 1 Drive data set DDS effective bit 0 p2081 0 r0051 0 1 1 Drive data set DDS effective bit 1 p2081 1 r0051 1 2 to 4 Reserved 5 1 Alarm class...

Page 94: ...w the position actual value p2655 0 r2092 0 1 1 Set reference point The inverter accepts the reference point coordinate in its posi tion actual value and setpoint p2596 r2092 1 2 1 Reference cam active The load is currently on the reference cam p2612 r2092 2 3 Reserved 4 5 1 Incremental jogging active If the jogging command is active the inverter positions the load by the specified traversing path...

Page 95: ...es backwards The axis traverses in the negative direction p2084 5 r2683 5 0 Axis is stationary or traverses forwards 6 1 Software limit switch minus actuated The load is outside the permitted traversing range p2084 6 r2683 6 7 1 Software limit switch plus actuated p2084 7 r2683 7 8 1 Position actual value cam switching position 1 Feedback of the software cams in the inverter p2084 8 r2683 8 0 Cam ...

Page 96: ...nterprets the position setpoint as absolute position setpoint relative to machine zero point 9 01 Absolute positioning for rotary axis in the positive direction Selection of the positioning type for a rotary axis p2651 r2091 9 10 10 Absolute positioning for rotary axes in negative direction p2652 r2091 10 00 11 Absolute positioning for a rotary axis through the shortest distance 11 Reserved 12 1 C...

Page 97: ...Active traversing block bit 5 25 p2083 5 r2670 5 6 Reserved 7 8 1 STOP cam minus active The axis is currently located at a STOP cam p2083 08 r2684 13 9 1 STOP cam plus active p2083 09 r2684 14 10 1 Jogging active The converter is in the jogging mode p2083 10 r2094 0 11 1 Reference point approach active The converter is presently executing a reference point approach p2083 11 r2094 1 12 1 Flying ref...

Page 98: ...ng path in a positive or negative direction p2591 r2092 5 0 Jogging velocity active If the jogging command is active the converter positions the axis with the jog velocity in the direction of the beginning or end of the traversing range 6 Reserved 7 8 1 Selects referencing using flying referencing Select the referencing type p2597 r2092 8 0 Selects referencing via the refer ence point approach 9 1...

Page 99: ...s in the negative direction p2084 5 r2683 5 0 Axis is stationary or traverses forwards 6 1 Software limit switch minus actuated The axis is outside the permitted traversing range p2084 6 r2683 6 7 1 Software limit switch plus actuated p2084 7 r2683 7 8 1 Position actual value cam switching position 1 Feedback of the cam sequencer in the converter p2084 8 r2683 8 0 Cam switching position 1 passed 9...

Page 100: ...1 0 1 Block selection bit 1 p2626 r2091 1 2 Block selection bit 2 p2627 r2091 2 3 Block selection bit 3 p2628 r2091 3 4 14 Reserved 15 0 Deactivate MDI Switching from traversing blocks to direct setpoint input p2647 r2091 15 1 Activate MDI Actual traversing block Table 6 13 Feedback signal of the actual traversing block Bit Meaning Comments P No 0 Actual traversing block bit 0 p2081 0 r2670 0 1 Ac...

Page 101: ...cted The converter interprets the position setpoint as the position setpoint relative to the start position p2648 r2094 0 1 Absolute positioning is selected The converter interprets the position setpoint as abso lute position setpoint relative to machine zero point 1 01 Absolute positioning for rotary axis in the positive direction Selection of the positioning type for a rotary axis p2651 r2094 1 ...

Page 102: ... p2194 p2082 1 r2199 11 2 1 n_act speed threshold value 3 p2161 p2082 2 r2199 0 3 1 n_act speed threshold value 2 p2155 p2082 3 r2197 1 4 5 Reserved 6 1 No motor overtemperature alarm The motor temperature is within the permissible range p2082 6 r2135 14 7 1 No alarm thermal power unit overload The converter temperature is within the permissible range p2082 7 r2135 15 8 1 Speed setpoint actual val...

Page 103: ...or product adaptation A configuration example and a description of the FB283 can be found on the Internet FB283 http support automation siemens com WW view en 25166781 6 2 1 11 Extend telegrams and change signal interconnection Following selection of a telegram the inverter interconnects the corresponding signals with the fieldbus interface The inverter protects this interconnection against change...

Page 104: ...For further information refer to the function block diagrams 2468 and 2470 of the List Manual 6 2 1 12 Slave to slave communication Direct data exchange is sometimes called slave to slave communication or data exchange broadcast Here slaves exchange data without any direct involvement of the master You can find more information in Manuals for your inverter in the fieldbus function manual Page 387 ...

Page 105: ...pports the following functions RT IRT The inverter transmits the clock synchronism but does not support clock synchronism MRP Media redundancy impulsed with 200 ms Requirement Ring topology MRPD Media redundancy impulse free Requirement IRT and the ring topology created in the control Diagnostic alarm in accordance with the fault classes specified in the PROFIdrive profile See Activating diagnosti...

Page 106: ...cted to the bus network See Integrating converters into PROFINET Page 106 Do the IP address and device name in the inverter and controller match See Configuring communication to the control Page 107 Refer to manuals for your inverter fieldbus function manual Page 387 Is the same telegram set in the inverter as in the higher level controller Setting the telegram in the control Are the signals that ...

Page 107: ...communication using a non Siemens control 1 Import the device file GSDML of the inverter into the engineering tool for your control system 2 Configure the communication Configure communication with STARTER STARTER provides a screen form to set the communication with the control system Open the dialog screen form Control_Unit Communication Commissioning interface and activate the Configure IP inter...

Page 108: ...ect telegram PROFIdrive telegrams If you have not activated the function Basic positioner in the inverter the following tele grams will be available p0922 1 2 3 4 20 350 352 353 354 999 Standard telegram 1 PZD 2 2 factory setting Standard telegram 2 PZD 4 4 Standard telegram 3 PZD 5 9 Standard telegram 4 PZD 6 14 Standard telegram 20 PZD 2 6 SIEMENS telegram 350 PZD 4 4 SIEMENS telegram 352 PZD 6 ...

Page 109: ...RTER or an operator panel set parameter p0922 to the appropriate value You have set a specific telegram in the inverter 6 3 6 Activating diagnostics via the control The converter provides the functionality to transmit fault and alarm messages diagnostic messages to the higher level control according to the PROFIdrive error classes You must select the functionality in the higher level control see M...

Page 110: ...in the control Are the signals that the inverter and the controller exchange via PROFIBUS correctly intercon nected Adapt the interconnection of the signals in the controller to the inverter The interconnection in the inverter in conformance with PROFIdrive is provid ed in Section PROFIdrive profile for PROFIBUS and PROFINET Page 88 6 4 2 Integrating the inverter in PROFIBUS Procedure To connect t...

Page 111: ...r p0918 or in STARTER In parameter p0918 factory setting 126 or in STARTER you can only set the address if all address switches are set to OFF 0 or ON 1 If you have specified a valid address with the address switches this address will always be the one that takes effect and parameter p0918 cannot be changed Valid address range 1 125 The positions of the address switches are described in Section Ov...

Page 112: ...EMENS telegram 353 PZD 2 2 PKW 4 4 SIEMENS telegram 354 PZD 6 6 PKW 4 4 Extend telegrams and change signal interconnection Page 103 The following values apply if you have enabled the Basic positioner function in the inverter 7 9 110 111 999 Standard telegram 7 PZD 2 2 Standard telegram 9 PZD 10 5 SIEMENS telegram 110 PZD 12 7 SIEMENS telegram 111 PZD 12 12 Factory setting See also Extend telegrams...

Page 113: ...nverter with control units CU250D 2 Operating Instructions 04 2015 FW V4 7 3 A5E34261542B AB 113 Advanced commissioning 7 7 1 Overview of the converter functions Figure 7 1 Overview of inverter functions ...

Page 114: ...of the Control Unit or to the fieldbus Adapt inputs and outputs Page 115 Adapt fieldbus configuration Page 87 You only require setpoint processingif you oper ate the inverter without position controller which means you only operate it in the speed con trolled mode Setpoint calculation Page 133 The motor closed loop control ensures that the motor follows the speed setpoint Motor control Page 143 Th...

Page 115: ... 7 2 Inverter control 7 2 1 Adapt inputs and outputs This chapter describes how you adapt the function of individual digital and analog inputs and outputs of the inverter If you adapt the function of an input or output you overwrite the settings made during the basic commissioning Figure 7 2 Internal interconnection of the inputs and outputs ...

Page 116: ...ge faults p0856 Enable speed controller p2106 External fault 1 p0858 Unconditionally close holding brake p2112 External alarm 1 p1020 Fixed speed setpoint selection bit 0 p2200 Technology controller enable p1021 Fixed speed setpoint selection bit 1 p3330 Two wire three wire control control command 1 p1022 Fixed speed setpoint selection bit 2 p3331 Two wire three wire control control command 2 p102...

Page 117: ...fety function Basic Safety via FDI 0 Further information can be found in section Safe Torque Off STO safety function Page 255 What devices can be connected The safety related input is designed for the following devices Connection of safety sensors e g emergency stop command devices or light curtains Connection of pre processing devices e g fail safe control systems and safety relays Signal states ...

Page 118: ...ing connections When routing cables over longer distances e g between remote control cabinets you have the following options to reduce the risk of damaged cables of your plant or machine Use shielded cables with grounded shield Lay signal cables in steel pipes Examples of connecting a safety related input can be found in Section Connecting the safety related input Page 376 ...

Page 119: ... running r0052 12 Brake active r0052 3 Drive fault active r0052 13 Motor overload r0052 4 OFF2 active r0052 14 Motor CW rotation r0052 5 OFF3 active r0052 15 Inverter overload r0052 6 Closing lockout active r0053 0 DC braking active r0052 7 Drive alarm active r0053 2 f_actual p1080 f_min r0052 8 Setpoint actual value discrepancy r0053 6 f_actual setpoint f_setpoint A complete list of the binector ...

Page 120: ...to start Converter states and commands for switching the motor on and off In addition to the OFF1 command there are other commands that are used to switch off the motor OFF2 the converter immediately switches off the motor without first braking it OFF3 this command means quick stop After OFF3 the converter brakes the motor with the OFF3 ramp down time After reaching standstill the converter switch...

Page 121: ... this state under the following conditions ON was active when switching on the converter Exception When the automatic start function is active ON must be active after switching on the power supply OFF2 or OFF3 is selected S2 This state is required to switch on the motor S3 The converter waits for the operating enable S4 The motor is switched on S51 The motor was switched off with OFF1 and brakes w...

Page 122: ...u switch the motor on and off using a digital input When the motor is switched on it accelerates to the jogging setpoint There are two different setpoints available e g for motor counter clockwise rotation and clockwise rotation The same ramp function generator acts on the setpoint as for the ON OFF1 command Figure 7 4 Behavior of the motor when jogging The inverter must be ready to start before y...

Page 123: ...ative direction 0 Negative direction of rotation is enabled 1 Negative direction of rotation is inhibited p1111 Inhibit positive direction 0 Positive direction of rotation is enabled 1 Positive direction of rotation is inhibited p1113 Setpoint inversion 0 Setpoint is not inverted 1 Setpoint is inverted p1120 Ramp function generator ramp up time factory setting 10 s p1121 Ramp function generator ra...

Page 124: ... a local control box via the terminal strip Command data set CDS This means that you can set the inverter con trol in various ways and toggle between the settings For instance as described above the inverter can either be operated via a fieldbus or via the terminal strip The settings in the inverter which are as signed to a specific master control are termed the command data set You select the com...

Page 125: ... If you require more than two command data sets then add command data sets using this button or remove them To simplify commissioning several command data sets under the Command data sets tab there is a copy function Figure 7 6 Editing command data sets in STARTER Parameter Description p0010 15 Drive commissioning Data sets p0170 Number of command data sets factory setting 2 p0170 2 3 or 4 p0010 0...

Page 126: ...e the following options when selecting the source of the main setpoint Converter fieldbus interface Motorized potentiometer simulated in the converter Fixed setpoints saved in the converter You have the same selection options when selecting the source of the supplementary setpoint Under the following conditions the converter switches from the main setpoint to other setpoints When jogging is active...

Page 127: ...h the main setpoint Figure 7 8 Fieldbus as setpoint source Most standard telegrams receive the speed setpoint as a second process data PZD2 Table 7 3 Setting the fieldbus as setpoint source Parameter Remark p1070 2050 1 Main setpoint Interconnect the main setpoint with process data PZD2 from the fieldbus p1075 2050 1 Additional setpoint Interconnect the additional setpoint with process data PZD2 f...

Page 128: ...e Figure 7 9 Motorized potentiometer as setpoint source Figure 7 10 Function chart of the motorized potentiometer Table 7 4 Basic setup of motorized potentiometer Parameter Description p1035 Motorized potentiometer setpoint higher Interconnect these commands with sig nals of your choice p1036 Motorized potentiometer setpoint lower p1040 MOP start value factory setting 0 rpm Defines the start value...

Page 129: ...tive 1 If bit 00 1 the setpoint is retained during a power failure 04 Ramp function generator always active 1 The inverter also calculates the ramp function generator when the motor is switched off p1037 MOP maximum speed factory setting 0 rpm Automatically pre assigned when commissioning p1038 MOP minimum speed factory setting 0 rpm Automatically pre assigned when commissioning p1039 Motorized po...

Page 130: ...t Figure 7 11 Fixed speeds as setpoint source Table 7 6 Setting the fixed speed as a setpoint source Parameter Remark p1070 1024 Main setpoint Interconnecting the main setpoint with fixed speeds Select fixed setpoint by direct or binary selection The converter distinguishes between two methods for selecting the fixed setpoints 1 Direct selection You set 4 different fixed setpoints By adding one or...

Page 131: ...List Manual Parameter for setting the fixed setpoints Parameter Description p1001 Fixed speed setpoint 1 factory setting 0 rpm p1002 Fixed speed setpoint 2 factory setting 0 rpm p1015 Fixed speed setpoint 15 factory setting 0 rpm p1016 Speed fixed setpoint mode factory setting 1 1 Direct 2 Binary p1020 Speed fixed setpoint selection bit 0 factory setting 0 p1021 Speed fixed setpoint selection bit ...

Page 132: ...cription p1001 300 000 Fixed speed setpoint 1 rpm p1002 2000 000 Fixed speed setpoint 2 rpm p0840 722 0 ON OFF1 Switch on motor with digital input 0 p1070 1024 Main setpoint Interconnect the main setpoint with the fixed speed set point p1020 722 0 Speed fixed setpoint selection Bit 0 Interconnect fixed setpoint 1 with digital input 0 DI 0 p1021 722 1 Fixed speed setpoint selection bit 1 Interconne...

Page 133: ...tpoint can be modified as follows using the setpoint processing Invert setpoint to reverse the motor direction of rotation reversing Inhibit positive or negative direction of rotation e g for conveyor belts pumps or fans Skip frequency bands to prevent mechanical resonance effects The skip frequency band at speed 0 results in a minimum speed after switching on the motor Limit to a maximum speed to...

Page 134: ...xample the setpoint inversion is shown through a digital input In order to invert the setpoint through the digital input DI 1 connect the parameter p1113 with a binary signal e g the digital input 1 Table 7 9 Examples of settings to invert the setpoint Parameter Remark p1113 722 1 Setpoint inversion Digital input 1 0 Setpoint remains unchanged Digital input 1 1 Inverter inverts the setpoint p1113 ...

Page 135: ...ons of rotation are enabled Set the corresponding parameter to a value 1 to permanently block directions of rotation Table 7 10 Examples of settings to inhibit the direction of rotation Parameter Remark p1110 1 Inhibit negative direction Negative direction is permanently inhibited p1110 722 3 Inhibit negative direction Digital input 3 0 Negative direction of rotation is enabled Digital input 3 1 N...

Page 136: ... find additional information in function diagram 3050 of the List Manual see also Manuals for your inverter Page 387 Minimum speed The converter prevents continuous motor operation at speeds minimum speed Speeds where the absolute value is less than the minimum speed are only possible during motor operation when accelerating or braking Table 7 11 Setting the minimum speed Parameter Description p10...

Page 137: ...ed If you must limit the speed depending on the direction of rotation then you can define speed limits for each direction Table 7 12 Parameters for the speed limitation Parameter Description p1082 Maximum speed factory setting 1500 rpm p1083 Speed limit positive direction of rotation factory setting 210 000 rpm p1085 CI Speed limit positive direction of rotation factory setting 1083 p1086 Speed li...

Page 138: ...nge in acceleration jerk by rounding the setpoint In this case the torque does not rise suddenly in the motor Basic ramp function generator The basic ramp function generator limits the acceleration however not the rate the acceleration changes jerk Extended ramp function generator The ramp up and ramp down times of the extended ramp function generator can be set independently of each other The opt...

Page 139: ... p1130 Ramp function generator initial rounding time factory setting 0 s Initial rounding for the extended ramp function generator The value applies for ramp up and ramp down p1131 Ramp function generator final rounding time factory setting 0 s Final rounding for the extended ramp function generator The value applies for ramp up and ramp down p1134 Ramp function rounding type factory setting 0 0 C...

Page 140: ...tial rounding if the acceleration is jerky We recommend that you set the final rounding to the same value as the initial rounding 4 Switch off the motor 5 Evaluate your drive response If the motor decelerates too slowly then reduce the ramp down time The minimum ramp down time that makes sense depends on your particular application Depending on the Power Module used for an excessively short ramp d...

Page 141: ... time factory setting 10 s Accelerating time in seconds from zero speed up to the maximum speed p1082 p1121 Ramp function generator ramp down time factory setting 10 s Braking time in seconds from the maximum speed down to standstill p1135 OFF3 ramp down time factory setting 0 s The quick stop OFF3 has its own ramp down time Changing the ramp up and ramp down times in operation The ramping up and ...

Page 142: ...o section Extend telegrams and change signal interconnection Page 103 The controller sends the scaling value to the inverter in PZD 3 Procedure To interconnect the scaling of the ramp up and ramp down times with PZD receive word 3 from the fieldbus in the inverter proceed as follows 1 Set p1138 2050 2 This means that you have interconnected the scaling factor for the ramp up time with PZD receive ...

Page 143: ...ncy depending on the load and thus increases the speed accuracy Not using a PI controller prevents the speed control from becoming unstable In applications in which greater speed accuracy is required a closed loop control with load dependent voltage boost can be selected flux current control FCC 1 In the U f control variant flux current control FCC the inverter controls the motor current start ing...

Page 144: ...voltage also above the motor rated speed up to the maximum output voltage The higher the line voltage the greater the maximum inverter output voltage If the inverter has reached its maximum output voltage then it can only increase its output frequency From this point onwards the motor is operated in field weakening this means that the available torque linearly decreases with increasing speed The v...

Page 145: ...or identification after the basic commissioning Linear with Flux Current Control FCC p1300 1 Additional information on U f characteristics can be found in the parameter list and in the function diagrams 6300 ff of the List Manual 7 5 1 3 Optimizing motor starting Setting the voltage boost for U f control After selection of the V f characteristic no further settings are required in most application...

Page 146: ...moothly 4 Accelerate the motor to the maximum speed with maximum load 5 Check whether the motor is following the setpoint 6 If necessary increase the voltage boost p1311 until the motor accelerates without problem In applications with a high break loose torque you must additionally set parameter p1312 higher to achieve a satisfactory response You have set the voltage boost Parameter Description p1...

Page 147: ...rents and the output voltage Current component Id Current component Iq The setpoint of the current component Id flux setpoint results from the motor data At speeds above rated speed the inverter reduces the flux setpoint via the field weakening characteristic If the speed setpoint is increased the speed controller responds with a higher setpoint of the current component Iq torque setpoint The clos...

Page 148: ... and the set torque limits Speed controller Use rotating measurement of the motor data identification If rotating measurement is not possible you must optimize the controller manually Vector control with encoder Instead of the calculated speed from the motor model the vector control with encoder evaluates an encoder 7 5 2 1 Checking the encoder signal If you use an encoder to measure the speed you...

Page 149: ...l If the motor data in the inverter correspond to the motor data on the rating plate then the motor and current model in the inverter are correct and the vector control can operate satisfactorily The inverter calculates the torque limits matching the current limit that you have set for the basic commissioning Regardless of it you can also set additional positive and negative torque limits or limit...

Page 150: ...cases the self optimization result is not satisfactory or self optimization is not possible because the motor cannot rotate freely In these cases you must optimize the closed loop speed control manually The following parameters influence the response of the speed control Acceleration pre control scaling p1496 Ratio between the total and motor moment of inertia p0342 Encoderless speed control Speed...

Page 151: ...not overshoot but instead approaches the setpoint speed from below Reduce p0342 7 Switch off the motor 8 Start a new calculation of the speed controller p0340 4 9 Switch on the motor 10 Over the complete speed range check whether the speed control responds satisfactorily with the optimized settings You have optimized the speed controller When necessary set the ramp up and ramp down times of the ra...

Page 152: ...r more mechanically coupled drives Load distribution using the droop function also masters soft mechanical couplings or a permanent speed difference as a result of slip Preconditions for using the droop function All coupled drives must be operated in vector control with or without an encoder Only a one common ramp function generator may be used for mechanically coupled drives Par Explanation r1482...

Page 153: ...y of precontrolling the torque setpoint bypassing the speed controller The precontrol reduces overshooting of the speed after speed changes Figure 7 20 Precontrol of the speed controller with frictional torque The inverter calculates the current frictional torque from a friction characteristic with 10 intermediate points Figure 7 21 Friction characteristic The intermediate points of the friction c...

Page 154: ...d speed without endangering persons or property Procedure To record the friction characteristic proceed as follows 1 Set P3845 1 The inverter accelerates the motor successively in both directions of rotation and averages the measurement results of the positive and negative directions 2 Switch on the motor ON OFF1 1 3 The inverter accelerates the motor During measurement the inverter signals the wa...

Page 155: ...c output Nm p3842 Activate friction characteristic 0 Friction characteristic deactivated 1 Friction characteristic activated p3845 Activate friction characteristic plot factory setting 0 0 Friction characteristic plot deactivated 1 Friction characteristic plot activated both directions 2 Friction characteristic plot activated positive direction 3 Friction characteristic plot activated negative dir...

Page 156: ...age of the torque setpoint The speed controller corrects inaccuracies in the precontrol feed forward control Figure 7 22 Influence of the moment of inertia estimator on the speed control The more precise the value of the moment of inertia in the inverter the lower the overshoot after speed changes Figure 7 23 Influence of the moment of inertia estimator on the speed Function From the actual speed ...

Page 157: ...e MB as difference between the motor torque MM load torque ML and frictional torque MR MB MM ML MR The moment of inertia J of the motor and load is then obtained from the accelerating torque MB and the angular acceleration α α rate of change of speed J MB α If all of the following conditions are met the inverter calculates the moment of inertia The rated accelerating torque MB must satisfy the fol...

Page 158: ...he characteristic from other measurements In this case you must set the parameters to known values when commissioning the system The inverter iteratively determines the characteristic by performing measurements while the motor is operational Activating the moment of inertia estimator The moment of inertia estimator is deactivated in the factory setting p1400 18 0 p1400 20 0 p1400 22 0 If you perfo...

Page 159: ... initial value J0 when motor switched off J0 p0341 p0342 p1498 If the load torque can change when the motor is switched off set p1400 22 0 24 1 signal Accelerated moment of inertia estimator is active r1407 Status word speed controller 24 1 signal Moment of inertia estimator is active 25 1 signal Load estimator is active 26 1 signal Moment of inertia estimator is engaged 27 1 signal Accelerated mo...

Page 160: ... activates moment of inertia precontrol p5310 00 0 p5310 01 0 Deactivating moment of inertia precontrol p5310 00 1 p5310 01 0 Adapting the moment of inertia precontrol p5310 00 0 p5310 01 1 Activating the moment of inertia precontrol The characteristic of the moment of inertia precontrol remains unchanged p5310 00 1 p5310 01 1 Activating the moment of inertia precontrol The inverter adapts the cha...

Page 161: ... the converter Operating the converter without position controller If you want to always operate the converter without the position control you must inhibit the position controller and enable another source for the setpoint Procedure Inhibit the position controller Set parameter p2550 0 e g using the STARTER Position controller screen Enable the setpoint Set parameter p1142 1 e g using the STARTER...

Page 162: ...structions 04 2015 FW V4 7 3 A5E34261542B AB Table 7 17 Parameters to changeover from position controller to speed controller Parameter Meaning p1142 Enable setpoint inhibit setpoint factory setting 0 p2502 Encoder assignment factory setting 1 p2550 Position controller enable 2 factory setting 1 ...

Page 163: ...e for the time optimized traversing of the axis to the target position Figure 7 26 Basic positioner and position control The basic positioner has the following operating modes Direct setpoint input MDI The external control specifies the position setpoint for the axis Traversing block selection Position setpoints are saved in different traversing blocks in the converter The external control selects...

Page 164: ...WW view en 10804985 133200 Assign encoders to the axes Page 74 Set the communication via the fieldbus Page 87 Optimize the speed control Page 143 Normalize the encoder signal Page 165 Set the axis traversing range Page 172 Optimizing the position controller Page 174 Set the positioning accuracy Page 180 Establish the reference to the machine zero point Page 185 Setup the axis Page 202 Save and cal...

Page 165: ...n the inverter cannot represent the position actual value over the complete axis traversing range The inverter responds with a fault in the case of an overflow when representing the number 3 The resolution of the distance unit LU should be less than the maximum resolution that is obtained from the resolution of the distance encoder Normalize the encoder signal Preconditions You are online with the...

Page 166: ...resolution based on your encoder data 5 Calculate Value 360 required resolution e g 360 0 1 3600 Enter this value into STARTER You have normalized the encoder signal Parameter Meaning p2502 Encoder assignment 0 No encoder 1 Encoder 1 2 Encoder 2 p2503 Length unit LU per 10 mm p2504 Motor load motor revolutions p2505 Motor load load revolutions p2506 Length unit LU per load revolution ...

Page 167: ...s of rotation by the mechanical system of the machine e g Stacker crane Elevating platform Tilting station Gate door drive The inverter maps the complete traversing range to the position actual value Modulo axis A modulo axis is an axis with an infinite traversing range e g Rotary table Conveyor belt Roller conveyor The inverter maps the modulo range on the position actual value If the load positi...

Page 168: ...ceed as follows 1 Enable the modulo correction 2 Define the modulo range Example 1 In the case of a rotary table one load revolution corresponds to 3600 LU In this case the modulo correction is also 3600 Example 2 For a roller conveyor 100 motor revolutions corresponds to one production cycle For a resolution of 3600 LU per motor revolution the modulo range is 360000 LU You have now set the modulo...

Page 169: ... Procedure To ensure that the converter calculates the actual position value correctly you must check the following There must be no overflow of the actual position value in the entire traverse range The converter can show as a maximum the value range of 2147483648 2147483647 If this maximum value is exceeded the converter reports fault F07493 If you have defined a modulo range the converter reset...

Page 170: ...ncremental encoder the axis must be referenced See also section Referencing Page 185 For an absolute encoder the axis must be adjusted See also section Absolute encoder adjustment Page 200 Measuring backlash Procedure To measure the backlash proceed as follows 1 Move the axis to position A in the machine Mark this position in the machine and note down the actual position value in the inverter see ...

Page 171: ...orrecting backlash Precondition You have selected the Mechanical system screen Procedure To correct the measured backlash set the following If the axis has not traveled far enough then set a positive backlash If the axis has traveled too far then set a negative backlash You have corrected the backlash Parameter Meaning p2583 Backlash compensation r2685 Offset value ...

Page 172: ...FF3 ramp down time switches the motor off and reports the fault F07491 or F07492 To switch the motor on again you must do the following Switch the motor off OFF1 Acknowledge the fault Move the axis away from the STOP cam e g using the jogging function Alarm as response When passing the STOP cam the converter brakes the axis with the maximum deceleration see Section Limiting the traversing profile ...

Page 173: ...ine Signal 0 means an active STOP cam 6 Interconnect the signal of the STOP cam plus with the corresponding signal of your machine You have now set the limits of the positioning range Parameter Meaning p2568 STOP cam activation p2569 STOP cam minus p2570 STOP cam plus p2578 Software limit switch minus signal source p2579 Software limit switch plus signal source p2580 Software limit switch minus p2...

Page 174: ...or most applications Hoisting lifting applications require a speed controller If you operate the position control with the U f control of drive then you must take into account some significant reduction in closed loop control performance and precision Position controllers in hoisting gear U f control is not suitable for vertical axes such as elevating platforms or hoisting gear used in high bay ra...

Page 175: ...g the position controller Procedure To optimize the position controller proceed as follows 1 In the control panel select the operating mode Basic positioner 2 Click the Jog button 3 Enter a speed setpoint 4 Adjust the proportional gain Assess the controller characteristics If the motor is running unevenly the controller is unstable In this case reduce the proportional gain of the position controll...

Page 176: ...uctions 04 2015 FW V4 7 3 A5E34261542B AB 5 Adjust the integral time Start with an integral time of 100 ms and test your setting by traversing the axis with the active position controller using the jog function Lower integral times increase the control dynamics but can however result in unstable controller characteristics ...

Page 177: ...ou have optimized the position controller Parameter Meaning p2534 Speed precontrol factor p2538 Proportional gain Kp p2539 Integral time Tn p2731 Signal 0 activate position controller Advanced settings If you permanently activate the integral time of the position controller the characteristics of the position control change as follows The following error while positioning goes to zero When positio...

Page 178: ...traverse more slowly or must accelerate at a lower rate or softly then you must set the relevant limits to lower values The lower that one of the limits is the longer the converter needs to position the axis Setting the traversing profile limitation Precondition You have selected the Limit screen and the Traversing profile limitation tab Procedure To set the limitation of the traversing profile pr...

Page 179: ...79 4 Reduce the maximum jerk if you require softer acceleration and braking 5 For permanent jerk limiting set this signal to 1 You have now set the limitation of the traversing profile Parameter Meaning p2571 Maximum velocity p2572 Maximum acceleration p2573 Maximum deceleration p2574 Jerk limiting p2575 Activating jerk limiting 1 signal Jerk limiting is active ...

Page 180: ...sets the Setpoint stationary signal to 1 With this signal the converter starts to monitor the position actual value As soon as the axis has reached the positioning window the converter signals that the target has been reached and maintains the axis in closed loop control If the axis does not come to a standstill within the standstill monitoring time the converter reports fault F07450 If the axis d...

Page 181: ...llows 1 Set the required positioning accuracy 2 Set the time within which the axis must be positioned 3 Set the required standstill window The standstill window must be larger than the positioning window 4 Set the time within which the axis must be at standstill 5 Define the signal Target position reached as a message to a higher level control You have now set the standstill and position monitorin...

Page 182: ... fault F07452 if the following error is too high If you set the tolerance to 0 monitoring is deactivated Setting following error monitoring Precondition You have selected the Monitoring screen and the Following error monitoring tab Procedure To set the monitoring of the following error proceed as follows 1 Set the monitoring window Start with the factory setting value Test your setting by position...

Page 183: ...FW V4 7 3 A5E34261542B AB 183 2 If you want to evaluate the message in your higher level control interconnect this signal with for example a status bit in the fieldbus telegram You have now set the monitoring of the following error Parameter Meaning p2546 Dynamic following error monitoring tolerance r2563 Following error dynamic model ...

Page 184: ...al value with two different positions and therefore simulates two independent cam switching signals If you need this function set the cam switching position to match your particular application and appropriately interconnect the cam switching signal Parameter Meaning p2547 Cam switching position 1 p2548 Cam switching position 2 r2683 8 Position actual value cam switching position 1 r2683 9 Positio...

Page 185: ...sition to the machine Referencing re establishes the reference between the zero point of the position calculated in the converter and the machine zero point Absolute encoders retain their position information even after the supply has been switched off The converter offers various ways of referencing the axis Reference point approach only with incremental encoders Flying referencing with all encod...

Page 186: ...ces errors e g caused by wheel slip or a gear ratio that has not been precisely set Example A pallet on a roller conveyor must be stopped at a specific position However the exact position of the pallet on the conveyor is only known when a sensor is passed Figure 7 33 Positioning an item to be transported on a roller conveyor Set the reference point and adjust the absolute encoder The converter tak...

Page 187: ...zero mark is reached the axis traverses to the reference point and synchronizes the actual position value in the converter with the machine Step 1 Travel to reference cam The converter accelerates the axis in the start direction to the Approach velocity Once the axis has reached the reference cam in step 2 the converter switches to the reference point approach Reversing cams make sense if the refe...

Page 188: ... cam is available Reference cam available When the converter reaches the reference cam the axis accelerates in the opposite direction to the start direction to the approach velocity zero mark No reference cam is available The converter accelerates the axis in the start direction to the approach velocity zero mark Figure 7 35 Step 2 Travel to zero mark if a reference cam is available Figure 7 36 Tr...

Page 189: ...nate the converter sets its position setpoint and actual value to this value Setting the reference point approach Preconditions 1 You have selected the Homing screen 2 You have come to the settings via the button on the screen 3 You have selected Active homing Procedure To set the reference point approach proceed as follows 1 You specify the referencing mode Only using the encoder zero mark With e...

Page 190: ...point coordinate 7 Specify the reference point offset 8 Specify the max permissible distance to the reference cam in step 1 of active referencing 9 If a reference cam is available Define the maximum permitted distance to the zero mark 10 If no reference cam is available Define the tolerance for travel to the zero mark 11 Close the screen form You have set the USB reference point approach ...

Page 191: ...e reference point approach 2 This signal must be 0 for the reference point approach 3 Interconnect the signal of the reference cam with the corresponding signal of your machine 4 If you use the reversing cam minus interconnect the reversing cam with the corresponding signal e g with the fieldbus 0 Reversing cams active 5 If you use the reversing cam plus interconnect the reversing cam with the cor...

Page 192: ...e p2599 Reference point coordinate value p2600 Reference point approach reference point offset p2604 Reference point approach start direction p2605 Reference point approach approach velocity reference cam p2606 Reference point approach reference cam maximum distance p2607 Reference point approach reference cam available p2608 Reference point approach approach velocity zero mark p2609 Reference poi...

Page 193: ...nd actual value simultaneously If the position actual value correction means that the axis has already passed the point where it should start braking then the axis travels beyond the target and approaches the target from the opposite direction Figure 7 38 Flying referencing The converter sets the Reference point set signal back to zero after its supply voltage is switched off and switched on again...

Page 194: ...ue 0 6 Set the outer window for referencing You deactivate the outer window with the value 0 Referencing can be suppressed depending on the deviation of the actual position value Inner window For excessively small deviations the converter does not correct its position actual value Outer window The converter signals an excessive deviation but does not correct its position actual value Figure 7 39 O...

Page 195: ...g Instructions 04 2015 FW V4 7 3 A5E34261542B AB 195 1000 LU The converter corrects the reference point during travel by 2 LU however moves to the old target position 1500 LU 8 Set the reference point coordinate p2599 via the expert list in the STARTER 9 Close the screen form You have now set flying referencing ...

Page 196: ...ncing 2 For flying referencing this signal must be 1 The other signals are of no significance for flying referencing You have now defined the digital signals for controlling Defining the analog signals for controlling referencing Procedure To define the analog signals for controlling proceed as follows 1 Define the signal source for the velocity override See also section Direct setpoint input MDI ...

Page 197: ...7 Parameter Meaning p2595 Start referencing p2598 Reference point coordinate signal source p2599 Reference point coordinate value p2601 Flying referencing inner window p2602 Flying referencing outer window p2603 Flying referencing relative positioning mode p2612 Reference point approach reference cam r2684 11 Reference point set p2660 Measured value referencing ...

Page 198: ...ence position in the machine Figure 7 40 Set reference point Activate set home position Precondition You have selected the Homing screen Procedure To activate set home position proceed as follows 1 Interconnect this bit with the corresponding signal of your machine If the axis is stationary with the signal change 0 1 the inverter sets its actual position value to the reference point coordinate For...

Page 199: ... 04 2015 FW V4 7 3 A5E34261542B AB 199 2 In STARTER proceed in the expert list and set p2599 to the reference point coordinate You have now activated set home position Parameter Meaning p2596 Set reference point p2598 Reference point coordinate signal source p2599 Reference point coordinate value r2684 11 Reference point set ...

Page 200: ...ve positioned the axis e g using the jog function to the reference position in the machine 2 You have selected the Homing screen 3 You have come to the settings via the button on the screen 4 You have selected Absolute encoder adjustment Procedure To adjust the absolute encoder proceed as follows 1 Specify the reference point coordinate 2 Accept the reference point coordinate in the position actua...

Page 201: ... 3 A5E34261542B AB 201 Parameter Meaning p2598 Reference point coordinate signal source p2599 Reference point coordinate value p2507 Absolute encoder adjustment status 0 Error has occurred in the adjustment 1 Absolute encoder was not adjusted 2 Absolute encoder was not adjusted and encoder adjustment was initiated 3 Absolute encoder adjusted ...

Page 202: ...4 7 3 A5E34261542B AB 7 6 8 Jogging 7 6 8 1 Jog velocity Description Only input a setpoint velocity for the converter for velocity jog With the signal Jogging 1 or Jogging 2 the converter accelerates the axis to the relevant setpoint velocity The converter stops the axis when the respective Jog signal returns to zero Figure 7 41 Jog velocity ...

Page 203: ...ging 2 the converter positions the axis by the respective travel path Figure 7 42 Incremental jogging 7 6 8 3 Setting jogging Precondition You have selected the Jog screen Procedure To set the jog function proceed as follows 1 Interconnect the signal that defines the mode for the jog function 0 Velocity jogging 1 Incremental jogging 2 Interconnect the signal for jogging 1 3 Interconnect the signal...

Page 204: ...alue has no significance for velocity jogging 8 If you use the incremental jog set the relative position setpoint for the jogging 2 function This value has no significance for velocity jogging You have set the jog function Parameter Meaning p2585 Jogging 1 setpoint velocity p2586 Jogging 2 setpoint velocity p2587 Jogging 1 traversing distance p2588 Jogging 2 traversing distance p2589 Jogging 1 sig...

Page 205: ...lock or skip traversing blocks Table 7 18 Components of a traversing block Element Meaning Number With this number in the range 0 to 15 every traversing block can be selected using binary coded control signals Job Positioning command You can give the converter various commands For some jobs you must also specify a parameter See the table below Parameter Mode Positioning mode Positioning relative t...

Page 206: ...ss travel Traverse the axis at the specified velocity to the posi tive or negative end of the traversing range Wait Time ms Wait the specified time Go to Number The converter then executes the next traversing block with the specified number Set reset 1 Set output 1 Set or reset internal signals in the converter Output 1 r2683 10 Output 2 r2683 11 You can interconnect the signals with digital outpu...

Page 207: ...FLYING The converter goes to next traversing block at the braking instant CONTINUE EXTERNAL At the external E signal the con verter goes to the next travers ing block If the E signal is not present the drive behaves just the same as for CONTINUE FLYING CONTINUE EXTERNAL WAIT If the E signal is not present the converter exits the actual traversing block and contin ues to wait for the signal CONTINU...

Page 208: ...que number for each traversing block 2 Define the command and the corresponding parameters 3 Set the job specific values 4 Define the step enabling condition for the next job 5 If you travel to a fixed stop a button appears to make additional settings for this function See also section Travel to fixed stop Page 213 6 Click this button to interconnect the status signals of the traversing blocks for...

Page 209: ...ing 3 See 4 See 5 Define the signal for the settings for the intermediate stop The axis temporarily stops for the intermediate stop 0 signal The axis continues its travel with intermediate stop 1 The same traversing block as before the stop is active See also section Examples Page 218 6 Define the signal for reject signaling task For the signal reject traversing task 0 the converter stops the axis...

Page 210: ...g the traversing blocks You have now defined the analog signals for controlling the traversing blocks Define an external signal for block change Precondition You have selected the External block change button Procedure To define an external signal for the block change proceed as follows 1 Specify whether the external signal is received via a fast digital input probe or from another source e g via ...

Page 211: ...r Meaning p0488 Probe 1 input terminal p0489 Probe 2 input terminal p0581 Probe edge 0 Positive edge 0 1 1 Negative edge 1 0 p2615 Maximum number of traversing blocks p2616 0 n Traversing block block number p2617 0 n Traversing block position p2618 0 n Traversing block velocity p2619 0 n Traversing block acceleration override p2620 0 n Traversing block deceleration override p2621 0 n Traversing bl...

Page 212: ...ue with stop bbbb 0010 Continue flying bbbb 0011 Continue external bbbb 0100 Continue external wait bbbb 0101 Continue external alarm aaaa 0001 Identifiers Skip block p2624 Sort traversing block To sort the traversing blocks according to their block number p2624 0 1 p2625 Traversing block selection bit 0 p2626 Traversing block selection bit 1 p2627 Traversing block selection bit 2 p2628 Traversing...

Page 213: ...xed stop in order to secure a specific alignment When traveling to a fixed stop the following applies You must specify the position setpoint far enough behind the mechanical fixed stop The load must reach the mechanical fixed stop before the converter brakes the axis If the start of braking point is located in front of the mechanical fixed stop the converter cancels the travel and outputs fault F0...

Page 214: ...op using maximum following error If the axis comes into contact with the mechanical fixed stop then the actual position value remains stationary However the converter still increases its position setpoint The converter detects the fixed stop from a settable difference between the position setpoint and position actual value Depending on the advance condition the converter maintains the axis at the ...

Page 215: ...erating Instructions 04 2015 FW V4 7 3 A5E34261542B AB 215 Set travel to fixed stop Precondition 1 You have programmed Travel to fixed stop as traversing block See also section Traversing blocks Page 205 2 If you select the Programming traversing blocks button the Configuration of fixed stop button appears ...

Page 216: ...lect Fixed stop using an external signal 2 Interconnect the sensor that signals when the fixed stop is reached with this signal 3 Set the tolerance After the fixed stop is detected the inverter monitors the actual position of the axis If the position actual value changes by more than this distance then the converter stops the axis and outputs fault F07484 Therefore the converter detects that the f...

Page 217: ...stop is detected the inverter monitors the actual position of the axis If the actual position value changes by more than this distance then the converter stops the axis and outputs fault F07484 Therefore the converter detects that the fixed stop has broken away You have now set Travel to fixed stop using maximum following error Parameter Meaning p2634 Fixed stop maximum following error p2635 Fixed...

Page 218: ...rating Instructions 04 2015 FW V4 7 3 A5E34261542B AB 7 6 9 2 Examples 1 Example Table 7 22 Traversing blocks Ind No Job Par Mode s v a a Advance 1 1 POSITIONING 0 RELATIVE 10000 5000 100 100 CONTINUE WITH STOP 2 2 POSITIONING 0 ABSOLUTE 0 5000 100 100 END Figure 7 44 Positioning an axis using traversing blocks ...

Page 219: ... blocks Ind No Job Par Mode s v a a Advance 1 1 POSITIONING 0 RELATIVE 10000 2000 100 100 CONTINUE EXTERNAL ALARM 2 2 POSITIONING 0 RELATIVE 10000 5000 100 100 CONTINUE EXTERNAL ALARM 3 3 POSITIONING 0 ABSOLUTE 0 5000 100 100 END The converter only goes to the next traversing block for the 0 1 change of the External block selection signal Figure 7 45 Positioning an axis using traversing blocks ...

Page 220: ...int input MDI Manual Data Input a higher level control provides the converter with the position setpoint and traversing profile Example 1 The higher level control specifies the value of the setpoint either as a relative or an absolute position setpoint Figure 7 46 Axis with direct setpoint input MDI positioning Example 2 The higher level control selects the mode Set up Figure 7 47 Set up axis with...

Page 221: ... Positioning Traverse the axis with position control using the target position 1 Set up Traverse the axis position controlled using velocity input While operational the axis operating mode can be switched over from Set up to Posi tioning If Set up is active then the two bits and define the direction of travel Intermediate stop 0 The converter stops the axis and maintains the axis in position after...

Page 222: ...nals the value is not inter connected See also the table below Direction selection for Set up Bit 1 Bit 1 Positive direction Bit 1 Negative direction If both bits are the same the axis stops Accept setpoint 0 1 Start axis Is only active if bit 0 1 Continuous mode The converter continually accepts changes to the position setpoint In this mode rela tive positioning is not permitted see bit 0 The con...

Page 223: ...ity referred to Position setpoint Velocity setpoint for the traversing profile Acceleration override and deceleration referred to the values of the traversing profile limitation See also section Limiting the traversing profile Page 178 Mode adaptation is interconnected with a signal xx0x hex Absolute positioning xx1x hex Relative positioning xx2x hex Position the rotary axis in the positive direct...

Page 224: ...In some applications it is sufficient if the inverter moves the axis for each task in the same way absolute or relative to the position setpoint This approach can be achieved with fixed setpoints Procedure To set the fixed setpoints proceed as follows 1 Select the button for configuring the fixed setpoint 2 Set the values suitable to your application You have set the fixed setpoints ...

Page 225: ...d 1 Relative positioning is selected p2649 Direct setpoint input MDI acceptance method selection 0 Values are accepted when p2650 0 1 1 Continuous acceptance of values p2650 Direct setpoint input MDI setpoint acceptance signal edge p2650 0 1 and p2649 0 signal p2651 Direct setpoint input MDI positive direction selection p2652 Direct setpoint input MDI negative direction selection p2653 Direct setp...

Page 226: ...alarm A05006 fault F30024 Measuring the heat sink temperature of the Power Module alarm A05000 fault F30004 Inverter response to thermal overload Parameter Description r0036 Power unit overload I2t The I2t monitoring calculates the inverter utilization based on a current reference value defined in the factory Actual current reference value r0036 becomes higher Actual current reference value r0036 ...

Page 227: ... inverter responds in two stages 1 If you operate the inverter with increased pulse frequency setpoint p1800 then the inverter reduces its pulse frequency starting at p1800 In spite of the temporarily reduced pulse frequency the base load output current remains unchanged at the value that is assigned to p1800 Figure 7 48 Derating characteristic and base load output current for overload Once the ov...

Page 228: ...uency setpoint Once the overload condition has been removed the inverter increases the pulse frequency back to the pulse frequency setpoint p1800 2 If it is not possible to temporarily reduce the pulse frequency or the risk of inverter thermal overload cannot be prevented then stage 2 follows In vector control the inverter reduces the output current In U f control the inverter reduces the speed On...

Page 229: ...olding brake connections are at DC link negative potential Touching these connections can result in death or severe injury Keep the motor terminal box closed whenever the mains is applied to the converter Before touching the connections switch off the power supply and wait until the discharge time specified on the warning labels has elapsed Insulate the cables that are not used NOTICE Device damag...

Page 230: ...he correct polarity Using a KTY sensor the converter monitors the motor temperature and the sensor itself for wire break or short circuit Temperature monitoring The converter uses a KTY sensor to evaluate the motor temperature in the range from 48 C 248 C Use the p0604 or p0605 parameter to set the temperature for the alarm and fault threshold Overtemperature alarm A07910 motor temperature p0604 a...

Page 231: ...ry setting 130 C p0605 Motor temperature fault threshold factory setting 145 C Setting for KTY84 sensor The parameter has no significance for a PTC sensor p0610 Motor overtemperature response factory setting 12 Determines the behavior as soon as the motor temperature reaches the warning threshold p0604 0 Alarm A07910 no fault 1 Alarm A07910 the converter reduces the current limit and starts the ti...

Page 232: ...the motor temperature After exceeding the threshold the converter reports fault F07011 p0605 Mot_temp_mod 1 2 threshold factory setting 145 C Threshold for monitoring the motor temperature with motor temperature model 1 2 or KTY Motor temperature model 1 p0612 0 1 Alarm threshold If the alarm threshold is exceeded the inverter reports alarm A07012 Motor temperature model 2 p0612 1 1 or KTY Fault t...

Page 233: ...ting 180 C Interference threshold for monitoring the motor temperature in motortemperature model 1 After exceeding the interference threshold the converter reports fault F07011 p0621 Identification of stator resistance Rs when switched on again factory setting 0 The converter measures the current stator resistance and from this calculates the current motor temperature as the start value of the the...

Page 234: ...eration operation If the load of the motor is so large during stationary operation that the motor current reaches the current limit the I max controller reduces the speed and the motor voltage until the motor current is in the permissible range again If the motor current reaches the current limit during deceleration the I max controller extends the deceleration operation Settings You only have to ...

Page 235: ... can use depending on your particular application Unit changeover Page 236 Braking functions Electrically braking the motor Page 240 Motor holding brake Page 244 Automatic restart Details can be found in the List Manual from parameter p1210 see also Manuals for your inverter Page 387 Flying restart ON command with rotating motor Details can be found in the List Manual from parameter p1200 see also...

Page 236: ...with STARTER Page 238 Note Restrictions for the unit changeover function The values on the rating plate of the inverter or motor cannot be displayed as percentage values Using the unit changeover function a multiple times for example percent physical unit 1 physical unit 2 percent may lead to the original value being changed by one decimal place as a result of rounding errors If the unit is change...

Page 237: ...p0100 2 NEMA motor 60 Hz SI units The parameters listed below are affected by the changeover Table 7 26 Variables affected by changing over the motor standard P no Designation Unit for p0100 0 1 2 r0206 Power Module rated power kW HP kW p0307 Rated motor power kW HP kW p0316 Motor torque constant Nm A lbf ft A Nm A r0333 Rated motor torque Nm lbf ft Nm p0341 Motor moment of inertia kgm2 lb ft2 kgm...

Page 238: ...d p0505 3 p0505 4 In the case of variables whose units are identical in the SI system and US system and which can be displayed as a percentage the following applies p0505 1 p0505 3 and p0505 2 p0505 4 Parameters affected by changeover The parameters affected by changing over the unit system are grouped according to unit An overview of the unit groups and the possible units can be found in the List...

Page 239: ...5 FW V4 7 3 A5E34261542B AB 239 4 Select process variables of the technology controller 5 Adapting to the line supply 6 Save your settings 7 Go online The inverter signals that offline other units and process variables are set than in the inverter itself 8 Accept these settings in the in verter You have changed over the units ...

Page 240: ...aking is used for applications without regenerative feedback into the line supply where the motor can be more quickly braked by impressing a DC current than along a braking ramp Typical applications for DC braking include Centrifuges Saws Grinding machines Conveyor belts Function NOTICE Motor damage caused by overheating The motor can overheat if it is braked for long periods of time or frequently...

Page 241: ...g when switching off the motor Precondition p1231 5 or p1230 1 and p1231 14 DC braking when falling below a starting speed 1 The motor speed has exceeded the starting speed 2 The inverter activates the DC braking as soon as the motor speed falls below the starting speed DC braking when a fault occurs 1 A fault occurs which initiates DC braking as response 2 The motor brakes along the down ramp to ...

Page 242: ...or OFF1 OFF3 DC braking below the starting speed p1232 DC braking braking current factory setting 0 A p1233 DC braking duration factory setting 1 s p1234 DC braking start speed factory setting 210000 rpm r1239 DC braking status word 08 10 11 12 13 DC braking active DC braking ready DC braking selected DC braking selection internally locked DC braking for OFF1 OFF3 Table 7 27 Configuring DC braking...

Page 243: ...referred to High Overload base load see section Performance ratings Power Module Page 347 Setting the braking with regenerative feedback to the line Parameter Description Limiting the regenerative feedback for U f control p1300 20 p0640 Motor series overload factor factory setting 0 00 A default for basic commissioning It is only possible to limit the regenerative power with V f control by limitin...

Page 244: ...r switches the motor on 2 At the end of the motor excitation build up time p0346 the inverter issues the command to open the brake 3 The inverter keeps the motor at a standstill until the motor holding brake opening time p1216 has ended The motor holding brake must be opened within time p1216 4 The inverter accelerates the motor to the speed setpoint Function after an OFF1 or OFF3 command 1 The in...

Page 245: ...ing the motor holding brake after OFF2 After an OFF2 command the inverter issues the signal to immediately close the motor holding brake irrespective of the motor speed Commissioning a motor holding brake DANGER Danger to life due to falling loads For applications such as lifting equipment cranes or elevators there is a danger to life if the Motor holding brake function is incorrectly set When com...

Page 246: ...ding brake 5 Switch on the motor 6 Check the acceleration behavior of the drive immediately after the motor has been switched on If the motor holding brake opens too late the inverter will accelerate the motor suddenly against the closed motor holding brake Set p1216 larger If the motor waits too long before accelerating after the motor holding brake has opened reduce p1216 7 If the load sags afte...

Page 247: ...culates this pa rameter using p0340 1 or 3 p0855 Open motor holding brake imperative factory setting 0 p0858 Close motor holding brake imperative factory setting 0 p1226 Stationary state detection speed threshold factory setting 20 rpm When braking with OFF1 or OFF3 when the speed falls below this threshold stand still is detected and the monitoring time p1227 or p1228 is started p1227 Stationary ...

Page 248: ...y low torque can mean a broken drive belt For pumps an excessively low torque down to zero speed can mean an inadmissible operating state For extruders and mixers excessively high torque can mean overload or a blocked machine System protection functions The inverter offers the following options of monitoring the motor load torque and speed No load monitoring Blocking protection Stall protection Lo...

Page 249: ...tion current limit factory setting 0 A p2179 0 No load detection deactivated p2180 Output load detection delay time factory setting 2000 ms Stall protection Principle of operation If the speed lies below the value of p2175 for the time set in p2177 and the converter is operating at the current or torque limit using bit 6 of status word 2 for monitoring functions r2198 6 the converter outputs the M...

Page 250: ... you have the option of determining a better value To do this set p1745 100 p2178 Motor stalled delay time factory setting 0 01 s 7 8 5 2 Load monitoring The load monitoring comprises the following components Load failure monitoring Monitoring for torque deviation Speed deviation monitoring If the load monitoring detects load failure then the converter always goes into a fault condition and output...

Page 251: ...gear Drive belt monitoring for fans and conveyor belts Blocking protection for pumps and conveyor belts Figure 7 52 Function plan and time response of load interruption monitoring Settings Parameter Description p2192 Load monitoring delay time factory setting 10 s After the motor is switched on if the LOW signal is present at the associated digital input for longer than this time the inverter sign...

Page 252: ... threshold 1 p2182 as well as between speed threshold 3 p2184 and the maximum speed p1082 Settings Parameters Description p2181 Load monitoring response Response when evaluating the load monitoring Setting options see Response options for the load monitoring Page 254 p2182 Load monitoring speed threshold 1 p2183 Load monitoring speed threshold 2 p2184 Load monitoring speed threshold 3 p2185 Load m...

Page 253: ... monitoring for traction drives and hoisting gear Drive belt monitoring for fans and conveyor belts Blocking protection for conveyor belts You require a transmitter for this function e g a proximity switch The inverter analyzes an encoder signal at max 32 kHz To use the function you must connect the encoder to one of the digital inputs DI 1 or DI 2 and connect the relevant digital input with the f...

Page 254: ...playing it in r0586 r0586 Probe 1 Speed list value Result of the speed calculation p2181 Load monitoring response Response when evaluating the load monitor For setting options see Table 7 31 Response options for load monitoring Page 254 p2192 Load monitoring delay time factory setting 10 s Delay time for evaluating load monitoring p2193 2 For load monitoring configuration see Table 7 30 Setting op...

Page 255: ...tion work The inverter with active STO prevents machine components from inadvertently starting Table 7 32 The principle of operation of STO Safe Torque Off STO Standard inverter functions linked with STO 1 The inverter recognizes the selection of STO via a safety relevant input or via the PROFIsafe safe communication 2 The inverter prevents energy from being fed to the motor When STO is active the...

Page 256: ...or plant The STO function is suitable for achieving an emergency stop but not an emergency off Risk Risk of electric shock Risk of unexpected motion Measure to minimize risk Safe switch off Switching off the electric power sup ply for the installation either com pletely or partially Safely stop and safely prevent re starting Stopping or preventing the dangerous movement Command Emergency Off Emerg...

Page 257: ...Evaluate the Emergency Stop button in a central control Select STO via PROFIsafe 7 9 2 Prerequisite for STO use In order to use the STO safety function the machine manufacturer should have already performed a risk assessment e g in compliance with EN ISO 1050 Safety of machinery Principles of risk assessment The risk assessment must confirm that the inverter is permitted for use in accordance with...

Page 258: ... in the range 1 FFFF FFFF p9762 New password p9763 Confirm password 7 9 3 3 Configuring safety functions Procedure with STARTER To configure the safety functions proceed as follows 1 Go online 2 Select the Safety Integrated function 3 Select Change settings 4 Selecting STO via terminal You have completed the following commissioning steps You have started to commission the safety functions You have...

Page 259: ...ive checkback signal proceed as follows 1 Select the button for the feedback signal The screen form varies depending on the interface selected A Connector B PROFIsafe interface Figure 7 56 Interconnecting STO active in STARTER The screen form varies depending on the interface selected A Control type Figure 7 57 Interconnecting STO active in Startdrive 2 Select the signal that matches your particul...

Page 260: ...vigate to the filter settings Figure 7 58 Input filter and simuntaneity monitoring in STARTER Figure 7 59 Input filter and simuntaneity monitoring in Startdrive 2 Set the debounce time for the F DI input filter 3 Set the discrepancy for the simultaneity monitoring 4 Only applies to STARTER Close the screen form You have set the input filter and the simultaneity monitoring of the safety related inp...

Page 261: ...nse time The inverter selects its safety function as soon as one of the two F DI signals changes its state from high to low Figure 7 60 Tolerance regarding discrepancy Filter to suppress short signals The inverter normally responds immediately to signal changes at its safety related inputs This is not required in the following cases When you interconnect a safety related input of the inverter with...

Page 262: ...er in the inverter suppresses temporary signal changes using bit pattern test or contact bounce The filter increases the inverter response time The inverter only selects its safety function after the debounce time has elapsed Figure 7 62 Filter for suppressing temporary signal changes Parameter Description p9650 F DI changeover tolerance time factory setting 500 ms Tolerance time to change over th...

Page 263: ... 3 6 Setting the forced checking procedure test stop Requirement You are online with STARTER or Startdrive online Procedure with STARTER and Startdrive To set the forced checking procedure test stop of the basic functions proceed as follows 1 Select the screen form for setting the forced checking procedure Figure 7 63 Setting the forced checking procedure with STARTER Figure 7 64 Setting the force...

Page 264: ...er Description p9659 Forced dormant error detection timer Factory setting 8 h Monitoring time for the forced dormant error detection r9660 Forced dormant error detection remaining time Displays the remaining time until the forced dormant error detection and testing the safety switch off signal paths r9773 31 1 signal Forced dormant error detection is required Signals for the higher level control s...

Page 265: ...verter supply voltage again Your settings are now active Procedure with Startdrive To activate the settings of the safety functions in the drive proceed as follows 1 Click the End safety commissioning button 2 Confirm the prompt for saving your settings copy RAM to ROM 3 Disconnect the online connection 4 Select the Load from device software button 5 Save the project 6 Switch off the inverter supp...

Page 266: ...rom RAM to ROM After the inverter has saved the parameters in a non volatile fashion then p0971 0 Checking the connection of digital inputs The simultaneous connection of digital inputs with a safety function and a standard function may lead to the drive behaving in unexpected ways If you control the safety functions in the inverter using digital inputs you must check whether these digital inputs ...

Page 267: ...ctions that you use as safety related input F DI Figure 7 66 Removing the DI 4 and DI 5 digital input connections 4 You must delete the digital input connections for all CDS if you use the switchover of the command data sets CDS You can find a description of the CDS switchover in the operating instructions You have ensured that the safety related inputs only control safety functions in the inverte...

Page 268: ... the safety related inputs only control safety functions in the inverter 7 9 3 8 Acceptance completion of commissioning What is an acceptance The machine manufacturer is responsible in ensuring that his plant or machine functions perfectly As a consequence after commissioning the machine manufacturer must check those functions or have them checked by specialist personnel which represent an increas...

Page 269: ...erter The acceptance test of the inverter is a part of the acceptance test of the entire machine or plant The acceptance test of the inverter checks whether the integrated drive safety functions are set up correctly for the planned safety function of the machine You can find examples for the acceptance test of integrated drive safety functions in section Recommended acceptance test Page 381 Docume...

Page 270: ...tions of the new drive Supplement machine overview Supplement inverter data Add function table Log the new checksums Countersignature Transfer of inverter settings to other identical machines by means of series commissioning No Only check the control of all of the safety functions Add machine description Check checksums Check firmware versions Documents for acceptance The STARTER provides you with...

Page 271: ...e en_G120x_Documentation_machine English template Report of the settings for the basic functions from firmware version V4 4 onwards de_G120x_Basicc_V4 4 German report en_G120x_Basic_V4 4 English report 3 You load the created reports for archiving and the machine documentation for further processing 4 Archive the reports and the machine documentation You have generated the documents to accept the s...

Page 272: ...our can set several inverter functions differently and then switch over between the different settings The associated parameters are indexed index 0 1 2 or 3 Using control commands select one of the four indexes and therefore one of the four saved settings The settings in the inverter with the same index are called the drive data set Figure 7 67 Switching over between different settings using driv...

Page 273: ... same motor with different drive data sets then you must enter the same motor number in every index of parameter p0826 In this particular case you can also switch over between the different drive data sets in operation If you operate different motors on one inverter then you must number the motors in parameter p0826 In this case you may only switch over the drive data sets in the ready for operati...

Page 274: ...Advanced commissioning 7 10 Switchover between different settings Converter with control units CU250D 2 274 Operating Instructions 04 2015 FW V4 7 3 A5E34261542B AB ...

Page 275: ...nels with USB connection with the PG PC is not possible If the converter is connected to a PG PC via a USB cable you can save any data on the memory card using an operator panel Before you save data to the memory card using an operator panel disconnect the USB connection between the PG PC and converter Carrying out series commissioning Series commissioning is the commissioning of several identical...

Page 276: ... MMC Format FAT 16 Insert the card into your PC s card reader Command to format the card format x fs fat x Drive code of the memory card on your PC SD Format FAT 16 or FAT 32 Insert the card into your PC s card reader Command to format the card format x fs fat or format x fs fat32 x Drive code of the memory card on your PC Functional restrictions with memory cards from other manufacturers The foll...

Page 277: ... Upload Procedure Proceed as follows to transfer the parameter setting from the converter on to a memory card upload 1 Switch off the converter power supply 2 Remove the Control Unit from the Power Module 3 Insert an empty memory card into the Control Unit Note If the memory card is not empty and already contains parameter settings the converter will take the parameter settings from the memory car...

Page 278: ...ntrol Unit If the parameter data on the memory card is valid then the inverter automatically downloads the parameter data to it s internal memory 8 1 3 Safely remove the memory card NOTICE Data loss from improper handling of the memory card If you remove the memory card when the converter is switched on without implementing the safe removal function you may destroy the file system on the memory ca...

Page 279: ...A5E34261542B AB 279 Procedure with STARTER To safely remove the memory card proceed as follows 1 Go online 2 In the Drive Navigatorselect the following screen form 3 Click on the button to safely remove the memory card STARTER will tell you whether you can remove the memory card from the inverter You have now safely removed the memory card from the inverter ...

Page 280: ...V4 7 3 A5E34261542B AB Procedure with Startdrive To safely remove the memory card proceed as follows 1 In the Drive Navigatorselect the following screen form 2 Click on the button to safely remove the memory card Startdrive will tell you whether you can remove the memory card from the inverter You have now safely removed the memory card from the inverter ...

Page 281: ...will find more information on PC tools in section Commissioning tools Page 25 Inverter PC PG Procedure with STARTER To back up the settings with STARTER proceed as follows 1 Go online 2 Click the Download project to PG button 3 Save the project 4 Wait until STARTER reports that data backup has been completed 5 Go offline You have backed up the settings with STARTER Procedure with Startdrive To bac...

Page 282: ...t loading has been completed 4 To save the data to the non volatile memory of the inverter select the Copy RAM to ROM button 5 Go offline You have transferred the settings from the PG to the inverter with STARTER Procedure with Startdrive without enabled safety functions To transfer the settings from the PG to the inverter with Startdrive proceed as follows 1 Go online 2 Select Load to device Hard...

Page 283: ...tton 3 Call the STARTER screen form for the safety functions You have transferred the settings from the PG to the inverter To activate the safety functions proceed as follows 1 Select the Copy parameter button 2 Press the Activate settings button 3 To save the data in the inverter click the Copy RAM to ROM button 4 Go offline 5 Switch off the inverter power supply 6 Wait until all LEDs on the inve...

Page 284: ...4 Click the Start safety commissioning button 5 Enter the password for the safety functions If the password is the factory default you are prompted to change the password If you try to set a password that is not permissible the old password will not be changed 6 Click the End safety commissioning button 7 Confirm the prompt for saving your settings copy RAM to ROM 8 Disconnect the online connectio...

Page 285: ...edure To back up the settings on the IOP proceed as follows 1 Connect the operator panel to the inverter 2 Start data transfer in the menu UP DOWNLOAD Drive to panel You have backed up the settings on the BOP 2 IOP inverter Procedure To transfer the settings to the inverter proceed as follows 1 Connect the operator panel to the inverter 2 Start data transfer in the menu UP DOWNLOAD Panel to drive ...

Page 286: ...61542B AB 8 4 Other ways to back up settings In addition to the default setting the inverter has an internal memory for backing up three other settings On the memory card you can back up 99 other settings in addition to the default setting You will find additional information on the Internet at Memory options http support automation siemens com WW view en 43512514 ...

Page 287: ...he offline project is not write protected Write protection is applicable for all user interfaces BOP 2 and IOP operator panels STARTER or Startdrive PC tool Parameter changes via a fieldbus The write protection is not password protected Activate and deactivate write protection Procedure with STARTER Proceed as follows to activate or deactivate the write protection 1 Go online 2 Open the inverter s...

Page 288: ...protection e g Activating deactivating write protection Changing the access level p0003 Saving parameters p0971 Safely removing the memory card p9400 Restoring the factory setting Importing settings from an external data backup e g upload from a memory card to the converter The individual parameters that are excluded from the write protection can be found in the List Manual in Chapter Parameters f...

Page 289: ... or via a memory card It is not possible to use the trace function in the STARTER Deleting the alarm history The STARTER dialog screens are disabled The expert list in the STARTER contains only display parameters In the case of active know how protection support by technical support personnel is only possible with the consent of the machine manufacturer Copy protection In conjunction with the copy...

Page 290: ...pload only parameters that are accessible even though know how protection is active The individual parameters that are excluded from the know how protection can be found in the List Manual in Chapter Parameters for write protection and protection of know how Commissioning the converter with know how protection Procedure overview 1 Commission the converter 2 Create the exception list Page 293 3 Act...

Page 291: ...tion drive device activate see also Write protection Page 287 2 Enter your password Length of the password 1 30 characters For the password we recommend that you only use characters from the ASCII character set If you use any character for the password then if changes are made to the Windows language settings after activating know how protection errors can occur when subsequent ly checking the pas...

Page 292: ...hand mouse button open the dialog win dow Know how protection drive device deactivate 2 There select the desired option Temporary status Know how protection is active again after switching the power supply off and on Final status If you select Copy RAM to ROM the inverter immediately deletes the password If you do not select Copy RAM to ROM the inverter deletes the password the next time the suppl...

Page 293: ...oceed as follows to change the number of parameters for the selection list 1 Save the inverter settings via an upload on the PC PG and go offline 2 In the project on the PC set p7763 to the desired value 3 Save the project 4 Go online and load the project into the inverter 5 Now make the additional settings in p7764 You have modified the number of parameters for the selection list Factory setting ...

Page 294: ...Backing up data and series commissioning 8 5 Write and know how protection Converter with control units CU250D 2 294 Operating Instructions 04 2015 FW V4 7 3 A5E34261542B AB ...

Page 295: ...vide additional cooling Should the fan need replacing the fitting process is shown in the diagram below The external fan can be ordered under the part number 6SL3500 0SF01 0AA0 Figure 9 1 Fitting the external fan Additional accessories Spare covers and seals This kit comprises all the plastic covers and seals that are used with the SINAMCS G120D Inverter Each kit contains five complete sets Part n...

Page 296: ...Replacement Same type higher firmware version e g replace FW V4 2 by FW V4 3 Power Module and motor must be adapted to one another ratio of motor and Power Mod ule rated power 1 8 After replacing the Control Unit you must restore the con verter s settings WARNING Death or material damage Replacing converters of different types can result in an unpredictable drive response In all cases that are not...

Page 297: ...onnect the line voltage to the Power Module and if installed the external 24 V supply or the voltage for the digital outputs of the Control Unit 2 Remove the signal cables from the Control Unit 3 Remove the defective Control Unit 4 Remove the memory card from the old Control Unit and insert it in the new Control Unit 5 Mount the new Control Unit on the Power Module The new Control Unit must have t...

Page 298: ...nal cables of the Control Unit 6 Connect up the line voltage again 7 Open the right project for the drive in the PC 8 Go online and transfer the settings from the PC to the inverter by pressing the button The inverter signals faults after the download Ignore these faults as they will be automatically acknowledged by the following steps 9 Select the screen form for the safety functions 10 Select th...

Page 299: ...nal cables of the Control Unit 6 Connect up the line voltage again 7 Open the right project for the drive in the PC 8 Select Load to device 9 Connect Startdrive online with the drive The inverter signals faults after the download Ignore these faults as they will be automatically acknowledged by the following steps 10 Press the Start safety commissioning button 11 Enter the password for the safety ...

Page 300: ...t or connect the Operator Panel handheld device with the inverter 8 Transfer the settings from the Operator Panel to the inverter 9 Wait until the transfer is complete 10 After loading check whether the inverter outputs alarm A01028 Alarm A01028 The loaded settings are not compatible with the inverter Clear the alarm with p0971 1 and recommission the drive No alarm A01028 Proceed with the next ste...

Page 301: ...ed Procedure To replace the Control Unit proceed as follows 1 Disconnect the line voltage to the Power Module and if installed the external 24 V supply or the voltage for the digital outputs of the Control Unit 2 Remove the signal cables from the Control Unit 3 Remove the defective Control Unit 4 Mount the new Control Unit on the Power Module The new Control Unit must have the same article number ...

Page 302: ...rnal 24 V supply or the voltage for the digital outputs of the Control Unit 2 Remove the signal cables of the Control Unit 3 Remove the defective Control Unit 4 Mount the new Control Unit on the Power Module 5 Reconnect the signal cables of the Control Unit 6 Connect up the line voltage again 7 Open the right project for the drive in STARTER 8 Go online and transfer the settings from the PC to the...

Page 303: ...he new Control Unit on the Power Module 5 Reconnect the signal cables of the Control Unit 6 Connect up the line voltage again 7 Plug the Operator Panel into the Control Unit or connect the Operator Panel handheld device with the inverter 8 Transfer the settings from the Operator Panel to the inverter 9 Wait until the transfer is complete 10 After loading check whether the inverter outputs alarm A0...

Page 304: ...l Unit without backed up settings proceed as follows 1 Disconnect the line voltage to the Power Module and if installed the external 24 V supply or the voltage for the digital outputs of the Control Unit 2 Remove the signal cables of the Control Unit 3 Remove the defective Control Unit 4 Mount the new Control Unit on the Power Module 5 Reconnect the signal cables of the Control Unit 6 Connect up t...

Page 305: ...the machine manufacturer must have an identical machine that he uses as sample There are two options for replacing the device Option 1 The machine manufacturer only knows the serial number of the new inverter The end customer provides the machine manufacturer with the following information For which machine must the inverter be replaced What is the serial number r7758 of the new inverter The machi...

Page 306: ...tion Page 291 enters the serial number of the new inverter in p7759 enters the serial number of the customer s memory card as reference serial number in p7769 activates the know how protection with copy protection Copy RAM to ROM must be activated see Settings for know how protection Page 291 writes the configuration with p0971 1 to the memory card copies the encrypted project from the card to his...

Page 307: ...the two phases of the motor line A motor running backwards may damage the machine or installation Connect the three phases of the motor lines in the right order After replacing the Power Module check the direction in which the motor rotates Procedure To replace the Power Module proceed as follows 1 Switch off the main voltage of the Power Module You can leave any external 24 V supply to the Contro...

Page 308: ...t the remaining voltage is non hazardous Check the voltage at the inverter connections before removing the connection cables 2 Remove the connecting cables of the Power Module 3 Remove the Control Unit from the Power Module 4 Replace the old Power Module with the new Power Module 5 Mount the Control Unit onto the new Power Module 6 Connect up the new Power Module using the connecting cables NOTICE...

Page 309: ...ing Instructions 04 2015 FW V4 7 3 A5E34261542B AB 309 9 2 Firmware upgrade and downgrade User actions Inverter response Figure 9 2 Overview of the firmware upgrade and firmware downgrade You will find more information in the Internet at Download https support industry siemens com cs ww en view 67364620 ...

Page 310: ... a newer version proceed as follows 1 Remove the connector for the 24 V power supply of the Control Unit 2 Remove the Control Unit from the Power Module 3 Insert the card with the matching firmware into the slot on the rear side of the Control Unit until you can feel it lock in place 4 Attach the connector for the 24 V power supply of the Control Unit and switch the 24 V power on 5 The Control Uni...

Page 311: ...erter settings the inverter writes its settings to the memory card in step 10 If the memory card already includes a data backup the inverter imports the settings from the memory card in step 10 Remove the memory card The inverter keeps its settings 9 Mount the Control Unit on the Power Module 10 Reconnect all plugs and switch on the 24 V supply 11 If the firmware upgrade was successful the Control...

Page 312: ...ter s firmware to an older version proceed as follows 1 Remove the connector for the 24 V power supply of the Control Unit 2 Remove the Control Unit from the Power Module 3 Insert the card with the matching firmware into the slot on the rear side of the Control Unit until you can feel it lock in place 4 Attach the connector for the 24 V power supply of the Control Unit and switch the 24 V power on...

Page 313: ...mory card in step 10 You remove the memory card or the memory card does not contain any data backup The inverter restores the factory settings 9 Mount the Control Unit on the Power Module 10 Reconnect all plugs and switch on the 24 V supply 11 If the firmware downgrade was successful the Control Unit responds after a few seconds with the RDY LED lighting up green If the memory card is still insert...

Page 314: ...e The inverter signals a failed firmware upgrade or downgrade with a quickly flashing RDY LED and a lit up BF LED Correcting a failed upgrade or downgrade To correct a failed firmware upgrade or downgrade you can check the following Does the firmware version fulfill the requirements of your inverter For an upgrade at least V4 5 For a downgrade at least V4 6 Have you inserted the card properly Does...

Page 315: ...ation Replacing the Control Unit No Only check the direc tion of rotation of the motor Supplement inverter data Log the new checksums Countersignature Replacing the Power Module Supplement the hardware version in the inverter data Replace the motor with an identi cal pole pair number No change Replace the gearbox with an iden tical ratio Replacing safety related periph erals e g Emergency Stop swi...

Page 316: ... switched off You cannot communicate with the inverter either via the operator panel or other interfaces The LEDs flicker and after 3 minutes the inverter has still not powered up Procedure Proceed as follows to restore the inverter factory settings 1 Remove the memory card if one is inserted in the inverter 2 Switch off the inverter power supply 3 Wait until all LEDs on the inverter go dark Then ...

Page 317: ...eat steps 2 and 3 as often as required until the inverter outputs fault F01018 6 Now set p0971 1 7 Switch off the inverter power supply 8 Wait until all LEDs on the inverter go dark Then switch on the inverter power supply again The inverter now powers up with the factory settings 9 Recommission the inverter You have restored the inverter factory settings The motor cannot be switched on If the mot...

Page 318: ...Corrective maintenance 9 4 If the converter no longer responds Converter with control units CU250D 2 318 Operating Instructions 04 2015 FW V4 7 3 A5E34261542B AB ...

Page 319: ... each alarm Alarm buffer For each incoming alarm the converter saves the alarm alarm value and the time that the alarm was received Figure 10 1 Saving the first alarm in the alarm buffer r2124 and r2134 contain the alarm value important for diagnostics as fixed point or floating point number The alarm times are displayed in r2145 and r2146 in complete days as well as in r2123 and r2125 in millisec...

Page 320: ...eight alarms have been removed then the next to last alarm is overwritten Figure 10 3 Complete alarm buffer Emptying the alarm buffer Alarm history The alarm history traces up to 56 alarms The alarm history only takes alarms that have been removed from the alarm buffer If the alarm buffer is completely filled and an additional alarm occurs then the converter shifts all alarms that have been remove...

Page 321: ...AB 321 Figure 10 4 Shifting alarms that have been removed into the alarm history Any alarms that have not been removed remain in the alarm buffer The converter sorts the alarms and closes gaps between the alarms If the alarm history is filled up to index 63 each time a new alarm is accepted in the alarm history the oldest alarm is deleted ...

Page 322: ...emoved from the alarm buffer 0 7 are transferred into the alarm history 8 63 r2145 Alarm time received in days Displays the time in days when the alarm occurred r2132 Actual alarm code Displays the code of the alarm that last occurred r2134 Alarm value for float values Displays additional information about the alarm that occurred for float values r2146 Alarm time removed in days Displays the time ...

Page 323: ...ult it receives Figure 10 5 Saving the first fault in the fault buffer r0949 and r2133 contain the fault value important for diagnostics as fixed point or floating point number The fault time received is in parameter r2130 in complete days as well as in parameter r0948 in milliseconds referred to the day of the fault The fault time removed is written to parameters r2109 and r2136 when the fault ha...

Page 324: ...hing the supply voltage off and on again The list of faults in the List Manual contains a note on this limited acknowledgment possibility Emptying the fault buffer Fault history The fault history can contain up to 56 faults The acknowledgment has no effect as long as none of the causes for the faults in the buffer have been removed If at least one of the faults in the fault buffer has been removed...

Page 325: ...ult history For these faults the fault time coming remains unchanged and the fault time removed remains empty If less than eight faults were shifted or copied into the fault history the memory locations with the higher indexes remain empty The inverter shifts the values previously saved in the fault history by eight indexes Faults which were saved in indexes 56 63 before the acknowledgment are del...

Page 326: ...formation about the fault p0952 Fault cases counter Number of fault cases that have occurred since the last acknowledgment The fault buffer is deleted with p0952 0 r2109 Fault time removed in milliseconds Displays the time in milliseconds when the fault occurred r2130 Fault time received in days Displays the time in days when the fault occurred r2131 Actual fault code Displays the code of the olde...

Page 327: ...t codes p2126 Setting the fault number for the acknowledgment mode Selection of the faults for which the acknowledgment type should be changed p2127 Setting acknowledgment mode Setting the acknowledgment type for the selected fault 1 Can only be acknowledged using POWER ON 2 IMMEDIATE acknowledgment after removing the fault cause You can change up to 20 different faults into an alarm or suppress f...

Page 328: ...cators The Control Unit has number of dual colour LEDs which are designed to indicate the operational state of the Inverter The LEDs are used to indicate the status of the following states General fault conditions Communication status Input and Output status Safety Integrated status The location of the various LEDs on the Control Unit are shown in the figure below Figure 10 9 Status LED locations ...

Page 329: ...OFIBUS communications LED BF Description of function Off Cyclic data exchange or PROFIBUS not in use p2030 0 RED flashing slowly Bus fault configuration fault RED flashing quickly Bus fault no data exchange baud rate search cannot detect the correct baud rate no connection the connection between the Inverter and PLC has been lost Table 10 3 Description of SAFE LED SAFE Description of function YELL...

Page 330: ... Any comment p8808 0 53 I M4 Octet String 54 Check signature to track chang es for Safety Integrated This value can be changed by the user The test signature is reset to the value generated by the machine is p8805 0 is used p8809 0 53 Values of r9781 0 and r9782 0 When requested the inverted transfers its I M data to a higher level control or to a PC PG with installed STEP 7 STARTER or TIA Portal ...

Page 331: ...e stops when the inverter is switched off The system runtime comprises r2114 0 milliseconds and r2114 1 days System runtime r2114 1 days r2114 0 milliseconds If r2114 0 has reached a value of 86 400 000 ms 24 hours the inverter sets r2114 0 the value 0 and increases the value of r2114 1 by 1 Using system runtime you can track the chronological sequence of faults and alarms over time When a corresp...

Page 332: ...s p0971 Switch CU off and on again F01044 Loading of memory data card de fective Replace memory card or CU F01105 CU Insufficient memory Reduce number of data records F01205 CU Time slice overflow Contact technical support F01250 CU hardware fault Replace CU F01512 An attempt has been made to establish an conversion factor for scaling which is not present Create scaling or check transfer value F01...

Page 333: ...ing of the safety functions is however not allowed because the safety functions are currently enabled Remedy with operator panel p0010 30 Parameter reset p9761 Enter password for the safety functions p0970 5 Reset Start Safety Parameter The converter sets p0970 5 if it has reset the parameters Then reset the converter to the factory setting again A01666 Static 1 signal atF DI for safe acknowledgme...

Page 334: ...BUS master is attempting to establish a connection with a faulty configuration telegram Check the bus configuration on the master and slave side A01910 F01910 Setpoint timeout The alarm is generated when p2040 0 ms and one of the following causes is present The bus connection is interrupted The MODBUS master is switched off Communications error CRC parity bit logical error An excessively low value...

Page 335: ...k motor connection A07400 VDC_max controller active If it is not desirable that the controller intervenes Increase the ramp down times Deactivate the VDC_max controller p1240 0 for vector control p1280 0 for U f control A07409 U f control current limiting control ler active The alarm automatically disappears after one of the following measures Increase the current limit p0640 Reduce the load Slow ...

Page 336: ...chanical system locked Excessively high traversing velocity or excessively high position set point differences F07453 Position actual value processing error Check the encoder for the actual position value processing A07454 Position actual value processing does not have a valid encoder Check whether one of the following causes exists An encoder is not assigned for the position actual value processi...

Page 337: ... finding the zero mark Remedy Check the encoder regarding the zero mark Check the maximum permissible distance between the reference cam and zero mark p2609 Use an external encoder zero mark p0494 F07460 End of reference cam not found During the reference point approach the axis when approaching the zero mark has reached the end of the traversing range without identifying an edge at the binector i...

Page 338: ...ct the target position Change the software limit switch minus CI p2578 p2580 Change the software limit switch plus CI p2579 p2581 A07480 Software limit switch plus actuated F07481 Axis position software limit switch minus Correct the target position Change the software limit switch minus CI p2578 p2580 Change the software limit switch plus CI p2579 p2581 F07482 Axis position software limit switch ...

Page 339: ...eference function reference mark search or measuring probe evaluation was interrupted Possible causes Encoder fault Reference mark search and measuring probe evaluation simultane ously activated BI p2508 and BI p2509 1 signal Activated reference function reference mark search or measuring probe evaluation was de activated BI p2508 and BI p2509 0 sig nal A07496 Enable is not possible It is not poss...

Page 340: ...ossible The maximum encoder value times the factor to convert the absolute position r0483 and or r2723 from increments to length units LU has exceeded the value range 2147483648 2147483647 for representing the position actual value F07801 Motor overcurrent Check current limits p0640 Vector control Check current controller p1715 p1717 U f control Check the current limiting controller p1340 p1346 In...

Page 341: ...26 p0628 A07920 Torque speed too low The torque deviates from the torque speed envelope curve Check the connection between the motor and the load Adapt the parameterization corresponding to the load A07921 Torque speed too high A07922 Torque speed out of tolerance F07923 Torque speed too low Check the connection between the motor and the load Adapt the parameterization corresponding to the load F0...

Page 342: ... the memory card Insert a suitable memory card and switch the converter supply voltage temporarily off and then on again POWER ON Deactivate the copy protection p7765 F13101 Know how protection Copy protec tion cannot be activated Insert a valid memory card F30001 Overcurrent Check the following Motor data if required carry out commissioning Motor connection method Υ Δ U f operation Assignment of ...

Page 343: ...ine voltage setting p0210 F30035 Overtemperature intake air Check whether the fan is running Check the fan filter elements Check whether the ambient temperature is in the permissible range F30036 Overtemperature inside area F30037 Rectifier overtemperature See F30035 and in addition Check the motor load Check the line phases A30049 Internal fan defective Check the internal fan and if required repl...

Page 344: ...eck the hardware and the associated settings in the converter F32111 F32112 Absolute encoder internal error Check the power supply of the encoder Replace the encoder A32410 Serial communication Check that the encoder cables are routed in compliance with EMC Check the cable connections Replace the encoder A32411 Absolute encoder outputs alarms Replace the encoder A32412 Error bit set in the serial ...

Page 345: ... the two digital outputs 1 A Maximum load of the X01 connector due to daisy chaining 8 A The converter is fully protected against reverse voltage 24 V power supply OUT The converter is fully protected against short circuit Digital inputs 6 programmable digital inputs PNP SIMATIC compatible low 5 V high 10 V maximum input voltage 30 V Pulse inputs DI 1 X07 2 DI 3 X08 2 Maximum frequency 32 kHz Digi...

Page 346: ...t case if debounce time 0 16 ms You will find the extended function data in the Safety Integrated Func tion Manual PFH 5 10E 8 Probability of failure of the fail safe functions Probability of Failure per Hour USB interface Mini B not available on the push pull variants of the control unit Note Short term voltage dips in the external 24 V supply 3 ms and 95 of the rated voltage When the mains volta...

Page 347: ...er efficiency 95 97 Overload capability HO 2 x Nominal output current for 3 seconds followed by 1 5 x Nominal output current for 57 seconds every 300 seconds Inrush current Less than rated input current Pulse frequency 4 kHz standard 4 kHz 16 kHz in 2 kHz steps Electromagnetic compat ibility Internal Class A filters according to EN 55011 Protection level IP65 when Power Module and Control Unit is ...

Page 348: ...ent please read the following FAQ Standby currents for PM250D http support automation siemens com WW view en 31764702 11 3 SINAMICS G120D specifications Power Module Specifications Table 11 3 Power Module Frame Sizes A and B 3 AC 380 V 500 V 10 Order No 6SL3525 0PE17 5AA1 0PE21 5AA1 0PE23 0AA1 Output Rating HO kW 0 75 1 5 3 Output Power kVA Rated Input Current A 2 1 3 8 7 2 HO Output Current A 2 2...

Page 349: ... in the figure below Figure 11 1 Power derating for temperature Humidity range Relative air humidity for the SINAMICS G120D is 95 non condensing Shock and vibration Do not drop the SINAMICS G120D or expose to sudden shock Do not install the SINAMICS G120D in an area where it is likely to be exposed to constant vibration Electromagnetic radiation Do not install the SINAMICS G120D near sources of el...

Page 350: ...supplies depending on the installation altitude Installation altitude up to 2000 m above sea level Connection to every supply system permitted for the inverter Installation altitudes between 2000 m and 4000 m above sea level Connection to a TN system with grounded neutral point TN systems with grounded line conductor are not permitted The TN line system with grounded neutral point can also be supp...

Page 351: ...duction Table 11 5 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 ...

Page 352: ...tial 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 G120D 2 fulfils all requirements of the EMC Directive as defined by the EMC Product Standard for Power Drive Systems EN 61800 3 Underwriters Lab...

Page 353: ...facturer s guidelines and in accordance with good EMC practices Use screened cable type CY Maximal cable length is 15 m Table 11 6 Compliance Table Category C2 First Environment Professional Use Order number Remark 6SL3525 0PE17 A 0 6SL3525 0PE21 A 0 6SL3525 0PE23 A 0 6SL3525 0PE24 A 0 6SL3525 0PE25 A 0 6SL3525 0PE27 A 0 All inverters with integrated Class A filters The inverter meets the requirem...

Page 354: ...t Professional Use Radiated emissions Converter frame sizes A B and C with integrated class A filter Order number 6SL3525 0PE17 A 6SL3525 0PE21 A 6SL3525 0PE23 A 6SL3525 0PE24 A 6SL3525 0PE25 A 6SL3525 0PE27 A In a domestic environment this product may cause radio interference in which case supplementary miti gation measures may be required Category C2 First Environment Professional Use Harmonic C...

Page 355: ...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 95 dip for 3 ms A 30 dip for 10 ms C 60 dip for 100 ms C 95 dip for 5000 ms D ...

Page 356: ...Technical data 11 9 Electromagnetic Compatibility Converter with control units CU250D 2 356 Operating Instructions 04 2015 FW V4 7 3 A5E34261542B AB ...

Page 357: ...size HX is supported 4 1FP1 reluctance motors are supported 5 Encoderless 1FK7 synchronous motors are supported 1 6 Encoderless 1FG1 geared synchronous motors are supported 7 SINAMICS Standard Drive Control and Dynamic Drive Con trol application classes to simplify commissioning and increase the degree of ruggedness of the closed loop motor control SINAMICS application classes are only available w...

Page 358: ...utomatic switchover of the real time clock from daylight saving time summer time to standard time winter time 16 New or revised default settings of the interfaces p0015 macros 110 112 and 120 17 Expansion of the temperature sensors to include DIN Ni1000 for analog inputs AI 2 and AI 3 18 Communication via AS Interface Default setting of the communication via AS i p0015 macros 30 31 32 and 34 19 Co...

Page 359: ...asic functions of Safety Integrated are unrestrictedly available in all control types with 1FK7 encoderless permanent field syn chronous motors 5 Direct selection of the 1FK7 encoderless permanent field synchro nous motors using the Article No with allocated code number It is not necessary to input individual motor data 6 Pulse input as source of setpoint value The inverter calculates its speed se...

Page 360: ... Converter with control units CU250D 2 360 Operating Instructions 04 2015 FW V4 7 3 A5E34261542B AB Table A 3 New functions and function changes in Firmware 4 6 6 Function SINAMICS G120 G120D 1 Support for the new Power Modules PM330 IP20 GX ...

Page 361: ...ression of ErrorPassiv alarm 5 Extension to communication via BACnet Multistate value objects for alarms commandable AO objects ob jects for configuring the PID controller 6 Communication via EtherNet IP 7 Skip frequency band for analog input A symmetrical skip frequency band can be set for each analog input around the 0 V range 8 Changing the control of the motor holding brake 9 Safety function S...

Page 362: ...rter and the motor to be read The Operator Panel and STARTER represent display parameters with an r prefix for example r0027 is the parameter for the converter output current Parameters that in many cases help Table A 5 How to switch to commissioning mode or restore the factory setting Parameter Description p0010 Commissioning parameters 0 Ready factory setting 1 Carry out basic commissioning 3 Ca...

Page 363: ...pendent voltage setpoint 20 Speed control without encoder 22 Torque control without encoder Not all Power Modules offer for selection all the listed control modes The control modes permitted for your device are offered during the commissioning Table A 10 This is how you optimize the starting behavior of the U f control for a high break loose torque and overload Parameter Description p1310 Voltage ...

Page 364: ...frequency depends on the power unit You can find the setting limits and the factory setting in Section Performance ratings Power Module Page 347 If you increase the pulse frequency the inverter output current decreases the maximum output current is displayed in r0076 If you use a sine wave filter you can only set the pulse frequency to values that are permissible for the filter When operated with ...

Page 365: ...rating Instructions 04 2015 FW V4 7 3 A5E34261542B AB 365 A 3 The device trace in STARTER Description The device trace graphically displays inverter signals with respect to time Signals In two settings that are independent of one another using you can interconnect eight signals each ...

Page 366: ...ignal No 9 Recording cycle and duration The device trace records data in a CU dependent basic cycle clock The maximum recording duration depends on the number of recorded signals and the trace clock cycle Proceed as follows to extend the recording duration 1 Multiply the trace clock cycle by an integral number 2 Accept the displayed maximum duration using Alternatively you can also specify the mea...

Page 367: ...are displayed Repeat measurement This places the measurements that you wish to perform at different times above one other Arrange curves in tracks This defines whether the device trace will show all measured values on a common zero line or on separate zero lines Measuring cursor On This allows you to analyze the measuring intervals in more detail Save to device memory card In this area you define ...

Page 368: ...one or several blocks that are interconnected with one another Figure A 2 Example of a block Motorized potentiometer MOP Most of the blocks can be adapted to specific applications using parameters You cannot change the signal interconnection within the block However the interconnection between blocks can be changed by interconnecting the inputs of a block with the appropriate outputs of another bl...

Page 369: ...rconnect signals in the converter If you change the signal interconnection in the converter you can adapt the converter to a wide range of requirements This does not necessarily have to involve highly complex functions Example 1 Assign a different function to a digital input Example 2 Switch the speed setpoint from the fixed speed to the analog input How much care is required when you change the s...

Page 370: ... digital input 1 DI 1 is interconnected to the second input of the logic block The logic block output issues the ON OFF1 command to switch on the motor Setting the control logic Parameter Description p20161 5 The time block is enabled by assigning to runtime group 5 time slice of 128 ms p20162 430 Run sequence of the time block within runtime group 5 processing before the AND logic block p20032 5 ...

Page 371: ... the ON OFF1 command Parameter p0840 0 is the input of the ON OFF1 block of the inverter Parameter r20031 is the output of the AND block To interconnect ON OFF1 with the output of the AND block set p0840 20031 Figure A 6 Interconnecting blocks by setting p0840 0 20031 Principle for interconnecting blocks Always interconnect the input connector or binector input with the signal source ...

Page 372: ...also includes the following encoder data Table A 12 Excerpt from the data sheet of the absolute encoder Feature Value Configuring an encoder Adapting the encoder data Parameter Principle of operation Multiturn p0404 2 1 Operating voltage 10 V 30 V p0404 21 1 Clock frequency of the SSI interface 100 kHz 1 MHz p0427 100 Digital resolution 25 bit 8192 steps x 4096 revolutions p0423 8192 p0421 4096 SS...

Page 373: ... the encoder you must select an encoder type that has the best possible fit to the real encoder Precondition You have started to configure the drive Procedure Proceed as follows to set an absolute encoder in STARTER 1 In the Encoder configuration step select the multiturn encoder with SSI interface 2 Complete the configuration You have now configured the absolute encoder ...

Page 374: ...4261542B AB Adapting the encoder data After the configuration you may now adapt the encoder data Preconditions You have now configured an absolute encoder You have completely configured the drive Procedure Proceed as follows to adapt the encoder data 1 Select the Motor encoder screen form 2 Select the Encoder data button ...

Page 375: ...ettings corresponding to the data sheet of your encoder The Details tab is used for application specific settings e g to invert the encoder signal The fine resolution can be separately set for the process data Gx_XIST1 and Gx_XIST2 2 bit fine resolution is practical for square wave encoders Typically sin cos encoders have an 11 bit fine resolution You have adapted the encoder data ...

Page 376: ... are installed within one control cabinet Figure A 7 Connecting a sensor e g Emergency Stop mushroom push button or limit switch You may connect emergency stop control devices in series because it is not possible for these devices to fail and be actuated at the same time Figure A 8 Connecting electromechanical sensors in series According to IEC 62061 SIL and ISO 13849 1 PL position switches of pro...

Page 377: ...ration Factory setting 0000 0000 0000 0000 0000 0000 0000 0000 bin Bit Signal name 1 signal 0 signal 21 A one off zero mark distance error is tolerated In the event of a defect the fault F3x100 F3x101 does not appear but alarm A3x400 A3x401 does Yes No 25 Switch off encoder voltage supply during parking Yes No A bit wise configuration is only possible if the corresponding property is also present ...

Page 378: ... Yes No 13 Irregular zero mark Yes No 14 Distance coded zero mark Yes No 21 Voltage level 24 V Yes No p0407 1 Linear encoder grid division Factory setting 16000 nm Sets the grid division for a linear encoder p0408 1 Rotary encoder pulse No Factory setting 2048 Sets the number of encoder pulses p0410 1 Encoder inversion actual value Factory setting 0000 bin Bit 00 1 signal Invert speed actual value...

Page 379: ...30 1 Sensor Module configuration Factory setting 0000 0000 0000 0000 0000 0000 0000 0000 bin Bit Signal name 1 signal 0 signal 21 A one off zero mark distance error is tolerated In the event of a defect the fault F3x100 F3x101 does not appear but alarm A3x400 A3x401 does Yes No 25 Switch off encoder voltage supply during parking Yes No 27 Extrapolate position values Yes No A bit wise configuration...

Page 380: ... encoder filter time Factory setting 0 64 μs 0 No filtering p0439 1 Encoder ramp up time Factory setting 0 ms p0446 1 Encoder SSI number of bits before the absolute value Factory setting 0 p0447 1 Encoder SSI number of bits absolute value Factory setting 25 p0448 1 Encoder SSI number of bits after the absolute value Factory setting 0 p0449 1 Encoder SSI number of bits filler bits Factory setting 1...

Page 381: ...ay deviate from these recommendations if you check the following once you have completed commissioning Correct assignment of the interfaces of each converter with the safety function Fail safe inputs PROFIsafe address Correct setting of the STO safety function Note Perform the acceptance test with the maximum possible velocity and acceleration in order to test the expected maximum braking distance...

Page 382: ... functions Procedure To perform an acceptance test of the STO function as part of the basic functions proceed as follows Status 1 The inverter is ready The inverter signals neither faults nor alarms of the safety functions r0945 0 7 r2122 0 7 STO is not active r9773 1 0 2 Switch on motor 2 1 Enter a speed setpoint 0 2 2 Switch on the motor ON command 2 3 Check that the correct motor is running ...

Page 383: ...2 20 1 The inverter signals the following STO Selection via terminal r9772 17 1 The inverter signals the following STO Selection via terminal on Power Module r9772 25 1 If a mechanical brake is not available the motor coasts down A mechanical brake brakes the motor and holds it to ensure that it remains at standstill The inverter signals neither faults nor alarms of the safety functions r0945 0 7 ...

Page 384: ... the machine and or plant Inverter data Table A 13 Hardware version of the safety related inverter Labeling the drive Article number and hardware version of the inverter Function table Table A 14 Active safety functions depending on the operating mode and safety equipment Operating mode Safety equipment Drive Selected safety function Checked Example Automatic Protective door closed Conveyor belt P...

Page 385: ...tance reports Data backup Data Storage medium Holding area Archiving type Designation Date Acceptance test reports PLC program Circuit diagrams Countersignatures Commissioning engineer This confirms that the tests and checks have been carried out properly Date Name Company dept Signature Machine manufacturer This confirms that the settings recorded above are correct Date Name Company dept Signatur...

Page 386: ...ecksum SI parameters processor 1 p9799 p9799_v SI reference checksum SI parameters processor 2 p9899 p9899_v Table A 18 Settings of the safety functions Name Number Value SI enable functions integrated in the drive p9601 p9601_v Only for the CU250S 2 Control Unit SI enable safe brake control p9602 p9602_v SI PROFIsafe address p9610 p9610_v F DI switch over discrepancy time p9650 p9650_v SI STO deb...

Page 387: ...36 133300 SINAMICS Manual Collec tion Documentation on DVD order number 6SL3097 4CA00 0YG0 Operating instructions for the SINAMICS G120 inverter with Control Units CU250D 2 this manual Function Manual for Safety Inte grated for the inverters SINAMICS G110M G120 G120C G120D and SIMATIC ET 200pro FC 2 Configuring PROFIsafe Installing commissioning and operating fail safe func tions of the inverter E...

Page 388: ... You obtain SIZER on a DVD Article number 6SL3070 0AA00 0AG0 and in the Internet Download SIZER http support automation siemens com W W view en 10804987 130000 A 9 3 Product Support You can find additional information on the product and more in the Internet under Product support http www siemens com automation service support In addition to our documentation under this address we offer our complet...

Page 389: ...A 10 Mistakes and improvements If you come across any mistakes when reading this manual or if you have any suggestions for how it can be improved then please send your suggestions to the following address or by E mail Siemens AG Digital Factory Motion Control Postfach 3180 91050 Erlangen Germany E mail mailto docu motioncontrol siemens com ...

Page 390: ...Appendix A 10 Mistakes and improvements Converter with control units CU250D 2 390 Operating Instructions 04 2015 FW V4 7 3 A5E34261542B AB ...

Page 391: ...61 Block 368 Block selection 100 Braking Regenerative 243 Braking method 240 Break loose torque 363 C Cable protection 35 38 Cam sequencer 99 184 Cam switching position 95 Catalog 388 Category C2 354 CDS Command Data Set 124 267 268 Centrifuge 240 243 Characteristic Linear 145 Checklist PROFIBUS 110 PROFINET 106 Circuit diagram 385 Closed loop speed control 147 Command 114 Command Data Set 124 Com...

Page 392: ...9 Encoderless speed control 174 End customer 384 Energy recovery option 243 EPOS basic positioner 163 European EMC Directive 352 European Low Voltage Directive 352 European Machinery Directive 352 Extended Safety 117 External fan 295 295 Extruder 228 F Factory settings 82 Restoring the 82 83 84 84 Factory settings for inputs and outputs 51 Fail safe digital input 117 Fail safe digital output 117 F...

Page 393: ...4 Inverter efficiency 347 ISO 9001 352 IT system 32 J Jerk limiting 178 JOG function 122 Jog velocity 202 Jogging 98 175 Jogging EPos 163 K Know how protection 276 289 KTY 84 temperature sensor 229 L License 276 Limit switch software 172 Limit switches 172 Line supply type 32 Linear axis 167 List Manual 387 Load failure 251 253 LU Length Unit 165 M Machine description 384 Machine zero point 185 Ma...

Page 394: ...eration 349 Password 258 PELV 345 Plant description 384 PLC functionality 370 PLC program 385 POS_STW positioning control word 94 POS_STW1 positioning control word 1 96 POS_STW2 positioning control word 2 98 POS_ZSW positioning status word 95 POS_ZSW1 positioning status word 1 97 POS_ZSW2 positioning status word 2 99 Position actual value value range 169 Position control 114 163 Position controlle...

Page 395: ...afe Brake Relay 264 Safety function 114 Safety Integrated Function Manual 376 Saw 240 SD memory card 276 Formatting 276 MMC 276 Self test 263 Sensor Electromechanical 376 Sensorless Vector Control SLVC 174 Sequence control 120 Serial number 384 Series commissioning 270 275 Set reference point 98 Set up 96 97 163 221 Setpoint processing 114 133 Setpoint source 114 Selecting 127 128 362 Shock and vi...

Page 396: ...get position reached 181 Telegram paste 109 112 Temperature 349 Temperature calculation 232 Temperature monitoring 226 232 Temperature range 347 Temperature Sensor 51 temperature switch 229 Terminal block 115 Test signals 261 Tilting station 167 TN line system 32 Trace function 366 Traversing block 97 163 205 Traversing block selection 96 Traversing profile 178 TT system 32 U U f control 363 Under...

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