Siemens SINAMICS RAILCTRL Function Manual Download Page 54

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6.6

Examples for configuring RAILCTRL

6.6.1

Example 1

This example describes the commissioning of two motor segments with communication of the

SERVO drive objects within a Control Unit, without communication to adjacent Control Units.

Note
Some parameters depend on the motors and encoders being used as well as the position of the

motor segment within the transport path.

Precondition

Carefully observe the recommended commissioning steps specified in Chapter "Basic

commissioning (Page 45)".
The segments are defined for the positive traversing direction as follows in this description:
● SERVO_02: Front segment
● SERVO_03: Rear segment

Settings for SERVO_02

Parameter Setting

Description

Interconnections to SERVO_02 parameters
p0820[0]

r30482.01

Drive data set selection DDS, bit 0 interconnected with RAILCTRL status word bit 1 "Closed-loop

controlled operation active".

p0856[0]

r30482.00

Enable velocity controller interconnected with RAILCTRL status word bit 0 "Switched on"

p2051[4]

r30482

IF1 PROFIdrive PZD send word PZD 5 interconnected with RAILCTRL status word

p2061[5]

r30483[0]

IF1 PROFIdrive PZD send double word PZD 6 + 7 interconnected with RAILCTRL diagnostics

actual position value

p30450

RAILCTRL mode: closed-loop controlled and open-loop controlled

p30453

RAILCTRL encoder assignment

p30460

0.0

RAILCTRL measuring range start

p30461

10.0

RAILCTRL primary section start

p30462

326.0

RAILCTRL measuring range length results from: Primary section (2.0 * 10.0)

p30463

306.0

RAILCTRL primary section length

p30464

51.0

RAILCTRL secondary section length

p30465

0.0

RAILCTRL secondary section position offset

p30466

2.0

RAILCTRL hysteresis

p30467

0.0

RAILCTRL master/slave transition offset

p30471[0] 4.0

RAILCTRL vibration dampening filter frequency, lower limit frequency

p30471[1] 30.0

RAILCTRL vibration dampening filter frequency, upper limit frequency

p30472[0] -0.4

RAILCTRL vibration dampening gain, transverse voltage

Commissioning
6.6 Examples for configuring RAILCTRL

RAILCTRL

Function Manual, 09/2019, A5E38120767B

Summary of Contents for SINAMICS RAILCTRL

Page 1: ...Function Manual Rail Control RAILCTRL Edition SINAMICS 09 2019 www siemens com drives ...

Page 2: ......

Page 3: ... and SINAMICS Integrated from firmware version 5 2 for SIMOTION from firmware version 5 3 SP1 09 2019 A5E38120767B Introduction 1 Safety instructions 2 Applications and characteristics 3 Installation and activation 4 Function description 5 Commissioning 6 Parameter 7 Function diagrams 8 Faults and alarms 9 List of abbreviations A ...

Page 4: ... personnel are those who based on their training and experience are capable of identifying risks and avoiding potential hazards when working with these products systems Proper use of Siemens products Note the following WARNING Siemens products may only be used for the applications described in the catalog and in the relevant technical documentation If products and components from other manufacture...

Page 5: ...xtension in the drive object 22 4 2 5 Commissioning the RAILCTRL Technology Extension 23 4 3 Upgrading using STARTER or SIMOTION SCOUT 24 4 3 1 Preconditions for upgrading using STARTER or SIMOTION SCOUT 24 4 3 2 Installing the OA Support Package in STARTER 25 4 3 3 Download the technology package for the new version 26 4 3 4 Additional information about upgrading 27 4 4 Uninstalling using STARTER...

Page 6: ...ameterizing BICO interconnections 49 6 5 Setting communication across CUs 50 6 6 Examples for configuring RAILCTRL 52 6 6 1 Example 1 52 6 6 2 Example 2 55 7 Parameter 57 8 Function diagrams 71 9 Faults and alarms 79 A List of abbreviations 87 Index 99 Table of contents RAILCTRL 4 Function Manual 09 2019 A5E38120767B ...

Page 7: ... and can be easily integrated into your existing automation system With SINAMICS you are prepared for digitization You benefit from highly efficient engineering with a variety of tools for the entire product development and production process And you also save space in the control cabinet thanks to the integrated safety technology You can find additional information about SINAMICS at the following...

Page 8: ...ty of the supplied drive system Extensions or changes made by the machine manufacturer must be documented by the machine manufacturer For reasons of clarity this documentation does not contain all of the detailed information on all of the product types and cannot take into consideration every conceivable type of installation operation and service maintenance Target group This documentation is inte...

Page 9: ...t SITRAIN Siemens training on products systems and solutions for automation and drives Technical Support Country specific telephone numbers for technical support are provided in the Internet at the following address http support industry siemens com sc ww en sc 2090 in the Contact area Compliance with the General Data Protection Regulation Siemens respects the principles of data protection in part...

Page 10: ...Introduction 1 2 General information about SINAMICS documentation RAILCTRL 8 Function Manual 09 2019 A5E38120767B ...

Page 11: ...ctions given in the hardware documentation Consider the residual risks for the risk evaluation WARNING Malfunction of the machine as a result of incorrect or changed parameter settings As a result of incorrect or changed parameterization machines can malfunction which in turn can lead to injuries or death Protect the parameterization parameter assignments against unauthorized access Handle possibl...

Page 12: ...r specific solutions but merely provide assistance with typical tasks As user you are responsible for ensuring that the products described are operated correctly These application examples do not relieve you of your responsibility for safe handling when using installing operating and maintaining the equipment Safety instructions 2 2 Warranty and liability for application examples RAILCTRL 10 Funct...

Page 13: ...mens products and solutions undergo continuous development to make them even more secure Siemens strongly recommends to apply product updates as soon as available and to always use the latest product versions Use of product versions that are no longer supported and failure to apply the latest updates may increase exposure to cyber threats To constantly be informed about product updates subscribe t...

Page 14: ...Safety instructions 2 3 Industrial Security RAILCTRL 12 Function Manual 09 2019 A5E38120767B ...

Page 15: ...on is used in multi carrier systems MCS Multi carrier systems are transport systems with linear motors used in packaging machines and assembly applications for example The following diagram shows a configuration example for a multi carrier system Motor plate with one motor segment Carrier workpiece holder Optional measuring system for closed loop controlled operation SINAMICS S120 drive system SIM...

Page 16: ... Manual describes the RAILCTRL Technology Extension for The segment transition with communication of the SERVO drive objects within a Control Unit The segment transition between several Control Units connected with DRIVE CLiQ 0XOWL FDUULHU V VWHP 6 0 7 6 7 38 7 31 3 7 3RUWDO 6 1 0 6 6 RRNVL H RPSDFW 7 5 75 QGXVWULDO WKHUQHW 352 1 7 5 9 L4 6 027 6 6 Figure 3 2 Topology for the multi carrier system ...

Page 17: ...loop the segment and the carrier form a system that is capable of oscillation To ensure smooth traversing this application mode also provides oscillation dampening not only when traversing on a single segment but also at a segment transition Master slave switchover is made by a higher level control system Multi carrier systems with the RAILCTRL Technology Extension offer the following advantages M...

Page 18: ...Applications and characteristics 3 2 Features RAILCTRL 16 Function Manual 09 2019 A5E38120767B ...

Page 19: ...using the TIA Portal and STARTER or SIMOTION SCOUT To do this proceed as follows 1 Install Technology Extension RAILCTRL using STARTER or SIMOTION SCOUT see Chapter Installing using STARTER or SIMOTION SCOUT Page 18 2 Commission the Technology Extension RAILCTRL see Chapter Commissioning Page 43 3 For the configured SINAMICS CU320 2 create a GSD or GSDML file To do this use the following script ht...

Page 20: ... Terms Technology Extension TEC Software component that is installed as an additional technology package and that expands the functionality of the SINAMICS drive system A Technology Extension is also known as an OA application OA Open Architecture OA Support Package OASP Installing an OA Support Package OASP expands the STARTER commissioning tool with the corresponding Technology Extension An OA S...

Page 21: ... the following elements oasp OA Support Package abc_oa name of the Technology Extension v1_1_1 version of the Technology Extension oaif04402300 OA interface version Version of the SINAMICS firmware from which this Technology Extension can be used 04402300 V4 4 Note The following description assumes that basic commissioning of the control and the drive or drive object has been completed Installatio...

Page 22: ...s for installation 1 From the Tools menu choose the Installation of libraries and technology packages function The Installation of libraries and technology packages window opens Figure 4 1 Selecting and installing the technology package 2 Click on Add 3 Open file oasp_abc_oa_v1_1_1_oaif04402300 zip The technology package belonging to the Technology Extension ABC_OA is added 4 Click the Close butto...

Page 23: ...The Select technology packages window opens 3 For the technology package ABC_OA set the action Load to target device Figure 4 2 Select the technology packages 4 Click the Perform actions button After successfully performing the action the information OK is displayed for the corresponding Result field 5 If necessary switch the target device off and on again POWER ON Additional information on the Se...

Page 24: ...ding drive axes have been created in the project 3 The STARTER commissioning tool is in the OFFLINE mode Procedure To activate the Technology Extension in the drive object proceed as follows 1 In the project navigator select the drive object for which the functionality is required e g SERVO_03 2 Select Properties in the shortcut menu 3 To activate the Technology Extension select check box ABC_OA o...

Page 25: ...ion for the drive object perform the project download Set the mode to ONLINE and select Download Project to Target System 4 2 5 Commissioning the RAILCTRL Technology Extension To commission the RAILCTRL Technology Extension appropriately set the additional parameters in the expert list of the STARTER commissioning tool For the RAILCTRL Technology Extension parameters starting at p30450 are availab...

Page 26: ...le for SINAMICS S120 CU320 2 and SIMOTION D4x5 2 with SINAMICS Integrated Requirements 1 The OA Support Package oasp_abc_oa_v1_1_1_oaif04402300 zip has already been installed and assigned to the required drive objects see Installing using STARTER or SIMOTION SCOUT Page 18 2 The file for the OA Support Package oasp_abc_oa_v1_2_oaif04402300 zip must be located in a known directory The file name for ...

Page 27: ...1_2_oaif04402300 zip proceed as described in Chapter Installing the OA Support Package in STARTER Page 20 After this installation both versions of ABC_OA are visible in the window Installation of libraries and technology packages Figure 4 5 Installing the OA Support Package technology package Installation and activation 4 3 Upgrading using STARTER or SIMOTION SCOUT RAILCTRL Function Manual 09 2019...

Page 28: ...BC_OA select version V01 20 02 00 under the column Version offline Figure 4 6 Selecting the technology package version 4 For the technology package ABC_OA set the action Load to target device 5 Click the Perform actions button 6 Confirm the message that the existing technology package should be overwritten After successfully performing the action the information OK is displayed for the correspondi...

Page 29: ...in the previous version of the Technology Extension and their values are retained 3 New parameters of the newly installed version of the Technology Extension are preassigned the factory settings and may have to be set 4 The OA Support Package of the previous version of the Technology Extension can be deleted from STARTER if it can no longer be used for other projects or drive devices For the proce...

Page 30: ...he project Download the project to the target device For the technology package in ONLINE mode select the Delete action and click the Perform actions button 3 Uninstall the Technology Extension in STARTER Uninstalling the Technology Extension in STARTER To uninstall proceed as follows 1 From the Tools menu choose the Installation of libraries and technology packages function The Installation of li...

Page 31: ...k the Uninstall button The technology package is deleted 4 Click the Close button Installation and activation 4 4 Uninstalling using STARTER or SIMOTION SCOUT RAILCTRL Function Manual 09 2019 A5E38120767B 29 ...

Page 32: ... can be configured Standard scripts can be adapted to specific situations during the runtime using interactive queries which means that the scripts are executed dependent on query results This simplifies and speeds up commissioning Other applications include documenting settings that have been made and repeating complex settings without error for example WARNING Malfunctions as a result of incorre...

Page 33: ...Scripts can also be executed from Windows Explorer STARTER does not have to be started for this purpose This allows operators without system knowledge to perform configuration tasks In this case the script is available as a VBScript in an ASCII file TECupdaten vbs in the Windows file system for example External scripting For more complex scripting applications you can implement your own applicatio...

Page 34: ...ted TECs must now be used as target Parameter Restore the parameter settings in the new TEC version The methods listed can be removed from the complex context and separately applied For instance a text file can be created using GetActivatedTECs that can be used for documentation purposes or as configuration example The steps defined using scripting can also be extended to include additional action...

Page 35: ...mponents in the multi carrier system 6 6 1 1 Figure 5 1 Component overview in the multi carrier system Table 5 1 Components and their functions in the multi carrier system No Component Function 1 Carrier Carrier for transporting workpieces 2 Secondary section with permanent magnets The counterpart to the motor segment in order to tra verse a carrier 3 Measuring magnet Position detection of the car...

Page 36: ...f the application by the associated closed loop control Depending on the distribution of the primary sections the carriers can also be moved and positioned relative to each other Note Carriers can only be traversed independently of one another when they are located on different motor segments The RAILCTRL Technology Extension controls the motion of a carrier beyond segment limits by coupling the s...

Page 37: ...ion detection using Hall sensors To allow the controlled variables to be consistently copied from the master to the slave the coupled SERVO drive objects must have the same current controller sampling time Function description The following controlled variables are copied for coupling the segments Commutation angle commut_angle r30486 Actual velocity value v_act r0063 Force setpoint F_set r0079 Th...

Page 38: ...mode structure Page 77 Oscillation damping In open loop controlled operation the segment and the carrier form a system that is capable of oscillation To ensure an optically smooth traversal of the carriers the open loop controlled operation also has an oscillation dampening not only for traversing on a single segment but also at a segment transition For effective oscillation dampening at the segme...

Page 39: ...ment The following lengths and versions of the motor segments can be used to customize the machine configuration Table 5 3 Motor segment lengths and versions Motor segment length Versions 306 mm 3 motors each 102 mm long in one plate 1 motor 306 mm long 1 motor 306 mm long without star point and second connection loop through element 102 mm 1 motor 102 mm long Secondary section geometries The foll...

Page 40: ...ion of the segments within a Control Unit For the jerk free transition the motor segments for the RAILCTRL Technology Extension can be brought into the following states Slave preceding Master Slave following Off The segment states are switched depending on the associated application mode Segment transition in open loop controlled operation The sequential control for the segment transition is taken...

Page 41: ...s for DRIVE CLiQ connections 100 m or isolated 24 V power supplies of the Control Units This prevents equalizing currents flowing through DRIVE CLiQ cables During the communication the data required for the closed loop control or open loop control is transferred to the predecessor or successor Control Unit The RAILCTRL Technology Extension uses the dual port RAM as send and receive buffer this all...

Page 42: ...WURO 8QLW Figure 5 2 Interconnection example The following values are transferred via DRIVE CLiQ for the cross CU communication p30475 Control word for controlling the Technology Extension r30482 Status word for monitoring the status of the Technology Extension r30484 Segment related actual position value of the carrier in mm provided the encoder exists Function description 5 5 Communication RAILC...

Page 43: ...y Integrated Functions nor do they influence the SINAMICS Safety Integrated Functions Note Information on SINAMICS Safety Integrated can be found in the following reference SINAMICS S120 Safety Integrated Function Manual Function description 5 6 SINAMICS Safety Integrated RAILCTRL Function Manual 09 2019 A5E38120767B 41 ...

Page 44: ...pprox 23 9 Approx 28 7 For deactivated CU communication the additional computation time utilization for SERVO drive objects compared with the listed values decreases as follows With current controller sampling time 125 µs the computation time utilization is 24 3 less 12 1 per communication direction With current controller sampling time 250 µs the computation time utilization is 12 8 less 6 4 per ...

Page 45: ...loaded into the Control Unit see Downloading the technology package Page 21 The Technology Extension is assigned to the intended drive object see Activating the Technology Extension in the drive object Page 22 Licensing A License Key is required for the RAILCTRL Technology Extension You can generate the appropriate License Key using the WEB License Manager To do this you require the Certificate of...

Page 46: ...olled operation structure Page 77 7366 Standard telegram 2 extended control word status word Page 78 The settings required for the configuration are as follows 1 Configuring the drive basis and encoders see Basic commissioning Page 45 2 Setting the geometry data Page 47 3 Parameterizing BICO interconnections Page 49 4 If you are using several Control Units then you must parameterize the DRIVE CLiQ...

Page 47: ...daptations for the individual drive objects Alternatively you can work offline Setting the data set switchover The linear motor paths are configured so they can traverse closed loop controlled and open loop controlled The closed loop controlled path sections must have an encoder and can be operated with two separate data sets You set the data set switchover as follows when parameterizing the SINAM...

Page 48: ...btained 3 Setting the scaling of the P gain of the velocity controller closed loop controlled operation To achieve a high accuracy at the segment transition we recommend that connector output r30474 is interconnected with binector input p1466 As a consequence the proportional gain Kp of the velocity controller is scaled Parameterizing overtemperature protection The linear motors of a multi carrier...

Page 49: ... p30455 RAILCTRL encoder linearization Setting the number of the data set for linearization in the Festo SDAT encoder p30460 RAILCTRL measuring range start p30460 must be located with a minimum overlap distance dmin in front of p30461 p30461 RAILCTRL primary section start Coordinate for the start of the motor segment p30462 RAILCTRL measuring range length p30462 p30463 2 dmin should be selected p3...

Page 50: ... p30460 0 and p30461 10 Note The value for the hysteresis set in p30466 must be greater than the deviation of the encoders in the overlap range including sensor noise A hysteresis set too low can cause the following effects in the overlap range Fast switching backward and forward between states Simultaneous execution of both segment states Both can cause jerky motion of the carrier Note Observe fo...

Page 51: ...ctions Signal sink connector input Signal source connector output CI p30452 0 Previous adjacent segment CO r30451 From the previous drive object segment CI p30452 1 Subsequent adjacent segment CO r30451 From the subsequent drive object segment CI p30475 RAILCTRL control word of the se quence control CO BO r2050 4 Interconnection for example from the PZD5 extended standard telegram 2 for communi ca...

Page 52: ... POWER OFF at the target device 4 Connect the Control Units via the DRIVE CLiQ line 5 Run up the system POWER ON Settings If you are using several Control Units then you must activate the communication to the previous and subsequent Control Unit by selecting the DRIVE CLiQ socket being used in p30490 0 1 In addition in p30492 0 1 you must set the coordinate offset for the previous and the subseque...

Page 53: ...he value from p0407 of the previous segment p30497 1 Grid division of the subsequent segment In p30497 1 enter the value from p0407 of the subsequent segment p30498 0 Fine resolution of the previous segment In p30498 0 enter the value from p0418 of the previous segment p30498 1 Fine resolution of the subsequent segment In p30498 1 enter the value from p0418 of the subsequent segment p30497 0 1 and...

Page 54: ...connected with RAILCTRL status word bit 0 Switched on p2051 4 r30482 IF1 PROFIdrive PZD send word PZD 5 interconnected with RAILCTRL status word p2061 5 r30483 0 IF1 PROFIdrive PZD send double word PZD 6 7 interconnected with RAILCTRL diagnostics actual position value p30450 0 RAILCTRL mode closed loop controlled and open loop controlled p30453 0 RAILCTRL encoder assignment p30460 0 0 RAILCTRL mea...

Page 55: ...operation active p0856 0 r30482 00 Enable velocity controller interconnected with RAILCTRL status word bit 0 Switched on p2051 4 r30482 IF1 PROFIdrive PZD send word PZD 5 interconnected with RAILCTRL status word p2061 5 r30483 0 IF1 PROFIdrive PZD send double word PZD 6 7 interconnected with RAILCTRL diagnostics actual position value p30450 0 RAILCTRL mode closed loop controlled and open loop cont...

Page 56: ...t no communication via DRIVE CLiQ p30492 0 0 RAILCTRL coordinate offset DRIVE CLiQ setting previous segment RAILCTRL parameters to the subsequent segment no following Control Unit p30452 1 0 RAILCTRL adjacent segment assignment input subsequent segment p30490 1 999 RAILCTRL CU communication activation subsequent segment no communication via DRIVE CLiQ p30492 1 0 RAILCTRL coordinate offset DRIVE CL...

Page 57: ...ith RAILCTRL status word Switched on 3 When multiple Control Units are used the communication to the previous and subsequent Control Units must be activated by selecting the associated DRIVE CLiQ socket in p30490 0 1 The coordinate offset for the previous and subsequent segment must also be set in p30492 0 1 Parameter Setting Description p30490 0 0 RAILCTRL CU communication activation previous seg...

Page 58: ...0 50 p30462 RAILCTRL measuring range length 122 326 p30463 RAILCTRL primary section length 102 306 p30464 RAILCTRL secondary section length 51 51 p30466 RAILCTRL hysteresis 0 5 0 5 p30467 RAILCTRL master slave transition offset 0 0 p30472 0 Vibration compensation transverse voltage 0 4 0 4 p30472 1 Vibration compensation longitudinal voltage 2 2 The following diagram shows the coordinates and geom...

Page 59: ...ol Unit group Unit selection Not for motor type Scaling Expert list 1 Min 0 Max 0 Factory setting 0 Description Setting the mode for the RAILCTRL Technology Extension RAILCTRL is used for the open loop closed loop control of secondary sections at the transitions between two linear motor segments primary sections Based on the SINAMICS servo control a mode is realized so that the secondary section c...

Page 60: ...et the appropriate connection direction here p30453 RAILCTRL encoder assignment Encoder assignment All objects Can be changed C1 3 Calculated Access level 3 Data type Integer16 Dynamic index Function diagram P Group Closed loop control Unit group Unit selection Not for motor type Scaling Expert list 1 Min 0 Max 0 Factory setting 0 Description Sets the encoder used for closed loop controlled mode V...

Page 61: ...ing range is set to zero p30461 RAILCTRL start of the primary section Primary sect start All objects Can be changed C1 3 Calculated Access level 3 Data type FloatingPoint32 Dynamic index Function diagram 7361 7363 P Group Closed loop control Unit group Unit selection Not for motor type Scaling Expert list 1 Min 0 00 mm Max 340 28235E36 mm Factory setting 50 00 mm Description Sets the local referre...

Page 62: ... Can be changed C1 3 Calculated Access level 3 Data type FloatingPoint32 Dynamic index Function diagram 7361 P Group Closed loop control Unit group Unit selection Not for motor type Scaling Expert list 1 Min 340 28235E36 mm Max 340 28235E36 mm Factory setting 0 00 mm Description Sets the position offset of the moving encoder part with respect to the center of the secondary section The offset can e...

Page 63: ...for motor type Scaling Expert list 1 Min 0 00 Hz Max 340 28235E36 Hz Factory setting 0 4 00 Hz 1 30 00 Hz Description Sets the limit frequencies for the bandpass filter Recommendation In the standard case e g motors from the Festo company use the factory settings Index 0 Lower frequency limit 1 Upper frequency limit Dependency Only active in the open loop controlled mode See also r30485 Note This ...

Page 64: ...STW of the sequence control Generally the value is provided from the higher level control system using an extended standard telegram The significance of the individual bits of the control word is described in parameter r30476 Dependency See also r30476 NOTICE It does not make sense to simultaneously select several operating states e g open loop controlled and closed loop controlled For the case th...

Page 65: ...t group Unit selection Not for motor type Scaling Expert list 1 Min 0 00 Max 360 00 Factory setting 0 00 Description Setting the commutation angle For a positive edge of p30475 7 this value is transferred into the commutation angle for open loop controlled mode r30486 Dependency See also p30475 r30486 r30482 0 13 CO BO RAILCTRL status word ZSW All objects Can be changed Calculated Access level 3 D...

Page 66: ...agram P Group Closed loop control Unit group Unit selection Not for motor type Scaling Expert list 1 Min mm Max mm Factory setting mm Description Display and connector output of the local referred to a segment position actual value RAILCTRL_XIST_MM in millimeters The value is updated within the sampling time of 1 ms Dependency Only when there is an encoder and valid encoder value Note If there is ...

Page 67: ...pling time p0115 0 Index 0 Actual value 0 1 Actual value 1 2 Actual value 2 3 Actual value 3 4 Actual value 4 5 Actual value 5 6 Actual value 6 Dependency Only when there is a multi position encoder and valid encoder values Note If there is no multi position encoder or there is no secondary section in the measuring range then a value of 0 is displayed r30488 0 6 CO RAILCTRL position actual value m...

Page 68: ...ubsequent Dependency See also p30452 p30492 Note If at this drive object an adjacent segment was already assigned for the previous or subsequent segment via p30452 then it is not possible to activate CU communication for the corresponding connection direction After parameterizing a DRIVE CLiQ socket it is necessary to set the coordinate offset in p30492 0 1 r30491 0 1 RAILCTRL coordinate offset DR...

Page 69: ... segment 2 in p30492 0 of segment 3 Enter the value in r30491 0 of segment 3 in p30492 1 of segment 2 p30492 0 1 remains unchanged at the segments without configured CU transition Index 0 Previous 1 Subsequent Dependency See also p30490 r30491 See also F53165 r30493 0 5 CO BO RAILCTRL communication status to the previous CU Status previous CU All objects Can be changed Calculated Access level 3 Da...

Page 70: ...ert list 1 Min Max Factory setting Description Display and BICO output for the status of the communication to the subsequent Control Unit Bit field Bit Signal name 1 signal 0 signal FP 00 Wait for configuration Yes No 01 Wait for data transfer Yes No 02 Data being transferred Yes No 03 Checksum error detected Yes No 04 Data package lost Yes No 05 Isochronous operation active Yes No Dependency See ...

Page 71: ...ata type Unsigned16 Dynamic index Function diagram P Group Unit group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting Description Displays the status of the previous and or subsequent segment This is only displayed if the appropriate segment is connected via a CU communication Index 0 Previous 1 Subsequent Bit field Bit Signal name 1 signal 0 signal FP 02 Alarm on t...

Page 72: ...Scaling Expert list 1 Min 0 Max 18 Factory setting 0 Description Setting the fine resolution in bits of the encoder of the adjacent segment at a CU transition At a configured CU transition the value from p0418 from the previous subsequent segment must be entered here Example For a path comprising four segments distributed across two Control Units the CU transition is between the second and third s...

Page 73: ...ction diagrams for the RAILCTRL Technology Extension You can find the product dependent function diagrams available for SINAMICS in the following reference SINAMICS S120 S150 List Manual Chapter Function diagrams RAILCTRL Function Manual 09 2019 A5E38120767B 71 ...

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Page 81: ...e 2 Reaction NONE Acknowledge NONE Cause Using p30490 at the DRIVE CLiQ socket communication to a Control Unit was activated however no supported DRIVE CLiQ component was detected at the socket Fault cause 1 01 hex Connected DRIVE CLiQ component is not supported e g Terminal Module 2 02 hex DRIVE CLiQ component not found Note regarding the alarm value The individual information is coded as follows...

Page 82: ...VE CLiQ wiring for correct connection contact For fault cause 4 Check the configuration of the isochronous communication of the two Control Units to the higher level control Do not switch on the drive object as long as isochronous communication has not been established Note RAILCTRL Controller for Segmented Linear Drives Reaction upon A NONE Acknowl upon A NONE F53165 RAILCTRL CU communication par...

Page 83: ...ex For this drive object a subsequent adjacent segment was simultaneously assigned via p30452 1 and via p30490 1 4 04 hex The selected DRIVE CLiQ socket is already assigned 5 05 hex The CU communication to the previous or subsequent Control Unit is already being used by RAILCTRL with another drive object Remedy For fault cause 1 Replace the Control Unit by a type that is compatible for CU communic...

Page 84: ...As a consequence this fault is output at all of the slave drive objects involved Remedy Resolve the fault on the master drive object Note RAILCTRL Controller for Segmented Linear Drives F53173 RAILCTRL encoder configuration changed warm start required Drive object All objects Message class Actual position speed value incorrect or not available 11 Message value Reaction OFF2 Acknowledge POWER ON Ca...

Page 85: ...s is exceeded In this state RAILCTRL is not ready for operation and can only be activated once the cause has been resolved Fault cause 1 01 hex The start of the measurement range exceeds the valid value range p30460 2 02 hex The length of the measurement range exceeds the valid value range p30462 Remedy In general Check the grid spacing scaling p0407 or the fine resolution p0418 of the encoder For...

Page 86: ...on exceeds the valid value range p30467 7 07 hex The calculation for the end of the primary section exceeds the valid value range p30461 p30463 8 08 hex The conversion for the start of the primary section in its own coordinates exceeds the valid value range 9 09 hex The conversion for the end of the primary section in its own coordinates exceeds the valid value range 10 0A hex The conversion of th...

Page 87: ...of the previous segment into its own coordinate system p30461 p30463 Where necessary also check the own parameters for the beginning of the primary section p30461 For fault cause 11 Check the adjustable parameters for converting the geometry of the subsequent segment into its own coordinate system p30461 p30463 Where necessary also check the own parameters for the start length of the primary secti...

Page 88: ...slave was selected although a previous subsequent segment is not configured See also p30475 RAILCTRL control word Remedy Check the program of the higher level control that generates the control word and if necessary adapt For fault cause 1 Ensure that open loop controlled and closed loop controlled mode are not simultaneously selected For fault cause 2 Ensure that only one open loop controlled mod...

Page 89: ...Circuit Armature short circuit ASCII American Standard Code for Information Interchange American coding standard for the exchange of in formation AS i AS Interface Actuator Sensor Interface AS Interface open bus system in automation tech nology ASM Asynchronmotor Induction motor AVS Active Vibration Suppression Active load vibration damping AWG American Wire Gauge American Wire Gauge Standard for ...

Page 90: ...ion CAN Object Identification CoL Certificate of License Certificate of License COM Common contact of a change over relay Center contact of a change over contact COMM Commissioning Commissioning CP Communication Processor Communications processor CPU Central Processing Unit Central processing unit CRC Cyclic Redundancy Check Cyclic redundancy check CSM Control Supply Module Control Supply Module C...

Page 91: ...le DTC Digital Time Clock Timer E Abbreviation Derivation of abbreviation Meaning EASC External Armature Short Circuit External armature short circuit EDS Encoder Data Set Encoder data set EEPROM Electrically Erasable Programmable Read Only Memory Electrically Erasable Programmable Read Only Memory EGB Elektrostatisch gefährdete Baugruppen Electrostatic sensitive devices EIP EtherNet IP EtherNet I...

Page 92: ...optic cable FP Funktionsplan Function diagram FPGA Field Programmable Gate Array Field Programmable Gate Array F PLC Fail safe PLC Fail safe PLC FW Firmware Firmware G Abbreviation Derivation of abbreviation Meaning GB Gigabyte Gigabyte GC Global Control Global control telegram broadcast telegram GND Ground Reference potential for all signal and operating vol tages usually defined as 0 V also refe...

Page 93: ...ifier Identification IE Industrial Ethernet Industrial Ethernet IEC International Electrotechnical Commission International Electrotechnical Commission IF Interface Interface IGBT Insulated Gate Bipolar Transistor Insulated gate bipolar transistor IGCT Integrated Gate Controlled Thyristor Semiconductor power switch with integrated control electrode IL Impulslöschung Pulse suppression IP Internet P...

Page 94: ...all signal and operating vol tages usually defined as 0 V also referred to as GND MB Megabyte Megabyte MCC Motion Control Chart Motion Control Chart MDI Manual Data Input Manual data input MDS Motor Data Set Motor data set MLFB Maschinenlesbare Fabrikatebezeichnung Machine readable product code MM Motor Module Motor Module MMC Man Machine Communication Man machine communication MMC Micro Memory Ca...

Page 95: ...e Software component which provides additional functions for the SINAMICS drive system OAIF Open Architecture Interface Version of the SINAMICS firmware as of which the OA application can be used OASP Open Architecture Support Package Expands the commissioning tool by the correspond ing OA application OC Operating Condition Operation condition OCC One Cable Connection One cable technology OEM Orig...

Page 96: ...S Pseudo Random Binary Signal White noise PROFIBUS Process Field Bus Serial data bus PS Power Supply Power supply PSA Power Stack Adapter Power Stack Adapter PT1000 Temperature sensor PTC Positive Temperature Coefficient Positive temperature coefficient PTP Point To Point Point to point PWM Pulse Width Modulation Pulse width modulation PZD Prozessdaten Process data Q Abbreviation Derivation of abb...

Page 97: ...ntermittent duty SAM Safe Acceleration Monitor Safe acceleration monitoring SBC Safe Brake Control Safe brake control SBH Sicherer Betriebshalt Safe operating stop SBR Safe Brake Ramp Safe brake ramp monitoring SBT Safe Brake Test Safe brake test SCA Safe Cam Safe cam SCC Safety Control Channel Safety Control Channel SCSE Single Channel Safety Encoder Single channel safety encoder SD Card SecureDi...

Page 98: ...Safe Stop 1 time monitored ramp monitored SS1E Safe Stop 1 External Safe Stop 1 with external stop SS2 Safe Stop 2 Safe Stop 2 SS2E Safe Stop 2 External Safe Stop 2 with external stop SSI Synchronous Serial Interface Synchronous serial interface SSL Secure Sockets Layer Encryption protocol for secure data transfer new TLS SSM Safe Speed Monitor Safe feedback from speed monitor SSP SINAMICS Support...

Page 99: ...ctor control Vdc DC link voltage VdcN Partial DC link voltage negative VdcP Partial DC link voltage positive VDE Verband der Elektrotechnik Elektronik und Informa tionstechnik Association of Electrical Engineering Electronics and Information Technology VDI Verein Deutscher Ingenieure Verein Deutscher Ingenieure Association of Ger man Engineers VPM Voltage Protection Module Voltage Protection Modul...

Page 100: ... abbreviation Meaning No entries Z Abbreviation Derivation of abbreviation Meaning ZK Zwischenkreis DC link ZM Zero Mark Zero mark ZSW Zustandswort Status word List of abbreviations RAILCTRL 98 Function Manual 09 2019 A5E38120767B ...

Page 101: ... p30475 62 CI RAILCTRL velocity setpoint p30477 63 CO BO RAILCTRL communication status to the previous CU r30493 0 5 67 CO BO RAILCTRL communication status to the subsequent CU r30494 0 5 68 CO BO RAILCTRL control word active r30476 0 7 62 CO BO RAILCTRL status word r30482 0 13 63 CO RAILCTRL adjacent segment assignment output r30451 57 CO RAILCTRL commutation angle r30486 65 CO RAILCTRL number of...

Page 102: ...munication p30497 0 1 69 RAILCTRL hysteresis p30466 60 RAILCTRL measuring range length p30462 59 RAILCTRL mode p30450 57 RAILCTRL offset master slave transition p30467 61 RAILCTRL open loop controlled mode specify commutation angle p30480 63 RAILCTRL oscillation damping filter frequency p30471 0 1 61 RAILCTRL oscillation damping gain quadrature direct axis voltage p30472 0 1 61 RAILCTRL primary se...

Page 103: ...Upgrading using SIMOTION SCOUT 24 Upgrading using STARTER 24 U Upgrading the Technology Extension using scripting methods 32 Index RAILCTRL Function Manual 09 2019 A5E38120767B 101 ...

Page 104: ...Index RAILCTRL 102 Function Manual 09 2019 A5E38120767B ...

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Page 106: ...ine Support service and support Siemens AG Digital Industries Motion Control Postfach 31 80 91050 ERLANGEN IndustryMall Siemens Scan the QR code for product information www siemens com www siemens com online support www siemens com industrymall ...

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