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Position contr

Fu
nction dia

SINAMICS

S110 List Manual (L

H7)
, 06/

2012

, 6SL3097-

4AP10-0BP3

-1

402
0 – Stan

dstill/posi

tionin
g mo
nitorin

g (r0
108.3 = 1)

- 4020 -

Function diagram

fp_4020_98_eng.vsd

DO: SERVO

SINAMICS S110

22.04.08 V04.04.00

Position control - Standstill/positioning monitoring (r0108.3 = 1)

1000.00 μs

<1> When the "basic positioner" function module (r0108.4 =1) is active, these binector inputs are supplied by default with values from this module.

The second value specifies the assignment.

Standstill window

0...2147483647 [LU]

p2542 (200)

p2551

(0/2683.2)

Sig s_set pres

t_pos_monit

0.00...100000.00 [ms]

p2545 (1000.00)

t_standstill monit

0.00...100000.00 [ms]

p2543 (200.00)

F07450
"Standstill monitoring has responded"

Pos_window

0...2147483647 [LU]

p2544 (40)

p2554

(0/2684.15)

Sign trav_cmnd act

1 = Target position reached

r2684.10

Standstill monitoring

p2532

s_act

F07451
"Positioning monitoring has responded"

Positioning monitoring

[4015.2]

[4015.1]

R Q

RESET
(Q=0)

SET
(Q=1)

p2530

s_set

From here, the standstill
monitoring is cyclically evaluated

p2543

p2545

Position
value

Target

position

p2542

p2544

Position
setpoint

Position
actual value

<1>

1 = Tracking mode active

r2683.0

[3645.7]

[3646.7]

[3645.7]

[3646.3]

Single evaluation

during the positioning monitoring function

Summary of Contents for SINAMICS S110

Page 1: ...s SINAMICS S110 List Manual 06 2012 SINAMICS ...

Page 2: ......

Page 3: ...12 SINAMICS SINAMICS S110 List Manual Valid for Drive Firmware version SINAMICS 4 4 6SL3097 4AP10 0BP3 s Preface Parameter 1 Function diagrams 2 Faults and alarms 3 Appendix A List of abbreviations B Index C ...

Page 4: ...tion The equipment system may only be commissioned and operated by qualified personnel For the pur pose of the safety information in this documentation a qualified person is someone who is authorized to energize ground and tag equipment systems and circuits in accordance with established safety proce dures Proper Use of Siemens Products Please observe the following Trademarks All names identified ...

Page 5: ...ion http www siemens com motioncontrol docu Please send any questions about the technical documentation e g suggestions for improvement corrections to the following e mail address docu motioncontrol siemens com My Documentation Manager Information on how to produce individual contents for your own machine docu mentation based on Siemens contents is available under the link http www siemens com mdm...

Page 6: ...cision making order ing SINAMICS S Catalogs Installation assembly SINAMICS S120 Equipment Manual for Control Units and Additional System Components SINAMICS S120 Equipment Manual for Booksize Power Units SINAMICS S120 Equipment Manual for Chassis Power Units SINAMICS S150 Operating Instructions Commissioning STARTER commissioning tool SINAMICS S120 Getting Started SINAMICS S120 Commissioning Manua...

Page 7: ...lities of the supplied drive system should only be taken from the ordering documen tation Extensions or changes made by the machine manufacturer must be docu mented by the machine manufacturer For reasons of clarity this documentation does not contain all of the detailed infor mation on all of the product types This documentation cannot take into consider ation every conceivable type of installati...

Page 9: ...meters for power unit data sets PDS 1 743 2 Function diagrams 2 745 2 1 Table of contents 2 746 2 2 Explanations on the function diagrams 2 753 2 3 Overviews 2 758 2 4 CU305 input output terminals 2 768 2 5 PROFIdrive 2 776 2 6 Internal control status words 2 813 2 7 Sequence control 2 826 2 8 Brake control 2 829 2 9 Safety Integrated 2 834 2 10 Setpoint channel 2 853 2 11 Setpoint channel not act...

Page 10: ...3 1 Overview of faults and alarms 3 966 3 1 1 General information on faults and alarms 3 966 3 1 2 Explanation of the list of faults and alarms 3 970 3 1 3 Number ranges of faults and alarms 3 973 3 2 List of faults and alarms 3 975 A Appendix A 1237 A 1 ASCII table excerpt A 1238 A 2 List for motor code encoder code A 1239 A 2 1 Motor code A 1239 A 2 2 Encoder code A 1260 B List of abbreviations ...

Page 11: ...iemens AG 2012 All Rights Reserved SINAMICS S110 List Manual LH7 06 2012 6SL3097 4AP10 0BP3 Parameter 1 Contents 1 1 Overview of parameters 1 12 1 2 List of parameters 1 29 1 3 Parameters for data sets 1 733 ...

Page 12: ...eaning of index 0 1 Name and meaning of index 1 2 Name and meaning of index 2 etc Dependency Text See also pxxxx rxxxx See also Fxxxxx Axxxxx Note Information which might be useful End of example pxxxx 0 n BICO Full parameter name Abbreviated name Drive object func tion module Can be changed C1 x C2 x U T Calculated CALC_MOD_REG Access level 2 Data type Unsigned32 Integer16 Dynamic index CDS p0170...

Page 13: ...r for example as a result of the following actions or parameters Execution of macros p0015 p0700 p1000 p1500 Setting PROFIBUS telegram BICO interconnection p0922 Setting component lists p0230 p0300 p0301 p0400 Automatic calculation and pre assignment p0340 p0578 p3900 Restoring factory settings p0970 The following applies to display parameters The fields Min Max and Factory setting are specified w...

Page 14: ... parameters that are not visible in the expert lists of the particular commissioning software e g parameters for trace functions BI Binector Input This parameter is used for selecting the source of a digital signal BO Binector Output This parameter is available as a digital signal for interconnection with other parameters CI Connector Input This parameter is used for selecting the source of an ana...

Page 15: ..._S110 CAN pos ctrl SERVO_S110 DP pos ctrl S110 servo drive with Position control function module r0108 3 SERVO_S110 CAN EPOS SERVO_S110 DP EPOS S110 servo drive with Basic positioner function mod ule r0108 4 SERVO_S110 CAN extend setp SERVO_S110 DP extend setp S110 servo drive with Extended setpoint channel function module r0108 8 SERVO_S110 CAN Safety rot SERVO_S110 DP Safety rot S110 servo drive...

Page 16: ...llows C1 Can be changed for all settings p0009 0 C1 x Can only be changed when the settings are p0009 x A modified parameter value does not take effect until converter com missioning mode is exited with p0009 0 C2 x Drive object commissioning C2 Commissioning 2 Drive commissioning is in progress p0009 0 and p0010 0 Pulses cannot be enabled The parameter can only be changed when the drive commissio...

Page 17: ...and send from p0340 3 CALC_MOD_CON p0340 1 3 4 CALC_MOD_EQU p0340 1 2 CALC_MOD_LIM_REF p0340 1 3 5 p0578 1 CALC_MOD_REG p0340 1 3 Access level Specifies the access level required to be able to display and change the relevant parameter The required access level can be set via p0003 The system uses the following access levels 1 Standard 2 Extended 3 Expert 4 Service Parameters with this access level...

Page 18: ...eger16 16 bit integer I32 Integer32 32 bit integer U8 Unsigned8 8 bits without sign U16 Unsigned16 16 bits without sign U32 Unsigned32 32 bits without sign Float FloatingPoint32 32 bit floating point number Table 1 2 Possible combinations of BICO interconnections BICO input parameter CI parameter BI parameter BICO output parameter Unsigned32 Integer16 Unsigned32 Integer32 Unsigned32 FloatingPoint3...

Page 19: ... Power unit Data Set PDS count p2615 traversing blocks count BO Integer16 x BO Unsigned32 x BO Integer32 x BO FloatingPoint32 Table 1 2 Possible combinations of BICO interconnections continued BICO input parameter CI parameter BI parameter BICO output parameter Unsigned32 Integer16 Unsigned32 Integer32 Unsigned32 FloatingPoint32 Unsigned32 Binary Legend x BICO interconnection permitted BICO interc...

Page 20: ...nd Factory setting For parameters where the unit can be changed the specifications for Unit group and Unit selection determine the group to which this parameter belongs and with which parameter the unit can be changed over Example Unit group 7_1 unit selection p0505 The parameter belongs to unit group 7_1 and the unit can be changed over using p0505 All the potential unit groups and possible unit ...

Page 21: ...Ohm Table 1 5 Unit groups p0505 Unit group Unit selection for p0505 Reference variable for 1 2 3 4 2_1 Hz Hz p2000 2_2 kHz kHz p2000 3_1 rpm rpm p2000 4_1 m min ft min p2000 4_2 m min m min ft min ft min 5_1 Vrms Vrms p2001 5_2 V V p2001 5_3 V V p2001 6_1 mArms mArms p2002 6_2 Arms Arms p2002 6_3 mA mA p2002 6_4 A A p2002 6_5 A A p2002 7_1 Nm lbf ft p2003 7_2 Nm Nm lbf ft lbf ft Table 1 3 Unit gro...

Page 22: ..._1 Nms rad lbf ft s rad p2000 p2003 18_1 V A V A p2002 p2001 19_1 A V A V p2001 p2002 21_1 C C F F 21_2 K K F F 22_1 m s2 m s2 ft s2 ft s2 22_2 m s2 ft s2 p2007 23_1 Vrms s m Vrms s m Vrms s ft Vrms s ft 24_1 Ns m Ns m lbf s ft lbf s ft 24_2 Ns m lbf s ft p2000 p2003 26_1 m s3 m s3 ft s3 ft s3 39_1 1 s2 1 s2 p2007 Table 1 6 Unit group p0595 Unit group Unit selection for p0595 Reference variable fo...

Page 23: ... the expert list of the specified drive objects in the commissioning software 1 Parameter does exist in the expert list 0 Parameter does not exist in the expert list Min Minimum value of the parameter unit Max Maximum value of the parameter unit Factory setting Value when shipped unit A different value may be displayed for certain parameters e g p1800 at the initial commissioning stage Reason The ...

Page 24: ...ory setting index 0 is specified with the unit to represent all indices When the indices have different factory settings they are all listed individually with the unit Bit array For parameters with bit arrays the following information is provided about each bit Bit number and signal name Meaning with signal states 0 and 1 Function diagram optional The signal is shown on this function diagram Depen...

Page 25: ...arning The description of this safety notice can be found at the beginning of this manual see Safety Notices Caution The description of this safety notice can be found at the beginning of this manual see Safety Notices Caution The description of this safety notice can be found at the beginning of this manual see Safety Notices Notice The description of this safety notice can be found at the beginn...

Page 26: ...99 Motor 0400 0499 Encoder 0500 0599 Technology and units motor specific data probes 0600 0699 Thermal monitoring maximum current operating hours motor data central probe 0700 0799 Control Unit terminals measuring sockets 0800 0839 CDS DDS data sets motor changeover 0840 0879 Sequence control e g signal source for ON OFF1 0880 0899 ESR parking control and status words 0900 0999 PROFIBUS PROFIdrive...

Page 27: ...rol APC 3780 3819 Synchronization 3820 3849 Friction characteristic 3850 3899 Functions e g long stator 3900 3999 Management 4000 4599 Terminal Board Terminal Module e g TB30 TM31 4600 4699 Sensor Module 4700 4799 Trace 4800 4849 Function generator 4950 4999 OA application 5000 5169 Motor spindle 5400 5499 System droop control e g shaft generator 5500 5599 Dynamic grid support solar 5900 6999 SINA...

Page 28: ...0 9399 Safety Integrated 9400 9499 Parameter consistency and storage 9500 9899 Safety Integrated 9900 9949 Topology 9950 9999 Diagnostics internal 10000 10199 Safety Integrated 11000 11299 Free technology controller 0 1 2 20000 20999 Free function blocks FBLOCKS 21000 25999 Drive Control Chart DCC 50000 53999 SINAMICS DC MASTER closed loop DC current control 61000 61001 PROFINET Table 1 7 Number r...

Page 29: ...FF3 can only be interrupted with OFF2 18 Operation brake on fault remove fault acknowledge 19 Operation armature short circ DC brake act p1230 p1231 21 Ready for operation set Operation enable 1 p0852 22 Ready for operation de magnetizing running p0347 23 Ready for operation set Infeed operation 1 p0864 31 Ready for switching on set ON OFF1 0 1 p0840 35 Switching on inhibited carry out first commi...

Page 30: ...ers to operate the basic functions of the drive unit Access level 3 experts Expert know how is required for these parameters e g BICO parameterization Access level 4 service For these parameters it is necessary that authorized service personnel enter the appropriate password p3950 Description Sets the parameter number and parameter index for display for p0006 2 4 for the Basic Operator Panel BOP E...

Page 31: ... Operation p0005 otherwise p0005 r0020 3 Operation r0002 otherwise r0002 r0020 4 p0005 Dependency Refer to p0005 Note Mode 0 3 can only be selected if also r0020 r0021 are available on the drive object Mode 4 is available for all drive objects Description Sets the delay time until the background lighting of the Basic Operator Panel BOP is switched off If no keys are actuated then the background li...

Page 32: ...to set a single index value of p0099 x the same as r0098 x Before the device has been completely commissioned no other parameter can be changed After the first commissioning was carried out in this state when required other basic device configuration parameters can be adapted e g the basic sampling time in p0110 p0009 2 Defines the drive type function module In this state the drive object types an...

Page 33: ...arameter modifications can be made and the status is shown in r3996 Modifications can be made again when r3996 0 Note The drive can only be powered up outside the drive commissioning inverter enable To realize this this parameter must be set to 0 By setting p3900 to a value other than 0 the quick commissioning is completed and this parameter is automatically reset to 0 Procedure for Reset paramete...

Page 34: ...standard are described in the technical documentation of the particular product The parameter is not influenced by setting the factory setting Description Displays the firmware version of the Control Unit Dependency Refer to r0128 r0148 r0197 r0198 Note Example The value 1010100 should be interpreted as V01 01 01 00 Description Displays the control word for the Basic Operator Panel BOP p0015 Macro...

Page 35: ...uitable as a process quantity and may only be used as a display quantity The speed actual value is available smoothed r0021 r0022 and unsmoothed r0063 13 Motorized potentiometer raise Yes No 14 Motorized potentiometer lower Yes No r0020 Speed setpoint smoothed n_set smth SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed Calculated Access level 2 Data type FloatingPoint32 Dynamic index Func...

Page 36: ... play parameter Note Smoothing time constant 100 ms The signal is not suitable as a process quantity and may only be used as a display quantity The DC link voltage is available smoothed r0026 and unsmoothed r0070 r0024 Output frequency smoothed f_outp smooth SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed Calculated Access level 3 Data type FloatingPoint32 Dynamic index Func diagram 1690...

Page 37: ...enerating actual current Dependency Refer to r0078 r0027 CO Absolute actual current smoothed I_act abs val smth SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed Calculated Access level 2 Data type FloatingPoint32 Dynamic index Func diagram 5730 6799 8850 8950 P Group Displays signals Units group Unit selection Not for motor type Scaling p2002 Expert list 1 Min Max Factory setting Arms Arm...

Page 38: ...y only be used as a display quantity The torque utilization is available smoothed r0033 and unsmoothed r0081 For M_set total r0079 M_max offset p1532 the following applies demanded torque M_set total M_max offset actual torque limit M_max upper effective r1538 M_max offset For M_set total r0079 M_max offset p1532 the following applies demanded torque M_max offset M_set total actual torque limit M_...

Page 39: ...s motor is de activated p0600 0 or p0601 0 Description Displays the power unit overload determined using the I2t calculation A current reference value is defined for the I2t monitoring of the power unit It represents the current that can be conducted by the power unit without any influence of the switching losses e g the continuously permissible current of the capacitors inductances busbars etc If...

Page 40: ...m liquid intake Note The value of 200 indicates that there is no measuring signal r0037 0 Maximum value of the inverter temperatures r0037 5 10 r0037 1 Maximum value of the depletion layer temperatures r0037 13 18 r0037 2 Maximum value of the rectifier temperatures r0037 11 12 The maximum value is the temperature of the hottest inverter depletion layer or rectifier r0037 0 1 Control Unit temperatu...

Page 41: ...sing enable sig SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed Calculated Access level 1 Data type Unsigned32 Dynamic index Func diagram 2634 P Group Displays signals Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting Bit field Bit Signal name 1 signal 0 signal FP 00 OFF1 enable missing Yes No 01 OFF2 enable missing Yes No 02 OFF3 enable missing ...

Page 42: ...p0010 0 there is an OFF2 fault response the drive is inactive p0105 0 or is not operational r7850 DO Index 0 Bit 18 1 enable signal missing if OFF3 has still not been completed or an OFF3 fault response is present Bit 19 1 internal pulse enable missing if synchronization is running between the basic clock cycle DRIVE CLiQ clock cycle and application clock cycle Bit 20 1 internal armature short cir...

Page 43: ...Inductance measurement evaluation 25 MotID Rotating Inductance measurement end 30 MotID Induction motor measurement step 1 31 MotID Induction motor measurement step 2 32 MotID Induction motor measurement step 3 33 MotID Induction motor measurement step 4 34 MotID Induction motor measurement step 5 35 MotID Induction motor measurement step 6 36 MotID Induction motor measurement step 7 37 MotID Indu...

Page 44: ...tion based step 4 104 PolID Motion based step 5 Description Displays the effective Motor Data Set MDS and the effective Encoder Data Sets EDS Index 0 Motor Data Set MDS effective 1 Encoder 1 Encoder Data Set EDS effective 2 Encoder 2 Encoder Data Set EDS effective 3 Reserved Dependency Refer to p0186 p0187 p0188 r0838 Note Value 99 means the following No encoder assigned not configured Description...

Page 45: ... Access level 2 Data type Unsigned8 Dynamic index Func diagram P Group Displays signals Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting Bit field Bit Signal name 1 signal 0 signal FP 00 DDS eff bit 0 ON OFF 01 DDS eff bit 1 ON OFF r0056 1 15 CO BO Status word closed loop control ZSW cl loop ctrl SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed C...

Page 46: ...80 4710 4715 P Group Displays signals Units group 3_1 Unit selection p0505 Not for motor type Scaling p2000 Expert list 1 Min Max Factory setting rpm rpm rpm r0062 CO Speed setpoint after the filter n_set after filter SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed Calculated Access level 3 Data type FloatingPoint32 Dynamic index Func diagram 1590 1750 5020 5030 5210 6030 P Group Display...

Page 47: ...type FloatingPoint32 Dynamic index Func diagram 1710 6310 6727 6730 6732 P Group Displays signals Units group 2_1 Unit selection p0505 Not for motor type Scaling p2000 Expert list 1 Min Max Factory setting Hz Hz Hz r0066 CO Output frequency f_outp SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed Calculated Access level 3 Data type FloatingPoint32 Dynamic index Func diagram 1690 5300 5730 ...

Page 48: ... output voltage Motor Module Dependency Refer to r0025 Note The output voltage is available smoothed r0025 and unsmoothed r0072 r0069 0 6 Phase current actual value I_phase act value SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed Calculated Access level 3 Data type FloatingPoint32 Dynamic index Func diagram 1630 5730 6714 6730 6731 8850 8950 P Group Displays signals Units group 6_5 Unit...

Page 49: ...ed Calculated Access level 3 Data type FloatingPoint32 Dynamic index Func diagram 5730 6730 6731 6799 8940 8950 P Group Displays signals Units group Unit selection Not for motor type Scaling PERCENT Expert list 1 Min Max Factory setting r0075 CO Current setpoint field generating Id_set SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed Calculated Access level 3 Data type FloatingPoint32 Dyn...

Page 50: ...RVO_S110 PN Can be changed Calculated Access level 3 Data type FloatingPoint32 Dynamic index Func diagram 1630 5714 5730 P Group Displays signals Units group 6_2 Unit selection p0505 Not for motor type Scaling p2002 Expert list 1 Min Max Factory setting Arms Arms Arms r0079 0 1 CO Torque setpoint total M_set total SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed Calculated Access level 3 ...

Page 51: ...Calculated Access level 3 Data type FloatingPoint32 Dynamic index Func diagram 5730 P Group Displays signals Units group 14_5 Unit selection p0505 Not for motor type Scaling r2004 Expert list 1 Min Max Factory setting kW kW kW r0083 CO Flux setpoint Flex setp SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed Calculated Access level 3 Data type FloatingPoint32 Dynamic index Func diagram 572...

Page 52: ...chronous PROFIBUS Dependency Refer to A01224 Caution Only current controller clock cycles p0115 0 which are integers of 125 µs are permitted for isochronous mode In addition current controller clock cycles 31 25 µs and 62 5 µs are possible Notice p0092 only affects the automatic default for the clock cycles p0115 in the drive If the clock cycles are modified subsequently in expert mode p0112 0 p00...

Page 53: ... p0099 p0107 and p0108 are appropriately set Value 0 No selection 1 Drive object type SERVO 16 Drive object type SERVO HMI Dependency Refer to A01330 Note For p0097 0 p0099 is automatically set to the factor setting The possible settings are dependent upon the device type Description Defines whether the motor and drive converter power settings e g rated motor power p0307 are expressed in kW or hp ...

Page 54: ...t number Control Unit 1 Drive object number object 1 2 Drive object number object 2 3 Drive object number object 3 4 Drive object number object 4 5 Drive object number object 5 6 Drive object number object 6 7 Drive object number object 7 8 Drive object number object 8 9 Drive object number object 9 10 Drive object number object 10 11 Drive object number object 11 12 Drive object number object 12 ...

Page 55: ...on module object 1 2 Function module object 2 3 Function module object 3 4 Function module object 4 5 Function module object 5 6 Function module object 6 7 Function module object 7 8 Function module object 8 9 Function module object 9 10 Function module object 10 11 Function module object 11 12 Function module object 12 13 Function module object 13 14 Function module object 14 15 Function module o...

Page 56: ...it 20 ON OFF 21 Bit 21 ON OFF 22 Bit 22 ON OFF 23 Bit 23 ON OFF 24 Bit 24 ON OFF 25 Bit 25 ON OFF 26 Bit 26 ON OFF 27 Bit 27 ON OFF 28 Bit 28 ON OFF 29 Bit 29 ON OFF 30 Bit 30 ON OFF 31 Bit 31 ON OFF r0108 Drive object function module DO function module SERVO_S110 CAN Can be changed Calculated Access level 2 Data type Unsigned32 Dynamic index Func diagram P Group Closed loop control Units group Un...

Page 57: ... 08 Extended setpoint channel Activated Not activated 10 Moment of inertia estimator Activated Not activated 13 Safety rotary axis Activated Not activated 14 Extended brake control Activated Not activated 16 Techn controller Activated Not activated 17 Extended messages monitoring Activated Not activated 18 Free function blocks Activated Not activated r0108 Drive object function module DO function ...

Page 58: ...tion Not for motor type Scaling Expert list 1 Min Max Factory setting 0 1 0 r0127 0 n Power unit version EPROM data PU EPROM version SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed Calculated Access level 3 Data type Unsigned32 Dynamic index PDS Func diagram P Group Converter Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting r0128 0 n Power unit ...

Page 59: ...bers are assigned for the SMC p0141 and the actual encoder p0142 Description This parameter is used to assign the encoder data set to an encoder p0139 0 2 Copy Motor Data Set MDS Copy MDS SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed C2 15 Calculated Access level 2 Data type Unsigned8 Dynamic index Func diagram 8575 P Group Data sets Units group Unit selection Not for motor type Scalin...

Page 60: ...es for all of the drive objects are inhibited With the encoder interface for encoder 1 motor encoder the relevant drive object for writing the parameter must be in the Ready for operation state With the encoder interface for encoders 2 and 3 the parameter can also be written during operation Re value 0 2 When a component is deactivated it no longer outputs any errors If value 0 The component was c...

Page 61: ...110 DP SERVO_S110 PN Can be changed Calculated Access level 2 Data type Integer16 Dynamic index EDS p0140 Func diagram P Group Data sets Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 1 r0147 0 n Sensor Module EEPROM data version SM EEPROM version SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed Calculated Access level 3 Data type Unsigned32 ...

Page 62: ...for motor type Scaling Expert list 1 Min Max Factory setting 1 2 1 p0180 Number of Drive Data Sets DDS DDS count SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed C1 3 Calculated Access level 2 Data type Unsigned8 Dynamic index Func diagram 8565 P Group Data sets Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 1 2 1 p0184 Encoder interface with p...

Page 63: ...O_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed Calculated Access level 3 Data type Unsigned32 Dynamic index Func diagram P Group Converter Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting Bit field Bit Signal name 1 signal 0 signal FP 00 Edge modulation possible Yes No 01 Free telegram can be selected Yes No 02 Smart mode possible for Active Line M...

Page 64: ...onent with component number 2 r0196 255 Status of DRIVE CLiQ component with component number 255 Note Structure of status value Bits 31 08 07 06 04 03 00 Re Bit 31 08 Reserved Re Bit 07 1 Part of target topology 0 Only in actual topology Re Bit 06 04 1 Active 0 Inactive or parked Re bit 03 00 0 Component data not available 1 Power up acyclic DRIVE CLiQ communication LED orange 2 Ready for operatio...

Page 65: ...meter index is assigned to a power unit r0197 Bootloader vers Bootloader vers CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed Calculated Access level 4 Data type Unsigned32 Dynamic index Func diagram P Group Closed loop control Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting r0198 0 1 BIOS EEPROM data version BIOS EEPROM vers CU_S110 CAN CU_S110 DP CU_S...

Page 66: ...Displays the name of the memory card in ASCII code r0203 0 Name character 1 r0203 15 Name character 16 For the commissioning software the ASCII characters are displayed uncoded Notice An ASCII table excerpt can be found for example in the appendix to the List Manual Description Displays the type of power unit found Value 2 MICROMASTER 440 3 MICROMASTER 411 4 MICROMASTER 410 5 MICROMASTER 436 6 MIC...

Page 67: ... CAN SERVO_S110 DP SERVO_S110 PN Can be changed Calculated Access level 3 Data type Unsigned32 Dynamic index PDS Func diagram P Group Converter Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting Bit field Bit Signal name 1 signal 0 signal FP 00 Device type DC AC device AC AC device 01 RFI filter available Yes No 02 Active Line Module available Yes No 03 Sma...

Page 68: ...10 CAN SERVO_S110 DP SERVO_S110 PN Can be changed Calculated Access level 2 Data type FloatingPoint32 Dynamic index Func diagram 8014 P Group Converter Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting Arms Arms Arms r0208 Rated power unit line supply voltage PU U_rated SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed Calculated Access level 2 Dat...

Page 69: ...U_rated 400 V U_min p0210 0 78 AC AC 330 V p0210 0 60 DC AC 380 V U_rated 500 V U_min p0210 0 76 AC AC 410 V U_rated 660 V 690 V U_min p0210 0 82 AC AC 565 V p0210 0 63 DC AC 650 V U_rated 500 V 690 V U_min p0210 0 82 AC AC 420 V p0210 0 63 DC AC 480 V Description Sets the power unit configuration Dependency Re bit 01 1 The external pre charging setting only affects the DC AC power units Caution R...

Page 70: ...g int 1 Cold Plate Note For booksize compact power units there is a 4 at the 5th position in the Order No The parameter is irrelevant for all other power unit types p0233 Power unit motor reactor PU mot reactor SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed C2 2 U T Calculated Access level 4 Data type FloatingPoint32 Dynamic index Func diagram P Group Converter Units group Unit selectio...

Page 71: ...below 430 V DC link voltages in the range 300 430 V are permissible up to a duration of 1 min For chassis power units this parameter has no significance p0251 0 n Operating hours counter power unit fan PU fan t_oper SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed T Calculated Access level 3 Data type Unsigned32 Dynamic index PDS Func diagram P Group Modulation Units group Unit selection ...

Page 72: ...locity or torque force control or the out put frequency for U f control indirectly via the output current limit and the intervention of the current limiting control ler reduce the pulse frequency only for vector control A reduction if parameterized is always realized after an appropriate alarm is output Value 0 Reduce output current or output frequency 1 No reduction shutdown when overload thresho...

Page 73: ... exceeded only an overload alarm is output Dependency Refer to r0036 p0290 Refer to A07805 Note The I2t fault threshold is 100 If this value is exceeded fault F30005 is output Description Sets the fan run on time after the pulses for the power unit have been canceled Note Under certain circumstances the fan can continue to run for longer than was set e g as a result of the exces sively high heat s...

Page 74: ...444 Synchronous motor linear for OEMs 10000 Motor with DRIVE CLiQ 10001 Motor with DRIVE CLiQ 2nd data set Dependency When the motor type is changed the code number in p0301 may be reset to 0 If p0300 is changed during quick commissioning p0010 1 then the matching technological application p0500 is automatically pre assigned This does not occur when commissioning the motor p0010 3 If p0300 10000 i...

Page 75: ...ing non Siemens motor first digit of the motor code number in order to be able to cancel the write protection Description The parameter is used to select a motor from a motor parameter list When changing the code number with the exception to the value 0 all of the motor parameters are pre assigned from the internally available parameter lists Dependency Code numbers can only be selected for motor ...

Page 76: ...301 this parameter is automatically pre assigned and is write protected Infor mation in p0300 should be carefully observed when removing write protection Note When the parameter value is entered the connection type of the motor star delta must be taken into account r0302 0 n Motor code number of motor with DRIVE CLiQ Motor code Mot DLQ SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed Calc...

Page 77: ...s write protected Infor mation in p0300 should be carefully observed when removing write protection Note The parameter is not used for synchronous motors p0300 2xx Description Sets the rated motor frequency rating plate p0305 0 n Rated motor current Mot I_rated SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed C2 1 3 Calculated Access level 1 Data type FloatingPoint32 Dynamic index MDS p01...

Page 78: ... associated with quick commissioning is pre assigned accordingly This is not the case when commissioning the motor p0010 3 Description Sets the rated motor torque rating plate Caution When selecting a catalog motor p0301 this parameter is automatically pre assigned and is write protected Infor mation in p0300 should be carefully observed when removing write protection Description Displays the numb...

Page 79: ...rved when removing write protection Note This parameter is not used for induction motors p0300 1xx Description Sets the stall current for synchronous motors p0300 2xx Caution When selecting a catalog motor p0301 this parameter is automatically pre assigned and is write protected Infor mation in p0300 should be carefully observed when removing write protection Note The parameter is used for the I2t...

Page 80: ...motor speed Dependency Refer to p1082 Caution When selecting a catalog motor p0301 this parameter is automatically pre assigned and is write protected Infor mation in p0300 should be carefully observed when removing write protection Notice If p0322 is changed during quick commissioning p0010 1 the maximum speed p1082 which is also associated with quick commissioning is pre assigned accordingly Thi...

Page 81: ...sition identification routine The current of the 2nd phase is set in p0329 The two stage technique is selected with p1980 4 Dependency Refer to p0329 p1980 p1981 p1982 p1983 r1984 r1985 r1986 r1987 p1990 r1992 Refer to F07995 Notice When the motor code p0301 is changed it is possible that p0325 is not pre assigned p0325 can be pre assigned using p0340 3 Note The value is automatically pre assigned...

Page 82: ... be set When quick commissioning is exited with p3900 0 then the parameter is reset if a catalog motor has not been selected refer to p0300 Description Sets the reluctance torque constant for synchronous motors with reluctance torque e g 1FE motors This parameter has no significance for induction motors Dependency Refer to r1939 Caution When selecting a catalog motor p0301 this parameter is automa...

Page 83: ...t entered then the parameter is calculated from the rating plate parameters Note In the case of multi motor operation r0331 is increased by the factor p0306 compared to p0320 p0329 0 n Motor pole position identification current Mot PolID current SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed C2 3 U T Calculated Access level 3 Data type FloatingPoint32 Dynamic index MDS p0130 Func diagra...

Page 84: ...ted torque of an indi vidual motor Description Displays the torque constant of the synchronous motor used Dependency IEC drives p0100 0 unit Nm A NEMA drives p0100 1 unit lbf ft A Refer to p0316 Note This parameter is not used for induction motors p0300 1xx For synchronous motors parameter r0334 p0316 is displayed if p0316 0 r0334 is calculated from p0305 and p0312 r0332 0 n Rated motor power fact...

Page 85: ...he motor For p0310 0 this value is displayed Dependency Refer to p0311 p0314 Note For p0310 0 or for synchronous motors the rated motor frequency r0336 is calculated from the rated speed and the pole pair number For p0310 0 this value is displayed not for synchronous motors Description Displays the rated EMF of the motor Note EMF Electromagnetic force p0335 0 n Motor cooling type Motor cooling typ...

Page 86: ...shold values Notice After the value has been modified no further parameter modifications can be made and the status is shown in r3996 Modifications can be made again when r3996 0 The following parameters are influenced using p0340 The parameters designated with are not overwritten for catalog motors p0300 100 SERVO p0340 1 All of the parameters influenced for p0340 2 3 4 5 p0341 p0342 p0344 p0600 ...

Page 87: ...56 p2178 p0340 4 p1290 p1292 p1293 p1299 p1338 p1339 p1340 p1341 p1345 p1346 p1460 p1461 p1462 p1463 p1464 p1465 p1470 p1472 p1590 p1592 p1600 p1628 p1629 p1630 p1643 p1703 p1715 p1717 p1740 p1756 p1757 p1760 p1761 p1764 p1767 p1781 p1783 p1785 p1786 p1795 p7036 p7037 p7038 p0340 5 p260 p264 p1037 p1038 p1520 p1521 p1530 p1531 p1574 p1750 p1802 p1803 p2140 p2142 p2148 p2150 p2161 p2162 p2163 p2164...

Page 88: ... have been canceled The inverter pulses cannot be switched in enabled within this delay time p0341 0 n Motor moment of inertia Mot M_mom of inert SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed C2 3 U T Calculated CALC_MOD_ALL Access level 3 Data type FloatingPoint32 Dynamic index MDS p0130 Func diagram 5042 5210 P Group Motor Units group 25_1 Unit selection p0100 Not for motor type REL ...

Page 89: ...es per unit values Description Sets the stator resistance of the motor at ambient temperature p0625 Dependency Refer to p0625 r1912 Caution When selecting a catalog motor p0301 this parameter is automatically pre assigned and is write protected Infor mation in p0300 should be carefully observed when removing write protection Note The motor identification routine determines the stator resistance fr...

Page 90: ...tomatically calculated using the motor model p0340 1 2 or using the motor data iden tification routine p1910 not for separately excited synchronous motors Dependency Refer to p0625 Caution When selecting a catalog motor p0301 this parameter is automatically pre assigned and is write protected Infor mation in p0300 should be carefully observed when removing write protection Note The parameter is no...

Page 91: ...ristic p1960 Description Sets the magnetizing inductance of the motor For separately excited synchronous motors Sets the saturated magnetizing inductance in the rotor direction d axis This parameter value is automatically calculated using the motor model p0340 1 2 or using the motor identifica tion routine p1910 not for separately excited synchronous motors Caution When selecting a catalog motor p...

Page 92: ...110 PN Can be changed Calculated Access level 4 Data type FloatingPoint32 Dynamic index MDS p0130 Func diagram P Group Motor Units group 16_1 Unit selection p0349 Not for motor type Scaling Expert list 1 Min Max Factory setting ohm ohm ohm r0373 0 n Motor rated stator resistance Mot R_stator rated SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed Calculated Access level 4 Data type Floatin...

Page 93: ...adaptation of the resistances is not taken into account only applies for VECTOR r0107 r0377 0 n Motor leakage inductance total Mot L_leak total SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed Calculated Access level 4 Data type FloatingPoint32 Dynamic index MDS p0130 Func diagram 6640 P Group Motor Units group 15_1 Unit selection p0349 Not for motor type Scaling Expert list 1 Min Max Fac...

Page 94: ...pendency Refer to p0391 p0392 p1402 p1715 Caution When selecting a catalog motor p0301 this parameter is automatically pre assigned and is write protected Infor mation in p0300 should be carefully observed when removing write protection Note For p0393 100 or p1402 2 0 the current controller adaptation is disabled and p1715 is effective over the entire range p0391 0 n Current controller adaptation ...

Page 95: ...iQ encoder AM24 multiturn 4096 1001 Resolver 1 speed 1002 Resolver 2 speed 1003 Resolver 3 speed 1004 Resolver 4 speed 2001 2048 1 Vpp A B C D R 2002 2048 1 Vpp A B R 2003 256 1 Vpp A B R 2004 400 1 Vpp A B R 2005 512 1 Vpp A B R 2006 192 1 Vpp A B R 2007 480 1 Vpp A B R 2008 800 1 Vpp A B R 2010 18000 1 Vpp A B R distance coded r0395 0 n Actual stator resistance R_stator act SERVO_S110 CAN SERVO_...

Page 96: ...der p0400 9999 Notice If required the list of motor codes encoder codes can be found in the Appendix of the List Manual Note The connected encoder can be identified by setting p0400 to 10000 or 10100 This assumes that the encoder sup ports this method which is possible in the following cases Motor with DRIVE CLiQ encoder with EnDat interface DRIVE CLiQ encoder The encoder data e g pulse number p04...

Page 97: ... the encoder pulse number is an integer multiple of the pole number then the following applies The track A B is adjusted to match the magnetic position of the motor p0401 0 n Encoder type OEM selection Enc type OEM sel SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed C2 1 4 Calculated Access level 2 Data type Integer16 Dynamic index EDS p0140 Func diagram 1580 4704 P Group Encoder Units g...

Page 98: ...arks the following applies The phase sequence of the C D track if available must be the same as the phase sequence of the encoder A B track The phase sequence of the Hall signal if available must be the same as the phase sequence of the motor Further the position of the Hall sensor must be mechanically adjusted to the motor EMF The fine synchronization is only started after two zero marks have bee...

Page 99: ...S p0140 Func diagram 4010 4704 P Group Encoder Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 16777215 2048 p0410 0 n Encoder inversion actual value Enc inv act value SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed C2 4 Calculated Access level 3 Data type Unsigned16 Dynamic index EDS p0140 Func diagram P Group Encoder Units group Unit select...

Page 100: ... carefully observed when removing write protection Description Sets the number of measuring steps per revolution for a rotary absolute encoder The resolution refers to the abso lute position p0418 0 n Fine resolution Gx_XIST1 in bits Enc fine Gx_XIST1 SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed C2 4 Calculated Access level 3 Data type Unsigned8 Dynamic index EDS p0140 Func diagram 40...

Page 101: ...oder this parameter cannot be changed write protection Information in p0400 should be carefully observed when removing write protection Note SSI Synchronous Serial Interface Description Sets the minimum delay time between two data transfers of the absolute value for an SSI encoder p0425 0 n Encoder rotary zero mark distance Enc rot dist ZM SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed ...

Page 102: ...0 n Encoder SSI configuration Enc SSI config SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed C2 4 Calculated Access level 3 Data type Unsigned16 Dynamic index EDS p0140 Func diagram P Group Encoder Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0000 0000 bin Bit field Bit Signal name 1 signal 0 signal FP 00 Transfer code Binary code Gray code ...

Page 103: ...it 1 the phase correction for track A B sine is activated Re bit 30 amplitude correction if bit 1 the amplitude correction for track A B sine is activated Re bit 31 offset correction if bit 1 the offset correction for track A B sine is activated Description Sets the angular commutation offset Dependency The value is taken into account in r0094 Refer to r0094 r1778 Caution When the firmware is upgr...

Page 104: ...r bit 2 On with 2 error bits 9 On with 9 error bits For several error error bits the following applies the position specified under ba and the additional bits are assigned increasing consecutively the level set under c applies to all error bits Example p0434 1013 The evaluation is switched in and the error bit is at position 13 with a low level p0434 1113 The evaluation is switched in and the erro...

Page 105: ...and the parity bit is at position 15 with uneven parity Description Sets the extended configuration of the Sensor Module p0435 0 n Encoder SSI alarm bit Enc SSI alarm bit SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed C2 4 Calculated Access level 3 Data type Unsigned16 Dynamic index EDS p0140 Func diagram P Group Encoder Units group Unit selection Not for motor type Scaling Expert list ...

Page 106: ...as expired Re bit 07 If the bit is set the encoder pulses which have not been corrected are added to p4688 at the zero mark Re bit 11 If the bit is set the Sensor Module checks within a certain time grid whether the fault cause is still present This enables the Sensor Module to switch from the fault state to the operating state and provide valid actual values auto matically The faults are displaye...

Page 107: ...oder belonging EDS0 is copied to p0441 0 p0445 0 Value 0 No action 1 Transfer serial number Dependency Refer to p0441 p0442 p0443 p0444 p0445 r0460 r0461 r0462 r0463 r0464 p1990 Note For encoders with serial number encoder replacement is monitored in order to request angular commutation cali bration adjustment for motor encoders and absolute calibration for direct measuring systems with absolute v...

Page 108: ... serial number part 1 Enc comm ser_no 1 SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed C2 4 Calculated CALC_MOD_ALL Access level 4 Data type Unsigned32 Dynamic index EDS p0140 Func diagram P Group Encoder Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0000 hex FFFF FFFF hex 0000 hex p0442 0 n Encoder commissioning serial number part 2 Enc com...

Page 109: ...n selecting a catalog encoder this parameter cannot be changed write protection Information in p0400 should be carefully observed when removing write protection Note For example error bit alarm bit or parity bit can be positioned at these bits p0445 0 n Encoder commissioning serial number part 5 Enc comm ser_no 5 SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed C2 4 Calculated CALC_MOD_AL...

Page 110: ...tput Dependency Refer to r0452 p0449 0 n Encoder SSI number of bits filler bits Enc SSI fill bits SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed C2 4 Calculated Access level 3 Data type Unsigned16 Dynamic index EDS p0140 Func diagram P Group Encoder Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 65535 1 r0451 0 2 Commutation angle factor En...

Page 111: ...ype Unsigned32 Dynamic index Func diagram P Group Encoder Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting Bit field Bit Signal name 1 signal 0 signal FP 00 Linear encoder Yes No 01 Abs value encoder Yes No 02 Multiturn encoder Yes No 03 Track A B sq wave Yes No 04 Track A B sinus Yes No 05 Track C D Yes No 06 Hall sensor Yes No 08 EnDat encoder Yes No 09...

Page 112: ...10 CAN SERVO_S110 DP SERVO_S110 PN Can be changed Calculated Access level 3 Data type Unsigned32 Dynamic index Func diagram 4704 P Group Encoder Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting Bit field Bit Signal name 1 signal 0 signal FP 00 Encoder data available Yes No 01 Motor data available Yes No 02 Temperature sensor connection available Yes No 03...

Page 113: ...lation being used only SMC30 Yes No 21 Zero mark tolerance Yes No 22 Rot pos adapt Yes No 23 Commutation with zero mark can be de selected Yes No 24 Commutation with selected zero mark Yes No 25 Disconnection of encoder power supply on parking supported Yes No 26 Parking with temperature evaluation Yes No 27 SSI position value extrapolation Yes No 28 Cubic correction Yes No 29 Phase correction Yes...

Page 114: ...ality Yes No 25 Parameter check shift factor Gx_XIST2 Yes No 26 Track monitoring de selection Yes No 28 EnDat linear encoder monitoring incremen tal absolute Yes No 29 EnDat encoder initialization with high accu racy Yes No 31 Analog unipolar track monitoring Yes No r0460 0 2 Encoder serial number part 1 Enc ser_no 1 SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed Calculated Access level...

Page 115: ...r of the serial number Dependency Refer to r0460 r0461 r0462 r0463 r0464 Notice An ASCII table excerpt can be found for example in the appendix to the List Manual Note The individual characters of the identification number serial number are available coded as ASCII characters r0463 0 2 Encoder serial number part 4 Enc ser_no 4 SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed Calculated Ac...

Page 116: ...r 1 1 Encoder 2 2 Reserved Dependency Refer to p9323 p9523 Description Displays the number of valid bits for the fine resolution of the redundant coarse position value Index 0 Encoder 1 1 Encoder 2 2 Reserved Dependency Refer to p9324 p9524 r0466 0 27 Encoder 2 identification number serial number Enc2 ID_no Ser_no SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed Calculated Access level 3 ...

Page 117: ...oup Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting r0474 0 2 Redundant coarse position value configuration Red pos config SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed Calculated Access level 3 Data type Unsigned32 Dynamic index Func diagram P Group Encoder Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting Bit f...

Page 118: ... Functions Note Re bit 14 Displays the acknowledgement for activate parking encoder Gn_STW 14 1 or encoder position actual value Gn_XIST1 invalid p0480 0 2 CI Signal source for encoder control word Gn_STW Enc S_src Gn_STW SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed T Calculated Access level 3 Data type Unsigned32 Integer16 Dynamic index Func diagram 1580 4720 P Group Encoder Units gr...

Page 119: ...occurred Index 0 Encoder 1 1 Encoder 2 2 Reserved Notice The encoder position actual value must be requested using the encoder control word Gn_STW 13 Note in this value the measuring gear p0432 p0433 is only taken into account when the position tracking is activated p0411 0 1 if GxZSW 15 1 r0481 then an error code with the following significance is located in Gx_XIST2 r0483 1 Encoder fault 2 Possi...

Page 120: ...ays the encoder control word Gn_STW according to PROFIdrive for diagnostics Index 0 Encoder 1 1 Encoder 2 2 Reserved Notice Information on Gn_STW Gn_ZSW should be taken from the corresponding product documentation Note The signal source for the encoder control word is set with p0480 r0484 0 2 CO Redundant coarse encoder position CRC Gn_XIST1 Enc red pos CRC SERVO_S110 CAN SERVO_S110 DP SERVO_S110 ...

Page 121: ...ization is rejected check whether the terminal is already being used in p0580 p0680 p2517 or p2518 Description Setting to invert the digital input signals to connect a measuring probe or an equivalent zero mark p0488 0 2 Measuring probe 1 input terminal Meas probe 1 inp SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed U T Calculated Access level 3 Data type Integer16 Dynamic index Func di...

Page 122: ...itching over to encoderless operation the motor can stall For a value 1 5 the following applies in spite of the motor encoder fault that has occurred the motor continues to operate Note For a value 1 2 3 the following applies for encoderless operation the following condition must be fulfilled p1800 n 2 p0115 0 n 1 2 etc Refer to the status signal encoderless operation due to a fault BO r1407 13 If...

Page 123: ... p0490 Notice For CU310 CX32 NX10 and NX15 only DI DO 9 10 11 can be selected as fast inputs refer to the Equipment Manual Note Refer to the encoder interface for PROFIdrive The terminal must be set as input p0728 For p0493 0 factory setting the following applies there is no logic operation between the reference mark search and an input signal For p0493 0 the following applies the positive edge of...

Page 124: ...ve or negative edge at the appropriate input is evaluated increasing position actual values r0482 the 0 1 edge is evaluated decreasing position actual values r0482 the 1 0 edge is evaluated Only one zero mark is supported If function 2 3 or 4 is selected this results in a fault message in Gn_ZSW The inversion of the inputs via p0490 affects the function referencing with equivalent zero mark This i...

Page 125: ...500 Ohm 51 r0497 Absolute speed difference dn dt 52 r0497 Xact1 corrected quadrants 60 Analog sensor r0498 raw val chann A r0499 raw val chann B 61 Analog sensor r0498 fine pos chann A r0499 fine pos chann B 62 Analog sensor r0498 Fine pos before characteristic r0499 70 Resolver r0498 Transformation ratio r0499 phase 80 Spindle r0498 Sensor S1 raw r0499 Sensor S4 raw 81 Spindle r0498 Sensor S5 raw...

Page 126: ...p0496 42 2500 Ohm 2 32 Re p0496 51 1 rpm 1000 dec Re p0496 52 In 1 4 encoder pulses Re p0496 60 voltage channel A in mV voltage channel B in mV Re p0496 61 Channel A encoder periods 2 16 channel B encoder periods 2 16 Re p0496 62 encoder periods 2 16 Re p0496 70 r 100 10000 dec phase 180 18000 dec Re p0496 80 81 85 86 1V 1000 inc Description Displays the trace signal for encoder diagnostics double...

Page 127: ...For p0500 100 and when the calculation is initiated the following parameters are set p1520 p1521 rated motor torque r0333 p1530 p1531 2 pi r0333 p0311 rotary or r0333 p0311 linear p2000 rated motor speed p0311 p2175 factory setting p2177 factory setting For p0500 101 and when the calculation is initiated the following parameters are set p1520 p1521 torque at the maximum motor current p0323 p1530 p...

Page 128: ...over between physical and representation For SERVO r0107 the following applies The parameter is pre assigned a value of 0 and cannot be changed Description Sets the bearing type 0 No selection 1 Manual entry 101 STANDARD 102 PERFORMANCE 103 HIGH PERFORMANCE 104 ADVANCED LIFETIME If the bearing type changes the bearing code number p0531 is pre assigned accordingly Dependency Refer to p0301 p0531 p1...

Page 129: ...ssigned in the case of motors from the motor list p0301 if a bearing type p0530 or a bear ing code p0531 is selected When selecting a catalog motor this parameter cannot be changed write protection The information in p0530 should be observed when removing write protection Notice If p0532 is changed during quick commissioning p0010 1 then the maximum speed p1082 which is also asso ciated with quick...

Page 130: ...ibit list p0571 should be overwritten when calculating the motor and closed loop control parameters for the particular drive data set index DDS Value 0 No 1 Yes Note 0 The automatic calculation p0340 p0578 also overwrites the parameters of list p0571 1 The automatic calculation p0340 p0578 does not overwrite the parameters of list p0571 Description Setting to inhibit the calculation of reference p...

Page 131: ...7 DI DO 8 X132 1 Dependency Refer to p0728 Refer to A07498 Note The terminal must be set as input p0728 If a parameter change is rejected a check should be performed as to whether the input terminal is already being used in p0488 p0489 p0493 p0494 p0495 p0680 p2517 or p2518 DI DO Bidirectional Digital Input Output Description Selects the units for the parameters of the technology controller p0578 ...

Page 132: ...cy Refer to p0595 Description Sets the sensor to monitor the motor temperature Value 0 No sensor 1 Temperature sensor via encoder 1 10 Temperature sensor via a BICO interconnection 11 Temperature sensor via Motor Module CU terminals p0596 Reference quantity technological units Ref tech units SERVO_S110 CAN Tech_ctrl SERVO_S110 DP Tech_ctrl SERVO_S110 PN Tech_ctrl Can be changed T Calculated Access...

Page 133: ...tion on using temperature sensors is provided in the following literature hardware description of the appropriate components SINAMICS S120 Commissioning Manual Re p0601 1 PTC alarm timer Tripping resistance 1650 Ohm After the tripping resistance has been exceeded an appropriate alarm is output and after the delay time set in p0606 has expired an appropriate fault is output Re p0601 3 KTY84 and PTC...

Page 134: ...alarm threshold p0604 is exceeded If the timer expires before the temperature in the meantime falls below the alarm threshold the fault F07011 is out put If the temperature fault threshold p0605 is prematurely exceeded before the timer has expired then fault F07011 is immediately output As long as the motor temperature has still not exceeded the fault threshold and the alarm thresholds have again ...

Page 135: ...ecting a catalog motor this parameter cannot be changed write protection Information in p0300 should be carefully observed when removing write protection Note When parameter p0611 is reset to 0 then this switches out the thermal I2t motor model also refer to p0612 If no temperature sensor is parameterized then the ambient temperature for the thermal motor model is referred to p0625 Description Set...

Page 136: ...red stator winding temperature Note For p0620 1 the following applies The stator resistance is adapted using the temperature in r0035 and the rotor resistance together with the model temperature in r0633 For p0620 2 the following applies The stator resistance is adapted using the temperature in r0035 If applicable the rotor temperature for adapting the rotor resistance is calculated from the stato...

Page 137: ...ion Defines the rated overtemperature of the stator core referred to the ambient temperature Dependency For 1LA5 and 1LA7 motors refer to p0300 the parameter is pre set as a function of p0307 and p0311 Refer to p0625 Note When quick commissioning is exited with p3900 0 then the parameter is reset if a catalog motor has not been selected refer to p0300 p0624 0 n Motor Temperature Offset PT100 Mot T...

Page 138: ...on p0505 Not for motor type PEM REL FEM Scaling Expert list 1 Min Max Factory setting 20 K 200 K 80 K p0628 0 n Motor overtemperature rotor winding Mot T_over rotor SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed C2 3 U T Calculated Access level 3 Data type FloatingPoint32 Dynamic index MDS p0130 Func diagram 8016 P Group Motor Units group 21_2 Unit selection p0505 Not for motor type PEM...

Page 139: ...209 and r0323 for induction motors p0640 1 5 x p0305 for synchronous motors p0640 p0338 Description Sets the reduction for the current limit in encoderless operation The value is referred to p0640 Dependency Refer to r0209 p0323 p0491 p0640 p1300 p1404 Note If the motor is operated both with encoder as well as without encoder e g p0491 is not equal to 0 or p1404 p1082 then the maximum current can ...

Page 140: ...s held and the value saved Dependency Refer to p0651 Refer to A01590 Note The operating hours counter in p0650 can only be reset to 0 In this case p0651 is automatically set to 0 For p0651 0 the operating hours counter is disabled The operating hours counter only runs with motor data set 0 and 1 MDS Description Sets the service maintenance intervals in hours for the appropriate motor An appropriat...

Page 141: ...s the evaluation technique for the central measuring probe evaluation function p0680 0 7 Central measuring probe input terminal Cen meas inp CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed U T Calculated Access level 3 Data type Integer16 Dynamic index Func diagram P Group Encoder Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 7 0 p0681 BI Central me...

Page 142: ...e rising edge measuring probe 8 r0685 Central measuring probe control word display Cen meas STW disp CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed Calculated Access level 3 Data type Unsigned16 Dynamic index Func diagram P Group Commands Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting Bit field Bit Signal name 1 signal 0 signal FP 00 Falling edge meas...

Page 143: ... Data type Unsigned16 Dynamic index Func diagram P Group Displays signals Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting r0688 CO Central measuring probe status word display Cen meas ZSW disp CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed Calculated Access level 3 Data type Unsigned16 Dynamic index Func diagram P Group Displays signals Units group Uni...

Page 144: ...e 1 signal 0 signal FP 00 DI 0 X133 1 High Low 01 DI 1 X133 2 High Low 02 DI 2 X133 3 High Low 03 DI 3 X133 4 High Low 08 DI DO 8 X132 1 High Low 09 DI DO 9 X132 2 High Low 10 DI DO 10 X132 3 High Low 11 DI DO 11 X132 4 High Low 16 DI 16 X130 1 High Low 17 DI 17 X130 2 High Low 18 DI 18 X130 4 High Low 19 DI 19 X130 5 High Low 20 DI 20 X131 1 High Low 21 DI 21 X131 2 High Low 22 DI 22 X131 4 High ...

Page 145: ...index Func diagram 1510 2020 2030 2031 2100 2120 2130 2131 2132 2133 P Group Commands Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting Bit field Bit Signal name 1 signal 0 signal FP 00 DI 0 X133 1 High Low 01 DI 1 X133 2 High Low 02 DI 2 X133 3 High Low 03 DI 3 X133 4 High Low 08 DI DO 8 X132 1 High Low 09 DI DO 9 X132 2 High Low 10 DI DO 10 X132 3 High L...

Page 146: ... must be set as an output p0728 9 1 DI DO Bidirectional Digital Input Output r0729 CU digital outputs access authority CU DO acc_auth CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed Calculated Access level 1 Data type Unsigned32 Dynamic index Func diagram 2030 2031 P Group Commands Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting Bit field Bit Signal nam...

Page 147: ...splays the status of digital outputs p0740 BI CU signal source for terminal DI DO 10 CU S_src DI DO 10 CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed U T Calculated Access level 1 Data type Unsigned32 Binary Dynamic index Func diagram 1510 2031 2497 2498 P Group Commands Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 p0741 BI CU signal source for te...

Page 148: ...High Low p0748 CU invert digital outputs CU DO inv CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed U T Calculated Access level 1 Data type Unsigned32 Dynamic index Func diagram P Group Commands Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0000 0000 0000 0000 0000 0000 0000 0000 bin Bit field Bit Signal name 1 signal 0 signal FP 08 DI DO 8 X132 1 Inve...

Page 149: ... r0755 CO CU analog input actual value in percent CU AI value in CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed Calculated Access level 1 Data type FloatingPoint32 Dynamic index Func diagram 2040 P Group Terminals Units group Unit selection Not for motor type Scaling PERCENT Expert list 1 Min Max Factory setting p0756 CU analog input type CU AI type CU_S110 CAN CU_S110 DP CU_S110 PN Can be chang...

Page 150: ...stic value x2 CU AI char x2 CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed U T Calculated Access level 2 Data type FloatingPoint32 Dynamic index Func diagram 2040 P Group Terminals Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 11 000 V 11 000 V 10 000 V p0760 CU analog input characteristic value y2 CU AI char y2 CU_S110 CAN CU_S110 DP CU_S110 PN Can ...

Page 151: ...se suppression window CU AI window CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed U T Calculated Access level 3 Data type FloatingPoint32 Dynamic index Func diagram 2040 P Group Terminals Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 00 20 00 0 00 p0769 BI CU analog input signal source for enable CU AI enable CU_S110 CAN CU_S110 DP CU_S110 PN Can b...

Page 152: ...t point on the characteristic Index 0 T0 1 T1 2 Reserved Dependency Can only be set when p0776 99 Refer to p0778 p0779 p0780 r0786 Note The value 0 00 corresponds to 2 49 V r0774 0 2 Test sockets output voltage TestSkts U_output CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed Calculated Access level 2 Data type FloatingPoint32 Dynamic index Func diagram P Group Terminals Units group Unit selectio...

Page 153: ...e characteristic Index 0 T0 1 T1 2 Reserved Dependency Can only be set when p0776 99 Refer to p0777 p0778 p0779 r0786 p0778 0 2 Test socket characteristic value y1 Test skt char y1 CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed U T Calculated Access level 2 Data type FloatingPoint32 Dynamic index Func diagram 8134 P Group Terminals Units group Unit selection Not for motor type Scaling Expert lis...

Page 154: ... r0774 p0777 p0778 p0779 p0780 p0783 p0784 Note Example r0786 0 1500 0 and the measuring signal is r0063 CO Actual speed smoothed rpm A change of 1 V at the output of test socket T0 corresponds to 1500 0 rpm p0783 0 2 Test sockets offset Test skt offset CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed U T Calculated Access level 2 Data type FloatingPoint32 Dynamic index Func diagram 8134 P Group T...

Page 155: ...ddr CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed U T Calculated Access level 4 Data type Unsigned32 Dynamic index Func diagram P Group Terminals Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0000 bin 1111 1111 1111 1111 1111 1111 1111 1111 bin 0000 bin p0789 0 2 Test sockets physical address gain TestSktPhyAddrGain CU_S110 CAN CU_S110 DP CU_S110 PN...

Page 156: ...ation Terminal eval 01 DI 1 X133 2 Simulation Terminal eval 02 DI 2 X133 3 Simulation Terminal eval 03 DI 3 X133 4 Simulation Terminal eval 08 DI DO 8 X132 1 Simulation Terminal eval 09 DI DO 9 X132 2 Simulation Terminal eval 10 DI DO 10 X132 3 Simulation Terminal eval 11 DI DO 11 X132 4 Simulation Terminal eval 16 DI 16 X130 1 Simulation Terminal eval 17 DI 17 X130 2 Simulation Terminal eval 18 D...

Page 157: ... p0756 p0797 Note This parameter is not saved when data is backed up p0971 p0977 AI Analog Input Description Sets the sampling time for the inputs and outputs of the Control Unit 18 DI 18 X130 4 High Low 19 DI 19 X130 5 High Low 20 DI 20 X131 1 High Low 21 DI 21 X131 2 High Low 22 DI 22 X131 4 High Low p0797 CU analog input simulation mode CU AI sim_mode CU_S110 CAN CU_S110 DP CU_S110 PN Can be ch...

Page 158: ...d p0804 2 Sets the source of the parameter backup e g p0803 11 PS011xxx ACX is the source No setting is required for the transfer of the communication configuration p0804 12 Value 0 Source target standard 10 Source target with setting 10 11 Source target with setting 11 12 Source target with setting 12 Dependency Refer to p0802 p0804 Notice If the data between the volatile and non volatile device ...

Page 159: ... Memory card to device memory 2 Device memory to memory card 12 Device memory communication configuration to memory card 1001 File on memory card cannot be opened 1002 File in device memory cannot be opened 1003 Memory card not found 1100 File cannot be transferred Dependency Refer to p0802 p0803 Notice The memory card must not be removed while data is being transferred Note If a parameter backup ...

Page 160: ...scription Sets the signal source to select the Command Data Set bit 0 CDS bit 0 Dependency Refer to r0050 r0836 Notice The parameter may be protected as a result of p0922 or p2079 and cannot be changed Note The Command Data Set selected using the binector inputs is displayed in r0836 The currently effective command data set is displayed in r0050 A Command Data Set can be copied using p0809 r0807 0...

Page 161: ... number for every motor data set p0819 0 2 Copy Drive Data Set DDS Copy DDS SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed C2 15 Calculated Access level 2 Data type Unsigned8 Dynamic index Func diagram 8565 P Group Data sets Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 31 0 p0820 0 n BI Drive Data Set selection DDS bit 0 DDS select bit 0 ...

Page 162: ...ack signal Mot_chng fdbk sig SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed C2 3 T Calculated Access level 3 Data type Unsigned32 Binary Dynamic index CDS p0170 Func diagram 8575 P Group Motor Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 r0830 0 15 CO BO Motor changeover status word Mot_chngov ZSW SERVO_S110 CAN SERVO_S110 DP SERVO_S110 P...

Page 163: ...locking time of 160 ms Index 0 Feedback signal contactor 0 1 Feedback signal contactor 1 2 Feedback signal contactor 2 3 Feedback signal contactor 3 4 Feedback signal contactor 4 5 Feedback signal contactor 5 6 Feedback signal contactor 6 7 Feedback signal contactor 7 8 Feedback signal contactor 8 9 Feedback signal contactor 9 10 Feedback signal contactor 10 11 Feedback signal contactor 11 12 Feed...

Page 164: ...ignal contactor 14 Closed Opened 15 Feedback signal contactor 15 Closed Opened p0833 Data set changeover configuration DS_chng config SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed C2 15 Calculated Access level 2 Data type Unsigned16 Dynamic index Func diagram 8575 P Group Data sets Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0000 bin Bit ...

Page 165: ...en the application performs pulse suppres sion Re bit 11 A motor changeover is set with p0833 0 1 The pulses are only enabled when the Motor changeover feedback signal is detected Description Displays the command data set CDS selected via the binector input Dependency Refer to r0050 p0810 Note Command data sets are selected via binector input p0810 and following The currently effective command dat...

Page 166: ...s of an appropriate signal change of the source Dependency Refer to p1055 p1056 Caution When master control from PC is activated this binector input is ineffective Notice For binector input p0840 0 signal the motor can be moved jogging using binector input p1055 or p1056 The command ON OFF OFF1 can be issued using binector input p0840 or p1055 p1056 For binector input p0840 0 signal the switch on ...

Page 167: ...he following signals are AND ed BI p0844 No coast down coast down OFF2 signal source 1 BI p0845 No coast down coast down OFF2 signal source 2 For the PROFIdrive profile the result of the AND logic operation corresponds to control word 1 bit 1 STW1 1 BI p0844 0 signal or BI p0845 0 signal OFF2 immediate pulse suppression and switch on inhibit BI p0844 1 signal and BI p0845 1 signal No OFF2 enable i...

Page 168: ...n inhibit BI p0848 1 signal and BI p0849 1 signal No OFF3 enable is possible Caution When master control from PC is activated this binector input is ineffective Notice The parameter may be protected as a result of p0922 or p2079 and cannot be changed Description Sets the second signal source for the command No quick stop quick stop OFF3 The following signals are AND ed BI p0848 No quick stop quick...

Page 169: ... is ineffective Notice The parameter may be protected as a result of p0922 or p2079 and cannot be changed Note This bit is used to initiate a response for the drives when the control fails F07220 If there is no control available then binector input p0854 should be set to 1 If a control is available then STW1 10 must be set to 1 PZD1 so that the received data is updated This applies regardless of t...

Page 170: ...toring time for the pre charging is started after the ON command BI p0840 0 1 signal Fault F30027 is output when the maximum pre charging duration is exceeded Note The factory setting for p0857 depends on the power class and the design of the power unit The monitoring time for the ready signal of the power unit includes the time to pre charge the DC link and if rele vant the de bounce time of the ...

Page 171: ...closed before it is controlled using r0863 1 Description Sets the monitoring time of the line contactor This time starts each time that the line contactor switches r0863 1 If a feedback signal is not received from the line contactor within the time a message is output Dependency Refer to p0860 r0863 Refer to F07300 Note The monitoring function is disabled for the factory setting of p0860 p0858 0 n...

Page 172: ...Drive 3 Internconnect BI p0864 with BO r0863 0 of drive 2 etc The first drive only transfers the operating signal to the next drive after it has reached its ready condition Re bit 01 Bit 1 is used to control an external line contactor Re bit 02 This bit only signals line supply failure for Active Infeed A_INF and Smart Infeed S_INF p0862 Power unit ON delay PU t_on SERVO_S110 CAN SERVO_S110 DP SER...

Page 173: ...Data type FloatingPoint32 Dynamic index Func diagram P Group Commands Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 ms 65000 ms 65000 ms p0894 Parking pre setting Parking pre set SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed U T Calculated Access level 4 Data type Unsigned32 Dynamic index Func diagram P Group Displays signals Units group ...

Page 174: ...s No 13 Master sign of life bit 1 Yes No 14 Master sign of life bit 2 Yes No 15 Master sign of life bit 3 Yes No r0898 0 14 CO BO Control word sequence control STW seq_ctrl SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed Calculated Access level 2 Data type Unsigned16 Dynamic index Func diagram 1530 2501 P Group Displays signals Units group Unit selection Not for motor type Scaling Expert...

Page 175: ... of life bit 0 Yes No 13 Slave sign of life bit 1 Yes No 14 Slave sign of life bit 2 Yes No 15 Slave sign of life bit 3 Yes No r0899 0 15 CO BO Status word sequence control ZSW seq_ctrl SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed Calculated Access level 2 Data type Unsigned16 Dynamic index Func diagram 1530 2503 P Group Displays signals Units group Unit selection Not for motor type S...

Page 176: ...t and the automatically set interconnections in the telegram are inhib ited The inhibited interconnections can only be changed again after setting value 999 Description Sets the send and receive telegram Value 7 Standard telegram 7 PZD 2 2 9 Standard telegram 9 PZD 10 5 110 SIEMENS telegram 110 PZD 12 7 p0922 IF1 PROFIdrive telegram selection IF1 PD Telegr_sel CU_S110 DP CU_S110 PN Can be changed ...

Page 177: ...lays the position of the Pulses enabled status signal in the PROFIdrive telegram Index 0 Signal number 1 Bit position Description Sets the number of tolerated consecutive sign of life errors of the clock cycle synchronous master The sign of life signal is normally received in PZD4 control word 2 from the master Dependency Refer to p2045 r2065 Refer to F01912 Note The sign of life monitoring is dis...

Page 178: ...115 7 actual fault case fault 8 r0945 8 r0949 8 r0948 8 r2109 8 r3115 8 1st acknowledged fault case fault 1 r0945 15 r0949 15 r0948 15 r2109 15 r3115 15 1st acknowledged fault case fault 8 r0945 56 r0949 56 r0948 56 r2109 56 r3115 56 7th acknowledged fault case fault 1 r0945 63 r0949 63 r0948 63 r2109 63 r3115 63 7th acknowledged fault case fault 8 r0930 PROFIdrive operating mode PD operating mode...

Page 179: ... Note The buffer parameters are cyclically updated in the background refer to status signal in r2139 The structure of the fault buffer and the assignment of the indices is shown in r0945 r0946 0 65534 Fault code list Fault code list All objects Can be changed Calculated Access level 3 Data type Unsigned16 Dynamic index Func diagram 8060 P Group Messages Units group Unit selection Not for motor typ...

Page 180: ... r0964 2 403 first part of the firmware version V04 03 for second part refer to index 6 r0964 3 2010 year 2010 r0964 4 1705 17th of May r0964 5 2 2 drive objects r0964 6 200 second part firmware version complete version V04 03 02 00 p0952 Fault cases counter Fault cases qty All objects Can be changed U T Calculated Access level 3 Data type Unsigned16 Dynamic index Func diagram 1710 8060 P Group Me...

Page 181: ...safety parameter reset 100 Start a BICO interconnection reset Dependency Refer to F01659 Notice After the value has been modified no further parameter modifications can be made and the status is shown in r3996 Modifications can be made again when r3996 0 Note A factory setting run can only be started if p0010 was first set to 30 parameter reset At the end of the calculations p0970 is automatically...

Page 182: ...ers are saved CU3xx Device specific parameters and PROFIBUS device parameters Other objects Parameters of the actual object and PROFIBUS device parameters Prerequisite In order that the parameter of a drive object saved with p0971 1 is read the next time that the Control Unit is booted then all parameters must as a minimum have first been saved once with p0977 1 Description Sets the required proce...

Page 183: ...d check the fol lowing p0972 0 The reset was successfully executed p0972 0 The reset was not executed Description Displays the identification of the drive object Index 0 Company Siemens 42 1 Drive object type 2 Firmware version 3 Firmware date year 4 Firmware date day month 5 PROFIdrive drive object type class 6 PROFIdrive drive object sub type Class 1 7 Drive object number 8 Reserved 9 Reserved 1...

Page 184: ...ain Resetting or loading is realized in the non volatile memory Procedure 1 Set p0009 30 parameter reset 2 Set p0976 to required value The system is rebooted p0976 is automatically set to 0 and p0009 is automatically set to 1 after this has been carried out Description Saves all parameters of the drive system to the non volatile memory Value 0 Inactive 1 Save in non volatile memory downloaded at P...

Page 185: ... Description Displays the actual position encoder used according to PROFIdrive Index 0 Header 1 Type encoder 1 2 Resolution enc 1 3 Shift factor G1_XIST1 4 Shift factor G1_XIST2 5 Distinguishable revolutions encoder 1 6 Reserved 7 Reserved 8 Reserved 9 Reserved 10 Reserved 11 Type encoder 2 12 Resolution enc 2 13 Shift factor G2_XIST1 14 Shift factor G2_XIST2 15 Distinguishable revolutions encoder...

Page 186: ...he commissioning software However they can be read from a higher level control system e g PROFIBUS master Description Displays the parameters that exist for this drive Dependency Refer to r0980 r0981 Note The existing parameters are displayed in indices 0 to 298 If an index contains the value 0 then the list ends here This list consists solely of the following parameters r0980 0 299 r0981 0 299 r0...

Page 187: ...e FloatingPoint32 Dynamic index DDS p0180 Func diagram 1021 3010 P Group Setpoints Units group 3_1 Unit selection p0505 Not for motor type Scaling p2000 Expert list 1 Min Max Factory setting 210000 000 rpm 210000 000 rpm 0 000 rpm p1002 0 n CO Fixed speed setpoint 2 n_set_fixed 2 SERVO_S110 CAN Extended set SERVO_S110 DP Extended set SERVO_S110 PN Extended set Can be changed U T Calculated Access ...

Page 188: ...ype FloatingPoint32 Dynamic index DDS p0180 Func diagram 3010 P Group Setpoints Units group 3_1 Unit selection p0505 Not for motor type Scaling p2000 Expert list 1 Min Max Factory setting 210000 000 rpm 210000 000 rpm 0 000 rpm p1006 0 n CO Fixed speed setpoint 6 n_set_fixed 6 SERVO_S110 CAN Extended set SERVO_S110 DP Extended set SERVO_S110 PN Extended set Can be changed U T Calculated Access lev...

Page 189: ...pe FloatingPoint32 Dynamic index DDS p0180 Func diagram 3010 P Group Setpoints Units group 3_1 Unit selection p0505 Not for motor type Scaling p2000 Expert list 1 Min Max Factory setting 210000 000 rpm 210000 000 rpm 0 000 rpm p1010 0 n CO Fixed speed setpoint 10 n_set_fixed 10 SERVO_S110 CAN Extended set SERVO_S110 DP Extended set SERVO_S110 PN Extended set Can be changed U T Calculated Access le...

Page 190: ...RVO_S110 DP Extended set SERVO_S110 PN Extended set Can be changed U T Calculated Access level 2 Data type FloatingPoint32 Dynamic index DDS p0180 Func diagram 3010 P Group Setpoints Units group 3_1 Unit selection p0505 Not for motor type Scaling p2000 Expert list 1 Min Max Factory setting 210000 000 rpm 210000 000 rpm 0 000 rpm p1014 0 n CO Fixed speed setpoint 14 n_set_fixed 14 SERVO_S110 CAN Ex...

Page 191: ...etpoint in r1197 Sets the values for the fixed speed setpoints 1 15 using p1001 p1015 Refer to p1020 p1021 p1022 r1197 Note If a fixed speed setpoint has not been selected p1020 p1023 0 r1197 0 then r1024 0 setpoint 0 p1021 0 n BI Fixed speed setpoint selection Bit 1 n_set_fixed Bit 1 SERVO_S110 CAN Extended set SERVO_S110 DP Extended set SERVO_S110 PN Extended set Can be changed T Calculated Acce...

Page 192: ... exceeded The initial rounding off is a sensitive way of specifying small changes progressive reaction when keys are pressed The jerk for the initial rounding off is independent of the ramp up time and only depends on the selected maximum speed p1082 It is calculated as follows r 0 01 p1082 1 s 0 13 2 s 2 The jerk acts up until the maximum acceleration is reached a_max p1082 1 s p1047 s and then t...

Page 193: ...locity for the motorized potentiometer Note This parameter is automatically pre assigned in the commissioning phase The setpoint output from the motorized potentiometer is limited to this value p1035 0 n BI Motorized potentiometer setpoint raise Mop raise SERVO_S110 CAN Extended set SERVO_S110 DP Extended set SERVO_S110 PN Extended set Can be changed T Calculated Access level 3 Data type Unsigned3...

Page 194: ...ded set SERVO_S110 DP Extended set SERVO_S110 PN Extended set Can be changed U T Calculated CALC_MOD_LIM_REF Access level 2 Data type FloatingPoint32 Dynamic index DDS p0180 Func diagram 3020 P Group Setpoints Units group 3_1 Unit selection p0505 Not for motor type Scaling Expert list 1 Min Max Factory setting 210000 000 rpm 210000 000 rpm 0 000 rpm p1039 0 n BI Motorized potentiometer inversion M...

Page 195: ... Group Setpoints Units group Unit selection Not for motor type Scaling p2000 Expert list 1 Min Max Factory setting 0 p1043 0 n BI Motorized potentiometer accept setting value MotP acc set val SERVO_S110 CAN Extended set SERVO_S110 DP Extended set SERVO_S110 PN Extended set Can be changed T Calculated Access level 3 Data type Unsigned32 Binary Dynamic index CDS p0170 Func diagram 3020 P Group Setpo...

Page 196: ...r With ramp function generator after an OFF1 OFF2 OFF3 or for a 0 signal via BI p0852 inhibit operation cancel pulses the ramp function generator output r1050 is set to the starting value configuration via p1030 0 p1047 0 n Motorized potentiometer ramp up time Mop ramp up time SERVO_S110 CAN Extended set SERVO_S110 DP Extended set SERVO_S110 PN Extended set Can be changed U T Calculated Access lev...

Page 197: ...I Speed limit RFG positive direction of rotation n_limit RFG pos SERVO_S110 CAN Extended set SERVO_S110 DP Extended set SERVO_S110 PN Extended set Can be changed T Calculated Access level 3 Data type Unsigned32 FloatingPoint32 Dynamic index CDS p0170 Func diagram 3050 P Group Setpoints Units group Unit selection Not for motor type Scaling p2000 Expert list 1 Min Max Factory setting 1083 0 p1052 0 ...

Page 198: ... Units group 3_1 Unit selection p0505 Not for motor type Scaling Expert list 1 Min Max Factory setting 210000 000 rpm 210000 000 rpm 0 000 rpm p1059 0 n Jog 2 speed setpoint Jog 2 n_set SERVO_S110 CAN Extended set SERVO_S110 DP Extended set SERVO_S110 PN Extended set Can be changed T Calculated Access level 2 Data type FloatingPoint32 Dynamic index DDS p0180 Func diagram 1550 3030 P Group Setpoint...

Page 199: ... 3 Data type FloatingPoint32 Dynamic index Func diagram 3030 P Group Setpoints Units group 3_1 Unit selection p0505 Not for motor type Scaling p2000 Expert list 1 Min Max Factory setting rpm rpm rpm p1075 0 n CI Suppl setpoint Suppl setpoint SERVO_S110 CAN Extended set SERVO_S110 DP Extended set SERVO_S110 PN Extended set Can be changed T Calculated Access level 3 Data type Unsigned32 FloatingPoin...

Page 200: ...nit pulse frequency 5 0 r0313 For the automatic calculation p0340 1 the value of the parameter is pre assigned the maximum motor speed p0322 If p0322 0 the rated motor speed p0311 is used as default pre assignment value For induction motors that are not catalog motors p0301 0 the synchronous no load speed is used as default pre assignment value p0310 60 r0313 r1078 CO Total setpoint effective Tota...

Page 201: ...e data set p1083 0 n CO Speed limit in positive direction of rotation n_limit pos SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed U T Calculated Access level 2 Data type FloatingPoint32 Dynamic index DDS p0180 Func diagram 3050 3095 P Group Setpoints Units group 3_1 Unit selection p0505 Not for motor type Scaling p2000 Expert list 1 Min Max Factory setting 0 000 rpm 210000 000 rpm 210000...

Page 202: ...tor type Scaling p2000 Expert list 1 Min Max Factory setting rpm rpm rpm p1088 0 n CI Speed limit in negative direction of rotation n_limit neg SERVO_S110 CAN Extended set SERVO_S110 DP Extended set SERVO_S110 PN Extended set Can be changed T Calculated Access level 3 Data type Unsigned32 FloatingPoint32 Dynamic index CDS p0170 Func diagram 3050 P Group Setpoints Units group Unit selection Not for...

Page 203: ... a setpoint speed coming from above the following applies r1170 620 rpm and 580 rpm r1114 620 rpm r1119 620 rpm p1093 0 n Skip speed 3 n_skip 3 SERVO_S110 CAN Extended set SERVO_S110 DP Extended set SERVO_S110 PN Extended set Can be changed U T Calculated Access level 3 Data type FloatingPoint32 Dynamic index DDS p0180 Func diagram 3050 P Group Setpoints Units group 3_1 Unit selection p0505 Not fo...

Page 204: ...list 1 Min Max Factory setting 0 p1111 0 n BI Inhibit positive direction Inhib pos dir SERVO_S110 CAN Extended set SERVO_S110 DP Extended set SERVO_S110 PN Extended set Can be changed T Calculated Access level 3 Data type Unsigned32 Binary Dynamic index CDS p0170 Func diagram 2505 3040 P Group Setpoints Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 r...

Page 205: ...1550 3040 3050 P Group Setpoints Units group 3_1 Unit selection p0505 Not for motor type Scaling p2000 Expert list 1 Min Max Factory setting rpm rpm rpm p1115 Ramp function generator selection RFG selection SERVO_S110 CAN Extended set SERVO_S110 DP Extended set SERVO_S110 PN Extended set Can be changed T Calculated Access level 3 Data type Integer16 Dynamic index Func diagram 1550 3080 P Group Set...

Page 206: ...own time SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed C2 1 U T Calculated Access level 1 Data type FloatingPoint32 Dynamic index DDS p0180 Func diagram 3060 3070 P Group Setpoints Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 000 s 999999 000 s 10 000 s p1122 0 n BI Bypass ramp function generator Bypass RFG SERVO_S110 CAN Extended set SE...

Page 207: ...1134 0 n Ramp function generator rounding off type RFG round off type SERVO_S110 CAN Extended set SERVO_S110 DP Extended set SERVO_S110 PN Extended set Can be changed U T Calculated Access level 2 Data type Integer16 Dynamic index DDS p0180 Func diagram 3070 P Group Setpoints Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 1 0 p1135 0 n OFF3 ramp down ...

Page 208: ...e signal source active in the following cases OFF1 OFF3 ramp function generator output within the suppression bandwidth ramp function generator output below the minimum speed Description Sets the signal source for the command enable setpoint inhibit setpoint For the PROFIdrive profile this command corresponds to control word 1 bit 6 STW1 6 p1140 0 n BI Enable ramp function generator inhibit ramp f...

Page 209: ...r the ramp function generator setting value Dependency The signal source for accepting the setting value is set using parameters Refer to p1143 Description Sets the ramp function generator tracking p1143 0 n BI Ramp function generator accept setting value RFG accept set v SERVO_S110 CAN Extended set SERVO_S110 DP Extended set SERVO_S110 PN Extended set Can be changed T Calculated Access level 3 Da...

Page 210: ...nction generator does not change in comparison to the output by more than the entered tolerance time then the status bits ramp up active and ramp down active are not influenced Dependency Refer to r1199 Description Displays the acceleration of the ramp function generator Dependency Refer to p1145 Description Displays the setpoint at the output of the ramp function generator p1148 0 n Ramp function...

Page 211: ...be changed U T Calculated Access level 2 Data type Unsigned16 Dynamic index DDS p0180 Func diagram 3070 P Group Setpoints Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0000 bin Bit field Bit Signal name 1 signal 0 signal FP 00 Disable rounding off at the zero cross over Yes No 3070 p1152 BI Setpoint 2 enable Setp 2 enab SERVO_S110 CAN Extended brk SERV...

Page 212: ...a sign of life received from the master STW2 12 STW2 15 speed setpoint 1 and or 2 is supplied from the technology controller CI p1155 r2294 CI p1160 r2294 r1169 CO Speed controller speed setpoints 1 and 2 n_ctrl n_set 1 2 SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed Calculated Access level 3 Data type FloatingPoint32 Dynamic index Func diagram 3080 P Group Setpoints Units group 3_1 Un...

Page 213: ...922 or p2079 and cannot be changed Note DSC Dynamic Servo Control Description Sets the number of the encoder used for DSC Value 1 Encoder 1 motor encoder 2 Encoder 2 3 Reserved Note DSC Dynamic Servo Control Value 1 corresponds to encoder 1 motor encoder the encoder data set is assigned via p0187 Value 2 corresponds to encoder 2 the encoder data set is assigned via p0188 p1190 CI DSC position devi...

Page 214: ..._S110 PN Can be changed U T Calculated Access level 3 Data type FloatingPoint32 Dynamic index DDS p0180 Func diagram P Group Setpoints Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 000 1000000 000 1 000 r1197 Fixed speed setpoint number actual n_set_fixed No act SERVO_S110 CAN Extended set SERVO_S110 DP Extended set SERVO_S110 PN Extended set Can be ...

Page 215: ... set SERVO_S110 DP Extended set SERVO_S110 PN Extended set Can be changed Calculated Access level 3 Data type Unsigned16 Dynamic index Func diagram 1550 3080 8010 P Group Setpoints Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting Bit field Bit Signal name 1 signal 0 signal FP 00 Ramp up active Yes No 01 Ramp down active Yes No 02 RFG active Yes No 03 Ramp...

Page 216: ...d Note Re p1210 1 Faults that are present are automatically acknowledged If new faults occur after a successful fault acknowledg ment then these are also automatically acknowledged again p1211 has no influence on the number of acknowl edgment attempts Re p1210 4 An automatic restart is only carried out if fault F30003 occurred at the Motor Module or a 1 signal is present at binector input p1208 1 ...

Page 217: ...te and when the line supply returns the system is powered up If between successfully acknowledging the line fault and the line supply returning another fault occurs then its acknowledgement also causes the start counter to be decremented Description Sets the delay time up to restart Dependency This parameter setting is active for p1210 4 6 For p1210 1 the following applies Faults are only automati...

Page 218: ...F07320 occurred the power on command is withdrawn and the fault is acknowledged The start counter is immediately updated if the starting value p1211 or the mode p1210 is changed Description Displays the status of the automatic restart AR Note Re bit 00 State to display the single initialization after POWER ON Re bit 01 State in which the automatic restart function waits for faults initial state Re...

Page 219: ... then the motor holding brake will be automat ically identified If a motor holding brake is detected the configuration is set to motor holding brake as for sequence control If a holding brake integrated in the motor is used then it is not permissible that p1215 is set to 3 if an external motor holding brake is being used then p1215 should be set to 3 and r0899 12 should be intercon nected as contr...

Page 220: ... brake AND logic operation input 2 Description Sets the signal source for an unconditional immediate closing of the motor holding brake Dependency Refer to p1215 p1275 Note 0 Signal immediately close brake inversion via p1275 0 1 Signal immediately close brake inversion via p1275 1 2 Signal immediately close brake 3 Signal immediately close brake refer to the factory setting These four signals for...

Page 221: ... SERVO_S110 PN Extended brk Can be changed T Calculated Access level 2 Data type Unsigned32 FloatingPoint32 Dynamic index Func diagram 2707 P Group Functions Units group Unit selection Not for motor type Scaling PERCENT Expert list 1 Min Max Factory setting 1 p1221 Open motor holding brake threshold Open brake thresh SERVO_S110 CAN Extended brk SERVO_S110 DP Extended brk SERVO_S110 PN Extended brk...

Page 222: ... undershot the pulses are suppressed and the drive coasts down Dependency Refer to p1215 p1216 p1217 p1227 Notice For reasons relating to the compatibility to earlier firmware versions a parameter value of zero in indices 1 to 31 is overwritten with the parameter value in index 0 when the Control Unit boots p1224 0 3 BI Close motor holding brake at standstill Brk close standst SERVO_S110 CAN Exten...

Page 223: ... time started after this in p1227 has expired For p1227 300 000 s the following applies Monitoring is de activated For p1227 0 000 s the following applies With OFF1 or OFF3 and a ramp down time 0 the pulses are immediately suppressed and the motor coasts down Description Sets the delay time for pulse suppression After OFF1 or OFF3 and zero speed detection the system waits for this time to expire a...

Page 224: ...ccess level 2 Data type Unsigned32 Dynamic index Func diagram P Group Functions Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting Bit field Bit Signal name 1 signal 0 signal FP 01 Command open brake continuous signal Yes No 2711 03 Pulse enable extended brake control Yes No 2711 04 Brake does not open Yes No 2711 05 Brake does not close Yes No 2711 06 Brak...

Page 225: ... braking by means of fault response continues to be possible Re p1231 14 DC braking can only be set for induction motors DC braking is initiated if binector input p1230 1 during operation and the actual speed is below the starting speed p1234 before this the drive must have operated above p1234 plus the hysteresis Then following upstream de magnetization see p0347 the braking current p1232 is inje...

Page 226: ... closed the contactor feedback signal must lag by a sufficiently long time when opening the contactor Note 1 signal The contactor is closed 0 signal The contactor is open Description Sets the monitoring time of the contactor feedback signal for the external armature short circuit configuration p1233 0 n DC braking time DCBRK time SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed U T Calcul...

Page 227: ...vation is 0 the drive is not in the state S4 Operation or in S5x refer to function diagram 2610 the internal pulse enable is missing r0046 19 0 Re state switched out r1238 0 the external armature short circuit can be selected with p1231 1 Re state ready r1238 1 as soon as the activation criterion is fulfilled then a transition is made into the state active r1238 2 Regarding the state active r1238 ...

Page 228: ...xternal armature short circuit configuration is ready and is activated as soon as the activation criterion is ful filled Re bit 03 1 A feedback signal from an external contactor was parameterized in BI p1235 Internal voltage protection internal armature short circuit bits 4 6 Re bit 04 a Internal voltage protection p1231 3 was selected and the Motor Module does not support the autonomous internal ...

Page 229: ... activation criterion is fulfilled Activation criterion one of the following criteria is fulfilled the signal at BI p1230 armature short circuit activation is 1 the drive is not in the state S4 Operation or in S5x refer to function diagram 2610 the internal pulse enable is missing r0046 19 0 Re bit 12 13 Only effective for p1231 14 Description Sets the configuration of the controller or monitoring...

Page 230: ...t is output Dependency Refer to p1240 p1248 p1250 Note For p1244 1 07 parameterized DC link voltage input of values is rejected For p0204 0 1 the following applies Parameterized DC link voltage p0210 For p0204 0 0 the following applies Parameterized DC link voltage p0210 1 4142 Description Sets the lower threshold for the DC link voltage For p1240 2 3 8 9 this threshold is used as limit setpoint f...

Page 231: ...holding brake control word Brake STW SERVO_S110 CAN Extended brk SERVO_S110 DP Extended brk SERVO_S110 PN Extended brk Can be changed U T Calculated Access level 2 Data type Unsigned32 Dynamic index Func diagram P Group Functions Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0000 0000 bin Bit field Bit Signal name 1 signal 0 signal FP 00 Inverting BI 1...

Page 232: ... result is displayed in r1229 11 Description Sets the open and closed loop control mode of a drive Value 20 Speed control encoderless 21 Speed control with encoder 23 Torque control with encoder Dependency Closed loop speed or torque control with encoder cannot be selected if the encoder type is not entered p0400 Refer to p0108 r0108 p0300 p0311 p0400 p1501 Notice General conditions for encoderles...

Page 233: ...tion generator requires this time to reach the maximum speed p1082 from zero Dependency Refer to p1317 p1319 p1326 p1327 Note This ramp is used for stall protection and operates independently of any ramp function generator that might have been configured Description The linear characteristic for the U f control is defined by 0 Hz p1319 and p1326 p1327 This parameter specifies the voltage for a fre...

Page 234: ...itched in for synchronous motors Description Sets the filter time constant for resonance damping for U f control p1326 0 n U f control characteristic frequency Uf char f4 SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed U T Calculated CALC_MOD_REG Access level 3 Data type FloatingPoint32 Dynamic index DDS p0180 Func diagram 5300 P Group V f open loop control Units group Unit selection Not...

Page 235: ...el 3 Data type FloatingPoint32 Dynamic index DDS p0180 Func diagram P Group V f open loop control Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 000 100000 000 0 000 p1346 0 n DC braking integral time DCBRK Tn SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed U T Calculated CALC_MOD_CON Access level 3 Data type FloatingPoint32 Dynamic index DD...

Page 236: ...changes are made without load If a speed change must be realized under load then during this time the estimated moment of inertia should be frozen using binector input p1502 Description Sets the configuration for the closed loop control and the motor model Note Re bit 01 When the bit is set the encoder is parked as soon as the actual speed is greater than the changeover speed p1404 The encoder sta...

Page 237: ...n changeover speed Encoderl op n_chg SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed T Calculated Access level 3 Data type FloatingPoint32 Dynamic index DDS p0180 Func diagram 1590 5060 P Group Closed loop control Units group 3_1 Unit selection p0505 Not for motor type Scaling Expert list 1 Min Max Factory setting 0 00 rpm 210000 00 rpm 210000 00 rpm r1406 8 12 CO BO Control word speed c...

Page 238: ...1415 Description Sets the type for speed setpoint filter 1 11 Speed setpoint limited Yes No 13 Encoderless operation due to a fault Yes No r1408 0 9 CO BO Status word current controller ZSW I_ctrl SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed Calculated Access level 3 Data type Unsigned16 Dynamic index Func diagram 2530 5040 P Group Closed loop control Units group Unit selection Not fo...

Page 239: ...frequency p1416 0 n Speed setpoint filter 1 time constant n_set_filt 1 T SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed U T Calculated Access level 3 Data type FloatingPoint32 Dynamic index DDS p0180 Func diagram 5020 P Group Closed loop control Units group Unit selection Not for motor type REL Scaling Expert list 1 Min Max Factory setting 0 00 ms 5000 00 ms 0 00 ms p1417 0 n Speed setp...

Page 240: ...he pre control signal via connector input p1430 only becomes effective at p1402 4 1 torque speed pre control with encoder at p1400 10 0 for setp_filter 2 p1420 0 n Speed setpoint filter 1 numerator damping n_set_filt 1 D_n SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed U T Calculated Access level 3 Data type FloatingPoint32 Dynamic index DDS p0180 Func diagram 5020 P Group Closed loop c...

Page 241: ... the following applies The reference model is activated with p1400 3 1 Refer to p1433 p1435 Description Sets the fractional dead time for the reference model of the speed controller r1432 CO Speed pre control after symmetrizing n_prectr after sym SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed Calculated Access level 3 Data type FloatingPoint32 Dynamic index Func diagram 5030 P Group Clo...

Page 242: ...de activated r1438 r1439 Description Displays the speed setpoint for the I component of the speed controller output of the reference model after the set point limiting Dependency Refer to r1438 Note In the standard state the reference model is de activated r1438 r1439 r1436 CO Speed controller reference model speed setpoint output RefMod n_set outp SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be...

Page 243: ... speed smoothing time n_act T_smooth SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed U T Calculated CALC_MOD_CON Access level 3 Data type FloatingPoint32 Dynamic index DDS p0180 Func diagram 4710 4715 P Group Closed loop control Units group Unit selection Not for motor type REL Scaling Expert list 1 Min Max Factory setting 0 00 ms 50 00 ms 0 00 ms r1444 Speed controller speed setpoint st...

Page 244: ...3 Data type Unsigned32 FloatingPoint32 Dynamic index CDS p0170 Func diagram 5050 P Group Closed loop control Units group Unit selection Not for motor type REL Scaling PERCENT Expert list 1 Min Max Factory setting 0 p1456 0 n Speed controller P gain adaptation lower starting point n_ctrl AdaptKpLow SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed U T Calculated Access level 3 Data type Flo...

Page 245: ... adaptation p1461 100 Dependency Refer to p1463 p1464 p1465 p1459 0 n Adaptation factor upper Adapt_factor upper SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed U T Calculated Access level 3 Data type FloatingPoint32 Dynamic index DDS p0180 Func diagram 5050 P Group Closed loop control Units group Unit selection Not for motor type REL Scaling Expert list 1 Min Max Factory setting 0 0 200...

Page 246: ...gPoint32 Dynamic index DDS p0180 Func diagram 5050 P Group Closed loop control Units group Unit selection Not for motor type REL Scaling Expert list 1 Min Max Factory setting 0 0 200000 0 100 0 p1464 0 n Speed controller adaptation speed lower n_ctrl n lower SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed U T Calculated CALC_MOD_CON Access level 3 Data type FloatingPoint32 Dynamic index ...

Page 247: ...ged Calculated Access level 3 Data type FloatingPoint32 Dynamic index Func diagram 5040 5042 6040 P Group Closed loop control Units group Unit selection Not for motor type REL Scaling Expert list 1 Min Max Factory setting ms ms ms p1470 0 n Speed controller encoderless operation P gain n_ctrl SLVC Kp SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed U T Calculated CALC_MOD_CON Access level...

Page 248: ... changed T Calculated Access level 3 Data type Unsigned32 Binary Dynamic index CDS p0170 Func diagram 2520 5040 5042 5210 6040 P Group Closed loop control Units group Unit selection Not for motor type REL Scaling Expert list 1 Min Max Factory setting 0 p1478 0 n CI Speed controller integrator setting value n_ctr integ_setVal SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed T Calculated Ac...

Page 249: ... be used for example to avoid oscillation of a position controlled axis at standstill stick slip effect or overshoot when traversing moving in micrometer steps Also prevents tension stressing for axes that are mechanically and rigidly coupled with one another e g for syn chronous spindles master slave axes r1482 CO Speed controller I torque output n_ctrl I M_output SERVO_S110 CAN SERVO_S110 DP SER...

Page 250: ...rtia scaling M_mom inert scal SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed U T Calculated Access level 3 Data type Unsigned32 FloatingPoint32 Dynamic index CDS p0170 Func diagram 5042 5210 6030 6031 P Group Closed loop control Units group Unit selection Not for motor type REL Scaling PERCENT Expert list 1 Min Max Factory setting 1 p1498 0 n Load moment of inertia Load mom of inert SER...

Page 251: ...p1511 0 n CI Supplementary torque 1 M_suppl 1 SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed T Calculated Access level 3 Data type Unsigned32 FloatingPoint32 Dynamic index CDS p0170 Func diagram 5060 6060 P Group Closed loop control Units group Unit selection Not for motor type REL Scaling p2003 Expert list 1 Min Max Factory setting 0 p1512 0 n CI Supplementary torque 1 scaling M_suppl ...

Page 252: ...oth SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed U T Calculated Access level 3 Data type FloatingPoint32 Dynamic index DDS p0180 Func diagram 5042 5210 6060 P Group Closed loop control Units group Unit selection Not for motor type REL Scaling Expert list 1 Min Max Factory setting 0 00 ms 100 00 ms 4 00 ms r1518 0 1 CO Accelerating torque M_accel SERVO_S110 CAN SERVO_S110 DP SERVO_S110...

Page 253: ... the motor to accelerate in an uncontrolled manner Description Sets the scaling for the upper torque limit or the torque limit when motoring Dependency p1400 4 0 upper lower p1400 4 1 motoring regenerating Notice A BICO interconnection to a parameter that belongs to a drive data set always acts on the effective data set p1522 0 n CI Torque limit upper motoring M_max upper mot SERVO_S110 CAN SERVO_...

Page 254: ...ive scaling M_max low gen scal SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed U T Calculated Access level 3 Data type FloatingPoint32 Dynamic index DDS p0180 Func diagram 5620 5630 P Group Closed loop control Units group Unit selection Not for motor type REL Scaling PERCENT Expert list 1 Min Max Factory setting 2000 0 2000 0 100 0 r1526 CO Torque limit upper motoring without offset M_ma...

Page 255: ... SERVO_S110 PN Can be changed T Calculated Access level 3 Data type Unsigned32 FloatingPoint32 Dynamic index CDS p0170 Func diagram 1610 3617 5620 5630 P Group Closed loop control Units group Unit selection Not for motor type REL Scaling PERCENT Expert list 1 Min Max Factory setting 1525 0 p1530 0 n Power limit motoring P_max mot SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed U T Calcul...

Page 256: ...a type FloatingPoint32 Dynamic index Func diagram 5640 5722 6640 P Group Displays signals Units group 6_2 Unit selection p0505 Not for motor type Scaling p2002 Expert list 1 Min Max Factory setting Arms Arms Arms r1534 CO Torque limit upper total M_max upper total SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed Calculated Access level 3 Data type FloatingPoint32 Dynamic index Func diagra...

Page 257: ...specified in this parameter r1539 CO Lower effective torque limit M_max lower eff SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed Calculated Access level 2 Data type FloatingPoint32 Dynamic index Func diagram 1590 1610 5610 5650 P Group Closed loop control Units group 7_1 Unit selection p0505 Not for motor type REL Scaling p2003 Expert list 1 Min Max Factory setting Nm Nm Nm p1542 0 n CI...

Page 258: ...10 CAN SERVO_S110 DP SERVO_S110 PN Can be changed T Calculated Access level 3 Data type Unsigned32 Binary Dynamic index CDS p0170 Func diagram 2520 3617 8012 P Group Commands Units group Unit selection Not for motor type REL Scaling Expert list 1 Min Max Factory setting 0 p1546 Speed threshold motoring regenerating n_thresh mot regen SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed U T Ca...

Page 259: ...stic The friction compensation is also effective if the speed controller output reaches its torque limits but the current limits have still not been reached this only applies to vector drives p1551 0 n BI Torque limit variable fixed signal source M_lim var fixS_src SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed U T Calculated Access level 3 Data type Unsigned32 Binary Dynamic index CDS ...

Page 260: ...reduce the losses as a result of building up and reducing the torque we recommend that the torque set point is smoothed current setpoint filter p1656 or speed actual value filter p1441 Dependency Refer to p1578 p1579 Note It only makes sense to activate this function if there are low dynamic requirements placed on the speed controller and there are frequent phases with a low load In order to avoid...

Page 261: ...Access level 3 Data type FloatingPoint32 Dynamic index DDS p0180 Func diagram P Group Closed loop control Units group Unit selection Not for motor type PEM REL Scaling Expert list 1 Min Max Factory setting 0 ms 1000 ms 0 ms p1590 0 n Flux controller P gain Flux controller Kp SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed U T Calculated CALC_MOD_CON Access level 3 Data type FloatingPoint...

Page 262: ... setpoint torque generating before filter Iq_set before filt SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed Calculated Access level 3 Data type FloatingPoint32 Dynamic index Func diagram 5710 P Group Closed loop control Units group 6_2 Unit selection p0505 Not for motor type REL Scaling p2002 Expert list 1 Min Max Factory setting Arms Arms Arms r1651 CO Torque setpoint function generato...

Page 263: ...ion Not for motor type REL Scaling Expert list 1 Min Max Factory setting 0 5 Hz 16000 0 Hz 1999 0 Hz p1659 0 n Current setpoint filter 1 denominator damping I_set_filt 1 D_n SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed U T Calculated CALC_MOD_CON Access level 3 Data type FloatingPoint32 Dynamic index DDS p0180 Func diagram 5710 6710 P Group Closed loop control Units group Unit selecti...

Page 264: ...minator natural frequency I_set_filt 2 fn_n SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed U T Calculated Access level 3 Data type FloatingPoint32 Dynamic index DDS p0180 Func diagram 5710 6710 P Group Closed loop control Units group Unit selection Not for motor type REL Scaling Expert list 1 Min Max Factory setting 0 5 Hz 16000 0 Hz 1999 0 Hz p1664 0 n Current setpoint filter 2 denomin...

Page 265: ...0 DP SERVO_S110 PN Can be changed U T Calculated Access level 3 Data type Integer16 Dynamic index Func diagram P Group Closed loop control Units group Unit selection Not for motor type REL Scaling Expert list 1 Min Max Factory setting 0 1 0 p1701 0 n Current controller reference model dead time I_ctrRefMod t_dead SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed U T Calculated Access level...

Page 266: ...nit selection p0505 Not for motor type REL Scaling p2001 Expert list 1 Min Max Factory setting Vrms Vrms Vrms r1733 CO Quadrature axis voltage setpoint Quad U set SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed Calculated Access level 3 Data type FloatingPoint32 Dynamic index Func diagram 1630 5714 5718 6714 6719 P Group Closed loop control Units group 5_1 Unit selection p0505 Not for mo...

Page 267: ...115 0 n mit n 2 3 4 5 b p1800 1000 n p0115 0 with n 1 2 3 4 Example p0115 0 125 µs p1800 1 6 2 2 6 4 kHz from equation a p0115 0 125 µs p1800 8 16 kHz from equation b Possible setting values can be taken from r0114 if p0009 p0010 0 Note The maximum possible pulse frequency is also determined by the power unit being used When the pulse frequency is increased depending on the particular power unit t...

Page 268: ...ime p0118 22 µs for bit 11 1 p0118 0 µs for bit 11 0 controller gains p1715 p1460 with p0340 4 computing dead time and controller gains can be automatically pre assigned It may be necessary to still optimize the speed controller Before commissioning for the first time p3925 0 0 for all data sets this parameter is automatically preassigned to the optimum value Description Sets the phase shift for o...

Page 269: ...p1910 r1912 r1913 r1915 r1925 r1927 r1932 r1933 r1934 r1935 r1936 r1950 r1951 Note For an induction motor ASM the following bits 8 9 10 13 are effective For a synchronous motor SRM the following bits 8 9 13 14 are effective Re bit 14 after successfully determining the voltage emulation error the display of the phase voltage actual values r0089 and the active power actual value r0082 and the torque...

Page 270: ...an not be powered up until the motor data identification has been completed or de selected After a started motor identification is ended the parameter is automatically reset to 0 A motor data identification that is presently being carried out can be terminated with p1910 0 Description Displays the identified stator resistance Dependency Refer to p1909 p1910 r1913 r1915 r1925 r1927 r1932 r1933 r193...

Page 271: ...Point32 Dynamic index Func diagram P Group Motor identification Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting mH mH mH r1925 Threshold voltage identified U_threshold ident SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed Calculated Access level 4 Data type FloatingPoint32 Dynamic index Func diagram P Group Motor identification Units group Unit...

Page 272: ...tion current measuring point 3 14 Torque characteristic identification current measuring point 4 15 Torque characteristic identification current measuring point 5 16 Torque characteristic identification current measuring point 6 17 Torque characteristic identification current measuring point 7 18 Torque characteristic identification current measuring point 8 19 Torque characteristic identification...

Page 273: ... torque constant is identified with 150 rated current p0305 otherwise with 100 rated current if indices r1937 1 10 are not equal to zero they show the values of the torque characteristic identified for the cur rent in r1935 11 20 The torque characteristic is identified in the range between rated current p0305 and maxi mum current p0640 Description Displays the identified voltage constant Dependenc...

Page 274: ...g Expert list 1 Min Max Factory setting mH mH mH r1947 Optimum load angle identified phi_load ident SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed Calculated Access level 3 Data type FloatingPoint32 Dynamic index Func diagram P Group Motor identification Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting r1948 Magnetizing current identified I_mag...

Page 275: ...ant p1959 7 is also not identified in encoderless operation Dependency Refer to p1958 p1960 Notice The step p1959 8 identify q inductance on the test stand may only be selected if the drive can be kept at zero speed or at a fixed speed either using a test stand or other mechanical measures During steps p1959 2 identifying the moment of inertia and p1959 6 identifying the torque constant the Vdc_mi...

Page 276: ...fied parameters 2 Acknowledge encoder inversion actual value F07993 1 Start motor data identification without acceptance 0 Inactive inhibit 1 Start motor data identification with acceptance Recommend Before carrying out the rotation measurement for motors with brake the brake should be opened p1215 2 as long as this can be done without incurring any danger The commutation angle and the direction a...

Page 277: ...ear motor grid division in nm r1962 0 9 Saturation characteristic magnetizing current identified Sat_char I_mag SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed Calculated Access level 3 Data type FloatingPoint32 Dynamic index Func diagram P Group Motor identification Units group Unit selection Not for motor type PEM REL Scaling Expert list 1 Min Max Factory setting r1963 0 9 Saturation c...

Page 278: ...te PolID Pole position identification When commissioning a catalog motor the technique is automatically selected depending on the motor type being used The following applies for 1FN3 motors A technique with 2nd harmonic may not be used do not use p1980 0 4 For 1FN7 motors the following applies A two stage technique may not be used do not use p1980 4 The automatically set value in p0329 may not be ...

Page 279: ...next time that the pulses are enabled Note When this test is executed it does not influence the commutation angle Description Displays the angular difference between the actual electrical commutation angle and the angle determined by the pole position identification Dependency Refer to p0325 p0329 p1980 p1981 p1982 p1983 r1985 r1986 r1987 p1990 r1992 p1993 p1994 p1995 p1996 p1997 Note PolID Pole p...

Page 280: ...ger characteristic and saturation characteristic are always output in synchronism from a time per spective Dependency Refer to p0325 p0329 p1980 p1981 p1982 p1983 r1984 r1985 r1986 p1990 r1992 p1993 p1994 p1995 p1996 p1997 Note PolID Pole position identification The following information and data can be taken from the trigger characteristic the value 100 marks the angle at the start of the measure...

Page 281: ...in this case the rising zero crossover of the phase voltage must coincide with the 360 0 step jump from r0093 Recommendation 3 Measure the phase voltage U measure phase U with respect to the virtual star point using 3 resistors and r0093 electrically scaled pole position the rising zero crossover of the phase voltage must coincide with the 360 0 step jump of r0093 Recommendation 4 Determine the av...

Page 282: ... Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting Bit field Bit Signal name 1 signal 0 signal FP 00 Critical encoder fault occurred Yes No 02 Encoder parking active Yes No 05 Encoder fault Class 1 Yes No 06 Encoder fault Class 2 Yes No 07 Pole position identification for encoder car ried out Yes No 08 Fine synchronization carried out Yes No 09 Coarse synchronization ...

Page 283: ...m being overwritten using p0573 1 If a BICO interconnection is established between different physical quantities then the particular reference quanti ties are used as internal conversion factor p1995 0 n PolID motion based gain PolID kp mot_bas SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed U T Calculated CALC_MOD_CON Access level 3 Data type FloatingPoint32 Dynamic index MDS p0130 Func...

Page 284: ...urrents All currents specified as relative value are referred to this reference quantity The reference quantity in this parameter corresponds to 100 or 4000 hex or 4000 0000 hex Notice If various DDS are used with different motor data then the reference quantities remain the same as these are not changed over with the DDS The resulting conversion factor should be taken into account e g for trace r...

Page 285: ...lows Infeed Calculated from voltage times current Closed loop control Calculated from torque times speed Refer to p2000 p2001 p2002 p2003 Note If a BICO interconnection is established between different physical quantities then the particular reference quanti ties are used as internal conversion factor The reference power is calculated as follows 2 Pi reference speed 60 reference torque motor refer...

Page 286: ...ular reference quantities are used as internal conversion factor The reference acceleration is calculated as follows Reference speed p2000 converted from 1 min to 1 s divided by 1 s p2007 p2000 rpm 60 s min 1 s Description Selects the PZD actual values to be sent via the commissioning interface USS The actual values are displayed on an intelligent operator panel IOP Index 0 PZD 1 1 PZD 2 2 PZD 3 3...

Page 287: ...Description Displays or sets the address for the fieldbus interface USS The address can be set as follows 1 Using the address switch on the Control Unit p2021 displays the address setting A change only becomes effective after a POWER ON r2019 0 7 Comm int error statistics Comm err CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed Calculated Access level 4 Data type Unsigned32 Dynamic index Func dia...

Page 288: ...er to p2030 Note The parameter is not influenced by setting the factory setting Description Displays the receive errors on the field bus interface USS Index 0 Number of error free telegrams 1 Number of rejected telegrams 2 Number of framing errors 3 Number of overrun errors 4 Number of parity errors 5 Number of starting character errors 6 Number of checksum errors 7 Number of length errors p2022 F...

Page 289: ...alculated Access level 3 Data type Integer16 Dynamic index Func diagram P Group Communications Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 4 4 p2030 Field bus int protocol selection Field bus protocol CU_S110 DP Can be changed T Calculated Access level 1 Data type Integer16 Dynamic index Func diagram P Group Communications Units group Unit selectio...

Page 290: ...ords When selecting a telegram via p0922 p2079 this parameter influences the device specific assignment of the bits in the control and status words Value 0 SINAMICS 1 SIMODRIVE 611 universal Dependency Refer to p0922 p2079 Notice The parameter may be protected as a result of p0922 or p2079 and cannot be changed Note For p0922 p2079 100 199 p2038 is automatically set to 1 and p2038 can no longer be...

Page 291: ...face mode PD STW ZSW IF mode SERVO_S110 DP EPOS Pos ctrl SERVO_S110 PN EPOS Pos ctrl Can be changed T Calculated Access level 3 Data type Integer16 Dynamic index Func diagram P Group Communications Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 0 0 p2040 Fieldbus interface monitoring time Fieldbus t_monit CU_S110 CAN CU_S110 DP CU_S110 PN Can be chang...

Page 292: ...efer to F01910 Note For controller STOP the additional monitoring time is not effective Description Sets the sampling time for the process data communication PZD Note For clock cycle synchronous operation the specified bus cycle time applies Tdp p2044 IF1 PROFIdrive fault delay IF1 PD fault delay SERVO_S110 DP SERVO_S110 PN Can be changed U T Calculated Access level 3 Data type FloatingPoint32 Dyn...

Page 293: ... 20 Dependency Refer to r2060 p2048 PROFIdrive PZD sampling time PZD t_sample CU_S110 DP CU_S110 PN Can be changed C1 3 Calculated Access level 3 Data type FloatingPoint32 Dynamic index Func diagram P Group Communications Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 1 00 ms 16 00 ms 4 00 ms r2050 0 4 CO IF1 PROFIdrive PZD receive word IF1 PZD recv wor...

Page 294: ...f p0922 or p2079 and cannot be changed Note IF1 Interface 1 Description Selects the PZD actual values with word format to be sent to the PROFIdrive controller Index 0 PZD 1 1 PZD 2 2 PZD 3 3 PZD 4 4 PZD 5 5 PZD 6 6 PZD 7 7 PZD 8 8 PZD 9 9 PZD 10 10 PZD 11 11 PZD 12 12 PZD 13 p2051 0 20 CI IF1 PROFIdrive PZD send word IF1 PZD send word CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed U T Calculated...

Page 295: ...ZD 1 1 PZD 2 2 PZD 3 3 PZD 4 4 PZD 5 5 PZD 6 6 PZD 7 7 PZD 8 8 PZD 9 9 PZD 10 10 PZD 11 11 PZD 12 12 PZD 13 13 PZD 14 14 PZD 15 15 PZD 16 16 PZD 17 17 PZD 18 18 PZD 19 19 PZD 20 20 PZD 21 r2053 0 20 IF1 PROFIdrive diagnostics PZD send word IF1 diag send word CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed Calculated Access level 3 Data type Unsigned16 Dynamic index Func diagram P Group Communicat...

Page 296: ...t 11 ON OFF 12 Bit 12 ON OFF 13 Bit 13 ON OFF 14 Bit 14 ON OFF 15 Bit 15 ON OFF r2053 0 27 IF1 PROFIdrive diagnostics PZD send word IF1 diag send word SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed Calculated Access level 3 Data type Unsigned16 Dynamic index Func diagram 2450 2470 P Group Communications Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory ...

Page 297: ... not provide any statement regarding the quality of the clock cycle synchronous sign of life charac ters on the drive objects Description Diagnostics display for the PROFIBUS interface Index 0 Master bus address 1 Master input total length bytes 2 Master output total length bytes Description Displays the setting of the PROFIBUS address switch DP ADDRESS on the Control Unit Dependency Refer to p091...

Page 298: ...can be used Note IF1 Interface 1 Description Selects the PZD actual values with double word format to be sent to the PROFIdrive controller Index 0 PZD 1 2 1 PZD 2 3 2 PZD 3 4 3 PZD 4 5 4 PZD 5 6 5 PZD 6 7 6 PZD 7 8 7 PZD 8 9 8 PZD 9 10 9 PZD 10 11 10 PZD 11 12 11 PZD 12 13 12 PZD 13 14 13 PZD 14 15 14 PZD 15 16 r2060 0 18 CO IF1 PROFIdrive PZD receive double word IF1 PZD recv DW SERVO_S110 CAN SER...

Page 299: ...0 PZD 1 2 1 PZD 2 3 2 PZD 3 4 3 PZD 4 5 4 PZD 5 6 5 PZD 6 7 6 PZD 7 8 7 PZD 8 9 8 PZD 9 10 9 PZD 10 11 10 PZD 11 12 11 PZD 12 13 12 PZD 13 14 13 PZD 14 15 14 PZD 15 16 15 PZD 16 17 16 PZD 17 18 17 PZD 18 19 18 PZD 19 20 19 PZD 20 21 20 PZD 21 22 21 PZD 22 23 22 PZD 23 24 23 PZD 24 25 24 PZD 25 26 25 PZD 26 27 26 PZD 27 28 r2063 0 26 IF1 PROFIdrive diagnostics PZD send double word IF1 diag send DW ...

Page 300: ...ified in p0925 is exceeded Dependency Refer to F01912 07 Bit 7 ON OFF 08 Bit 8 ON OFF 09 Bit 9 ON OFF 10 Bit 10 ON OFF 11 Bit 11 ON OFF 12 Bit 12 ON OFF 13 Bit 13 ON OFF 14 Bit 14 ON OFF 15 Bit 15 ON OFF 16 Bit 16 ON OFF 17 Bit 17 ON OFF 18 Bit 18 ON OFF 19 Bit 19 ON OFF 20 Bit 20 ON OFF 21 Bit 21 ON OFF 22 Bit 22 ON OFF 23 Bit 23 ON OFF 24 Bit 24 ON OFF 25 Bit 25 ON OFF 26 Bit 26 ON OFF 27 Bit 27...

Page 301: ...ZD 12 12 PZD 13 13 PZD 14 14 PZD 15 15 PZD 16 16 PZD 17 17 PZD 18 18 PZD 19 19 PZD 20 Note IF1 Interface 1 Value range 0 125 Bus address of the sender 65535 not assigned r2074 0 4 IF1 PROFIdrive diagnostics bus address PZD receive IF1diag addr recv CU_S110 DP Can be changed Calculated Access level 3 Data type Unsigned16 Dynamic index Func diagram P Group Communications Units group Unit selection N...

Page 302: ...4 14 PZD 15 15 PZD 16 16 PZD 17 17 PZD 18 18 PZD 19 19 PZD 20 Note IF1 Interface 1 Value range 0 242 Byte offset 65535 not assigned r2075 0 4 IF1 PROFIdrive diagnostics telegram offset PZD receive IF1 diag offs recv CU_S110 DP CU_S110 PN Can be changed Calculated Access level 3 Data type Unsigned16 Dynamic index Func diagram P Group Communications Units group Unit selection Not for motor type Scal...

Page 303: ...put Index 0 PZD 1 1 PZD 2 2 PZD 3 3 PZD 4 4 PZD 5 5 PZD 6 6 PZD 7 7 PZD 8 8 PZD 9 9 PZD 10 10 PZD 11 11 PZD 12 12 PZD 13 13 PZD 14 14 PZD 15 15 PZD 16 r2076 0 20 IF1 PROFIdrive diagnostics telegram offset PZD send IF1 diag offs send CU_S110 DP CU_S110 PN Can be changed Calculated Access level 3 Data type Unsigned16 Dynamic index Func diagram P Group Communications Units group Unit selection Not fo...

Page 304: ... to 999 then all of the interconnections can be set For p0922 999 and p2079 999 the following applies The interconnections contained in the telegram are inhibited However the telegram can be extended Value 390 SIEMENS telegram 390 PZD 2 2 391 SIEMENS telegram 391 PZD 3 7 392 SIEMENS telegram 392 PZD 3 15 393 SIEMENS telegram 393 PZD 4 21 394 SIEMENS telegram 394 PZD 3 3 999 Free telegram configura...

Page 305: ...p0922 999 the following applies p2079 has the same value and is inhibited All of the interconnections and extensions contained in the telegram are inhibited For p0922 999 the following applies p2079 can be freely set If p2079 is also set to 999 then all of the interconnections can be set For p0922 999 and p2079 999 the following applies The interconnections contained in the telegram are inhibited ...

Page 306: ...o be sent to the PROFIdrive controller The individual bits are combined to form status word 1 Index 0 Bit 0 1 Bit 1 2 Bit 2 3 Bit 3 4 Bit 4 5 Bit 5 6 Bit 6 7 Bit 7 8 Bit 8 9 Bit 9 10 Bit 10 11 Bit 11 12 Bit 12 13 Bit 13 14 Bit 14 15 Bit 15 Dependency Refer to p2088 r2089 Notice The parameter may be protected as a result of p0922 or p2079 and cannot be changed p2079 IF1 PROFIdrive PZD telegram sele...

Page 307: ... individual bits are combined to form free status word 3 Index 0 Bit 0 1 Bit 1 2 Bit 2 3 Bit 3 4 Bit 4 5 Bit 5 6 Bit 6 7 Bit 7 8 Bit 8 9 Bit 9 10 Bit 10 11 Bit 11 12 Bit 12 13 Bit 13 14 Bit 14 15 Bit 15 Dependency Refer to p2088 r2089 Notice The parameter may be protected as a result of p0922 or p2079 and cannot be changed p2081 0 15 BI Binector connector converter status word 2 Bin con ZSW2 All o...

Page 308: ...1 Bit 1 2 Bit 2 3 Bit 3 4 Bit 4 5 Bit 5 6 Bit 6 7 Bit 7 8 Bit 8 9 Bit 9 10 Bit 10 11 Bit 11 12 Bit 12 13 Bit 13 14 Bit 14 15 Bit 15 Dependency Refer to p2088 r2089 p2083 0 15 BI Binector connector converter status word 4 Bin con ZSW4 All objects Can be changed U T Calculated Access level 3 Data type Unsigned32 Binary Dynamic index Func diagram 2472 P Group Communications Units group Unit selection...

Page 309: ...00 bin Bit field Bit Signal name 1 signal 0 signal FP 00 Bit 0 Inverted Not inverted 01 Bit 1 Inverted Not inverted 02 Bit 2 Inverted Not inverted 03 Bit 3 Inverted Not inverted 04 Bit 4 Inverted Not inverted 05 Bit 5 Inverted Not inverted 06 Bit 6 Inverted Not inverted 07 Bit 7 Inverted Not inverted 08 Bit 8 Inverted Not inverted 09 Bit 9 Inverted Not inverted 10 Bit 10 Inverted Not inverted 11 B...

Page 310: ...468 P Group Communications Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting Bit field Bit Signal name 1 signal 0 signal FP 00 Bit 0 ON OFF 01 Bit 1 ON OFF 02 Bit 2 ON OFF 03 Bit 3 ON OFF 04 Bit 4 ON OFF 05 Bit 5 ON OFF 06 Bit 6 ON OFF 07 Bit 7 ON OFF 08 Bit 8 ON OFF 09 Bit 9 ON OFF 10 Bit 10 ON OFF 11 Bit 11 ON OFF 12 Bit 12 ON OFF 13 Bit 13 ON OFF 14 Bit...

Page 311: ...n Max Factory setting Bit field Bit Signal name 1 signal 0 signal FP 00 Bit 0 ON OFF 01 Bit 1 ON OFF 02 Bit 2 ON OFF 03 Bit 3 ON OFF 04 Bit 4 ON OFF 05 Bit 5 ON OFF 06 Bit 6 ON OFF 07 Bit 7 ON OFF 08 Bit 8 ON OFF 09 Bit 9 ON OFF 10 Bit 10 ON OFF 11 Bit 11 ON OFF 12 Bit 12 ON OFF 13 Bit 13 ON OFF 14 Bit 14 ON OFF 15 Bit 15 ON OFF r2093 0 15 BO IF1 PROFIdrive PZD4 receive bit serial IF1 PZD4 recv bi...

Page 312: ...ng Expert list 1 Min Max Factory setting Bit field Bit Signal name 1 signal 0 signal FP 00 Bit 0 ON OFF 01 Bit 1 ON OFF 02 Bit 2 ON OFF 03 Bit 3 ON OFF 04 Bit 4 ON OFF 05 Bit 5 ON OFF 06 Bit 6 ON OFF 07 Bit 7 ON OFF 08 Bit 8 ON OFF 09 Bit 9 ON OFF 10 Bit 10 ON OFF 11 Bit 11 ON OFF 12 Bit 12 ON OFF 13 Bit 13 ON OFF 14 Bit 14 ON OFF 15 Bit 15 ON OFF r2095 0 15 BO Connector binector converter binecto...

Page 313: ...dex Func diagram 2468 P Group Communications Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0000 0000 0000 0000 bin Bit field Bit Signal name 1 signal 0 signal FP 00 Bit 0 Inverted Not inverted 01 Bit 1 Inverted Not inverted 02 Bit 2 Inverted Not inverted 03 Bit 3 Inverted Not inverted 04 Bit 4 Inverted Not inverted 05 Bit 5 Inverted Not inverted 06 Bit...

Page 314: ...Re value 1 OFF1 Braking along the ramp function generator down ramp followed by a pulse inhibit Re value 2 OFF2 Internal external pulse inhibit Re value 3 OFF3 Braking along the OFF3 down ramp followed by a pulse inhibit Re value 5 STOP2 n_set 0 Re Value 6 DCBRK The value can only be set for all motor data sets when p1231 3 4 a This function is not supported for synchronous motors p0300 2xx 4xx b ...

Page 315: ...ated Access level 3 Data type Unsigned32 Binary Dynamic index CDS p0170 Func diagram 2441 2442 2443 2447 2475 2546 9220 9677 9678 P Group Messages Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 p2104 0 n BI 2 Acknowledge faults 2 Acknowledge SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed U T Calculated Access level 3 Data type Unsigned32 Bi...

Page 316: ... the assignment of the indices is shown in r0945 Description This parameter is identical to r2122 p2107 0 n BI External fault 2 External fault 2 SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed U T Calculated Access level 3 Data type Unsigned32 Binary Dynamic index CDS p0170 Func diagram 2546 P Group Messages Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Fact...

Page 317: ...n with the last value that was saved Description Sets the signal source for external alarm 2 Dependency Refer to A07851 Note An external alarm is triggered with a 1 0 signal p2111 Alarm counter Alarm counter All objects Can be changed U T Calculated Access level 3 Data type Unsigned16 Dynamic index Func diagram 1750 8065 P Group Messages Units group Unit selection Not for motor type Scaling Expert...

Page 318: ...be changed for messages with the appropriate identification Example F12345 A Fault F12345 can be changed to alarm A12345 In this case the message number that may be possibly entered in p2100 0 19 and p2126 0 19 is automatically removed p2117 0 n BI External alarm 3 External alarm 3 SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed U T Calculated Access level 3 Data type Unsigned32 Binary D...

Page 319: ...me comprises r2145 days and r2123 milliseconds Note The buffer parameters are cyclically updated in the background refer to status signal in r2139 The structure of the alarm buffer and the assignment of the indices is shown in r2122 r2120 CO Sum of fault and alarm buffer changes Sum buffer changed All objects Can be changed Calculated Access level 4 Data type Unsigned16 Dynamic index Func diagram ...

Page 320: ...is not fault F when a fault is present Description Sets the acknowledge mode for selected fault Value 1 Acknowledgment only using POWER ON 2 Ack IMMEDIATELY after the fault cause has been removed 3 Acknowledgement only for PULSE INHIBIT r2124 0 63 Alarm value Alarm value All objects Can be changed Calculated Access level 3 Data type Integer32 Dynamic index Func diagram 1750 8065 P Group Messages U...

Page 321: ... least one of the selected messages has occurred p2128 0 15 Selecting fault alarm code for trigger Message trigger All objects Can be changed U T Calculated Access level 3 Data type Unsigned16 Dynamic index Func diagram 1750 8070 P Group Messages Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 65535 0 r2129 0 15 CO BO Trigger word for faults and alarms...

Page 322: ...us signal in r2139 r2130 0 63 Fault time received in days t_fault recv days All objects Can be changed Calculated Access level 3 Data type Unsigned16 Dynamic index Func diagram 8060 P Group Messages Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting r2131 CO Actual fault code Actual fault code All objects Can be changed Calculated Access level 3 Data type U...

Page 323: ...word faults alarms 2 ZSW fault alarm 2 All objects Can be changed Calculated Access level 2 Data type Unsigned16 Dynamic index Func diagram 1530 2548 P Group Displays signals Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting Bit field Bit Signal name 1 signal 0 signal FP 00 Fault encoder 1 Yes No 01 Fault encoder 2 Yes No 12 Fault motor overtemperature Yes...

Page 324: ...61 effective Yes No 15 External fault 3 F07862 effective Yes No r2139 0 12 CO BO Status word faults alarms 1 ZSW fault alarm 1 All objects Can be changed Calculated Access level 2 Data type Unsigned16 Dynamic index Func diagram 1530 2548 P Group Displays signals Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting Bit field Bit Signal name 1 signal 0 signal F...

Page 325: ...er parameters are cyclically updated in the background refer to status signal in r2139 p2142 0 n Hysteresis speed 1 n_hysteresis 1 SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed U T Calculated CALC_MOD_LIM_REF Access level 3 Data type FloatingPoint32 Dynamic index DDS p0180 Func diagram 8010 P Group Messages Units group 3_1 Unit selection p0505 Not for motor type Scaling Expert list 1 M...

Page 326: ... quadrant as a result of the positive characteristic parameters p2182 p2190 Re bit 03 When the bit is set r2197 bit 1 and bit 2 are determined via separate hystereses p2147 Delete fault buffer of all drive objects Del fault buffer CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed U T Calculated Access level 4 Data type Integer16 Dynamic index Func diagram 8060 P Group Displays signals Units group U...

Page 327: ...ed setpoint 2 p2150 0 n Hysteresis speed 3 n_hysteresis 3 SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed U T Calculated CALC_MOD_LIM_REF Access level 3 Data type FloatingPoint32 Dynamic index DDS p0180 Func diagram 8010 P Group Messages Units group 3_1 Unit selection p0505 Not for motor type Scaling Expert list 1 Min Max Factory setting 0 00 rpm 300 00 rpm 2 00 rpm p2151 0 n CI Speed se...

Page 328: ...Can be changed U T Calculated CALC_MOD_LIM_REF Access level 3 Data type FloatingPoint32 Dynamic index DDS p0180 Func diagram 8010 P Group Messages Units group 3_1 Unit selection p0505 Not for motor type Scaling Expert list 1 Min Max Factory setting 0 00 rpm 210000 00 rpm 900 00 rpm p2156 0 n On delay comparison value reached t_on cmpr val rchd SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be chan...

Page 329: ...delay for the speed setpoint actual value deviation in tolerance t_on signal message BO r2199 4 p2163 0 n Speed threshold 4 n_thresh val 4 SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed U T Calculated CALC_MOD_LIM_REF Access level 2 Data type FloatingPoint32 Dynamic index DDS p0180 Func diagram 8010 P Group Messages Units group 3_1 Unit selection p0505 Not for motor type Scaling Expert ...

Page 330: ...Calculated Access level 2 Data type FloatingPoint32 Dynamic index DDS p0180 Func diagram 8012 P Group Messages Units group 7_1 Unit selection p0505 Not for motor type Scaling Expert list 1 Min Max Factory setting 0 00 Nm 20000000 00 Nm 5 13 Nm p2175 0 n Motor locked speed threshold Mot lock n_thresh SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed U T Calculated CALC_MOD_LIM_REF Access le...

Page 331: ...er p2186 M_threshold 1 lower p2183 n_threshold 2 p2187 M_threshold 2 upper p2188 M_threshold 2 lower p2184 n_threshold 3 p2189 M_threshold 3 upper p2190 M_threshold 3 lower Dependency The following applies p2182 p2183 p2184 Refer to p2182 p2184 p2187 p2188 Refer to A07926 Description Sets the speed torque envelope curve for load monitoring p2182 0 n Load monitoring speed threshold value 1 n_thresh...

Page 332: ...applies p2187 p2188 Refer to p2183 p2188 Refer to A07926 Note The upper envelope curve is defined by p2185 p2187 and p2189 p2185 0 n Load monitoring torque threshold 1 upper M_thresh 1 upper SERVO_S110 CAN Ext msg SERVO_S110 DP Ext msg SERVO_S110 PN Ext msg Can be changed U T Calculated Access level 3 Data type FloatingPoint32 Dynamic index DDS p0180 Func diagram 8013 P Group Messages Units group ...

Page 333: ...nc diagram 8013 P Group Messages Units group 7_1 Unit selection p0505 Not for motor type Scaling Expert list 1 Min Max Factory setting 0 00 Nm 20000000 00 Nm 0 00 Nm p2189 0 n Load monitoring torque threshold 3 upper M_thresh 3 upper SERVO_S110 CAN Ext msg SERVO_S110 DP Ext msg SERVO_S110 PN Ext msg Can be changed U T Calculated Access level 3 Data type FloatingPoint32 Dynamic index DDS p0180 Func...

Page 334: ...unc diagram 8012 P Group Messages Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 00 100 00 90 00 p2195 0 n Torque utilization switch off delay M_util t_off SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed U T Calculated Access level 2 Data type FloatingPoint32 Dynamic index DDS p0180 Func diagram 8012 P Group Messages Units group Unit selecti...

Page 335: ...DP SERVO_S110 PN Can be changed Calculated Access level 2 Data type Unsigned16 Dynamic index Func diagram 1530 2536 P Group Messages Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting Bit field Bit Signal name 1 signal 0 signal FP 04 n_set p2161 Yes No 8010 05 n_set 0 Yes No 8010 06 Motor stalled Yes No 8012 10 M_set torque threshold value 1 Yes No 8012 11 ...

Page 336: ...ta type Unsigned32 Binary Dynamic index CDS p0170 Func diagram 7958 P Group Technology Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 p2201 0 n CO Technology controller fixed value 1 Tec_ctr fix val 1 SERVO_S110 CAN Tech_ctrl SERVO_S110 DP Tech_ctrl SERVO_S110 PN Tech_ctrl Can be changed U T Calculated Access level 2 Data type FloatingPoint32 Dynamic ...

Page 337: ...changed U T Calculated Access level 2 Data type FloatingPoint32 Dynamic index DDS p0180 Func diagram 7950 P Group Technology Units group 9_1 Unit selection p0595 Not for motor type Scaling PERCENT Expert list 1 Min Max Factory setting 200 00 200 00 40 00 p2205 0 n CO Technology controller fixed value 5 Tec_ctr fix val 5 SERVO_S110 CAN Tech_ctrl SERVO_S110 DP Tech_ctrl SERVO_S110 PN Tech_ctrl Can b...

Page 338: ...anged U T Calculated Access level 2 Data type FloatingPoint32 Dynamic index DDS p0180 Func diagram 7950 P Group Technology Units group 9_1 Unit selection p0595 Not for motor type Scaling PERCENT Expert list 1 Min Max Factory setting 200 00 200 00 80 00 p2209 0 n CO Technology controller fixed value 9 Tec_ctr fix val 9 SERVO_S110 CAN Tech_ctrl SERVO_S110 DP Tech_ctrl SERVO_S110 PN Tech_ctrl Can be ...

Page 339: ...anged U T Calculated Access level 2 Data type FloatingPoint32 Dynamic index DDS p0180 Func diagram 7950 P Group Technology Units group 9_1 Unit selection p0595 Not for motor type Scaling PERCENT Expert list 1 Min Max Factory setting 200 00 200 00 120 00 p2213 0 n CO Technology controller fixed value 13 Tec_ctr fix val 13 SERVO_S110 CAN Tech_ctrl SERVO_S110 DP Tech_ctrl SERVO_S110 PN Tech_ctrl Can ...

Page 340: ...ng Expert list 1 Min Max Factory setting 1 2 2 p2220 0 n BI Technology controller fixed value selection bit 0 Tec_ctrl sel bit 0 SERVO_S110 CAN Tech_ctrl SERVO_S110 DP Tech_ctrl SERVO_S110 PN Tech_ctrl Can be changed T Calculated Access level 3 Data type Unsigned32 Binary Dynamic index CDS p0170 Func diagram 7950 P Group Commands Units group Unit selection Not for motor type Scaling Expert list 1 ...

Page 341: ...O Technology controller fixed value effective Tec_ctr FixVal eff SERVO_S110 CAN Tech_ctrl SERVO_S110 DP Tech_ctrl SERVO_S110 PN Tech_ctrl Can be changed Calculated Access level 2 Data type FloatingPoint32 Dynamic index Func diagram 7950 P Group Technology Units group 9_1 Unit selection p0595 Not for motor type Scaling PERCENT Expert list 1 Min Max Factory setting r2225 0 CO BO Technology controlle...

Page 342: ...on volatile data save de activated 1 The setpoint for the motorized potentiometer is saved in a non volatile fashion for p2230 0 1 Re bit 04 When the bit is set the ramp function generator is computed independent of the pulse enable The actual output value of the motorized potentiometer is always in r2250 Description Displays the setpoint memory for the motorized potentiometer of the technology co...

Page 343: ...y Dynamic index CDS p0170 Func diagram 7954 P Group Commands Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 p2236 0 n BI Technology controller motorized potentiometer lower setpoint Tec_ctrl mop lower SERVO_S110 CAN Tech_ctrl SERVO_S110 DP Tech_ctrl SERVO_S110 PN Tech_ctrl Can be changed T Calculated Access level 3 Data type Unsigned32 Binary Dynamic ...

Page 344: ...S p0180 Func diagram 7954 P Group Technology Units group 9_1 Unit selection p0595 Not for motor type Scaling Expert list 1 Min Max Factory setting 200 00 200 00 0 00 r2245 CO Technology controller mot potentiometer setpoint before RFG Tec_ctr mop befRFG SERVO_S110 CAN Tech_ctrl SERVO_S110 DP Tech_ctrl SERVO_S110 PN Tech_ctrl Can be changed Calculated Access level 2 Data type FloatingPoint32 Dynami...

Page 345: ...actor p2285 integration time if p2280 0 Re bit 02 0 When the PID controller is de activated via p2200 the output signal r2294 is reduced to zero via the ramp down time p2293 Re bit 02 1 When the PID controller is de activated via p2200 the output signal r2294 is set directly to zero Re bit 03 0 The actual values are not limited by p2267 and p2268 Re bit 03 1 The actual values are limited by p2267 ...

Page 346: ... setting 0 p2254 0 n CI Technology controller setpoint 2 Tec_ctrl setp 2 SERVO_S110 CAN Tech_ctrl SERVO_S110 DP Tech_ctrl SERVO_S110 PN Tech_ctrl Can be changed U T Calculated Access level 3 Data type Unsigned32 FloatingPoint32 Dynamic index CDS p0170 Func diagram 7958 P Group Technology Units group Unit selection Not for motor type Scaling PERCENT Expert list 1 Min Max Factory setting 0 p2255 Tec...

Page 347: ...1 00 s p2258 Technology controller ramp down time Tec_ctrl t_ramp dn SERVO_S110 CAN Tech_ctrl SERVO_S110 DP Tech_ctrl SERVO_S110 PN Tech_ctrl Can be changed U T Calculated Access level 2 Data type FloatingPoint32 Dynamic index Func diagram 7958 P Group Technology Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 00 s 650 00 s 1 00 s r2260 CO Technology c...

Page 348: ... T Calculated Access level 3 Data type Integer16 Dynamic index Func diagram 7958 P Group Technology Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 1 0 p2264 0 n CI Technology controller actual value Tec_ctrl act val SERVO_S110 CAN Tech_ctrl SERVO_S110 DP Tech_ctrl SERVO_S110 PN Tech_ctrl Can be changed U T Calculated Access level 2 Data type Unsigned3...

Page 349: ...T Calculated Access level 3 Data type FloatingPoint32 Dynamic index Func diagram 7958 P Group Technology Units group 9_1 Unit selection p0595 Not for motor type Scaling PERCENT Expert list 1 Min Max Factory setting 200 00 200 00 200 00 p2268 Technology controller lower limit actual value Tec_ctrl l_lim act SERVO_S110 CAN Tech_ctrl SERVO_S110 DP Tech_ctrl SERVO_S110 PN Tech_ctrl Can be changed U T ...

Page 350: ...ler Dependency Refer to p2264 p2265 r2266 p2267 p2268 p2269 p2270 p2271 Description Displays the error system deviation between the setpoint and actual value of the technology controller Dependency Refer to p2263 p2271 Technology controller actual value inversion sensor type Tech_ctrl act inv SERVO_S110 CAN Tech_ctrl SERVO_S110 DP Tech_ctrl SERVO_S110 PN Tech_ctrl Can be changed T Calculated Acces...

Page 351: ...or motor type Scaling Expert list 1 Min Max Factory setting 0 000 s 60 000 s 0 000 s p2280 Technology controller proportional gain Tec_ctrl Kp SERVO_S110 CAN Tech_ctrl SERVO_S110 DP Tech_ctrl SERVO_S110 PN Tech_ctrl Can be changed U T Calculated Access level 2 Data type FloatingPoint32 Dynamic index Func diagram 7958 P Group Technology Units group Unit selection Not for motor type Scaling Expert l...

Page 352: ...Units group Unit selection Not for motor type Scaling PERCENT Expert list 1 Min Max Factory setting 0 p2291 CO Technology controller maximum limiting Tec_ctrl max_limit SERVO_S110 CAN Tech_ctrl SERVO_S110 DP Tech_ctrl SERVO_S110 PN Tech_ctrl Can be changed U T Calculated Access level 2 Data type FloatingPoint32 Dynamic index Func diagram 7958 P Group Technology Units group Unit selection Not for m...

Page 353: ...nt32 Dynamic index Func diagram 7958 P Group Technology Units group Unit selection Not for motor type Scaling PERCENT Expert list 1 Min Max Factory setting 100 00 100 00 100 00 p2296 0 n CI Technology controller output scaling Tec_ctrl outp scal SERVO_S110 CAN Tech_ctrl SERVO_S110 DP Tech_ctrl SERVO_S110 PN Tech_ctrl Can be changed U T Calculated Access level 2 Data type Unsigned32 FloatingPoint32...

Page 354: ...ion Displays the status word of the technology controller p2299 0 n CI Technology controller limit offset Tech_ctrl lim offs SERVO_S110 CAN Tech_ctrl SERVO_S110 DP Tech_ctrl SERVO_S110 PN Tech_ctrl Can be changed U T Calculated Access level 2 Data type Unsigned32 FloatingPoint32 Dynamic index CDS p0170 Func diagram 7958 P Group Technology Units group Unit selection Not for motor type Scaling PERCE...

Page 355: ...e gearbox factor between the encoder shaft and the motor shaft is set using p0432 and p0433 08 Technology controller actual value at the minimum Yes No 09 Technology controller actual value at the maximum Yes No 10 Technology controller output at the mini mum Yes No 11 Technology controller output at the maxi mum Yes No p2502 0 n LR encoder assignment Encoder assignment SERVO_S110 CAN Pos ctrl SER...

Page 356: ...ating the adjustment and display of the status of the adjustment for absolute encoders Value 0 Error occurred while adjusting 1 Absolute encoder not adjusted 2 Absolute encoder not adjusted and encoder adjustment initiated 3 Absolute encoder adjusted Dependency Refer to p2525 p2598 p2599 p2505 0 n LR motor load motor revolutions Mot load motor rev SERVO_S110 CAN Pos ctrl SERVO_S110 DP Pos ctrl SER...

Page 357: ...Dependency Refer to p0490 p0495 p2502 p2509 r2684 Refer to A07495 Notice When activating the function set position actual value while the function reference mark search is activated then the function reference mark search is automatically de activated Note When the function module basic positioner r0108 4 1 is activated the following BICO interconnection is estab lished BI p2508 0 r2684 0 The func...

Page 358: ... the following BICO interconnection is estab lished BI p2509 0 r2684 1 The measuring probe is selected at the 0 1 signal transition at r2684 1 flying referencing active Description Sets the signal source for the edge evaluation of the measuring probe 1 signal falling edge of the measuring probe p2510 is activated for BI p2509 0 1 edge 0 signal rising edge of the measuring probe p2510 is activated ...

Page 359: ...to activate the function set position actual value Index 0 Closed loop position control 1 Encoder 1 2 Encoder 2 3 Reserved Dependency Refer to p2502 p2515 Refer to A07495 A07497 p2512 0 3 BI LR pos actual value preprocessing activate corr value edge ActVal_prepCorrAct SERVO_S110 CAN Pos ctrl SERVO_S110 DP Pos ctrl SERVO_S110 PN Pos ctrl Can be changed T Calculated Access level 1 Data type Unsigned...

Page 360: ...n the function module basic positioner r0108 4 1 is activated the following BICO interconnection is estab lished CI p2516 0 r2667 Description Sets the input terminal for direct measuring probe 1 The direct measuring probe can either be parameterized as a non cyclic value 1 8 or a cyclic value 11 18 measuring probe p2515 0 3 CI LR position actual setting setting value s_act set setVal SERVO_S110 CA...

Page 361: ...r the direct measuring probe evaluation the DP clock cycle must be integer multiple of the position controller clock cycle Description Sets the input terminal for direct measuring probe 2 The direct measuring probe can either be parameterized as a non cyclic value 1 6 or a cyclic value 11 16 measuring probe After it has been activated via BI p2509 0 1 signal the non cyclic measuring probe measures...

Page 362: ... F07494 is generated Notice The remaining setting values are intended for expanded functionality Note The behavior for a DDS changeover is determined using the value of p2519 in the target data set Description Displays the encoder control word generated by the position actual value preprocessing Index 0 Encoder 1 1 Encoder 2 2 Reserved p2519 0 n LR position actual value preprocessing config DDS ch...

Page 363: ...ocity actual value in r2522 2 for encoder 2 is valid Description Displays the value determined by the function reference mark search and measuring probe evaluation Index 0 Closed loop position control 1 Encoder 1 14 Request parking encoder Yes No 15 Request acknowledge encoder fault Yes No r2521 0 3 CO LR position actual value s_act SERVO_S110 CAN Pos ctrl SERVO_S110 DP Pos ctrl SERVO_S110 PN Pos ...

Page 364: ...on Not for motor type Scaling Expert list 1 Min Max Factory setting LU LU LU p2525 0 n CO LR encoder adjustment offset Enc_adj offset SERVO_S110 CAN Pos ctrl SERVO_S110 DP Pos ctrl SERVO_S110 PN Pos ctrl Can be changed T Calculated Access level 4 Data type Unsigned32 Dynamic index EDS p0140 Func diagram 4010 P Group Closed loop position control Units group Unit selection Not for motor type Scaling...

Page 365: ...roup Closed loop position control Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting Bit field Bit Signal name 1 signal 0 signal FP 00 Position actual value valid Yes No 01 Referencing active Yes No 02 Measured value valid Yes No r2528 0 2 CO BO LR actual value sensing status word encoder 2 ActValSensZSW enc2 SERVO_S110 CAN Pos ctrl SERVO_S110 DP Pos ctrl S...

Page 366: ...VO_S110 PN Pos ctrl Can be changed T Calculated Access level 1 Data type Unsigned32 Integer32 Dynamic index Func diagram 4015 P Group Closed loop position control Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 p2532 CI LR position actual value s_act SERVO_S110 CAN Pos ctrl SERVO_S110 DP Pos ctrl SERVO_S110 PN Pos ctrl Can be changed T Calculated Acces...

Page 367: ... control balancing filter dead time n_prectrFlt t_dead SERVO_S110 CAN Pos ctrl SERVO_S110 DP Pos ctrl SERVO_S110 PN Pos ctrl Can be changed U T Calculated Access level 1 Data type FloatingPoint32 Dynamic index DDS p0180 Func diagram 4015 P Group Closed loop position control Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 00 2 00 0 00 p2536 0 n LR speed...

Page 368: ...10 PN Pos ctrl Can be changed U T Calculated Access level 1 Data type FloatingPoint32 Dynamic index DDS p0180 Func diagram 4015 P Group Closed loop position control Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 00 ms 100000 00 ms 0 00 ms p2540 CO LR position controller output speed limit LR_outp limit SERVO_S110 CAN Pos ctrl SERVO_S110 DP Pos ctrl SE...

Page 369: ...itoring time for the positioning monitoring After the positioning monitoring time expires it is checked once as to whether the difference between the setpoint and actual position lies within the positioning window and if required an appropriate fault is output Dependency Refer to p2543 p2544 r2684 Refer to F07451 Note The following applies for the setting of the standstill and positioning monitori...

Page 370: ...put have a true position reference Note Position actual value cam switching position 2 r2683 9 1 signal Position actual value cam switching position 2 r2683 9 0 signal p2546 0 n LR dynamic following error monitoring tolerance s_delta_monit tol SERVO_S110 CAN Pos ctrl SERVO_S110 DP Pos ctrl SERVO_S110 PN Pos ctrl Can be changed U T Calculated Access level 1 Data type Unsigned32 Dynamic index DDS p0...

Page 371: ...d Dependency Refer to p2554 r2683 Note When the function module basic positioner r0108 4 1 is activated the following BICO interconnection is estab lished BI p2551 r2683 2 p2549 BI LR enable 1 Enable 1 SERVO_S110 CAN Pos ctrl SERVO_S110 DP Pos ctrl SERVO_S110 PN Pos ctrl Can be changed T Calculated Access level 1 Data type Unsigned32 Binary Dynamic index Func diagram 4015 P Group Closed loop posit...

Page 372: ...ignal set point present p2551 Dependency Refer to p2551 r2684 Note When the function module basic positioner r0108 4 1 is activated the following BICO interconnection is estab lished BI p2554 r2684 15 p2552 BI LR signal travel to fixed stop active Signal TfS act SERVO_S110 CAN Pos ctrl SERVO_S110 DP Pos ctrl SERVO_S110 PN Pos ctrl Can be changed T Calculated Access level 1 Data type Unsigned32 Bin...

Page 373: ...O_S110 CAN Pos ctrl SERVO_S110 DP Pos ctrl SERVO_S110 PN Pos ctrl Can be changed Calculated Access level 1 Data type Integer32 Dynamic index Func diagram 4015 P Group Closed loop position control Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting LU LU LU r2557 CO LR position controller input system deviation LR_inp sys dev SERVO_S110 CAN Pos ctrl SERVO_S11...

Page 374: ...110 DP Pos ctrl SERVO_S110 PN Pos ctrl Can be changed Calculated Access level 1 Data type FloatingPoint32 Dynamic index Func diagram 4015 P Group Closed loop position control Units group 3_1 Unit selection p0505 Not for motor type Scaling p2000 Expert list 1 Min Max Factory setting rpm rpm rpm r2561 CO LR speed pre control value n_prectrl val SERVO_S110 CAN Pos ctrl SERVO_S110 DP Pos ctrl SERVO_S1...

Page 375: ...110 CAN Pos ctrl SERVO_S110 DP Pos ctrl SERVO_S110 PN Pos ctrl Can be changed Calculated Access level 1 Data type FloatingPoint32 Dynamic index Func diagram 4015 P Group Closed loop position control Units group 7_1 Unit selection p0505 Not for motor type Scaling p2003 Expert list 1 Min Max Factory setting Nm Nm Nm r2565 CO LR following error actual Following err act SERVO_S110 CAN Pos ctrl SERVO_S...

Page 376: ...gh a higher braking travel than is actually available Dependency Refer to p1135 p2568 p2570 p2573 r2684 Refer to F07491 Caution The STOP cams are low active Sets message 07491 as fault F07491 For a 0 signal the axis is stopped with the OFF3 ramp down time p1135 status signal r2684 13 is set to 1 saved and the appropriate fault is output After the fault has been acknowledged only motion moving away...

Page 377: ... is set to 1 saved and the appropriate alarm is output Only motion away from the STOP cam is permitted For a 0 1 signal and valid travel direction when the stop cam is exited this is detected and the status signal r2684 14 is set to 0 and the alarm is deleted Description Sets the maximum velocity for the function module basic positioner r0108 4 Dependency Refer to r1084 r1087 p2503 p2504 p2505 p25...

Page 378: ...limiting is internally converted into a jerk time as follows Jerk time Tr max p2572 p2573 p2574 The jerk time is internally limited to 1000 ms and is rounded off to an integer multiple of the sampling time position ing p0115 5 The jerk time is valid for the acceleration and deceleration phases also for unequal maximum acceleration p2572 and maximum deceleration p2573 p2572 EPOS maximum acceleratio...

Page 379: ...r axes with modulo correction Dependency Refer to p2577 Description Sets the signal source to activate modulo correction Dependency Refer to p2576 Note When the signal state changes at the binector input this only becomes effective in the ready to power up state Selecting modulo correction The current position setpoint in the modulo range is corrected The position actual value differs from the pos...

Page 380: ...78 CI EPOS software limit switch minus signal source SW limSw Min S_src SERVO_S110 CAN EPOS SERVO_S110 DP EPOS SERVO_S110 PN EPOS Can be changed T Calculated Access level 1 Data type Unsigned32 Integer32 Dynamic index Func diagram 3630 P Group Basic positioner Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 2580 0 p2579 CI EPOS software limit switch plus...

Page 381: ... 0 Positive backlash normal case When the direction is reversed the encoder actual value leads the actual value 0 Negative backlash When the direction is reversed the actual value leads the encoder actual value Dependency If a stationary axis is referenced by setting the reference point or an adjusted with absolute encoder is powered up then the setting of p2604 is relevant for entering the compen...

Page 382: ...Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 40000000 1000 LU min 40000000 1000 LU min 300 1000 LU min p2586 EPOS jog 2 setpoint velocity Jog 2 v_set SERVO_S110 CAN EPOS SERVO_S110 DP EPOS SERVO_S110 PN EPOS Can be changed U T Calculated Access level 1 Data type Integer32 Dynamic index Func diagram 3610 P Group Basic positioner Units group Unit selection Not for ...

Page 383: ...88 p2591 Notice The parameter may be protected as a result of p0922 or p2079 and cannot be changed Description Sets the signal source for jogging incremental Dependency Refer to p2585 p2586 p2587 p2588 p2589 p2590 p2589 BI EPOS jog 1 signal source Jog 1 S_src SERVO_S110 CAN EPOS SERVO_S110 DP EPOS SERVO_S110 PN EPOS Can be changed T Calculated Access level 1 Data type Unsigned32 Binary Dynamic ind...

Page 384: ... 0 1 edge after traversing motion that is being processed has been completed With the start where relevant the state signal reference point set r2684 11 is reset Flying referencing BI p2597 1 signal With the start the state signal reference point set r2684 11 is not reset p2593 CI EPOS LU revolution LU mm LU rev LU mm SERVO_S110 CAN EPOS SERVO_S110 DP EPOS SERVO_S110 PN EPOS Can be changed T Calcu...

Page 385: ...r the following referencing operations search for reference set reference point flying referencing absolute value adjustment p2596 BI EPOS set reference point Set ref_pt SERVO_S110 CAN EPOS SERVO_S110 DP EPOS SERVO_S110 PN EPOS Can be changed T Calculated Access level 1 Data type Unsigned32 Binary Dynamic index Func diagram 3612 P Group Basic positioner Units group Unit selection Not for motor typ...

Page 386: ...etween the reference point coordinate and detected actual position is less than the inner window then no correction is executed for a referenced axis If the difference between the reference point coordinate and detected actual position is greater than the inner win dow and less than the outer window p2602 then a correction is executed for a referenced axis p2599 CO EPOS reference point coordinate ...

Page 387: ...earch for reference 1 signal Start in the negative direction 0 signal Start in the positive direction Dependency Refer to p2583 p2595 p2597 p2602 EPOS flying referencing outer window Outer window SERVO_S110 CAN EPOS SERVO_S110 DP EPOS SERVO_S110 PN EPOS Can be changed U T Calculated Access level 1 Data type Integer32 Dynamic index Func diagram 3614 P Group Basic positioner Units group Unit selecti...

Page 388: ...rence cam v_appr ref_cam SERVO_S110 CAN EPOS SERVO_S110 DP EPOS SERVO_S110 PN EPOS Can be changed U T Calculated Access level 1 Data type Unsigned32 Dynamic index Func diagram 3612 P Group Basic positioner Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 1 1000 LU min 40000000 1000 LU min 5000 1000 LU min p2606 EPOS search for reference reference cam maxi...

Page 389: ...nce to the zero mark p2610 Dependency Refer to p2609 Description Sets the approach velocity after detecting the zero mark to approach the reference point Dependency Refer to p2595 p2597 p2604 p2607 p2609 p2610 Note When traversing to the reference point the velocity override is not effective p2609 EPOS search for reference max distance ref cam and zero mark Max s ref_cam ZM SERVO_S110 CAN EPOS SER...

Page 390: ...ference reference cam Ref_cam SERVO_S110 CAN EPOS SERVO_S110 DP EPOS SERVO_S110 PN EPOS Can be changed T Calculated Access level 1 Data type Unsigned32 Binary Dynamic index Func diagram 3612 P Group Basic positioner Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 p2613 BI EPOS search for reference reversing cam minus Rev minus SERVO_S110 CAN EPOS SERVO...

Page 391: ...EPOS SERVO_S110 DP EPOS SERVO_S110 PN EPOS Can be changed U T Calculated Access level 1 Data type Integer16 Dynamic index p2615 Func diagram 3616 P Group Basic positioner Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 1 63 1 p2617 0 n EPOS traversing block position Trav_block pos SERVO_S110 CAN EPOS SERVO_S110 DP EPOS SERVO_S110 PN EPOS Can be changed U...

Page 392: ...0 p2621 p2623 p2624 Note The following should be set depending on the task FIXED STOP Clamping torque and clamping force rotary 0 65536 0 01 Nm linear 0 65536 N WAIT Delay time ms GOTO Block number SET_O 1 2 or 3 set direct output 1 2 or 3 both p2620 0 n EPOS traversing deceleration override Trav_block a_over SERVO_S110 CAN EPOS SERVO_S110 DP EPOS SERVO_S110 PN EPOS Can be changed U T Calculated A...

Page 393: ...rsing blocks for sorting corresponding to their block number Procedure Set p2624 0 1 Sorting is started and the parameters are automatically reset to zero once the operation has been completed Dependency Refer to p2615 p2616 p2617 p2618 p2619 p2620 p2621 p2622 p2623 Note After sorting the traversing blocks are written at the beginning of the memory in increasing sequence without any gaps p2623 0 n...

Page 394: ... sel bit 0 SERVO_S110 CAN EPOS SERVO_S110 DP EPOS SERVO_S110 PN EPOS Can be changed T Calculated Access level 1 Data type Unsigned32 Binary Dynamic index Func diagram 3616 3640 P Group Basic positioner Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 p2626 BI EPOS traversing block selection bit 1 Trav_blk sel bit 1 SERVO_S110 CAN EPOS SERVO_S110 DP EPOS...

Page 395: ... 0 1 signal is used for acknowledgement A traversing task can be influenced using the following signals intermediate stop via BI p2640 reject traversing task via BI p2641 p2629 BI EPOS traversing block selection bit 4 Trav_blk sel bit 4 SERVO_S110 CAN EPOS SERVO_S110 DP EPOS SERVO_S110 PN EPOS Can be changed T Calculated Access level 1 Data type Unsigned32 Binary Dynamic index Func diagram 3616 36...

Page 396: ...e stop via BI p2640 reject traversing task via BI p2641 Description Sets the following error to detect the fixed stop reached state r2526 4 Dependency Refer to r2526 p2621 r2675 Note The state fixed stop reached is detected if the following error exceeds the theoretically calculated following error value by p2634 p2632 EPOS external block change evaluation Ext BlckChg eval SERVO_S110 CAN EPOS SERV...

Page 397: ...e the monitoring window Dependency Refer to r2526 p2635 Note The identification of fixed stop outside the monitoring window is for the factory setting dependent on signal BO r2526 5 fixed stop outside window This signal is influenced via p2635 EPOS fixed stop monitoring window p2635 EPOS fixed stop monitoring window Fixed stop monit SERVO_S110 CAN Pos ctrl SERVO_S110 DP Pos ctrl SERVO_S110 PN Pos ...

Page 398: ... or p2645 Description Sets the signal source for do not reject traversing task reject traversing task BI p2641 1 signal Do not reject traversing task BI p2641 0 signal Reject traversing task Dependency Refer to p2631 p2640 p2647 p2649 p2639 BI EPOS torque limit reached M_limit reached SERVO_S110 CAN EPOS SERVO_S110 DP EPOS SERVO_S110 PN EPOS Can be changed T Calculated Access level 3 Data type Uns...

Page 399: ...in Description Sets the signal source for the acceleration override in the operating mode direct setpoint input MDI Dependency Refer to p2649 p2650 p2692 Notice The parameter may be protected as a result of p0922 or p2079 and cannot be changed Note Depending on p2649 the acceleration override is either transferred continuously or edge triggered The signal value 4000 hex 16384 dec corresponds to 10...

Page 400: ...imits e g maximum velocity Description Sets the signal source for selecting the operating mode direct setpoint input MDI Dependency Refer to p2640 p2641 p2642 p2643 p2644 p2645 p2646 p2648 p2649 p2650 p2651 p2652 p2653 Note In this mode using BI p2653 it is possible to make a flying changeover between setting up and positioning In this mode even if the axis is not referenced r2684 11 0 relative po...

Page 401: ...For BI p2649 1 signal the following applies Motion starts without any explicit control signal Note Parameter p2649 can only be changed when p0922 p2079 999 Description Sets the signal source to accept the values for edge triggered selection BI p2649 0 signal in the operating mode direct setpoint input MDI p2648 BI EPOS direct setpoint input MDI positioning type MDI pos_type SERVO_S110 CAN EPOS SER...

Page 402: ...1 signal Absolute positioning in the negative direction 1 signal 1 signal Absolute positioning through the shortest distance Description Sets the signal source for the negative direction selection in the operating mode direct setpoint input MDI Dependency Refer to p2576 p2648 p2649 p2650 p2651 p2653 p2654 Note The following applies for setting up the traversing direction can be entered using this ...

Page 403: ...lowing binector inputs are not evaluated BI p2648 positioning type BI p2651 direction selection positive BI p2652 direction selection negative In this case the following definitions apply Signal via CI p2654 xx0x hex absolute Signal via CI p2654 xx1x hex relative Signal via CI p2654 xx2x hex abs_pos only for modulo correction Signal via CI p2654 xx3x hex abs_neg only for modulo correction Dependen...

Page 404: ...l value position setting value Dependency Refer to r2521 p2658 Note In the tracking mode the position setpoint is taken from this connector input p2655 0 1 BI EPOS select tracking mode Sel tracking mode SERVO_S110 CAN EPOS SERVO_S110 DP EPOS SERVO_S110 PN EPOS Can be changed T Calculated Access level 1 Data type Unsigned32 Binary Dynamic index Func diagram 3635 P Group Basic positioner Units group...

Page 405: ... Data type Unsigned32 Binary Dynamic index Func diagram 3635 P Group Basic positioner Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 2526 0 p2659 BI EPOS referencing active feedback signal Ref act fdbk SERVO_S110 CAN EPOS SERVO_S110 DP EPOS SERVO_S110 PN EPOS Can be changed T Calculated Access level 3 Data type Unsigned32 Binary Dynamic index Func diagr...

Page 406: ...absolute position setpoint Dependency Refer to p2530 Note As standard the following BICO interconnection is established CI p2530 r2665 p2662 BI EPOS adjustment value valid feedback signal Adj val valid FS SERVO_S110 CAN EPOS SERVO_S110 DP EPOS SERVO_S110 PN EPOS Can be changed T Calculated Access level 3 Data type Unsigned32 Binary Dynamic index Func diagram P Group Basic positioner Units group Un...

Page 407: ...Can be changed Calculated Access level 1 Data type Integer32 Dynamic index Func diagram 3635 P Group Basic positioner Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 1000 LU min 1000 LU min 1000 LU min r2667 CO EPOS backlash compensation value Backlash value SERVO_S110 CAN EPOS SERVO_S110 DP EPOS SERVO_S110 PN EPOS Can be changed Calculated Access level ...

Page 408: ... Active traversing block bit 3 Active Not active 04 Active traversing block bit 4 Active Not active 05 Active traversing block bit 5 Active Not active 15 MDI active Active Not active r2671 CO EPOS current position setpoint s_set act SERVO_S110 CAN EPOS SERVO_S110 DP EPOS SERVO_S110 PN EPOS Can be changed Calculated Access level 1 Data type Integer32 Dynamic index Func diagram 3610 3616 3620 P Grou...

Page 409: ...T_O 1 2 3 direct output 1 2 or 3 both is set JERK 0 de activate 1 activate r2674 CO EPOS current deceleration override a_over act SERVO_S110 CAN EPOS SERVO_S110 DP EPOS SERVO_S110 PN EPOS Can be changed Calculated Access level 1 Data type FloatingPoint32 Dynamic index Func diagram 3610 3612 3616 3620 P Group Basic positioner Units group Unit selection Not for motor type Scaling Expert list 1 Min M...

Page 410: ...nsigned16 Dynamic index Func diagram 3616 P Group Basic positioner Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting r2678 CO EPOS external block change Ext BlckChg s_act SERVO_S110 CAN EPOS SERVO_S110 DP EPOS SERVO_S110 PN EPOS Can be changed Calculated Access level 1 Data type Integer32 Dynamic index Func diagram 3615 3616 3620 P Group Basic positioner U...

Page 411: ...actory setting LU LU LU r2683 0 14 CO BO EPOS status word 1 POS_ZSW1 SERVO_S110 CAN Pos ctrl SERVO_S110 DP Pos ctrl SERVO_S110 PN Pos ctrl Can be changed Calculated Access level 1 Data type Unsigned16 Dynamic index Func diagram 3645 P Group Closed loop position control Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting Bit field Bit Signal name 1 signal 0 s...

Page 412: ...d loop position control Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting Bit field Bit Signal name 1 signal 0 signal FP 00 Search for reference active Active Not active 3612 01 Flying referencing active Active Not active 3614 02 Referencing active Active Not active 03 Printing mark outside outer window Yes No 3614 04 Axis accelerating Yes No 3635 05 Axis ...

Page 413: ... SERVO_S110 DP EPOS SERVO_S110 PN EPOS Can be changed Calculated Access level 3 Data type FloatingPoint32 Dynamic index Func diagram 3616 3617 P Group Basic positioner Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting r2687 CO EPOS torque setpoint M_set SERVO_S110 CAN EPOS SERVO_S110 DP EPOS SERVO_S110 PN EPOS Can be changed Calculated Access level 3 Data ...

Page 414: ... from this connector output in DCC Description Connector output of the reference quantity for voltages p2001 p2692 CO EPOS acceleration override fixed setpoint a_over fixed val SERVO_S110 CAN EPOS SERVO_S110 DP EPOS SERVO_S110 PN EPOS Can be changed U T Calculated Access level 1 Data type FloatingPoint32 Dynamic index Func diagram 3618 P Group Basic positioner Units group Unit selection Not for mo...

Page 415: ...s parameter is the same as the unit selected for p2003 Dependency p0505 r0108 12 Refer to p2003 Note This parameter provides the numerical value of the reference quantity p2003 in the currently selected unit as a con nector output for interconnection with Drive Control Chart DCC The numerical value can be adopted unchanged from this connector output in DCC Description Connector output of the refer...

Page 416: ...r the temperature as a connector output for interconnection with Drive Control Chart DCC The numerical value can be adopted unchanged from this connec tor output in DCC Description Connector output of the reference quantity for accelerations p2007 All acceleration rates specified as relative value are referred to this reference quantity The reference quantity in this parameter corresponds to 100 o...

Page 417: ... following is initiated Difference within the tolerance window The position is reproduced as a result of the encoder actual value Difference outside the tolerance window An appropriate message is output Dependency Refer to F07449 Caution Rotation e g through a complete encoder range is not detected p2720 0 n Load gear configuration Load gear config SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be...

Page 418: ...ective value edge 0 1 signal The correction value available via CI p2513 is negated and activated Index 0 Closed loop position control 1 Encoder 1 2 Encoder 2 3 Reserved Dependency Refer to p2502 p2513 r2684 Note When the pulse direction interface is activated in position control p0184 0 and p0400 9000 the following BICO interconnections are established BI p2730 0 r0722 2 and BI p2730 p0184 r0722 ...

Page 419: ...up Functions Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 r2811 0 CO BO AND logic operation result AND result SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed Calculated Access level 2 Data type Unsigned32 Dynamic index Func diagram 2634 P Group Functions Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory se...

Page 420: ...2 Fixed value 100 13 Fixed value 150 14 Fixed value 200 Dependency Refer to p2900 p2901 p2930 Note The signal sources can for example be used to interconnect scalings p2900 0 n CO Fixed value 1 Fixed value 1 SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed U T Calculated Access level 3 Data type FloatingPoint32 Dynamic index DDS p0180 Func diagram 1021 P Group Free function blocks Units g...

Page 421: ...VO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed U T Calculated Access level 3 Data type FloatingPoint32 Dynamic index DDS p0180 Func diagram 1021 P Group Free function blocks Units group 7_1 Unit selection p0505 Not for motor type REL Scaling p2003 Expert list 1 Min Max Factory setting 100000 00 Nm 100000 00 Nm 0 00 Nm p3016 MotId torque constant identified kT ident SERVO_S110 CAN SERVO_S11...

Page 422: ...ALC_MOD_ALL Access level 3 Data type FloatingPoint32 Dynamic index Func diagram P Group Motor identification Units group Unit selection Not for motor type ASM REL FEM Scaling Expert list 1 Min Max Factory setting 0 0 135 0 0 0 p3028 MotId reluctance torque constant identified kT_reluct ident SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed U T Calculated CALC_MOD_ALL Access level 3 Data t...

Page 423: ... CALC_MOD_ALL Access level 3 Data type FloatingPoint32 Dynamic index Func diagram P Group Motor identification Units group 25_1 Unit selection p0100 Not for motor type REL Scaling Expert list 1 Min Max Factory setting 0 000000 kgm 100000 000000 kgm 0 000000 kgm p3042 MotId load moment of inertia identified Load mom ident SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed U T Calculated CALC...

Page 424: ...ed U T Calculated CALC_MOD_ALL Access level 3 Data type FloatingPoint32 Dynamic index MDS p0130 Func diagram P Group Motor identification Units group 16_1 Unit selection p0349 Not for motor type PEM REL Scaling Expert list 1 Min Max Factory setting 0 00000 ohm 300 00000 ohm 0 00000 ohm p3056 0 n MotId stator leakage inductance identified L_stator leak SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can...

Page 425: ...ted CALC_MOD_ALL Access level 3 Data type FloatingPoint32 Dynamic index Func diagram P Group Motor identification Units group Unit selection Not for motor type PEM REL Scaling Expert list 1 Min Max Factory setting 0 0 A Vs 999999 0 A Vs 0 0 A Vs p3081 MotId flux controller integral time identified Flux ctrl Tn ident SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed U T Calculated CALC_MOD_...

Page 426: ...tId Motor model changeover speed operation with encoder ident MotMod n_chgSnsorl SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed U T Calculated CALC_MOD_ALL Access level 3 Data type FloatingPoint32 Dynamic index Func diagram P Group Motor identification Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 00000 rpm 210000 00000 rpm 0 00000 rpm p31...

Page 427: ...Dynamic index Func diagram P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 3 0 p3104 BI RTC real time synchronization PING RTC PING CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed U T Calculated Access level 3 Data type Unsigned32 Binary Dynamic index Func diagram P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min ...

Page 428: ...device drive object Local device faults are not for warded Dependency Refer to p2102 p2103 p2104 p2105 p3981 Note When selecting a standard telegram the BICO interconnection for control signal STW1 10 master control by PLC is automatically established r3114 9 11 CO BO Messages status word global Msg ZSW global CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed Calculated Access level 2 Data type Uns...

Page 429: ...he indices is shown in r2122 Description Displays the diagnostic attribute of the fault which has occurred Dependency Refer to r0945 r0947 r0948 r0949 r2109 r2130 r2133 r2136 r3120 p3117 Change safety message type Ch SI mess type CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed C1 1 Calculated Access level 3 Data type Unsigned32 Dynamic index Func diagram P Group Messages Units group Unit selectio...

Page 430: ...nly effective if p0491 1 r3123 0 63 Diagnostic attribute alarm Diag_attr alarm All objects Can be changed Calculated Access level 3 Data type Unsigned32 Dynamic index Func diagram 8065 P Group Messages Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting Bit field Bit Signal name 1 signal 0 signal FP 00 Hardware replacement recommended Yes No r3131 CO Current...

Page 431: ... FloatingPoint32 Dynamic index DDS p0180 Func diagram 8013 P Group Messages Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 ms 1000000 ms 0 ms p3235 Phase failure signal motor monitoring time Ph_fail t_monit SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed U T Calculated Access level 4 Data type FloatingPoint32 Dynamic index Func diagram P Gro...

Page 432: ...ing function Dependency Refer to p3290 p3291 p3295 p3296 p3297 p3298 p3292 Variable signaling function signal source address Var sig S_src addr SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed U T Calculated Access level 4 Data type Unsigned32 Dynamic index Func diagram 5301 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0000 hex FFFF F...

Page 433: ...l SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed U T Calculated Access level 3 Data type FloatingPoint32 Dynamic index Func diagram 5301 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 340 28235E36 340 28235E36 0 000 p3296 Variable signaling function hysteresis Var sig hyst SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed U T ...

Page 434: ...urther parameter modifications can be made and the status is shown in r3996 Modifications can be made again when r3996 0 Note When the calculations have been completed p3900 and p0010 are automatically reset to a value of 0 When calculating motor open loop and closed loop control parameters such as for p0340 1 parameters associ ated with a selected Siemens catalog motor are not overwritten If a ca...

Page 435: ...ion motor data determined MotID ASM dat det SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed Calculated CALC_MOD_ALL Access level 3 Data type Unsigned32 Dynamic index DDS p0180 Func diagram P Group Motor identification Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting Bit field Bit Signal name 1 signal 0 signal FP 00 p0350 accepted Yes No 01 p0354...

Page 436: ...110 CAN CU_S110 DP CU_S110 PN Can be changed Calculated Access level 3 Data type Unsigned16 Dynamic index Func diagram P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting p3950 Service parameter Serv par CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed C1 U T Calculated Access level 3 Data type Unsigned16 Dynamic index Func diagram P Group Units grou...

Page 437: ...e up to another setpoint r3977 BICO counter topology BICO counter topo CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed Calculated Access level 4 Data type Unsigned32 Dynamic index Func diagram P Group Commands Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting r3978 BICO CounterDevice BICO CounterDevice CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed Calc...

Page 438: ...it for input of drive type 350 Determine drive type 360 Write into topology dependent parameters 370 Wait until p0009 0 is set 380 Check topology 550 Call conversion functions for parameter 625 Wait non cyclic starting DRIVE CLiQ 650 Start cyclic operation 660 Evaluate drive commissioning status 670 Autom FW update DRIVE CLiQ components 680 Wait for CU LINK slaves 690 Wait non cyclic starting DRIV...

Page 439: ...ded r3998 0 n First drive commissioning First drv_comm SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed Calculated Access level 3 Data type Unsigned16 Dynamic index DDS p0180 Func diagram P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 65535 r4640 0 95 Encoder diagnostics state machine Enc diag SM SERVO_S110 CAN SERVO_S110 DP SERVO_S11...

Page 440: ...1 Note A value of zero is displayed if an encoder is not present Description Display of the effective filter bandwidth for Sensor Module SMx10 resolver and SMx20 sin cos The bandwidth of the filter is set using p4660 Index 0 Encoder 1 1 Encoder 2 2 Reserved Dependency Refer to p4660 Note A value of zero is displayed if an encoder is not present p4660 0 2 Sensor Module filter bandwidth SM Filt_band...

Page 441: ...coder characteristic type Enc char_type SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed C2 4 Calculated Access level 4 Data type Integer16 Dynamic index EDS p0140 Func diagram P Group Encoder Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 1 0 p4663 0 n Encoder characteristic K0 Enc char K0 SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be ch...

Page 442: ... The two signals on a track are evaluated differentially p4671 1 Only the non inverted signal on a track is evaluated p4666 0 n Encoder characteristic K3 Enc char K3 SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed U T Calculated Access level 4 Data type FloatingPoint32 Dynamic index EDS p0140 Func diagram P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max...

Page 443: ...4 p4675 2 p4672 0 n Analog sensor channel A voltage at actual value zero Ana_sens A U at 0 SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed U T Calculated Access level 4 Data type FloatingPoint32 Dynamic index EDS p0140 Func diagram P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 10 0000 V 10 0000 V 0 0000 V p4673 0 n Analog sensor chann...

Page 444: ...alculated Access level 4 Data type Unsigned32 Dynamic index EDS p0140 Func diagram P Group Encoder Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0000 bin Bit field Bit Signal name 1 signal 0 signal FP 00 LVDT ON Yes No 01 Track B excitation Yes No 02 Fixed value amplitude Yes No 03 Fixed value amplitude and phase Yes No p4678 0 n Analog sensor LVDT rat...

Page 445: ...is effective The negative limit describes the pulses lost due to a covered glass panel in the incremental encoder Description Sets the positive tolerance window in encoder pulses for limit 2 for the zero mark monitoring If the zero mark deviation is higher than the tolerance set in p4681 and p4682 and fault F3x131 is re parameterized to alarm A or no message N the accumulator p4688 is compared wit...

Page 446: ...ameterized to alarm A or no message N the encoder pulses which have not been cor rected are added to the accumulator p4688 Index 0 Encoder 1 1 Encoder 2 2 Reserved p4684 0 n Zero mark monitoring tolerance window alarm threshold negative ZM tol A_thr neg SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed C2 4 Calculated Access level 3 Data type Integer32 Dynamic index EDS p0140 Func diagram ...

Page 447: ...ad SMI data from memory card 9 SMI data downloaded and POWER ON required for component 10 SMI data backup complete 11 SMI data backup for selected component not found 12 Selected component not available or not connected 13 Insufficient memory space for backup 14 Format of saved data is incompatible 15 Transfer fault during data download 16 Transfer fault during data backup r4689 0 2 CO Squarewave ...

Page 448: ...ror value 15 Check the DRIVE CLiQ wiring for the component Help for error value 16 Check the DRIVE CLiQ wiring for the component Help for error value 17 Save the data for the original SMI on the memory card Help for error value 18 Set parameter p4693 to an appropriate value Help for error value 19 Perform an SMI delete or use a blank SMI Help for error value 20 Use an SMI card that is not blank He...

Page 449: ...wing applies Only a number 200 may be selected for the subdirectory when saving In the case of downloads a selection for the subdirectory may only be made for an SMI DQI with a component number 200 preliminary component number p4690 200 Note SMI SINAMICS Sensor Module Integrated Re index 0 This index is used to select the subdirectory for saving and downloading data in the event of access to r4694...

Page 450: ...ignals Description Displays the actual status of the trace Value 0 Trace inactive 1 Trace is recording presamples 2 Trace is waiting for trigger event 3 Trace is recording 4 Recording trace ended Index 0 Trace 0 1 Trace 1 p4700 0 1 Trace control Trace control CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed U T Calculated Access level 3 Data type Integer16 Dynamic index Func diagram P Group Trace ...

Page 451: ...t be fetched There are two fixed and two freely selectable signals for recording For value 1 Master control does not have to be fetched There are four freely selectable signals for recording Description Displays the required memory in bytes for the actual parameterization Index 0 Trace 0 1 Trace 1 Dependency Refer to r4799 r4706 Measuring function status Meas fct status CU_S110 CAN CU_S110 DP CU_S...

Page 452: ...3 5 equal to zero index 0 1 can only be written and vice versa Re index 0 1 Here the trigger signal for trace 0 or 1 is entered as parameter in the BICO format For trace with a physical address p4789 the data type of the trigger signal is set here r4709 0 1 Trace memory space required for measuring functions Trace mem required CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed Calculated Access leve...

Page 453: ...ged U T Calculated Access level 3 Data type FloatingPoint32 Dynamic index Func diagram P Group Trace and function generator Units group Unit selection Not for motor type Scaling Expert list 0 Min Max Factory setting 340 28235E36 340 28235E36 0 00 p4713 0 1 Trace tolerance band trigger threshold Trace trig thresh CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed U T Calculated Access level 3 Data ty...

Page 454: ... group Unit selection Not for motor type Scaling Expert list 0 Min Max Factory setting 0 4294967295 0 p4717 Measuring function number of averaging operations Meas fct avg qty CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed U T Calculated Access level 3 Data type Unsigned8 Dynamic index Func diagram P Group Trace and function generator Units group Unit selection Not for motor type Scaling Expert l...

Page 455: ...ype Scaling Expert list 0 Min Max Factory setting 0 000 ms 60000 000 ms 1 000 ms p4721 0 1 Trace recording time Trace record_time CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed U T Calculated Access level 3 Data type FloatingPoint32 Dynamic index Func diagram P Group Trace and function generator Units group Unit selection Not for motor type Scaling Expert list 0 Min Max Factory setting 0 000 ms ...

Page 456: ...or Units group Unit selection Not for motor type Scaling Expert list 0 Min Max Factory setting r4726 0 1 Trace data type 2 traced Trace rec type 2 CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed Calculated Access level 3 Data type Unsigned32 Dynamic index Func diagram P Group Trace and function generator Units group Unit selection Not for motor type Scaling Expert list 0 Min Max Factory setting r...

Page 457: ...9 0 1 Trace number of recorded values Trace rec values CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed Calculated Access level 3 Data type Unsigned32 Dynamic index Func diagram P Group Trace and function generator Units group Unit selection Not for motor type Scaling Expert list 0 Min Max Factory setting p4730 0 5 Trace record signal 0 Trace record sig 0 CU_S110 CAN CU_S110 DP CU_S110 PN Can be c...

Page 458: ...elects the seventh signal to be traced p4733 0 5 Trace record signal 3 Trace record sig 3 CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed U T Calculated Access level 3 Data type Unsigned32 Dynamic index Func diagram P Group Trace and function generator Units group Unit selection Not for motor type Scaling Expert list 0 Min Max Factory setting 0 p4734 0 5 Trace record signal 4 Trace record sig 4 C...

Page 459: ...e values 16385 to 32768 from signal 0 trace 0 are to be read out In this case memory bank 1 is set with p4795 1 The values can now be read out in r4740 0 to r4740 16383 Dependency Refer to p4795 Description Displays the trace buffer record buffer for trace 0 and signal 1 Dependency Refer to r4740 p4795 p4737 0 5 Trace record signal 7 Trace record sig 7 CU_S110 CAN CU_S110 DP CU_S110 PN Can be chan...

Page 460: ...0 trace sig3 CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed Calculated Access level 3 Data type FloatingPoint32 Dynamic index Func diagram P Group Trace and function generator Units group Unit selection Not for motor type Scaling Expert list 0 Min Max Factory setting r4744 0 16383 Trace 0 trace buffer signal 4 floating point Trace 0 trace sig4 CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed Cal...

Page 461: ...1 trace sig0 CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed Calculated Access level 3 Data type FloatingPoint32 Dynamic index Func diagram P Group Trace and function generator Units group Unit selection Not for motor type Scaling Expert list 0 Min Max Factory setting r4751 0 16383 Trace 1 trace buffer signal 1 floating point Trace 1 trace sig1 CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed Cal...

Page 462: ...ce 1 trace sig5 CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed Calculated Access level 3 Data type FloatingPoint32 Dynamic index Func diagram P Group Trace and function generator Units group Unit selection Not for motor type Scaling Expert list 0 Min Max Factory setting r4756 0 16383 Trace 1 trace buffer signal 6 floating point Trace 1 trace sig6 CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed ...

Page 463: ... the trace buffer record buffer for trace 0 and signal 2 Dependency Refer to r4760 Description Displays the trace buffer record buffer for trace 0 and signal 3 Dependency Refer to r4760 r4761 0 16383 Trace 0 trace buffer signal 1 Trace 0 trace sig1 CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed Calculated Access level 3 Data type Unsigned32 Dynamic index Func diagram P Group Trace and function g...

Page 464: ...0 trace sig5 CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed Calculated Access level 3 Data type Unsigned32 Dynamic index Func diagram P Group Trace and function generator Units group Unit selection Not for motor type Scaling Expert list 0 Min Max Factory setting r4766 0 16383 Trace 0 trace buffer signal 6 Trace 0 trace sig6 CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed Calculated Access level...

Page 465: ...1 trace sig2 CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed Calculated Access level 3 Data type Unsigned32 Dynamic index Func diagram P Group Trace and function generator Units group Unit selection Not for motor type Scaling Expert list 0 Min Max Factory setting r4773 0 16383 Trace 1 trace buffer signal 3 Trace 1 trace sig3 CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed Calculated Access level...

Page 466: ... Min Max Factory setting r4777 0 16383 Trace 1 trace buffer signal 7 Trace 1 trace sig7 CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed Calculated Access level 3 Data type Unsigned32 Dynamic index Func diagram P Group Trace and function generator Units group Unit selection Not for motor type Scaling Expert list 0 Min Max Factory setting p4780 0 1 Trace physical address signal 0 Trace PhyAddr Sig0...

Page 467: ...bin 1111 1111 1111 1111 1111 1111 1111 1111 bin 0000 bin p4783 0 1 Trace physical address signal 3 Trace PhyAddr Sig3 CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed U T Calculated Access level 3 Data type Unsigned32 Dynamic index Func diagram P Group Trace and function generator Units group Unit selection Not for motor type Scaling Expert list 0 Min Max Factory setting 0000 bin 1111 1111 1111 11...

Page 468: ...g 0000 bin 1111 1111 1111 1111 1111 1111 1111 1111 bin 0000 bin p4787 0 1 Trace physical address signal 7 Trace PhyAddr Sig7 CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed U T Calculated Access level 3 Data type Unsigned32 Dynamic index Func diagram P Group Trace and function generator Units group Unit selection Not for motor type Scaling Expert list 0 Min Max Factory setting 0000 bin 1111 1111 ...

Page 469: ...Unsigned32 Dynamic index Func diagram P Group Trace and function generator Units group Unit selection Not for motor type Scaling Expert list 0 Min Max Factory setting r4793 0 1 Trace data type 8 traced Trace rec type 8 CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed Calculated Access level 3 Data type Unsigned32 Dynamic index Func diagram P Group Trace and function generator Units group Unit sele...

Page 470: ...U_S110 CAN CU_S110 DP CU_S110 PN Can be changed U T Calculated Access level 3 Data type Integer16 Dynamic index Func diagram P Group Trace and function generator Units group Unit selection Not for motor type Scaling Expert list 0 Min Max Factory setting 0 3 0 r4805 Function generator status FG status CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed Calculated Access level 3 Data type Integer16 Dyn...

Page 471: ... Note The parameter can only be changed in the following operating states r4805 0 4 6 p4812 Function generator physical address FG phys address CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed U T Calculated Access level 3 Data type Unsigned32 Dynamic index Func diagram P Group Trace and function generator Units group Unit selection Not for motor type Scaling Expert list 0 Min Max Factory setting ...

Page 472: ...U_S110 DP CU_S110 PN Can be changed Calculated Access level 4 Data type Integer32 Dynamic index Func diagram P Group Trace and function generator Units group Unit selection Not for motor type Scaling Expert list 0 Min Max Factory setting r4818 CO Function generator output signal FG outp_sig CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed Calculated Access level 3 Data type FloatingPoint32 Dynamic...

Page 473: ... Func diagram P Group Trace and function generator Units group Unit selection Not for motor type Scaling Expert list 0 Min Max Factory setting 0 00 ms 60000 00 ms 1000 00 ms p4822 Function generator pulse width FG pulse width CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed U T Calculated Access level 3 Data type FloatingPoint32 Dynamic index Func diagram P Group Trace and function generator Units...

Page 474: ...plitude FG 2nd amplitude CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed U T Calculated Access level 3 Data type FloatingPoint32 Dynamic index Func diagram P Group Trace and function generator Units group Unit selection Not for motor type Scaling Expert list 0 Min Max Factory setting 1600 00 1600 00 7 00 p4826 Function generator offset FG offset CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed U ...

Page 475: ...Min Max Factory setting 0 00 10000 00 100 00 p4830 Function generator time slice cycle FG time slice CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed U T Calculated Access level 3 Data type FloatingPoint32 Dynamic index Func diagram P Group Trace and function generator Units group Unit selection Not for motor type Scaling Expert list 0 Min Max Factory setting 0 03125 ms 2 00000 ms 0 12500 ms p4831...

Page 476: ...d Access level 3 Data type FloatingPoint32 Dynamic index Func diagram P Group Trace and function generator Units group Unit selection Not for motor type Scaling PERCENT Expert list 0 Min Max Factory setting p4835 0 4 Function generator free measurement function scaling FG fr MeasFct scal CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed U T Calculated Access level 3 Data type FloatingPoint32 Dynami...

Page 477: ...e system selection File sys select SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed T Calculated Access level 3 Data type Unsigned32 Dynamic index Func diagram P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0000 0000 0000 0000 0000 0000 0000 0000 bin Bit field Bit Signal name 1 signal 0 signal FP 01 Result data clamping cycle thresholds...

Page 478: ...ting the write protection for adjustable parameters Value 0 Inactive 1 Active Note The following parameters are excluded from the write protection p0003 BOP access level p0971 drive object save parameters p0977 save all parameters p3950 service parameters p5016 Enable spindle commissioning Enable comm SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed C2 T Calculated Access level 3 Data typ...

Page 479: ...ction Not for motor type Scaling Expert list 1 Min Max Factory setting 0 65535 0 p7821 DRIVE CLiQ component parameter number DLQ para_no CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed U T Calculated Access level 4 Data type Unsigned16 Dynamic index Func diagram P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 65535 0 p7822 DRIVE CLiQ component...

Page 480: ...BITS_FLOAT_0 111 SAPAR_ALARMBITS_FLOAT_1 112 SAPAR_ALARMBITS_FLOAT_2 113 SAPAR_ALARMBITS_FLOAT_3 114 SAPAR_ALARMBITS_FLOAT_4 115 SAPAR_ALARMBITS_FLOAT_5 10500 ENC_ID_TIME_PRETRIGGER 10501 ENC_ID_TIME_SEND_TELEG_1 10502 ENC_ID_TIME_CYCLE_FINISHED 10503 ENC_ID_TIME_DELTA_FUNMAN 10504 ENC_ID_SUBTRACE_CALCTIMES r7827 Firmware update progress display FW update progress CU_S110 CAN CU_S110 DP CU_S110 PN...

Page 481: ..._RESISTANCE_1 10590 ENC_ID_ANA_CHAN_A 10591 ENC_ID_ANA_CHAN_B 10592 ENC_ID_ANA_CHAN_X 10593 ENC_ID_ANA_CHAN_Y 10596 ENC_ID_AB_ANGLE 10597 ENC_ID_CD_ANGLE 10598 ENC_ID_MECH_ANGLE_HI 10599 ENC_ID_RM_POS_PHI_COMMU 10600 ENC_ID_PHI_COMMU 10612 ENC_ID_DIFF_CD_INC 10613 ENC_ID_RM_POS_PHI_COMMU_RFG 10628 ENC_ID_MECH_ANGLE 10629 ENC_ID_MECH_RM_POS 10644 ENC_ID_INIT_VECTOR 10645 FEAT_INIT_VEKTOR 10660 ENC_...

Page 482: ... in the unsigned integer format The associated signal number is represented at the appropriate index in r7831 Description Parameter to display a DSA signal in the signed integer format The associated signal number is represented at the appropriate index in r7831 r7832 0 15 Telegram diagnostics numerical format tel diag format SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed Calculated Acc...

Page 483: ...ilogram meter 2 21 Percent 22 Hertz 23 Volt peak to peak 24 Amps peak to peak 25 Degrees Celsius 26 Degrees 28 Millimeter or degrees 29 Meters minute 30 Meters second 31 ohm 32 Millihenry 33 Newton meter 34 Newton meter Ampere 35 Volt Ampere 36 Newton meter second rad 38 31 25 microseconds 39 Microseconds 40 Milliseconds r7835 0 15 Telegram diagnostics real Tel diag real SERVO_S110 CAN SERVO_S110 ...

Page 484: ...ro amps rms 85 Micrometers revolution 90 Tenths of a second 91 Hundredths of a second 92 10 microseconds 93 Pulses 94 256 pulses 95 Tenths of a pulse 96 Revolutions 97 100 revolutions minute 98 10 revolutions minute 99 0 1 revolutions minute 100 Thousandth revolution minute 101 Pulses second 102 100 pulses second 103 10 revolutions minute x seconds 104 10000 pulses second 2 105 0 1 Hertz 106 0 01 ...

Page 485: ...3 57 dec ASCII characters 9 serial number character 4 r7843 4 50 dec ASCII characters 2 serial number character 5 r7843 5 51 dec ASCII characters 3 serial number character 6 r7843 6 69 dec ASCII characters E serial number character 7 r7843 7 0 dec ASCII characters serial number character 8 r7843 19 0 dec ASCII characters serial number character 20 r7843 20 0 dec Serial number 111923E Description D...

Page 486: ...l sub boot the following applies The parameter should be set to 1 to start the sub boot r7850 0 23 Drive object operational not operational DO ready for oper CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed Calculated Access level 4 Data type Integer16 Dynamic index Func diagram P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 32786 32767 p7852 Nu...

Page 487: ...Reference to the drive objects whose configuration has changed Index 0 When changing one of the following indices then the value in this index is increased Index 1 n The drive object with object number in p0101 n 1 has changed its configuration Example r7868 3 was incremented since the last time it was read the configuration of the drive object with object number in p0101 2 was changed Index 0 Sum...

Page 488: ...n p0101 n 1 has changed its status Example r7868 3 was incremented since the last time it was read the status of the drive object with object number in p0101 2 was changed Index 0 Sum of the following indices 1 Object number in p0101 0 2 Object number in p0101 1 3 Object number in p0101 2 4 Object number in p0101 3 5 Object number in p0101 4 6 Object number in p0101 5 7 Object number in p0101 6 8 ...

Page 489: ...When changing either r9900 or r9901 the value in this index is incremented Index 5 DRIVE CLiQ target topology When changing either p9902 or p9903 the value in this index is incremented Index 6 DRIVE CLiQ ports When changing p0109 the value in this index is incremented Index 7 OA applications When changing OA applications the value in this index is incremented Description Displays the configuration...

Page 490: ... changeover of units When changing reference or changeover parameters e g p2000 p0304 the value in this index is incremented Re index 9 Drive object parameter count When changing the number of parameters by loading Drive Control Chart DCC the value in this index is incremented Re index 10 Drive object configuration When changing either p0107 or p0108 the value in this index is incremented Descript...

Page 491: ...p0304 the value in this index is incremented Re index 9 Drive object parameter count When changing the number of parameters by loading Drive Control Chart DCC the value in this index is incremented Re index 10 Drive object configuration When changing either p0107 or p0108 the value in this index is incremented Re index 11 Drive object bearing When changing p0530 or p0531 the value in this index is...

Page 492: ...object 10 11 Drive object number object 11 12 Drive object number object 12 13 Drive object number object 13 14 Drive object number object 14 15 Drive object number object 15 16 Drive object number object 16 17 Drive object number object 17 18 Drive object number object 18 19 Drive object number object 19 20 Drive object number object 20 21 Drive object number object 21 22 Drive object number obje...

Page 493: ...r8511 3 4 Send signal to BO r8511 4 5 Send signal to BO r8511 5 6 Send signal to BO r8511 6 7 Send signal to BO r8511 7 8 Send signal to BO r8511 8 9 Send signal to BO r8511 9 10 Send signal to BO r8511 10 11 Send signal to BO r8511 11 12 Send signal to BO r8511 12 13 Send signal to BO r8511 13 14 Send signal to BO r8511 14 r7903 Hardware sampling times still cannot be assigned HW t_samp free CU_S...

Page 494: ...er interconnection Dependency Refer to r8515 p8502 CI Data transfer 0 wordwise Transfer 0 word CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed U T Calculated Access level 2 Data type Unsigned32 Integer32 Dynamic index Func diagram P Group Units group Unit selection Not for motor type Scaling PERCENT Expert list 1 Min Max Factory setting 0 p8503 CI Data transfer 1 wordwise Transfer 1 word CU_S110 ...

Page 495: ... ON OFF 07 Receive signal from BI p8500 ON OFF r8511 0 21 BO Data transfer 1 receive bitwise Trans 1 recv bit CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed Calculated Access level 2 Data type Unsigned32 Dynamic index Func diagram P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting Bit field Bit Signal name 1 signal 0 signal FP 00 Receive signal fr...

Page 496: ...0 PN Can be changed Calculated Access level 2 Data type FloatingPoint32 Dynamic index Func diagram P Group Units group Unit selection Not for motor type Scaling PERCENT Expert list 1 Min Max Factory setting r8513 CO Data transfer 1 receive wordwise Trans 1 recv word CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed Calculated Access level 2 Data type FloatingPoint32 Dynamic index Func diagram P Gro...

Page 497: ... Bit field Bit Signal name 1 signal 0 signal FP 00 LOCAL save Yes No 01 Start in LOCAL Yes No 02 Change in oper Yes No 03 OFF acts like OFF1 Yes No 04 OFF acts like OFF2 Yes No 05 OFF acts like OFF3 Yes No 06 Reserved Yes No 07 CW CCW active Yes No 08 Jog active Yes No 09 Save speed setpoint Yes No 14 Inhibit operation Yes No 15 Inhibit parameterization Yes No r8571 0 39 Macro Binector Input BI Ma...

Page 498: ...nal There is at least one fault outside the range 8700 8799 Note Corresponds to the CANopen object 1001 hex Description Sets the SYNC object parameter for the following CANopen objects 1005 hex COB ID Note SINAMICS operates as SYNC load COB ID CAN object identification r8600 CAN device type Device type CU_S110 CAN Can be changed Calculated Access level 3 Data type Unsigned32 Dynamic index Func dia...

Page 499: ...604 1 0 the node guarding protocol is not used Either node guarding or heartbeat can be used Description Sets the time ms to cyclically send heartbeat telegrams The smallest cycle time is 100 ms When a 0 is written then heartbeat telegrams are not sent Dependency Only adjustable if guard time 0 node guarding disabled Refer to p8604 Note Corresponds to the CANopen object 1017 hex Either node guardi...

Page 500: ...y started after resolving the cause of the error with p8608 0 1 Index 1 The automatic CAN bus start function is activated using p8608 1 1 At 2 second intervals the CAN controller is automatically restarted until the cause of the error has been resolved and a CAN connection has been established Value 0 Inactive 1 Start CAN controller Index 0 Manual controller start function 1 Activating the automat...

Page 501: ...present 8110 hex Alarm A08751 present 8120 hex Alarm A08752 present 8130 hex Alarm A08700 F with alarm value 2 present 1000 hex Generic error 1 present there is at least one fault outside the range 8700 8799 1001 hex Generic error 2 present there is at least one alarm in the range 8700 8799 with the exception of A08751 A08752 A08700 All drive objects are acknowledged by writing the value 0 to the ...

Page 502: ...2 drive 3 23 Fault 3 drive 3 24 Fault 4 drive 3 25 Fault 5 drive 3 26 Fault 6 drive 3 27 Fault 7 drive 3 28 Fault 8 drive 3 29 Number of faults drive 4 30 Fault 1 drive 4 31 Fault 2 drive 4 32 Fault 3 drive 4 33 Fault 4 drive 4 34 Fault 5 drive 4 35 Fault 6 drive 4 36 Fault 7 drive 4 37 Fault 8 drive 4 38 Number of faults drive 5 39 Fault 1 drive 5 40 Fault 2 drive 5 41 Fault 3 drive 5 42 Fault 4 ...

Page 503: ...entical 2 Using p8620 Only if address 0 is set using the address switch the Node ID is set as standard to 126 A change only becomes effective after save and POWER ON Dependency Refer to r8621 Note Every node ID change only becomes effective after a POWER ON The active node ID is displayed in r8621 The parameter is not influenced by setting the factory setting It is only possible to independently s...

Page 504: ...G1 Time Segment 1 before the sampling point Bit 12 14 TSEG2 Time Segment 2 after the sampling point Bit 15 Reserved Bit 16 19 BRPE Baud Rate Prescaler Extension Bit 20 31 Reserved Example Bit rate 20 kbit s p8622 6 associated bit timing is in p8623 6 0001 2FB6 Recommend Use the factory setting when setting the bit timing Index 0 1 Mbit s 1 800 kbit s 2 500 kbit s 3 250 kbit s 4 125 kbit s 5 50 kbi...

Page 505: ... 3 768 1023 Index 2 parameter area 0 1 9999 1 10000 19999 2 20000 29999 3 30000 39999 Index 0 Drive object number 1 Sub index range 2 Parameter range Description Sets the drive behavior if a CAN communication error occurs Value 0 No response 1 OFF1 2 OFF2 3 OFF3 Dependency Refer to F08700 p8630 0 2 CAN virtual objects Virtual objects CU_S110 CAN Can be changed U T Calculated Access level 3 Data ty...

Page 506: ...2 arbitration 1 register 23 Interface 2 arbitration 2 register 24 Interface 2 message control register 25 Interface 2 data A1 register 26 Interface 2 data A2 register 27 Interface 2 data B1 register 28 Interface 2 data B2 register 29 Transmission request 1 register 30 Transmission request 2 register 31 New data 1 register 32 New data 2 register 33 Interrupt pending 1 register 34 Interrupt pending ...

Page 507: ... PDO transmission type Dependency A valid COB ID can only be set for the available existing channel Refer to p8741 Note Corresponds to the CANopen object 1400 hex 40 hex x x Drive number 0 7 Transmission types 0 1 FE and FF can be set PDO Process Data Object p8685 CAN NMT states NMT states CU_S110 CAN Can be changed U T Calculated Access level 3 Data type Integer16 Dynamic index Func diagram P Gro...

Page 508: ...pendency A valid COB ID can only be set for the available existing channel Refer to p8741 Note Corresponds to the CANopen object 1403 hex 40 hex x x Drive number 0 7 Transmission types 0 1 FE and FF can be set PDO Process Data Object p8701 0 1 CAN Receive PDO 2 Receive PDO 2 SERVO_S110 CAN Can be changed C1 3 T Calculated Access level 3 Data type Unsigned32 Dynamic index Func diagram 9204 9206 P G...

Page 509: ... type Dependency A valid COB ID can only be set for the available existing channel Refer to p8741 Note Corresponds to the CANopen object 1406 hex 40 hex x x Drive number 0 7 Transmission types 0 1 FE and FF can be set PDO Process Data Object p8704 0 1 CAN Receive PDO 5 Receive PDO 5 SERVO_S110 CAN Can be changed C1 3 T Calculated Access level 3 Data type Unsigned32 Dynamic index Func diagram 9204 ...

Page 510: ...Mapped object 3 3 Mapped object 4 Note Corresponds to the CANopen object 1601 hex 40 hex x x Drive number 0 7 Dummy mapping not supported The parameter can only be written online when the associated COB ID in p870x is set as invalid p8707 0 1 CAN Receive PDO 8 Receive PDO 8 SERVO_S110 CAN Can be changed C1 3 T Calculated Access level 3 Data type Unsigned32 Dynamic index Func diagram 9204 P Group C...

Page 511: ...pped object 3 3 Mapped object 4 Note Corresponds to the CANopen object 1604 hex 40 hex x x Drive number 0 7 Dummy mapping not supported The parameter can only be written online when the associated COB ID in p870x is set as invalid p8712 0 3 CAN Receive Mapping for RPDO 3 Mapping RPDO 3 SERVO_S110 CAN Can be changed C1 3 T Calculated Access level 3 Data type Unsigned32 Dynamic index Func diagram 92...

Page 512: ... 2 Mapped object 3 3 Mapped object 4 Note Corresponds to the CANopen object 1607 hex 40 hex x x Drive number 0 7 Dummy mapping not supported The parameter can only be written online when the associated COB ID in p870x is set as invalid p8715 0 3 CAN Receive Mapping for RPDO 6 Mapping RPDO 6 SERVO_S110 CAN Can be changed C1 3 T Calculated Access level 3 Data type Unsigned32 Dynamic index Func diagr...

Page 513: ...endency A valid COB ID can only be set for the available existing channel Refer to p8741 Notice For inhibit time and even timer the following apply A value that is not a multiple integer of CANopen 4 ms is rounded off Note Corresponds to the CANopen object 1801 hex 40 hex x x Drive number 0 7 Transmission types 0 1 F0 FE and FF can be set PDO Process Data Object p8720 0 4 CAN Transmit PDO 1 Transm...

Page 514: ...endency A valid COB ID can only be set for the available existing channel Refer to p8741 Notice For inhibit time and even timer the following apply A value that is not a multiple integer of CANopen 4 ms is rounded off Note Corresponds to the CANopen object 1803 hex 40 hex x x Drive number 0 7 Transmission types 0 1 F0 FE and FF can be set PDO Process Data Object p8722 0 4 CAN Transmit PDO 3 Transm...

Page 515: ...s Dependency A valid COB ID can only be set for the available existing channel Refer to p8741 Notice For inhibit time and even timer the following apply A value that is not a multiple integer of CANopen 4 ms is rounded off Note Corresponds to the CANopen object 1805 hex 40 hex x x Drive number 0 7 Transmission types 0 1 F0 FE and FF can be set PDO Process Data Object p8724 0 4 CAN Transmit PDO 5 T...

Page 516: ...s Dependency A valid COB ID can only be set for the available existing channel Refer to p8741 Notice For inhibit time and even timer the following apply A value that is not a multiple integer of CANopen 4 ms is rounded off Note Corresponds to the CANopen object 1807 hex 40 hex x x Drive number 0 7 Transmission types 0 1 F0 FE and FF can be set PDO Process Data Object p8726 0 4 CAN Transmit PDO 7 T...

Page 517: ...mapping parameters for CANopen Transmit Process Data Object 4 TPDO 4 p8730 0 3 CAN Transmit Mapping for TPDO 1 Mapping TPDO 1 SERVO_S110 CAN Can be changed C1 3 T Calculated Access level 3 Data type Unsigned32 Dynamic index Func diagram 9208 9210 P Group Communications Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0000 hex FFFF FFFF hex 0000 hex p8731 ...

Page 518: ...mapping parameters for CANopen Transmit Process Data Object 7 TPDO 7 Index 0 Mapped object 1 1 Mapped object 2 2 Mapped object 3 3 Mapped object 4 Note Corresponds to the CANopen object 1A06 hex 40 hex x x Drive number 0 7 The parameter can only be written online when the associated COB ID in p872x is set as invalid p8734 0 3 CAN Transmit Mapping for TPDO 5 Mapping TPDO 5 SERVO_S110 CAN Can be cha...

Page 519: ...e online mode after acknowledging with p8741 p8737 0 3 CAN Transmit Mapping for TPDO 8 Mapping TPDO 8 SERVO_S110 CAN Can be changed C1 3 T Calculated Access level 3 Data type Unsigned32 Dynamic index Func diagram 9208 P Group Communications Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0000 hex FFFF FFFF hex 0000 hex p8741 CAN PDO configuration acknowl...

Page 520: ...it transmit CANopen objects in the process data buffer Index 0 PZD 1 1 PZD 2 2 PZD 3 3 PZD 4 4 PZD 5 5 PZD 6 6 PZD 7 7 PZD 8 8 PZD 9 9 PZD 10 10 PZD 11 11 PZD 12 12 PZD 13 13 PZD 14 14 PZD 15 15 PZD 16 Dependency Refer to r8750 r8750 0 15 CAN mapped 16 bit receive objects RPDO 16 mapped SERVO_S110 CAN Can be changed Calculated Access level 3 Data type Unsigned16 Dynamic index Func diagram P Group ...

Page 521: ...iption Displays the CANopen status word r8760 0 14 CAN mapped 32 bit receive objects RPDO 32 mapped SERVO_S110 CAN Can be changed Calculated Access level 3 Data type Unsigned16 Dynamic index Func diagram P Group Communications Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting r8761 0 14 CAN mapped 32 bit transmit objects TPDO 32 mapped SERVO_S110 CAN Can b...

Page 522: ...ion enabled Yes No 03 Fault present Yes No 04 No coasting active Yes No 05 No Quick Stop active Yes No 06 Switching on inhibited active Yes No 07 Alarm present Yes No 08 Can be freely interconnected BI p8785 High Low 09 Control request Yes No 10 Target reached Yes No 11 Torque limit reached Yes No 12 Velocity equal to zero Yes No 14 Can be freely interconnected BI p8786 High Low 15 Can be freely i...

Page 523: ...oject download of the commissioning software to be canceled Description Access to the CANopen control word using SDO transfer Dependency Refer to p8790 Note Corresponds to the CANopen object 6040 hex 800 hex x x Drive number 0 7 p8790 CAN control word auto interconnection STW interc auto SERVO_S110 CAN Can be changed C1 3 T Calculated Access level 3 Data type Integer16 Dynamic index Func diagram P...

Page 524: ..._internal object 6094 1 object 6094 2 1 p0408 2 p0418 n_set_bus Index 0 Counter 1 Denominator Description Displays the PROFINET Device ID Every SINAMICS device type has its own PROFINET Device ID and its own PROFINET GSD r8796 CAN Target Velocity Target velocity SERVO_S110 CAN Can be changed Calculated Access level 3 Data type Integer32 Dynamic index Func diagram P Group Units group Unit selection...

Page 525: ...t influenced by setting the factory setting Description Sets the default gateway for the onboard PROFINET interface on the Control Unit The active default gateway is displayed in r8932 Note The interface configuration p8920 and following is activated with p8925 1 The parameter is not influenced by setting the factory setting p8920 0 239 PN Name of Station PN Name Stat CU_S110 PN Can be changed U T...

Page 526: ...ed for PROFINET onboard The Shared Device functionality is activated with a value 2 The drive is being accessed by two PROFINET controllers simultaneously automation controller SIMOTION or SIMATIC A CPU safety controller SIMATIC F CPU Value 1 Automation or Safety 2 Automation and Safety Notice The F CPU may only use PROFIsafe telegrams The A CPU must be connected to enable the F CPU to gain access...

Page 527: ...ax Factory setting r8931 0 3 PN IP Address of Station active PN IP of Stat act CU_S110 PN Can be changed Calculated Access level 3 Data type Unsigned8 Dynamic index Func diagram P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting r8932 0 3 PN Default Gateway of Station active PN Def Gateway act CU_S110 PN Can be changed Calculated Access level 3 Data...

Page 528: ...nction 0 Flashing off 1 Flashing on Dependency Refer to p9210 r8939 PN DAP ID PN DAP ID CU_S110 PN Can be changed Calculated Access level 3 Data type Unsigned32 Dynamic index Func diagram P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting r8955 0 5 CBE20 MAC Address of Station CBE20 MAC addr CU_S110 PN Can be changed Calculated Access level 3 Data t...

Page 529: ...xis spindle Value 0 Linear axis 1 Rot axis spindle Dependency Refer to p9502 Notice This parameter is overwritten by the copy function of the safety functions integrated in the drive p9300 SI Motion monitoring clock cycle processor 2 SI Mtn clock P2 SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed C2 95 Calculated Access level 3 Data type FloatingPoint32 Dynamic index Func diagram P Group...

Page 530: ...on motor For bit 1 an actual velocity is calculated for a synchronous motor This value depends on the setting in p0300 Bit 0 should be set if no motor is defined p0300 0 Description Sets the behavior of safety functions and their feedback during pulse suppression in encoderless operation p9306 SI Motion function specification processor 2 SI Mtn fct spec P2 SERVO_S110 CAN SERVO_S110 DP SERVO_S110 P...

Page 531: ...ble velocity which when exceeded can mean that errors occur during safe actual value sensing is displayed in r9730 Setting criteria if the motion monitoring functions are executed without an encoder The actual value sensing clock cycle must be set to the same value as the current controller clock cycle p0115 Dependency Refer to p9300 p9511 Refer to F01652 Notice This parameter is overwritten by th...

Page 532: ...up Safety Integrated Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0000 0000 0000 0000 0000 0000 0000 0000 bin Bit field Bit Signal name 1 signal 0 signal FP 00 Incrementer Yes No 01 Encoder CRC least significant byte first Yes No 02 Redundant coarse position val most signifi cant bit left aligned Yes No 16 DRIVE CLiQ encoder Yes No p9316 SI Motion enc...

Page 533: ...the denominator for the gearbox between the encoder or motor in the case of encoderless monitoring func tions and the load p9318 SI motion encoder pulses per revolution processor 2 SI Mtn p rev P2 SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed C2 95 Calculated Access level 3 Data type Unsigned32 Dynamic index Func diagram P Group Safety Integrated Units group Unit selection Not for moto...

Page 534: ...f the gearbox ratio Example Gearbox ratio 1 4 pole pair number r0313 2 p9321 1 p9322 8 4 x 2 Description Sets the number of valid bits of the redundant coarse position value The encoder that is used for the safe motion monitoring functions on processor 2 must be parameterized in this parameter Dependency Refer to r0470 p9523 p9322 0 7 SI Motion gearbox enc motor load numerator processor 2 SI Mtn g...

Page 535: ...on redundant coarse pos value fine resolution bits P2 SI Mtn fine bit P2 SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed C2 95 Calculated Access level 3 Data type Integer16 Dynamic index Func diagram P Group Safety Integrated Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 16 16 2 p9325 SI Motion redundant coarse position value relevant bits P2...

Page 536: ...Note SLS Safely Limited Speed p9330 SI Motion standstill tolerance processor 2 SI Mtn SOS Tol P2 SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed C2 95 Calculated Access level 3 Data type FloatingPoint32 Dynamic index Func diagram P Group Safety Integrated Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 000 mm 100 000 mm 1 000 mm p9330 SI Moti...

Page 537: ...o p9542 Refer to C01711 Notice This parameter is overwritten by the copy function of the safety functions integrated in the drive p9331 0 3 SI Motion SLS limit values processor 2 SI Mtn SLS lim P2 SERVO_S110 CAN Safety rot SERVO_S110 DP Safety rot SERVO_S110 PN Safety rot Can be changed C2 95 Calculated Access level 3 Data type FloatingPoint32 Dynamic index Func diagram P Group Safety Integrated U...

Page 538: ...68 p9568 0 the value in p9346 p9546 is also applicable for the function SAM Dependency Refer to p9546 Caution The SAM function is switched out if the selected threshold value is undershot Notice This parameter is overwritten by the copy function of the safety functions integrated in the drive Note SAM Safe Acceleration Monitor safe acceleration monitoring SSM Safe Speed Monitor safety relevant fee...

Page 539: ...e velocity tolerance for the SAM function p9347 SI Motion SSM velocity hysteresis processor 2 SI Mtn SSM Hyst P2 SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed C2 95 Calculated Access level 3 Data type FloatingPoint32 Dynamic index Func diagram 2860 P Group Safety Integrated Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 0010 mm min 500 000...

Page 540: ... from a higher to a lower safely limited velocity speed stage or to the safe operating stop SOS within this delay time the old velocity stage remains active Even if SLS or SOS is activated from non safety related operation then this delay is still applied Dependency Refer to p9551 Notice This parameter is overwritten by the copy function of the safety functions integrated in the drive Note SLS Saf...

Page 541: ... Calculated Access level 3 Data type FloatingPoint32 Dynamic index Func diagram 2825 P Group Safety Integrated Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 00 µs 600000000 00 µs 100000 00 µs p9353 SI Motion transition time STOP D to SOS processor 2 SI Mtn t D SOS P2 SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed C2 95 Calculated Access le...

Page 542: ...10 Dependency Refer to p9356 p9560 p9356 SI Motion pulse suppression delay time processor 2 SI Mtn IL t_del P2 SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed C2 95 Calculated Access level 3 Data type FloatingPoint32 Dynamic index Func diagram 2825 P Group Safety Integrated Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 00 µs 600000000 00 µs...

Page 543: ...ulse suppression when the bus fails 13 STOP D with delayed pulse suppression when the bus fails 14 STOP E with delayed pulse suppression when the bus fails Index 0 Limit value SLS1 1 Limit value SLS2 2 Limit value SLS3 3 Limit value SLP4 Dependency Refer to p9331 p9380 p9563 Notice This parameter is overwritten by the copy function of the safety functions integrated in the drive Note The values 4 ...

Page 544: ... this means that this time can be used for braking existing motion Dependency Refer to p9364 p9366 Refer to C30716 Notice This parameter is overwritten by the copy function of the safety functions integrated in the drive Note SDI Safe Direction safe motion direction p9364 SI Motion SDI tolerance processor 2 SI Mtn SDI tol P2 SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed C2 95 Calculate...

Page 545: ...e following applies The value in p9546 p9346 SSM is applied as the velocity limit for SAM Description Sets the velocity tolerance limit for the SAM function SAM is de activated once the set velocity limit has been undershot Notice This parameter is overwritten by the copy function of the safety functions integrated in the drive p9366 SI Motion SDI stop response processor 2 SI Mtn SDI Stop P2 SERVO...

Page 546: ...escription Sets the delay time after which the pulses are safely suppressed after a bus failure Dependency Refer to p9363 Notice This parameter is overwritten by the copy function of the safety functions integrated in the drive p9370 SI Motion acceptance test mode processor 2 SI Mtn acc_mod P2 SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed U T Calculated Access level 3 Data type Integer...

Page 547: ...p reference value processor 2 SI Mtn ramp ref P2 SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed C2 95 Calculated Access level 3 Data type FloatingPoint32 Dynamic index Func diagram P Group Safety Integrated Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 600 0000 mm min 24000 0000 mm min 1500 0000 mm min p9381 SI Motion brake ramp reference va...

Page 548: ...s have led to an excessive Safety actual velocity Dependency Refer to C30711 Notice This parameter is overwritten by the copy function of the safety functions integrated in the drive Note This parameter is only effective for encoderless actual value sensing p9306 p9506 1 p9386 SI Motion delay time of the evaluation sensorless processor 2 SI Mtn t_del SL MM SERVO_S110 CAN SERVO_S110 DP SERVO_S110 P...

Page 549: ...ory card 3 Safe removal possible 100 Safe removal not possible due to access Dependency Refer to r9401 Caution Removing the memory card without a request p9400 2 and confirmation p9400 3 may destroy the file system on the memory card The memory card will then no longer work properly and must be repaired Note The status when the memory card is being removed safely is shown in r9401 Re value 0 1 3 1...

Page 550: ... parameter not accepted Description Displays the first index of the parameters that could not be transferred when the parameter backup files PS files were read from the non volatile memory e g memory card If from an indexed parameter at least one index was not able to be transferred then the parameter number is dis played in r9406 n and the first index that was not transferred is displayed in r940...

Page 551: ...object Dependency Refer to p0971 p0977 Note The modified parameters that still need to be saved are internally listed in r9410 r9419 Description Displays the parameters for which the re calculation was unsuccessful after an internal system reference value change Dependency Refer to F07086 r9408 0 19 PS file fault code parameter not transferred PS fault code All objects Can be changed Calculated Ac...

Page 552: ...tured as follows r9842 0 Interconnection 1 signal sink BICO coded r9843 0 Interconnection 1 signal source BICO coded r9842 1 Interconnection 2 signal sink BICO coded r9843 1 Interconnection 2 signal source BICO coded r9451 0 29 Units changeover adapted parameters Unit_chngov par SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed Calculated Access level 1 Data type Unsigned32 Dynamic index F...

Page 553: ...52 Note A change only becomes effective after a POWER ON The monitoring clock cycle must be a multiple of the actual value sensing clock cycle in p9511 dbSI or of the DP clock cycle ncSI p9484 BICO interconnections search signal source BICO S_src srch All objects Can be changed T Calculated Access level 3 Data type Unsigned32 Dynamic index Func diagram P Group Units group Unit selection Not for mo...

Page 554: ... 1 Min Max Factory setting 0000 0000 0000 0000 0000 0000 0000 0000 bin Bit field Bit Signal name 1 signal 0 signal FP 00 Enable SOS SLS SBH SG Enable Inhibit 16 Enable SSM hysteresis and filtering Enable Inhibit 2860 17 Enable SDI Enable Inhibit 2861 p9502 SI Motion axis type processor 1 SI Mtn ax type P1 SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed C2 95 Calculated Access level 3 Dat...

Page 555: ...bit 17 Enable SCA18 SN18 Enable Inhibit 18 Enable SCA19 SN19 Enable Inhibit 19 Enable SCA20 SN20 Enable Inhibit 20 Enable SCA21 SN21 Enable Inhibit 21 Enable SCA22 SN22 Enable Inhibit 22 Enable SCA23 SN23 Enable Inhibit 23 Enable SCA24 SN24 Enable Inhibit 24 Enable SCA25 SN25 Enable Inhibit 25 Enable SCA26 SN26 Enable Inhibit 26 Enable SCA27 SN27 Enable Inhibit 27 Enable SCA28 SN28 Enable Inhibit ...

Page 556: ...inues during pulse suppression The feedback signal last displayed before pulse suppression is kept and the system goes into the STO state Re bit 08 For bit 1 and with the SDI safety function activated the following applies During pulse suppression monitoring is switched off and the status signal indicates inactive For bit 0 and with the SDI safety function activated the following applies Monitorin...

Page 557: ...cle p0115 Dependency Refer to F01652 Note The parameter is only active for drive based motion monitoring functions p9601 2 1 The monitoring clock cycle from p9500 must be an integer multiple of this parameter In the case of motion monitoring functions with encoder the clock cycle time for actual value sensing must be an integer multiple of the current controller clock cycle and at least 4 times sl...

Page 558: ...oring functions on processor 1 must be parameterized in this parameter Dependency Refer to p9516 Refer to F01671 Note For safety functions that have not been enabled p9501 0 the following applies When booting p9517 is automat ically set the same as p0407 For safety functions that are enabled p9501 0 the following applies p9517 is checked whether it coincides with p0407 Bit field Bit Signal name 1 ...

Page 559: ...ncoder 1 position actual value 1 PROFIdrive Description Sets the gear ratio between the encoder and load in mm revolution for a linear axis with rotary encoder Notice The fourth decimal point can be rounded off depending on the size of the entered number from 3 places before the decimal point p9518 SI motion encoder pulses per revolution processor 1 SI Mtn puls rev P1 SERVO_S110 CAN SERVO_S110 DP ...

Page 560: ... Description Sets the number of valid bits of the redundant coarse position value The encoder that is used for the safe motion monitoring functions on processor 1 must be parameterized in this parameter p9521 0 7 SI Motion gearbox enc motor load denominator processor 1 SI Mtn gear den P1 SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed C2 95 Calculated Access level 3 Data type Unsigned32 ...

Page 561: ...matically set the same as r0472 when the system boots For safety functions that are enabled p9501 0 the following applies p9525 is checked to see that it matches r0472 Description Sets the bit number for the safe most significant bit MSB of the Gx_XIST1 coarse position The encoder that is used for the safe motion monitoring functions on processor 1 must be parameterized in this parameter Dependenc...

Page 562: ...530 SI Motion standstill tolerance processor 1 SI Mtn standst_tol SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed C2 95 Calculated Access level 3 Data type FloatingPoint32 Dynamic index Func diagram P Group Safety Integrated Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 000 mm 100 000 mm 1 000 mm p9530 SI Motion standstill tolerance process...

Page 563: ...n This is an evaluation factor to define the setpoint limit from the selected actual speed limit The active SLS limit value is evaluated with this factor and is made available as setpoint limit in r9733 p9531 0 3 SI Motion SLS limit values processor 1 SI Mtn SLS lim P1 SERVO_S110 CAN Safety rot SERVO_S110 DP Safety rot SERVO_S110 PN Safety rot Can be changed C2 95 Calculated Access level 3 Data ty...

Page 564: ... Refer to p9501 p9535 p9562 Note For the setting of these limit values the following applies p9534 p9535 A change only becomes effective after a POWER ON SLP Safely Limited Position Description Sets the lower limit for the function Safely Limited Position SLP p9534 0 1 SI Motion SLP upper limit values processor 1 SI Mtn SLP up lim SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed U T Calcu...

Page 565: ...10 SN10 10 Cam position SCA11 SN11 11 Cam position SCA12 SN12 12 Cam position SCA13 SN13 13 Cam position SCA14 SN14 14 Cam position SCA15 SN15 15 Cam position SCA16 SN16 16 Cam position SCA17 SN17 17 Cam position SCA18 SN18 18 Cam position SCA19 SN19 19 Cam position SCA20 SN20 20 Cam position SCA21 SN21 21 Cam position SCA22 SN22 22 Cam position SCA23 SN23 23 Cam position SCA24 SN24 24 Cam positio...

Page 566: ... position SCA14 SN14 14 Cam position SCA15 SN15 15 Cam position SCA16 SN16 16 Cam position SCA17 SN17 17 Cam position SCA18 SN18 18 Cam position SCA19 SN19 19 Cam position SCA20 SN20 20 Cam position SCA21 SN21 21 Cam position SCA22 SN22 22 Cam position SCA23 SN23 23 Cam position SCA24 SN24 24 Cam position SCA25 SN25 25 Cam position SCA26 SN26 26 Cam position SCA27 SN27 27 Cam position SCA28 SN28 2...

Page 567: ...ion SCA29 SN29 29 Cam position SCA30 SN30 Dependency Refer to p9501 p9503 p9536 Note A change only becomes effective after a POWER ON SCA Safe Cam Description Sets the minus cam position for the function Safe Cam SCA Index 0 Cam position SCA1 SN1 1 Cam position SCA2 SN2 2 Cam position SCA3 SN3 3 Cam position SCA4 SN4 4 Cam position SCA5 SN5 5 Cam position SCA6 SN6 6 Cam position SCA7 SN7 p9537 0 2...

Page 568: ...ion SCA15 SN15 15 Cam position SCA16 SN16 16 Cam position SCA17 SN17 17 Cam position SCA18 SN18 18 Cam position SCA19 SN19 19 Cam position SCA20 SN20 20 Cam position SCA21 SN21 21 Cam position SCA22 SN22 22 Cam position SCA23 SN23 23 Cam position SCA24 SN24 24 Cam position SCA25 SN25 25 Cam position SCA26 SN26 26 Cam position SCA27 SN27 27 Cam position SCA28 SN28 28 Cam position SCA29 SN29 29 Cam ...

Page 569: ... is assigned cam track 2 If the position lies within the range of this cam a value of 7 is entered in the SGA cam range of the second cam track p9538 5 100 Cam 6 index 5 is assigned cam track 1 If the position lies within the range of this cam a value of 0 is entered in the SGA cam range of the first cam track p9538 0 29 SI Motion SCA cam track assignment processor 1 SI Mtn SCA assign SERVO_S110 C...

Page 570: ...r a POWER ON SCA Safe Cam Description Sets the tolerance for the function Safe Cam SCA Within this tolerance both monitoring channels may signal different signal states of the same safe cam Note A change only becomes effective after a POWER ON Description Sets the tolerance for the function Safe Cam SCA Within this tolerance both monitoring channels may signal different signal states of the same s...

Page 571: ...hanged C2 95 Calculated Access level 3 Data type FloatingPoint32 Dynamic index Func diagram P Group Safety Integrated Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 0010 mm 360 0000 mm 0 1000 mm p9542 SI Motion act val comparison tolerance crossw processor 1 SI Mtn act tol P1 SERVO_S110 CAN Safety rot SERVO_S110 DP Safety rot SERVO_S110 PN Safety rot ...

Page 572: ... the function SAM Caution The following applies for p9506 3 The SAM function is switched out if the selected threshold value is undershot Note F DO Failsafe Digital Output SGA Safety related output SAM Safe Acceleration Monitor safe acceleration monitoring SSM Safe Speed Monitor safety relevant feedback signal from the velocity monitoring SGA n nx Safety related output n nx p9545 SI Motion SSM fil...

Page 573: ...RVO_S110 DP SERVO_S110 PN Can be changed C2 95 Calculated Access level 3 Data type FloatingPoint32 Dynamic index Func diagram 2860 P Group Safety Integrated Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 0010 mm min 500 0000 mm min 10 0000 mm min p9547 SI Motion SSM velocity hysteresis processor 1 SI Mtn SSM hyst P1 SERVO_S110 CAN Safety rot SERVO_S11...

Page 574: ...S Safe Operating Stop p9549 SI Motion slip velocity tolerance processor 1 SI Mtn slip P1 SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed C2 95 Calculated Access level 3 Data type FloatingPoint32 Dynamic index Func diagram P Group Safety Integrated Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 00 mm min 6000 00 mm min 6 00 mm min p9549 SI Mo...

Page 575: ..._S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed C2 95 Calculated Access level 3 Data type FloatingPoint32 Dynamic index Func diagram 2825 P Group Safety Integrated Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 00 ms 600000 00 ms 100 00 ms p9554 SI Motion transition time STOP E to SOS processor 1 SI Mtn t E SOS P1 SERVO_S110 CAN SERVO_S110 DP SER...

Page 576: ...be 0 recommended value 10 p9557 SI Motion pulse suppression test time processor 1 SI Mtn IL t_test SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed C2 95 Calculated Access level 3 Data type FloatingPoint32 Dynamic index Func diagram P Group Safety Integrated Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 00 ms 10000 00 ms 100 00 ms p9558 SI M...

Page 577: ...P E with delayed pulse suppression when the bus fails Dependency Refer to p9531 p9563 p9580 Note SLS Safely Limited Speed Description Sets the stop response for the function Safely Limited Position SLP Value 2 STOP C 3 STOP D 4 STOP E Dependency Refer to p9534 p9535 Note SLP Safely Limited Position p9560 SI Motion pulse suppression shutdown speed Control Unit SI Mtn IL n_shutCU SERVO_S110 CAN Safe...

Page 578: ...ection safe motion direction Description Sets the tolerance for the function Safe motion direction SDI This motion in the monitored direction is still per missible before an alarm is initiated Dependency Refer to p9565 p9566 Refer to C01716 Note SDI Safe Direction safe motion direction p9563 0 3 SI Motion SLS specific stop response processor 1 SI Mtn SLS stop P1 SERVO_S110 CAN SERVO_S110 DP SERVO_...

Page 579: ...velocity limit has been undershot Note SAM Safe Acceleration Monitor safe acceleration monitoring SSM Safe Speed Monitor safety relevant feedback signal from the velocity monitoring For p9568 p9368 0 the following applies The value in p9546 p9346 SSM is applied as the velocity limit for SAM p9565 SI Motion SDI delay time processor 1 SI Mtn SDI t P1 SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be...

Page 580: ...e not possible due to incorrect ID in p9570 15 0F hex Acc_mode not possible due to expired Acc_timer 172 AC hex Acc_mode active Dependency Refer to p9558 p9570 Refer to C01799 p9568 SI Motion SAM velocity limit processor 1 SI Mtn SAM v_limP1 SERVO_S110 CAN Safety rot SERVO_S110 DP Safety rot SERVO_S110 PN Safety rot Can be changed C2 95 Calculated Access level 3 Data type FloatingPoint32 Dynamic i...

Page 581: ... Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 00 ms 800 00 ms 0 00 ms p9581 SI Motion brake ramp reference value processor 1 SI Mtn ramp ref P1 SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed C2 95 Calculated Access level 3 Data type FloatingPoint32 Dynamic index Func diagram P Group Safety Integrated Units group Unit selection Not for motor type Scal...

Page 582: ...ect actual value sensing Note This parameter is only effective for encoderless actual value sensing p9306 p9506 1 p9583 SI Motion brake ramp monitoring time processor 1 SI Mtn rp t_mon P1 SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed C2 95 Calculated Access level 3 Data type FloatingPoint32 Dynamic index Func diagram P Group Safety Integrated Units group Unit selection Not for motor ty...

Page 583: ... Dependency Refer to r9771 p9801 Note STO Safe Torque Off A change only becomes effective after a POWER ON p9589 SI Motion voltage tolerance acceleration processor 1 SI Mtn U tol P1 SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed C2 95 Calculated Access level 3 Data type FloatingPoint32 Dynamic index Func diagram P Group Safety Integrated Units group Unit selection Not for motor type Sca...

Page 584: ...Safe Brake Control Description Sets the PROFIsafe address for processor 1 Dependency Refer to p9810 p9601 SI enable functions integrated in the drive processor 1 SI enable fct P1 SERVO_S110 DP SERVO_S110 PN Can be changed C2 95 Calculated Access level 3 Data type Unsigned32 Dynamic index Func diagram P Group Safety Integrated Units group Unit selection Not for motor type Scaling Expert list 1 Min ...

Page 585: ...mp down along the OFF3 ramp and a motor holding brake that is possibly available can close then the delay time should be set as follows Motor holding brake parameterized delay time p1135 p1228 p1217 Motor holding brake not parameterized delay time p1135 p1228 Dependency Refer to p1135 p9852 Note For a crosswise data comparison between p9652 and p9852 a difference of one Safety monitoring clock cyc...

Page 586: ...omatically reset to zero Value 0 00 hex Copy function ended 29 1D hex Start copy function node identifier p9658 SI transition time STOP F to STOP A processor 1 SI STOP F A P1 SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed C2 95 Calculated Access level 3 Data type FloatingPoint32 Dynamic index Func diagram 2802 P Group Safety Integrated Units group Unit selection Not for motor type Scali...

Page 587: ... signal source in p9705 is set and it already has a logical 1 then a test stop is immediately initiated and the messages C01711 C30711 are output with message value 1005 Notice It is not permissible to use TM54F inputs to start the test stop Description Displays result list 1 that for the crosswise data comparison between the monitoring channels led to the fault Index 0 Result list second channel ...

Page 588: ... value lower limit SDI positive Yes No 20 Actual value upper limit SDI negative Yes No 21 Actual value lower limit SDI negative Yes No r9711 0 1 SI Motion diagnostics result list 2 SI Mtn res_list 2 SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed Calculated Access level 3 Data type Unsigned32 Dynamic index Func diagram P Group Safety Integrated Units group Unit selection Not for motor ty...

Page 589: ...e position actual value on the second channel CDC Crosswise Data Check Description Displays the current velocity actual values for the motion monitoring functions on the Control Unit Index 0 Load side velocity actual value on the Control Unit 1 Actual SAM SBR velocity limit on the Control Unit Note For linear axes the following unit applies millimeters per minute For rotary axes the following unit...

Page 590: ...O_S110 PN Can be changed Calculated Access level 4 Data type Unsigned32 Dynamic index Func diagram P Group Safety Integrated Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting Bit field Bit Signal name 1 signal 0 signal FP 23 Set offset for TfS to the actual torque Set Reset r9719 0 31 CO BO SI Motion control signals 2 SI Mtn ctrl_sig 2 SERVO_S110 CAN SERVO...

Page 591: ...RVO_S110 PN Can be changed Calculated Access level 3 Data type Unsigned32 Dynamic index Func diagram 2840 2855 P Group Safety Integrated Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting Bit field Bit Signal name 1 signal 0 signal FP 00 De select STO Yes No 01 De select SS1 Yes No 02 De select SS2 Yes No 03 De select SOS Yes No 04 De select SLS Yes No 07 A...

Page 592: ...10 CAN SERVO_S110 DP SERVO_S110 PN Can be changed Calculated Access level 3 Data type Unsigned32 Dynamic index Func diagram 2840 2855 P Group Safety Integrated Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting Bit field Bit Signal name 1 signal 0 signal FP 00 STO active Yes No 01 SS1 active Yes No 02 SS2 active Yes No 03 SOS active Yes No 04 SLS active Yes...

Page 593: ...ficance of the individual message values is described in message C01711 CDC Crosswise Data Check Description Setting to select and de select the user agreement Value 0 00 hex De select user agreement 172 AC hex Select user agreement Dependency Refer to r9727 r9724 SI Motion crosswise comparison clock cycle SI Mtn CDC clk cyc SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed Calculated Acce...

Page 594: ...value displayed is exceeded message C01711 is output indicating relevant subsequent faults r9727 SI Motion user agreement inside the drive SI Mtn UserAgr int SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed Calculated Access level 4 Data type Integer16 Dynamic index Func diagram P Group Safety Integrated Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory s...

Page 595: ...racy of the velocity sensing This depends on the type of actual value sensing the gear factors as well as the quality of the encoder being used r9730 SI Motion Safe maximum velocity SI mtn safe v_Max SERVO_S110 CAN Safety rot SERVO_S110 DP Safety rot SERVO_S110 PN Safety rot Can be changed Calculated Access level 3 Data type FloatingPoint32 Dynamic index Func diagram P Group Safety Integrated Unit...

Page 596: ...value of the setpoint velocity limiting is required r9733 2 must be interconnected Note The unit changeover between linear and rotary axis is not implemented via the safety changeover p9502 but by the linear motor changeover If the SLS or SDI function is not selected r9733 0 shows p1082 and r9733 1 shows p1082 The display in r9733 can be delayed by up to one Safety monitoring clock cycle as compar...

Page 597: ... signal 0 signal FP 00 STO active Yes No 01 SS1 active Yes No 02 SS2 active Yes No 03 SOS active Yes No 04 SLS active Yes No 05 SOS selected Yes No 06 SLS selected Yes No 07 Internal event Yes No 12 SDI positive selected Yes No 13 SDI neg selected Yes No 14 ESR retract requested Yes No 15 Safety message present Yes No r9742 0 15 CO BO SI Motion drive integrated status signals processor 2 SI Mtn in...

Page 598: ...ledged message case safety message 1 r9747 63 r9748 63 r9749 63 r9753 63 r9754 63 r9755 63 r9756 63 7th acknowledged message case safety message 8 Description Displays the relative system runtime in milliseconds when the safety message occurred Dependency Refer to r9744 r9747 r9749 p9752 r9753 r9754 r9755 r9756 r9745 0 63 SI component number SI comp_num SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN C...

Page 599: ...pe Scaling Expert list 1 Min Max Factory setting r9750 0 63 SI diagnostic attributes SI diag_attr SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed Calculated Access level 3 Data type Unsigned32 Dynamic index Func diagram P Group Messages Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting Bit field Bit Signal name 1 signal 0 signal FP 00 Hardware re...

Page 600: ...lection Not for motor type Scaling Expert list 1 Min Max Factory setting ms ms ms r9756 0 63 SI message time removed in days SI t_msg rem days SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed Calculated Access level 3 Data type Unsigned16 Dynamic index Func diagram P Group Messages Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting p9761 SI passwor...

Page 601: ...tn dyn remain SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed Calculated Access level 3 Data type FloatingPoint32 Dynamic index Func diagram P Group Safety Integrated Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting h h h r9770 0 3 SI vers safety fcts that run indep in the drive processor 1 SI version Drv P1 SERVO_S110 CAN SERVO_S110 DP SERVO_S1...

Page 602: ...ncoderless sup ported Yes No r9772 0 23 CO BO SI status processor 1 SI status P1 SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed Calculated Access level 2 Data type Unsigned32 Dynamic index Func diagram 2804 P Group Safety Integrated Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting Bit field Bit Signal name 1 signal 0 signal FP 00 STO selected o...

Page 603: ... Bit field Bit Signal name 1 signal 0 signal FP 00 STO selected in drive Yes No 2804 01 STO active in drive Yes No 2804 02 SS1 delay time active in the drive Yes No 2804 04 SBC requested Yes No 2804 05 SS1 selected in the drive Basic Functions Yes No 06 SS1 active in the drive Basic Functions Yes No 31 Shutdown paths must be tested Yes No 2810 r9776 SI diagnostics SI diagnostics SERVO_S110 CAN SER...

Page 604: ...actual value sensing p9306 p9506 1 Description Displays the numbers of the data items that are currently being compared crosswise on processor 1 The content of the list of crosswise compared data is dependent upon the particular application Dependency Refer to r9894 Note Example r9794 0 1 monitoring clock cycle r9794 1 2 enable safety functions r9794 2 3 F DI changeover tolerance time A complete l...

Page 605: ...10 PN Can be changed Calculated Access level 2 Data type Unsigned32 Dynamic index Func diagram 2802 P Group Safety Integrated Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting r9798 SI actual checksum SI parameters Control Unit SI act_checksum CU SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed Calculated Access level 3 Data type Unsigned32 Dynami...

Page 606: ...s not permissible to parameterize motor holding brake without feedback signals and enable Safe Brake Con trol p1278 1 p9602 p9802 1 SBC Safe Brake Control Description Sets the PROFIsafe address on processor 2 Notice This parameter is overwritten by the copy function of the safety functions integrated in the drive p9801 SI enable functions integrated in the drive processor 2 SI enable fct P2 SERVO_...

Page 607: ...mend In order that the drive can completely ramp down along the OFF3 ramp and a motor holding brake that is possibly available can close then the delay time should be set as follows Motor holding brake parameterized delay time p1135 p1228 p1217 Motor holding brake not parameterized delay time p1135 p1228 Dependency Refer to p1135 p9652 Notice This parameter is overwritten by the copy function of t...

Page 608: ... Retract p9858 SI transition time STOP F to STOP A processor 2 SI STOP F A P2 SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed C2 95 Calculated Access level 3 Data type FloatingPoint32 Dynamic index Func diagram 2802 P Group Safety Integrated Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 00 µs 30000000 00 µs 0 00 µs r9871 SI common functions...

Page 609: ... type Scaling Expert list 1 Min Max Factory setting Bit field Bit Signal name 1 signal 0 signal FP 00 STO on Motor Module selected Yes No 2810 01 STO on Motor Module active Yes No 2810 02 SS1 delay time on Motor Module active Yes No 2810 03 Safe Brake Adapter feedback signal Yes No 2814 04 SBC requested Yes No 2814 05 SS1 selected on the Motor Module Basic Functions Yes No 06 SS1 active on the Mot...

Page 610: ...9795 Refer to F30611 r9881 0 11 SI Motion Sensor Module Node Identifier second channel SI Mtn SM Ident SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed Calculated Access level 3 Data type Unsigned8 Dynamic index Func diagram P Group Safety Integrated Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting r9890 0 2 SI version Sensor Module SI version SM...

Page 611: ... the Node Identifier manufacturer and version of the Node Identifier r9898 SI actual checksum SI parameters processor 2 SI act_chksm P2 SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed Calculated Access level 3 Data type Unsigned32 Dynamic index Func diagram 2800 P Group Safety Integrated Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting p9899 SI ...

Page 612: ...y is sub divided into several sections Each of the following data is saved under an index General data on the topology version attribute to compare the actual topology and target topology number of components Data on a component type component of the Node Identifier of the component number of DRIVE CLiQ sockets in the Node Identifier manufacturer and version of the Node Identifier serial number of...

Page 613: ...ponent has been detected to be different byte 3 1 topology comparison shows one component that is connected differently The following parameter values are available p9904 1 the procedure is started p9904 0 after starting the procedure has been successfully completed p9904 1 after starting the procedure has not been successfully completed The possible causes for an unsuccessful procedure are locate...

Page 614: ...NAMICS GL VECTORGL 6 SINAMICS SL VECTORSL Description Only for internal Siemens service purposes Description Only for internal Siemens service purposes p9905 Device specialization Specialization CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed C1 1 Calculated Access level 3 Data type Unsigned16 Dynamic index Func diagram P Group Topology Units group Unit selection Not for motor type Scaling Expert...

Page 615: ... the licensing is not adequate then the following alarm is displayed together with LED A13000 licensing not sufficient LED READY flashes green red with 0 5 Hz Description Activates the entered license key The following is executed when activating the license key the checksum of the entered license key is checked the entered license key is saved in a non volatile fashion on the memory card re enter...

Page 616: ...nit ensure that the system logbook is switched out p9930 0 0 If writing to the file is activated p9930 2 1 writing to the file must be de activated again before switching off the Control Unit p9930 2 0 in order to ensure that the system logbook has been completely written to the file r9925 0 99 Firmware file incorrect FW file incorr CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed Calculated Acces...

Page 617: ... utilization is greater than 100 fault F01054 is output p9931 0 129 System logbook module selection SYSLOG mod select CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed U T Calculated Access level 4 Data type Unsigned32 Dynamic index Func diagram P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0000 hex FFFF FFFF hex 0000 hex p9932 Save system logbo...

Page 618: ...lved including load from higher priority sampling times interrupts Description Displays the calculated utilizations for the active sampling times based on the existing target topology Index 0 Net utilization 0 1 Total utilization 0 2 Net utilization 1 3 Total utilization 1 4 Net utilization 2 5 Total utilization 2 6 Net utilization 3 7 Total utilization 3 8 Net utilization 4 9 Total utilization 4 ...

Page 619: ... 20 42 Net utilization 21 43 Total utilization 21 44 Net utilization 22 45 Total utilization 22 46 Net utilization 23 47 Total utilization 23 48 Net utilization 24 49 Total utilization 24 50 Net utilization 25 51 Total utilization 25 52 Net utilization 26 53 Total utilization 26 54 Net utilization 27 55 Total utilization 27 56 Net utilization 28 57 Total utilization 28 58 Net utilization 29 59 Tot...

Page 620: ...time involved Total utilization Computing time load of sampling time involved including load from higher priority sampling times interrupts Description Displays the utilizations measured for the active sampling times Index 0 Net utilization 0 1 Total utilization 0 2 Net utilization 1 3 Total utilization 1 4 Net utilization 2 5 Total utilization 2 6 Net utilization 3 7 Total utilization 3 8 Net uti...

Page 621: ...n 23 48 Net utilization 24 49 Total utilization 24 50 Net utilization 25 51 Total utilization 25 52 Net utilization 26 53 Total utilization 26 54 Net utilization 27 55 Total utilization 27 56 Net utilization 28 57 Total utilization 28 58 Net utilization 29 59 Total utilization 29 60 Net utilization 30 61 Total utilization 30 62 Net utilization 31 63 Total utilization 31 64 Net utilization 32 65 To...

Page 622: ...nterrupts Description Displays the calculated data memory utilization rates based on the existing target topology Index 0 Fast Memory 1 1 Fast Memory 2 2 Fast Memory 3 3 Fast Memory 4 4 Reserved Dependency Refer to F01068 Description Displays the measured data memory utilization rates based on the existing target topology Index 0 Fast Memory 1 1 Fast Memory 2 2 Fast Memory 3 3 Fast Memory 4 4 Heap...

Page 623: ...3988 Index 0 7 corresponds to DRIVE CLiQ socket X100 X107 r9984 0 4 Data memory utilization OA Mem_ut dat_mem OA CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed Calculated Access level 3 Data type FloatingPoint32 Dynamic index Func diagram P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting r9986 0 7 DRIVE CLiQ system load DQ system load CU_S110 CAN...

Page 624: ...igned16 Dynamic index Func diagram P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 65535 0 r9991 0 4 Memory usage actual values per DO Mem_use ActVal DO CU_S110 CAN CU_S110 DP CU_S110 PN Can be changed Calculated Access level 4 Data type Unsigned32 Dynamic index Func diagram P Group Units group Unit selection Not for motor type Scaling Expert l...

Page 625: ...dge internal event internal fault The falling edge at this input resets the status internal event in the drive Value 0 Statically active 1 F DI 0 2 F DI 1 p10001 SI delay time for test stop at DO SI t_delay DO SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed C2 95 Calculated Access level 3 Data type FloatingPoint32 Dynamic index Func diagram P Group Safety Integrated Units group Unit sele...

Page 626: ...only pulses longer than 4 ms are processed The debounce result can be read in r10051 Description Sets the fail safe digital input F DI for the STO function Value 0 Statically active 1 F DI 0 2 F DI 1 3 F DI 2 255 Statically inact Dependency Refer to p10122 p10007 BI SI forced checking procedure F DO signal source SI frc_chF DO s_sc SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed C2 95 Ca...

Page 627: ...for the SS2 function Value 0 Statically active 1 F DI 0 2 F DI 1 3 F DI 2 255 Statically inact Note If value 0 No terminal assigned safety function always active If value 255 No terminal assigned safety function always inactive F DI Failsafe Digital Input SS2 Safe Stop 2 p10023 SI SS1 input terminal processor 1 SI SS1 F DI P1 SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed C2 95 Calculat...

Page 628: ...t value bit 0 of the SLS function Value 0 Statically active 1 F DI 0 2 F DI 1 3 F DI 2 255 Statically inact p10025 SI SOS input terminal processor 1 SI SOS F DI P1 SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed C2 95 Calculated Access level 3 Data type Integer16 Dynamic index Func diagram P Group Safety Integrated Units group Unit selection Not for motor type Scaling Expert list 1 Min M...

Page 629: ... positive function Value 0 Statically active 1 F DI 0 2 F DI 1 3 F DI 2 255 Statically inact Note If value 0 No terminal assigned safety function always active If value 255 No terminal assigned safety function always inactive F DI Failsafe Digital Input SDI Safe Direction safe motion direction p10028 SI SLS limit bit 1 input terminal processor 1 SI SLS lim 1 DI P1 SERVO_S110 CAN SERVO_S110 DP SERV...

Page 630: ...eration results in the status Safe State p10031 SI SDI negative input terminal processor 1 SI SDI neg F DI P1 SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed C2 95 Calculated Access level 3 Data type Integer16 Dynamic index Func diagram P Group Safety Integrated Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 255 0 p10039 SI Safe State signal...

Page 631: ...he particular safety digital output is set in p10047 p10040 SI F DI input mode SI F DI inp_mode SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed C2 95 Calculated Access level 3 Data type Unsigned32 Dynamic index Func diagram P Group Safety Integrated Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0000 bin Bit field Bit Signal name 1 signal 0 si...

Page 632: ...h are not in use Dependency p10006 p10106 p10022 p10122 p10023 p10123 p10024 p10124 p10025 p10125 p10026 p10126 p10027 p10127 p10028 p10128 p10030 p10130 p10031 p10131 p10036 p10136 p10050 p10150 Refer to r10149 Bit field Bit Signal name 1 signal 0 signal FP 00 Test F DO 0 Test active No test p10047 SI F DO test stop mode SI F DO test mode SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed ...

Page 633: ...nabled by means of activation via F DI If transfer of the F DIs via PROFIsafe is enabled see p9501 In this case only the F DIs transferred for PROFIsafe are displayed and updated see p10050 p10150 All F DIs which have not been transferred have a static zero value Description Displays the status of digital output DO 16 X131 5 from processor 1 Note F DO Failsafe Digital Output Description Sets the d...

Page 634: ...ut has a static zero value Description Sets the debounce time for digital inputs The debounce time acts on the following digital inputs Fail safe digital inputs F DI Single channel digital input 22 DI 22 read back input for the forced checking procedure The debounce time is accepted rounded off to whole milliseconds Dependency Refer to p10017 p10102 SI discrepancy monitoring time processor 2 SI di...

Page 635: ...fe digital input F DI for the SS1 function Value 0 Statically active 1 F DI 0 2 F DI 1 3 F DI 2 255 Statically inact Dependency Refer to p10023 Note If value 0 No terminal assigned safety function always active If value 255 No terminal assigned safety function always inactive F DI Failsafe Digital Input SS1 Safe Stop 1 p10122 SI STO input terminal processor 2 SI STO F DI P2 SERVO_S110 CAN SERVO_S1...

Page 636: ...lue 0 Statically active 1 F DI 0 2 F DI 1 3 F DI 2 255 Statically inact Dependency Refer to p10026 p10124 SI SS2 input terminal processor 2 SI SS2 F DI P2 SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed C2 95 Calculated Access level 3 Data type Integer16 Dynamic index Func diagram P Group Safety Integrated Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factor...

Page 637: ...f the SLS function Value 0 Statically active 1 F DI 0 2 F DI 1 3 F DI 2 255 Statically inact Note If value 0 No terminal assigned selection bit remains statically at 0 If value 255 No terminal assigned selection bit remains statically at 1 F DI Failsafe Digital Input SLS Safely Limited Speed p10127 SI SLS limit bit 0 input terminal processor 2 SI SLS lim 0 DI P2 SERVO_S110 CAN SERVO_S110 DP SERVO_...

Page 638: ...al Safe State Bit 0 Power_removed Bit 1 SS1_active Bit 2 SS2_active Bit 3 SOS_active Bit 4 SLS_active p10130 SI SDI positive input terminal processor 2 SI SDI pos DI P2 SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed C2 95 Calculated Access level 3 Data type Integer16 Dynamic index Func diagram P Group Safety Integrated Units group Unit selection Not for motor type Scaling Expert list 1 ...

Page 639: ...4 AND logic operation input 5 5 AND logic operation input 6 Bit field Bit Signal name 1 signal 0 signal FP 00 Power_removed Selected Not selected 01 SS1_active Selected Not selected 02 SS2_active Selected Not selected 03 SOS_active Selected Not selected 04 SLS_active Selected Not selected 05 SDI_pos_active Selected Not selected 06 SDI_neg_active Selected Not selected p10140 SI F DI input mode proc...

Page 640: ...test sensor feedback signal SI test sens FS SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Can be changed C2 95 Calculated Access level 3 Data type Unsigned32 Dynamic index Func diagram 2848 P Group Safety Integrated Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0000 bin Bit field Bit Signal name 1 signal 0 signal FP 00 Test F DO 0 Test active No test p101...

Page 641: ...fety function The state of parameter r10151 is delayed by one monitoring clock cycle in relation to r10051 The parameter is only updated in the following cases If the Safety Extended Functions are enabled by means of activation via F DI If transfer of the F DIs via PROFIsafe is enabled see p9501 In this case only the F DIs transferred for PROFIsafe are displayed and updated see p10050 p10150 All F...

Page 642: ...n time group T_sample 5 r20003 p20000 x 1006 free run time group T_sample 6 r20003 p20000 x 1008 free run time group T_sample 8 r20003 p20000 x 1010 free run time group T_sample 10 r20003 p20000 x 1012 free run time group T_sample 12 r20003 p20000 x 1016 free run time group T_sample 16 r20003 p20000 x 1020 free run time group T_sample 20 r20003 p20000 x 1024 free run time group T_sample 24 r20003 ...

Page 643: ...32 T 32 r20002 33 T 33 r20002 34 T 34 r20002 35 T 35 r20002 36 T 36 r20002 37 T 37 r20002 38 T 38 r20002 39 T 39 r20002 40 T 40 r20002 41 T 41 r20002 42 T 42 r20002 43 T 43 r20002 44 T 44 r20002 45 T 45 r20002 46 T 46 r20002 47 T 47 r20002 48 T 48 r20002 49 T 49 r20002 50 T 50 r20002 51 T 51 r20002 52 T 52 r20002 53 T 53 r20002 54 T 54 r20002 55 T 55 r20002 56 T 56 r20002 57 T 57 r20002 58 T 58 r2...

Page 644: ...20002 99 T 99 r20002 100 T 100 r20002 101 T 101 r20002 102 T 102 r20002 103 T 103 r20002 104 T 104 r20002 105 T 105 r20002 106 T 106 r20002 107 T 107 r20002 108 T 108 r20002 109 T 109 r20002 110 T 110 r20002 111 T 111 r20002 112 T 112 r20002 113 T 113 r20002 114 T 114 r20002 115 T 115 r20002 116 T 116 r20002 117 T 117 r20002 118 T 118 r20002 119 T 119 r20002 120 T 120 r20002 121 T 121 r20002 122 T...

Page 645: ... 161 r20002 162 T 162 r20002 163 T 163 r20002 164 T 164 r20002 165 T 165 r20002 166 T 166 r20002 167 T 167 r20002 168 T 168 r20002 169 T 169 r20002 170 T 170 r20002 171 T 171 r20002 172 T 172 r20002 173 T 173 r20002 174 T 174 r20002 175 T 175 r20002 176 T 176 r20002 177 T 177 r20002 178 T 178 r20002 179 T 179 r20002 180 T 180 r20002 181 T 181 r20002 182 T 182 r20002 183 T 183 r20002 184 T 184 r200...

Page 646: ...25 T 225 r20002 226 T 226 r20002 227 T 227 r20002 228 T 228 r20002 229 T 229 r20002 230 T 230 r20002 231 T 231 r20002 232 T 232 r20002 233 T 233 r20002 234 T 234 r20002 235 T 235 r20002 236 T 236 r20002 237 T 237 r20002 238 T 238 r20002 239 T 239 r20002 240 T 240 r20002 241 T 241 r20002 242 T 242 r20002 243 T 243 r20002 244 T 244 r20002 245 T 245 r20002 246 T 246 r20002 247 T 247 r20002 248 T 248 ...

Page 647: ...fixed run time groups p20000 x 9003 log on with the sampling time of the setpoint channel although the sampling time must be at least 1 ms If as a result of this limit the actual sampling time deviates from the sampling time of the setpoint channel p0115 3 alarm A20103 is output Another run time group with a sampling time 1 ms should be selected Calculate before setpoint channel means before funct...

Page 648: ...e not available in the expert list in SCOUT STARTER offline mode r20002 Basis sampling time hardware Basis samp time HW CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed Calculated Access level 1 Data type FloatingPoint32 Dynamic index Func diagram P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max F...

Page 649: ...of r20008 0 12 0 then this sampling time can still be freely assigned It should be noted that the basic system depending on the selected basic sampling times p0115 0 requires at least two sometimes several freely assignable hardware sampling times for internal functions The number of hardware sampling times that can still be freely assigned can be read out in r7903 r20008 11 99999 00000 Hardware s...

Page 650: ...SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed U T Calculated Access level 4 Data type Unsigned32 Dynamic index Func diagram P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 60 s 10000 s 60 s r20024 0 9 Computing time minimum value t_comp min CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN F...

Page 651: ...CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed Calculated Access level 4 Data type FloatingPoint32 Dynamic index Func diagram P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting µs µs µs p20030 0 3 BI AND 0 inputs AND 0 inputs CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS ...

Page 652: ... I2 3 Input I3 p20032 AND 0 run time group AND 0 RTG CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed T Calculated Access level 1 Data type Integer16 Dynamic index Func diagram 7210 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 9999 9999 p20033 AND 0 run sequence AND 0 RunSeq ...

Page 653: ... BO AND 1 output Q AND 1 output Q CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed Calculated Access level 1 Data type Unsigned32 Dynamic index Func diagram 7210 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting p20036 AND 1 run time group AND 1 RTG CU_S110 CAN CU_S110 DP CU_S110 PN...

Page 654: ...S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed T Calculated Access level 1 Data type Unsigned32 Binary Dynamic index Func diagram 7210 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 r20039 BO AND 2 output Q AND 2 output Q CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS ...

Page 655: ...SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed T Calculated Access level 1 Data type Unsigned16 Dynamic index Func diagram 7210 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 32000 30 p20042 0 3 BI AND 3 inputs AND 3 inputs CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be c...

Page 656: ... I2 3 Input I3 p20044 AND 3 run time group AND 3 RTG CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed T Calculated Access level 1 Data type Integer16 Dynamic index Func diagram 7210 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 9999 9999 p20045 AND 3 run sequence AND 3 RunSeq ...

Page 657: ...7 BO OR 0 output Q OR 0 output Q CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed Calculated Access level 1 Data type Unsigned32 Dynamic index Func diagram 7212 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting p20048 OR 0 run time group OR 0 RTG CU_S110 CAN CU_S110 DP CU_S110 PN SE...

Page 658: ...10 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed T Calculated Access level 1 Data type Unsigned32 Binary Dynamic index Func diagram 7212 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 r20051 BO OR 1 output Q OR 1 output Q CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERV...

Page 659: ...ERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed T Calculated Access level 1 Data type Unsigned16 Dynamic index Func diagram 7212 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 32000 70 p20054 0 3 BI OR 2 inputs OR 2 inputs CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be chan...

Page 660: ...t I2 3 Input I3 p20056 OR 2 run time group OR 2 RTG CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed T Calculated Access level 1 Data type Integer16 Dynamic index Func diagram 7212 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 9999 9999 p20057 OR 2 run sequence OR 2 RunSeq CU_...

Page 661: ...9 BO OR 3 output Q OR 3 output Q CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed Calculated Access level 1 Data type Unsigned32 Dynamic index Func diagram 7212 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting p20060 OR 3 run time group OR 3 RTG CU_S110 CAN CU_S110 DP CU_S110 PN SE...

Page 662: ...AN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed T Calculated Access level 1 Data type Unsigned32 Binary Dynamic index Func diagram 7214 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 r20063 BO XOR 0 output Q XOR 0 output Q CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_...

Page 663: ...S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed T Calculated Access level 1 Data type Unsigned16 Dynamic index Func diagram 7214 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 32000 110 p20066 0 3 BI XOR 1 inputs XOR 1 inputs CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be change...

Page 664: ... I2 3 Input I3 p20068 XOR 1 run time group XOR 1 RTG CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed T Calculated Access level 1 Data type Integer16 Dynamic index Func diagram 7214 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 9999 9999 p20069 XOR 1 run sequence XOR 1 RunSeq ...

Page 665: ...R 2 output Q XOR 2 output Q CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed Calculated Access level 1 Data type Unsigned32 Dynamic index Func diagram 7214 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting p20072 XOR 2 run time group XOR 2 RTG CU_S110 CAN CU_S110 DP CU_S110 PN SERVO...

Page 666: ...AN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed T Calculated Access level 1 Data type Unsigned32 Binary Dynamic index Func diagram 7214 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 r20075 BO XOR 3 output Q XOR 3 output Q CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_...

Page 667: ...election Not for motor type Scaling Expert list 1 Min Max Factory setting 0 32000 140 p20078 BI NOT 0 input I NOT 0 input I CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed T Calculated Access level 1 Data type Unsigned32 Binary Dynamic index Func diagram 7216 P Group Units group Unit selection Not for motor type Scaling Expert lis...

Page 668: ...q CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed T Calculated Access level 1 Data type Unsigned16 Dynamic index Func diagram 7216 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 32000 160 p20082 BI NOT 1 input I NOT 1 input I CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FB...

Page 669: ...up NOT 1 RTG CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed T Calculated Access level 1 Data type Integer16 Dynamic index Func diagram 7216 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 9999 9999 p20085 NOT 1 run sequence NOT 1 RunSeq CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_...

Page 670: ...utput NOT 2 inv output CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed Calculated Access level 1 Data type Unsigned32 Dynamic index Func diagram 7216 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting p20088 NOT 2 run time group NOT 2 RTG CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110...

Page 671: ...VO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed T Calculated Access level 1 Data type Unsigned32 Binary Dynamic index Func diagram 7216 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 r20091 BO NOT 3 inverted output NOT 3 inv output CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can ...

Page 672: ...O_S110 PN FBLOCKS Can be changed T Calculated Access level 1 Data type Unsigned16 Dynamic index Func diagram 7216 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 32000 190 p20094 0 3 CI ADD 0 inputs ADD 0 inputs CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed T Calculated Acces...

Page 673: ...ADD 0 run time group ADD 0 RTG CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed T Calculated Access level 1 Data type Integer16 Dynamic index Func diagram 7220 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 9999 9999 p20097 ADD 0 run sequence ADD 0 RunSeq CU_S110 CAN CU_S110 DP...

Page 674: ... ADD 1 output Y CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed Calculated Access level 1 Data type FloatingPoint32 Dynamic index Func diagram 7220 P Group Units group Unit selection Not for motor type Scaling PERCENT Expert list 1 Min Max Factory setting p20100 ADD 1 run time group ADD 1 RTG CU_S110 CAN CU_S110 DP CU_S110 PN SERV...

Page 675: ...N FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed T Calculated Access level 1 Data type Unsigned32 FloatingPoint32 Dynamic index Func diagram 7220 P Group Units group Unit selection Not for motor type Scaling PERCENT Expert list 1 Min Max Factory setting 0 r20103 CO SUB 0 difference Y SUB 0 difference Y CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOC...

Page 676: ...LOCKS Can be changed T Calculated Access level 1 Data type Unsigned16 Dynamic index Func diagram 7220 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 32000 240 p20106 0 1 CI SUB 1 inputs SUB 1 inputs CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed T Calculated Access level 1 Da...

Page 677: ...08 SUB 1 run time group SUB 1 RTG CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed T Calculated Access level 1 Data type Integer16 Dynamic index Func diagram 7220 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 9999 9999 p20109 SUB 1 run sequence SUB 1 RunSeq CU_S110 CAN CU_S110...

Page 678: ...MUL 0 product Y CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed Calculated Access level 1 Data type FloatingPoint32 Dynamic index Func diagram 7222 P Group Units group Unit selection Not for motor type Scaling PERCENT Expert list 1 Min Max Factory setting p20112 MUL 0 run time group MUL 0 RTG CU_S110 CAN CU_S110 DP CU_S110 PN SERV...

Page 679: ...RVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed T Calculated Access level 1 Data type Unsigned32 FloatingPoint32 Dynamic index Func diagram 7222 P Group Units group Unit selection Not for motor type Scaling PERCENT Expert list 1 Min Max Factory setting 0 r20115 CO MUL 1 product Y MUL 1 product Y CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP ...

Page 680: ... SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed T Calculated Access level 1 Data type Unsigned16 Dynamic index Func diagram 7222 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 32000 280 p20118 0 1 CI DIV 0 inputs DIV 0 inputs CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO...

Page 681: ...0 divisor is zero QF DIV 0 divisor 0 QF CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed Calculated Access level 1 Data type Unsigned32 Dynamic index Func diagram 7222 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting p20121 DIV 0 run time group DIV 0 RTG CU_S110 CAN CU_S110 DP CU_S...

Page 682: ...PN FBLOCKS Can be changed T Calculated Access level 1 Data type Unsigned32 FloatingPoint32 Dynamic index Func diagram 7222 P Group Units group Unit selection Not for motor type Scaling PERCENT Expert list 1 Min Max Factory setting 0 r20124 0 2 CO DIV 1 quotient DIV 1 quotient CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed Calcula...

Page 683: ...n time group DIV 1 RTG CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed T Calculated Access level 1 Data type Integer16 Dynamic index Func diagram 7222 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 9999 9999 p20127 DIV 1 run sequence DIV 1 RunSeq CU_S110 CAN CU_S110 DP CU_S110...

Page 684: ... output Y CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed Calculated Access level 1 Data type FloatingPoint32 Dynamic index Func diagram 7224 P Group Units group Unit selection Not for motor type Scaling PERCENT Expert list 1 Min Max Factory setting r20130 BO AVA 0 input negative SN AVA 0 input neg SN CU_S110 CAN CU_S110 DP CU_S11...

Page 685: ...SERVO_S110 PN FBLOCKS Can be changed T Calculated Access level 1 Data type Unsigned16 Dynamic index Func diagram 7224 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 32000 340 p20133 CI AVA 1 input X AVA 1 input X CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed T Calculated Acc...

Page 686: ... higher run sequence value r20135 BO AVA 1 input negative SN AVA 1 input neg SN CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed Calculated Access level 1 Data type Unsigned32 Dynamic index Func diagram 7224 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting p20136 AVA 1 run time gro...

Page 687: ... type Scaling Expert list 1 Min Max Factory setting 0 p20139 MFP 0 pulse duration in ms MFP 0 pulse_dur ms CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed T Calculated Access level 1 Data type FloatingPoint32 Dynamic index Func diagram 7230 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory...

Page 688: ...ERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed T Calculated Access level 1 Data type Unsigned16 Dynamic index Func diagram 7230 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 32000 370 p20143 BI MFP 1 input pulse I MFP 1 inp_pulse I CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS...

Page 689: ...utput Q MFP 1 output Q CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed Calculated Access level 1 Data type Unsigned32 Dynamic index Func diagram 7230 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting p20146 MFP 1 run time group MFP 1 RTG CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110...

Page 690: ... type Scaling Expert list 1 Min Max Factory setting 0 p20149 PCL 0 pulse duration in ms PCL 0 pulse_dur ms CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed T Calculated Access level 1 Data type FloatingPoint32 Dynamic index Func diagram 7230 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory...

Page 691: ...ERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed T Calculated Access level 1 Data type Unsigned16 Dynamic index Func diagram 7230 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 32000 400 p20153 BI PCL 1 input pulse I PCL 1 inp_pulse I CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS...

Page 692: ...utput Q PCL 1 output Q CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed Calculated Access level 1 Data type Unsigned32 Dynamic index Func diagram 7230 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting p20156 PCL 1 run time group PCL 1 RTG CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110...

Page 693: ... for motor type Scaling Expert list 1 Min Max Factory setting 0 p20159 PDE 0 pulse delay time in ms PDE 0 t_del ms CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed T Calculated Access level 1 Data type FloatingPoint32 Dynamic index Func diagram 7232 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max...

Page 694: ...10 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed T Calculated Access level 1 Data type Unsigned16 Dynamic index Func diagram 7232 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 32000 430 p20163 BI PDE 1 input pulse I PDE 1 inp_pulse I CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP ...

Page 695: ...1 output Q PDE 1 output Q CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed Calculated Access level 1 Data type Unsigned32 Dynamic index Func diagram 7232 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting p20166 PDE 1 run time group PDE 1 RTG CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S...

Page 696: ... Not for motor type Scaling Expert list 1 Min Max Factory setting 0 p20169 PDF 0 pulse extension time in ms PDF 0 t_ext ms CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed T Calculated Access level 1 Data type FloatingPoint32 Dynamic index Func diagram 7232 P Group Units group Unit selection Not for motor type Scaling Expert list 1...

Page 697: ...110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed T Calculated Access level 1 Data type Unsigned16 Dynamic index Func diagram 7232 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 32000 460 p20173 BI PDF 1 input pulse I PDF 1 inp_pulse I CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP...

Page 698: ...DF 1 output Q PDF 1 output Q CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed Calculated Access level 1 Data type Unsigned32 Dynamic index Func diagram 7232 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting p20176 PDF 1 run time group PDF 1 RTG CU_S110 CAN CU_S110 DP CU_S110 PN SERV...

Page 699: ...for motor type Scaling Expert list 1 Min Max Factory setting 0 p20179 PST 0 pulse duration in ms PST 0 pulse_dur ms CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed T Calculated Access level 1 Data type FloatingPoint32 Dynamic index Func diagram 7234 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Ma...

Page 700: ...0182 PST 0 run sequence PST 0 RunSeq CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed T Calculated Access level 1 Data type Unsigned16 Dynamic index Func diagram 7234 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 7999 490 p20183 0 1 BI PST 1 inputs PST 1 inputs CU_S110 CAN CU_...

Page 701: ...O PST 1 output Q PST 1 output Q CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed Calculated Access level 1 Data type Unsigned32 Dynamic index Func diagram 7234 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting p20186 PST 1 run time group PST 1 RTG CU_S110 CAN CU_S110 DP CU_S110 PN S...

Page 702: ...t 1 Min Max Factory setting 0 r20189 BO RSR 0 output Q RSR 0 output Q CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed Calculated Access level 1 Data type Unsigned32 Dynamic index Func diagram 7240 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting r20190 BO RSR 0 inverted output QN ...

Page 703: ... sequence RSR 0 RunSeq CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed T Calculated Access level 1 Data type Unsigned16 Dynamic index Func diagram 7240 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 7999 520 p20193 0 1 BI RSR 1 inputs RSR 1 inputs CU_S110 CAN CU_S110 DP CU_S11...

Page 704: ...tput QN RSR 1 inv outp QN CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed Calculated Access level 1 Data type Unsigned32 Dynamic index Func diagram 7240 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting p20196 RSR 1 run time group RSR 1 RTG CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S...

Page 705: ...cess level 1 Data type Unsigned32 Binary Dynamic index Func diagram 7240 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 r20199 BO DFR 0 output Q DFR 0 output Q CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed Calculated Access level 1 Data type Unsigned32 Dynamic index Func dia...

Page 706: ... D 2 Set S 3 Reset R p20201 DFR 0 run time group DFR 0 RTG CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed T Calculated Access level 1 Data type Integer16 Dynamic index Func diagram 7240 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 9999 9999 p20202 DFR 0 run sequence DFR 0 R...

Page 707: ...RVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed Calculated Access level 1 Data type Unsigned32 Dynamic index Func diagram 7240 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting r20205 BO DFR 1 inverted output QN DFR 1 inv outp QN CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be cha...

Page 708: ...CKS SERVO_S110 PN FBLOCKS Can be changed T Calculated Access level 1 Data type Unsigned16 Dynamic index Func diagram 7240 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 32000 560 p20208 0 1 BI BSW 0 inputs BSW 0 inputs CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed T Calculat...

Page 709: ... BO BSW 0 output Q BSW 0 output Q CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed Calculated Access level 1 Data type Unsigned32 Dynamic index Func diagram 7250 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting p20211 BSW 0 run time group BSW 0 RTG CU_S110 CAN CU_S110 DP CU_S110 PN...

Page 710: ...r motor type Scaling Expert list 1 Min Max Factory setting 0 p20214 BI BSW 1 switch setting I BSW 1 sw_setting CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed T Calculated Access level 1 Data type Unsigned32 Binary Dynamic index Func diagram 7250 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max F...

Page 711: ...run sequence BSW 1 RunSeq CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed T Calculated Access level 1 Data type Unsigned16 Dynamic index Func diagram 7250 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 7999 590 p20218 0 1 CI NSW 0 inputs NSW 0 inputs CU_S110 CAN CU_S110 DP CU_...

Page 712: ...W 0 output Y NSW 0 output Y CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed Calculated Access level 1 Data type FloatingPoint32 Dynamic index Func diagram 7250 P Group Units group Unit selection Not for motor type Scaling PERCENT Expert list 1 Min Max Factory setting p20221 NSW 0 run time group NSW 0 RTG CU_S110 CAN CU_S110 DP CU_...

Page 713: ...tor type Scaling PERCENT Expert list 1 Min Max Factory setting 0 p20224 BI NSW 1 switch setting I NSW 1 sw_setting CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed T Calculated Access level 1 Data type Unsigned32 Binary Dynamic index Func diagram 7250 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min M...

Page 714: ...110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed T Calculated Access level 1 Data type Unsigned16 Dynamic index Func diagram 7250 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 32000 620 p20228 CI LIM 0 input X LIM 0 input X CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS S...

Page 715: ...36 340 28235E36 0 0000 r20231 CO LIM 0 output Y LIM 0 output Y CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed Calculated Access level 1 Data type FloatingPoint32 Dynamic index Func diagram 7260 P Group Units group Unit selection Not for motor type Scaling PERCENT Expert list 1 Min Max Factory setting r20232 BO LIM 0 input quantit...

Page 716: ... CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed T Calculated Access level 1 Data type Integer16 Dynamic index Func diagram 7260 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 9999 9999 p20235 LIM 0 run sequence LIM 0 RunSeq CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBL...

Page 717: ...00 p20238 LIM 1 lower limit value LL LIM 1 lower lim LL CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed T Calculated Access level 1 Data type FloatingPoint32 Dynamic index Func diagram 7260 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 340 28235E36 340 28235E36 0 0000 r20239 CO...

Page 718: ...y at the lower limit QL LIM 1 QL CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed Calculated Access level 1 Data type Unsigned32 Dynamic index Func diagram 7260 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting p20242 LIM 1 run time group LIM 1 RTG CU_S110 CAN CU_S110 DP CU_S110 PN ...

Page 719: ...Expert list 1 Min Max Factory setting 0 p20245 BI PT1 0 accept setting value S PT1 0 acc set val CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed T Calculated Access level 1 Data type Unsigned32 Binary Dynamic index Func diagram 7262 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting...

Page 720: ...V p20248 PT1 0 run time group PT1 0 RTG CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed T Calculated Access level 1 Data type Integer16 Dynamic index Func diagram 7262 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 9999 9999 p20249 PT1 0 run sequence PT1 0 RunSeq CU_S110 CAN C...

Page 721: ...r motor type Scaling Expert list 1 Min Max Factory setting 0 p20252 PT1 1 smoothing time constant in ms PT1 1 T_smooth ms CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed T Calculated Access level 1 Data type FloatingPoint32 Dynamic index Func diagram 7262 P Group Units group Unit selection Not for motor type Scaling Expert list 1 ...

Page 722: ...ERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed T Calculated Access level 1 Data type Unsigned16 Dynamic index Func diagram 7262 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 32000 680 p20256 0 1 CI INT 0 inputs INT 0 inputs CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S...

Page 723: ...28235E36 0 0000 p20259 INT 0 integrating time constant in ms INT 0 T_Integr ms CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed T Calculated Access level 1 Data type FloatingPoint32 Dynamic index Func diagram 7264 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 00 340 28235E36 0...

Page 724: ... 0 QU CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed Calculated Access level 1 Data type Unsigned32 Dynamic index Func diagram 7264 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting r20263 BO INT 0 integrator at the lower limit QL INT 0 QL CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S...

Page 725: ...t list 1 Min Max Factory setting 0 32000 700 p20266 CI LVM 0 input X LVM 0 input X CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed T Calculated Access level 1 Data type Unsigned32 FloatingPoint32 Dynamic index Func diagram 7270 P Group Units group Unit selection Not for motor type Scaling PERCENT Expert list 1 Min Max Factory sett...

Page 726: ...in Max Factory setting 340 28235E36 340 28235E36 0 0000 r20270 BO LVM 0 input quantity above interval QU LVM 0 X above QU CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed Calculated Access level 1 Data type Unsigned32 Dynamic index Func diagram 7270 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max...

Page 727: ...roup LVM 0 RTG CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed T Calculated Access level 1 Data type Integer16 Dynamic index Func diagram 7270 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 9999 9999 p20274 LVM 0 run sequence LVM 0 RunSeq CU_S110 CAN CU_S110 DP CU_S110 PN SERV...

Page 728: ...E36 340 28235E36 0 0000 p20277 LVM 1 interval limit L LVM 1 limit L CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed T Calculated Access level 1 Data type FloatingPoint32 Dynamic index Func diagram 7270 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 340 28235E36 340 28235E36 0 00...

Page 729: ...CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed Calculated Access level 1 Data type Unsigned32 Dynamic index Func diagram 7270 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting r20281 BO LVM 1 input quantity below interval QL LVM 1 X below QL CU_S110 CAN CU_S110 DP CU_S110 PN SERVO...

Page 730: ... motor type Scaling Expert list 1 Min Max Factory setting 0 7999 730 p20284 CI DIF 0 input X DIF 0 input X CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed T Calculated Access level 1 Data type Unsigned32 FloatingPoint32 Dynamic index Func diagram 7264 P Group Units group Unit selection Not for motor type Scaling PERCENT Expert lis...

Page 731: ... for example in the appendix to the List Manual p20287 DIF 0 run time group DIF 0 RTG CU_S110 CAN CU_S110 DP CU_S110 PN SERVO_S110 CAN FBLOCKS SERVO_S110 DP FBLOCKS SERVO_S110 PN FBLOCKS Can be changed T Calculated Access level 1 Data type Integer16 Dynamic index Func diagram 7264 P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting 0 9999 9999 p20288...

Page 732: ...SL3097 4AP10 0BP3 Description Displays PROFINET IP of Station r61001 0 3 PROFINET IP of Station PN IP of Station CU_S110 PN Can be changed Calculated Access level 3 Data type Unsigned8 Dynamic index Func diagram P Group Units group Unit selection Not for motor type Scaling Expert list 1 Min Max Factory setting ...

Page 733: ...point selection Bit 2 n_set_fixed Bit 2 p1023 0 n BI Fixed speed setpoint selection Bit 3 n_set_fixed Bit 3 p1035 0 n BI Motorized potentiometer setpoint raise Mop raise p1036 0 n BI Motorized potentiometer lower setpoint Mop lower p1039 0 n BI Motorized potentiometer inversion MotP inv p1041 0 n BI Motorized potentiometer manual automatic Mop manual auto p1042 0 n CI Motorized potentiometer autom...

Page 734: ...I Torque limit lower regenerative scaling M_max low gen scal p1542 0 n CI Travel to fixed stop torque reduction TfS M_red p1545 0 n BI Activates travel to a fixed stop TfS activation p1550 0 n BI Transfer actual torque as torque offset Accept act torque p1551 0 n BI Torque limit variable fixed signal source M_lim var fixS_src p1552 0 n CI Torque limit upper scaling without offset M_max up w o offs...

Page 735: ...ess operation current reduction Encoderl op I_red p1001 0 n CO Fixed speed setpoint 1 n_set_fixed 1 p1002 0 n CO Fixed speed setpoint 2 n_set_fixed 2 p1003 0 n CO Fixed speed setpoint 3 n_set_fixed 3 p1004 0 n CO Fixed speed setpoint 4 n_set_fixed 4 p1005 0 n CO Fixed speed setpoint 5 n_set_fixed 5 p1006 0 n CO Fixed speed setpoint 6 n_set_fixed 6 p1007 0 n CO Fixed speed setpoint 7 n_set_fixed 7 ...

Page 736: ...link voltage threshold lower Vdc lower thresh p1250 0 n Vdc controller proportional gain Vdc_ctrl Kp p1300 0 n Open loop closed loop control operating mode Op cl lp ctrl_mode p1317 0 n U f control activation Uf act p1318 0 n U f control ramp up ramp down time Uf t_rmp up_rmp dn p1319 0 n U f control voltage at zero frequency Uf U at f 0 Hz p1326 0 n U f control characteristic frequency Uf char f4 ...

Page 737: ... 0 n CO Torque limit offset M_max offset p1578 0 n Flux reduction flux decrease smoothing time Flux red dec t_sm p1579 0 n Flux reduction flux build up smoothing time Flux red up t_sm p1581 0 n Flux reduction factor Flux red factor p1585 0 n Flux actual value smoothing time Flux actVal T_smth p1590 0 n Flux controller P gain Flux controller Kp p1592 0 n Flux controller integral time Flux controlle...

Page 738: ...p2201 0 n CO Technology controller fixed value 1 Tec_ctr fix val 1 p2202 0 n CO Technology controller fixed value 2 Tec_ctr fix val 2 p2203 0 n CO Technology controller fixed value 3 Tec_ctr fix val 3 p2204 0 n CO Technology controller fixed value 4 Tec_ctr fix val 4 p2205 0 n CO Technology controller fixed value 5 Tec_ctr fix val 5 p2206 0 n CO Technology controller fixed value 6 Tec_ctr fix val ...

Page 739: ...act_filt T r3925 0 n Identification final display Ident final_disp r3927 0 n Motor data identification induction motor data determined MotID ASM dat det r3928 0 n Motor data identification synchronous motor data determined MotId PEM dat det r3998 0 n First drive commissioning First drv_comm 1 3 3 Parameters for encoder data sets EDS The following list contains the parameters that are dependent on ...

Page 740: ... SSI bit before p0447 0 n Encoder SSI number of bits absolute value Enc SSI bit val p0448 0 n Encoder SSI number of bits after the absolute value Enc SSI bit after p0449 0 n Encoder SSI number of bits filler bits Enc SSI fill bits p0453 0 n Pulse encoder evaluation zero speed measuring time Enc_ev z 0 t_meas p0493 0 n Zero mark selection input terminal ZM_sel inp_term p0494 0 n Equivalent zero mar...

Page 741: ...ue constant Mot kT p0318 0 n Motor stall current Mot I_standstill p0319 0 n Motor stall torque Mot M_standstill p0320 0 n Motor rated magnetizing current short circuit current Mot I_mag_rated p0322 0 n Maximum motor speed Mot n_max p0323 0 n Maximum motor current Mot I_max p0324 0 n Winding maximum speed Winding n_max p0325 0 n Motor pole position identification current 1st phase Mot PolID I 1st p...

Page 742: ...t p0530 0 n Bearing type selection Bearing type sel p0531 0 n Bearing code number selection Bear code num sel p0532 0 n Bearing maximum speed Bearing n_max p0600 0 n Motor temperature sensor for monitoring Mot temp_sensor p0601 0 n Motor temperature sensor type Mot_temp_sens type p0604 0 n Motor temperature alarm threshold Mot_temp al thr p0605 0 n Motor temperature fault threshold Mot_temp flt th...

Page 743: ...otion based integral time PolID Tn mot_bas p1997 0 n PolID motion based smoothing time PolID t_sm mot_bas p3049 0 n MotId Speed at start of field weakening identified ident p3050 0 n MotorId stator resistance identified R_stator ident p3054 0 n MotId rotor resistance identified R_rotor ident p3056 0 n MotId stator leakage inductance identified L_stator leak p3058 0 n MotId rotor leakage inductance...

Page 745: ... 7 Sequence control 2 826 2 8 Brake control 2 829 2 9 Safety Integrated 2 834 2 10 Setpoint channel 2 853 2 11 Setpoint channel not activated 2 862 2 12 Basic positioner EPOS 2 864 2 13 Position control 2 880 2 14 Encoder evaluation 2 885 2 15 Servo control 2 892 2 16 Technology functions 2 912 2 17 Free function blocks FBLOCKS 2 915 2 18 Technology controller 2 933 2 19 Signals and monitoring fun...

Page 746: ...l 2 766 1750 Monitoring functions faults alarms 2 767 2 4 CU305 input output terminals 2 768 2020 Digital inputs electrically isolated DI 0 to DI 3 2 769 2021 Digital inputs electrically isolated DI 16 to DI 19 2 770 2022 Digital inputs electrically isolated DI 20 to DI 22 2 771 2030 Digital inputs outputs bidirectional DI DO 8 to DI DO 9 2 772 2031 Digital inputs outputs bidirectional DI DO 10 to...

Page 747: ...ning status word 2 interconnection r0108 4 1 2 799 2468 IF1 receive telegram free interconnection via BICO p0922 999 2 800 2470 IF1 send telegram free interconnection via BICO p0922 999 2 801 2472 IF1 status words free interconnection 2 802 2475 STW1 control word 1 interconnection r0108 4 1 2 803 2476 SATZANW Pos block selection interconnection r0108 4 1 2 804 2479 ZSW1 status word 1 interconnecti...

Page 748: ...ic Functions parameter manager 2 835 2802 Basic Functions monitoring functions and faults alarms 2 836 2804 Basic Functions status words 2 837 2810 Basic Functions STO Safe Torque Off SS1 Safe Stop 1 2 838 2811 Basic Functions STO Safe Torque Off safe pulse cancellation 2 839 2814 Basic Functions SBC Safe Brake Control 2 840 2820 Extended Functions SLS Safely Limited Speed 2 841 2825 Extended Func...

Page 749: ...mode r0108 4 1 p2597 0 signal 2 866 3614 Flying referencing mode r0108 4 1 p2597 1 signal 2 867 3615 Traversing block mode external block change r0108 4 1 2 868 3616 Traversing block mode r0108 4 1 2 869 3617 Travel to fixed stop r0108 4 1 2 870 3618 Direct setpoint input MDI mode dynamic values r0108 4 1 2 871 3620 Direct setpoint input MDI mode r0108 4 1 2 872 3625 Mode control r0108 4 1 2 873 3...

Page 750: ...1402 4 1 2 896 5050 Kp_n Tn_n adaptation 2 897 5060 Torque setpoint control type changeover 2 898 5210 Speed controller without encoder 2 899 5300 U f control for diagnostics 2 900 5301 Signaling function variable 2 901 5490 Speed control configuration 2 902 5610 Torque limiting reduction interpolator 2 903 5620 Motoring generating torque limit 2 904 5630 Upper lower torque limit 2 905 5640 Mode c...

Page 751: ...g element 2 930 7264 INT integrator DIF derivative action element 2 931 7270 LVM double sided limit monitor with hysteresis 2 932 2 18 Technology controller 2 933 7950 Fixed values r0108 16 1 2 934 7951 Fixed values direct selection p2216 1 2 935 7954 Motorized potentiometer r0108 16 1 2 936 7958 Closed loop control r0108 16 1 2 937 2 19 Signals and monitoring functions 2 938 8010 Speed signals 1 ...

Page 752: ...ta Sets MDS 2 954 2 22 CANopen interface 2 955 9204 Receive telegram free PDO mapping p8744 2 2 956 9206 Receive telegram Predefined Connection Set p8744 1 2 957 9208 Send telegram free PDO mapping p8744 2 2 958 9210 Send telegram Predefined Connection Set p8744 1 2 959 9220 Control word CANopen 2 960 9226 Status word CANopen 2 961 2 23 Basic Operator Panel 20 BOP20 2 962 9912 Control word interco...

Page 753: ...erved SINAMICS S110 List Manual LH7 06 2012 6SL3097 4AP10 0BP3 2 2 Explanations on the function diagrams Function diagrams 1020 Explanation of the symbols Part 1 2 754 1021 Explanation of the symbols Part 2 2 755 1022 Explanation of the symbols Part 3 2 756 1030 Handling BICO technology 2 757 ...

Page 754: ...ignal comes from signal path d Meaning Symbol Symbol Meaning Sampling times Fixed time slice Symbol Meaning Meaning Symbol According to presetting in p2048 In synchronous mode bus clock is valid A static state is displayed here The sampling time data is not relevant There is no fixed sampling time for this function The processing takes place in background The cycle time depends on the computationa...

Page 755: ... inverted output inverted output Q x y x y 0 1 x y x2 x1 y S Q R Q p2900 D Fixed value 1 p2901 D Fixed value 2 10 000 00 10 000 00 p2900 D 0 00 10 000 00 10 000 00 p2901 D 0 00 Fixed percentage values S y x 1 0 Threshold value switch 0 1 Outputs at y a logical 1 if x S 0 1 y x S Symbols for computational and closed loop control functions Differentiator y dt dx Sample Hold element Sample and hold e...

Page 756: ... denominator fn_n pxxxx Damping denominator D_n pxxxx H s s 2 fn_z 2 fn_z s s 2 fn_n 2 fn_n D_n s 1 1 2 D_z 2 2 2 bandwidth f_B D_z 0 D_n PT1 element t y Delay element first order pxxxx time constant pxxxx PT2 low pass Transfer function H s s 2 fn_n 2 fn_n D_n s 1 2 2 1 Natural frequency denominator fn_n pxxxx Damping denominator D_n pxxxx y x f y fn D 0 T Switch off delay x y pxxxx The digital si...

Page 757: ...ctors are also CO display parameters CO Connector Output At the signal destination the required binector or connector is selected using appropriate parameters BI parameter for binectors BI Binector Input or CI parameter for connectors CI Connector Input Parameterization Example r0722 0 1 2 722 0 p1055 C X133 1 r0898 8 2020 2501 3020 Motorized potentiometer Raise Lower r1050 Parameterizing steps Ma...

Page 758: ...erminals 2 759 1520 PROFIdrive 2 760 1530 Internal control status words data sets 2 761 1550 Setpoint channel 2 762 1580 Servo control encoder evaluations position speed temperature 2 763 1590 Servo control speed control and U f control 2 764 1610 Servo control generation of the torque limits 2 765 1630 Servo control current control 2 766 1750 Monitoring functions faults alarms 2 767 ...

Page 759: ...DI DO 8 DI DO 9 DI DO 10 DI DO 11 M M 7 8 AI AI 1 r0722 0 r0723 0 1 r0722 3 r0723 3 2020 1 2 3 4 5 6 X133 DI 0 DI 1 DI 2 DI 3 M2 M2 7 2 Temp Temp 1 r0722 20 r0723 20 1 r0722 22 r0723 22 2022 1 2 3 4 5 6 X131 DI 20 DI 21 DI 21 DI 22 DO 16 DO 16 7 24 V M1 1 0 1 0 p0738 1 r0722 8 r0723 8 p0728 8 p0728 11 p0741 1 r0722 11 r0723 11 2030 2031 4 digital inputs outputs bidirectional 1 r0723 16 1 r0723 19 ...

Page 760: ...ned send telegrams Signal Description Interconnection 2449 2457 2496 2498 Drive n Receive telegram PROFIdrive Send telegram Drive n Permanently assigned telegrams PZD3 PZD2 PZD1 PZD3 PZD1 PZD2 Free telegram 2422 Manufacturer specific telegrams and process data Monitoring Diagnostics 2410 PROFIBUS PROFINET PN address diagnostics PB address p0918 Axxxxx Fxxxxx rxxxx LED 2420 Standard telegrams and p...

Page 761: ...522 Speed controller 0 15 2520 STW n controller ZSW n controller 0 15 2536 Monitoring functions 0 15 2534 ZSW Monitoring functions 1 ZSW Monitoring functions 2 0 15 2537 ZSW Monitoring functions 3 0 15 2548 ZSW Faults alarms 1 Faults alarms 0 15 2546 STW Faults alarms 0 15 2548 ZSW Faults alarms 2 r1407 r1406 r1198 r0899 r0898 r2197 r2198 r2199 r2138 r2135 r2139 CDS Command Data Sets 0 31 8560 STW...

Page 762: ...f rotating limiting changeover 3050 Skip suppression bandwidth and speed limiting RFG setpoint at the input Setpt after limit n_set_5 n_set_4 3070 Expanded ramp function generator 3060 Basic ramp function generator Simulate ramp function generator n_act Ramp function generator tracking 3080 Ramp function generator selection status word tracking M_limit ZSW r1119 p1070 p1160 r1170 n_ctrl setp sum r...

Page 763: ...digital inputs 2030 2031 p0480 n 1 r0487 n 1 r0481 n 1 0 1 15 0 1 15 DI 8 DI 9 DI 10 4 measured value memory for XIST2 X_IST Control SET SET SET SET Measuring probe position from the measured value memory Sequence control for Gn_XIST2 SMx x2n x2n III p0418 p0410 1 31 0 n Fine resolution x absolute Error Reference mark position Gn_XIST2 Gn_XIST1 Temp Fault alarm messages F31100 A32999 2 from 4 sele...

Page 764: ...d actual value sensing r1480 n_ctrl PI M_output 4710 n_pre ctrl_1 0 p1430 r0063 n_act smooth Actual speed value n_act measured n_act calculated 5060 Setpoint input changeover of the closed loop control type 5050 Kp_n and Tp_n adaptation Forming the torque limits 5620 5650 r1538 r1539 1 0 Sampling times p1300 Ramp function generator n_act p1404 r1438 r0062 n_set after filter n_pre ctrl_2 n f U f p1...

Page 765: ...Power limits generating Nm Nm Nm Nm Iq_min_1 A Iq_max_1 A 5640 Mode changeover power current limiting 5650 Vdc_max controller and Vdc_min controller Mode torque limiting p1400 4 5490 7 5060 5610 5714 8012 From the closed loop current control M n 3 4 M n 2 1 M n 1 3 M n 2 4 M n 3 4 M n 2 1 Reverse generating Forwards generating Forwards motoring reverse motoring 2 1 M n 3 4 Compatible to MASTERDRIV...

Page 766: ...input synchronous motor Flux controller 5722 Field current input flux controller 5710 Current setpoint filter Iq controller Adaptation r0075 Id_set r1733 U_quad_set 5714 Current controller Motor model r0072 U_output U U 5730 Control signals current actual values r0076 Id_act r0078 0 Iq_act Trans formation Trans Id controller Motor type SM ASM Limit formation Power module Flux setpoint input Induct...

Page 767: ... r0063 n_act smooth n_max 4710 8010 Speed monitoring 1 8013 load monitoring 1 Only for p0108 17 1 1 r0080 M_act 5730 r2169 n_act smth message 8010 3080 8011 Speed monitoring 2 8012 r2169 n_act smth message r1438 n_ctrl setp sum 5210 r1170 n_ctrl setp sum Motor locked 8012 Torque monitoring Limit value monitor 5650 5650 8010 5610 r0079 M_set total r1538 M_max upper eff r1539 M_max lower eff r2169 n...

Page 768: ...diagrams 2020 Digital inputs electrically isolated DI 0 to DI 3 2 769 2021 Digital inputs electrically isolated DI 16 to DI 19 2 770 2022 Digital inputs electrically isolated DI 20 to DI 22 2 771 2030 Digital inputs outputs bidirectional DI DO 8 to DI DO 9 2 772 2031 Digital inputs outputs bidirectional DI DO 10 to DI DO 11 2 773 2038 Digital output DO 16 2 774 2040 Analog input AI 2 775 ...

Page 769: ...s electrically isolated DI 0 DI 3 X133 1 X133 2 X133 3 X133 4 1 Simulation on p0795 0 r0723 0 r0722 0 p0795 1 r0723 1 r0722 1 p0795 2 r0723 2 r0722 2 p0795 3 r0723 3 r0722 3 r0722 r0723 X133 5 M2 M2 1 When using the electrical isolation omit the terminal jumper and connect the load power supply shown as a dashed line 1 X133 6 1 0 1 0 1 0 1 0 1 1 1 1 24 V DI 3 DI 2 DI 1 DI 0 DI 0 DI 3 inverted DI 0...

Page 770: ...ally isolated DI 16 DI 19 X130 1 X130 2 X130 4 X130 5 1 Simulation on p0795 16 r0723 16 r0722 16 p0795 17 r0723 17 r0722 17 p0795 18 r0723 18 r0722 18 p0795 19 r0723 19 r0722 19 r0722 r0723 X130 8 M1 M 1 When using the electrical isolation omit the terminal jumper and connect the load power supply shown as a dashed line 1 1 0 1 0 1 0 1 0 1 1 1 1 24 V DI 19 DI 18 DI 17 DI 16 DI 16 DI 19 inverted DI...

Page 771: ...erminals Digital inputs electrically isolated DI 20 DI 22 X131 1 X131 2 X131 4 1 Simulation on p0795 20 r0723 20 r0722 20 p0795 21 r0723 21 r0722 21 p0795 22 r0723 22 r0722 22 r0722 r0723 X131 8 M1 M 1 When using the electrical isolation omit the terminal jumper and connect the load power supply shown as a dashed line 1 1 0 1 0 1 0 1 1 1 24 V DI 22 DI 21 DI 20 DI 20 DI 22 inverted DI 20 DI 22 r072...

Page 772: ... 8 0 p0748 8 0 DI DO p0795 9 0 p0796 9 0 p0748 9 0 DI DO X132 2 DI DO 9 p0728 9 0 DI DO 8 X132 1 p0728 8 0 1 0 1 1 0 1 1 0 1 0 0 1 0 1 1 The connection shown as a dashed line applies when used as digital output p0728 x 1 1 DI DI 1 1 r0722 r0723 9 r0723 8 r0721 8 r0721 9 r0722 9 r0722 8 DI 9_probe 4000 00 μs 2 Can be used as fast measuring probe inputs refer to 4735 4740 3 The digital output access...

Page 773: ... DI DO p0795 11 0 p0796 11 0 p0748 11 0 DI DO X132 4 DI DO 11 p0728 11 0 DI DO 10 X132 3 p0728 10 0 1 0 1 1 0 1 1 0 1 0 0 1 0 1 1 DI DI 1 1 r0722 r0723 11 r0723 10 r0721 10 r0721 11 r0722 11 r0722 10 DI 11_probe 4000 00 μs r0747 11 DO DI DO 10 11 inverted DI DO 10 11 DO 0 CU S_q DI DO 11 p0741 0 CU S_q DI DO 10 p0740 0 1 0 r0747 10 0 1 0 2 24 V 5 V 1 r0723 DI 10_probe 2 1 The connection shown as a...

Page 774: ... 2038 Function diagram 8 7 6 5 4 3 2 1 fp_2038_98_eng vsd DO CU_S110 SINAMICS S110 23 12 11 V04 04 00 CU305 input output terminals Digital output DO 16 1 Additional external I O supply 2 For restrictions refer to p0746 p0799 0 4000 00 μs DO 16 X131 5 M1 X131 8 24 V1 X130 7 p0748 16 0 1 0 1 CU S_q DO 16 p0746 0 DO 16 r0747 16 24 V 1 M1 r0747 CU DO Status 2 24 V 5 V 24 V1 M1 X130 8 ...

Page 775: ...0 0 00 3 10 10 V Reference quantities p200x y x2 x1 4000 00 μs 1 0 1 0 1 1 Caution The voltage between an input and the grounding point must not exceed 35V 1 0 x 100 x x 2 1x 3 When interconnected further the output signals are referred to the reference quantities p2000 r2004 100 p200x 2 Differential inputs For input signals referred to ground terminal 8 must be connected to the reference potentia...

Page 776: ...788 2450 PZD send signals interconnection manufacturer specific 2 789 2452 ZSW1 status word interconnection p2038 0 2 790 2453 ZSW1 status word interconnection p2038 1 2 791 2454 ZSW2 status word interconnection p2038 0 2 792 2455 ZSW2 status word interconnection p2038 1 2 793 2456 MELDW status word interconnection 2 794 2462 PosSTW Pos control word interconnection r0108 4 1 2 795 2463 POS_STW1 po...

Page 777: ...805 2480 MDIMode interconnection r0108 4 1 2 806 2481 IF1 receive telegram free interconnection via BICO p0922 999 2 807 2483 IF1 send telegram free interconnection via BICO p0922 999 2 808 2495 CU_STW control word Control Unit interconnection 2 809 2496 CU_ZSW status word Control Unit interconnection 2 810 2497 A_DIGITAL interconnection 2 811 2498 E_DIGITAL interconnection 2 812 ...

Page 778: ... IF1 PB PN clock cycle signal faulted when establishing the bus A01944 IF1 PB PN sign of life synchronism not reached A01950 IF1 PB PN clock cycle synchronous operation synchronization unsuccessful A01900 PROFIBUS Configuration telegram error A01901 PROFIBUS Parameterizing telegram error A01902 IF1 PB PN clock cycle synchronous operation parameterization not permissible 1 126 All DIP switches to O...

Page 779: ...W1 NSOLL_A NIST_A NSOLL_B NIST_B NSOLL_B NIST_B NSOLL_B NIST_B SATZANW AKTSATZ STW2 ZSW2 STW2 ZSW2 STW2 ZSW2 G1_STW G1_ZSW G2_XIST1 G2_XIST2 G1_XIST1 G2_ZSW G1_STW G1_ZSW G2_STW G1_XIST1 G1_XIST2 G1_XIST2 Receive telegram from PROFIBUS PROFINET Send telegram to PROFIBUS PROFINET 3 The maximum number of PZD words depends on the drive object type 3 Refer to 1020 7 PROFIdrive sampling time PD Telegra...

Page 780: ... NSOLL_B NIST_B NSOLL_B NIST_B PosSTW PosZSW SATZANW AKTSATZ G1_STW MOMRED STW2 G1_ZSW G1_XIST2 MELDW ZSW2 G1_ZSW G1_XIST1 G1_XIST2 G2_ZSW G2_XIST1 MOMRED MELDW STW2 ZSW2 G2_XIST2 MDI_ TARPOS Xist_A OVERRIDE MELDW ZSW2 STW2 MDI_ VELOCITY MDI_ACC MDI_DEC MDI_MODE 4 G1_STW 2440 2450 automatically 111 3 STW1 ZSW1 POS_STW1 POS_ZSW1 MDI_ TARPOS XIST_A OVERRIDE MELDW ZSW2 STW2 MDI_ VELOCITY MDI_ACC MDI_...

Page 781: ...020 7 PROFIdrive sampling time PD Telegram select p0922 999 Interconnection is made according to Telegram Appl Class 4 The maximum number of PZD words depends on the drive object type 1 Depending on the drive object only specific telegrams can be used 2 If p0922 999 is changed to another value the telegram is automatically assigned as specified in 2420 2424 If p0922 999 is changed to p0922 999 the...

Page 782: ...ording to to the PROFIdrive profile I16 Integer16 I32 Integer32 U16 Unsigned16 U32 Unsigned32 SATZANW 32 Pos block selection bit by bit 2476 I32 bit by bit MDI_TARPOS MDI_VELOCITY MDI_ACC MDI_MOD MDI_DEC 34 MDI position 35 MDI velocity 36 MDI acceleration override 37 MDI deceleration override 38 MDI mode bit by bit p2645 3618 I16 4000 hex 100 p2642 3618 I32 1 hex 1 LU p2643 3618 I32 1 hex 1000 LU ...

Page 783: ... manufacturer specific telegram via p0922 these interconnection parameters of the command data set CDS0 are automatically set 2 Data type according to to the PROFIdrive profile I16 Integer16 I32 Integer32 U16 Unsigned16 U32 Unsigned32 Refer to 1020 7 PROFIdrive sampling time POS_STW1 220 Pos control word 1 POS_STW2 222 Pos control word 2 Signal receivers for PZD receive signals Signal 2 MOMRED 101...

Page 784: ...ower on inhibit 1 Enable operation pulses can be enabled 0 Inhibit operation cancel pulses 1 Operating condition the ramp function generator can be enabled 0 Inhibit ramp function generator set the ramp function generator output to zero 1 Enable the ramp function generator 0 Stop the ramp function generator freeze the ramp function generator output 1 Enable setpoint 0 Inhibit setpoint set the ramp...

Page 785: ...ditionally open the holding brake Reserved Reserved 1 Closed loop torque control active 0 Closed loop speed control active Meaning Signal STW1 0 STW1 1 STW1 2 STW1 3 STW1 4 STW1 5 STW1 6 STW1 8 STW1 9 STW1 11 STW1 7 STW1 10 p1501 0 r2090 14 2520 3 p0855 0 r2090 12 2501 3 p2148 0 r2090 11 p0854 0 r2090 10 2501 3 p2103 0 r2090 7 2546 1 p1142 0 r2090 6 2501 3 p1141 0 r2090 5 2501 3 p1140 0 r2090 4 25...

Page 786: ...axis 1 Traverse to fixed endstop Reserved Master sign of life bit 0 Reserved Reserved Drive data set selection DDS bit 3 Drive data set selection DDS bit 2 Drive data set selection DDS bit 1 Drive data set selection DDS bit 0 Reserved 1 Motor changeover feedback Signal Master sign of life bit 1 Master sign of life bit 2 Master sign of life bit 3 p0822 0 r2093 2 3 r2092 2 p0823 0 r2093 3 3 r2092 3 ...

Page 787: ... 1 Parking axis selection 1 Traverse to fixed endstop Reserved Master sign of life bit 0 1 Integrator inhibit speed controller Reserved Reserved Reserved Reserved Reserved Motor changeover feedback signal Master sign of life bit 1 Master sign of life bit 2 Master sign of life bit 3 STW2 1 STW2 2 STW2 3 STW2 4 STW2 5 STW2 6 STW2 8 STW2 9 STW2 11 STW2 12 STW2 13 STW2 14 STW2 15 STW2 7 STW2 10 8565 p...

Page 788: ...1 Drive object 2 Drive object m Trailer Description Interconnection parameter PROFIdrive Signal No Function diagram Signal U16 Status word 1 r2089 0 2 2452 2453 2479 2 ZSW1 U16 Status word 2 r2089 1 4 2454 2455 2 ZSW2 Speed setpoint A 16 bit 6 NIST_A Speed setpoint B 32 bit 8 NIST_B U16 Encoder 1 status word r0481 0 10 4730 G1_ZSW U32 Encoder 1 actual position 1 r0482 0 11 4704 G1_XIST1 U32 Encode...

Page 789: ...ive object m Trailer Refer to 1020 7 PROFIdrive sampling time PROFIBUS PROFINET Signal sources for PZD send signals Data type 1 Description Interconnection parameter PROFIdrive Signal No Function diagram Signal U16 Message word r2089 2 102 2456 MELDW FAULT_CODE U16 Fault code r2131 301 8060 U16 Alarm code r2132 303 8065 WARN_CODE Measuring probe 1 measuring time rising edge r0686 0 133 MT1_ZS_S Me...

Page 790: ...ive OFF2 inactive 1 No fast stop active OFF3 inactive 1 Power on inhibit active 1 Alarm present 1 Speed setpoint actual value deviation within tolerance t_off 1 Control requested 1 f or n comparison value reached exceeded 1 I M or P limit not reached 1 Open holding brake 1 No motor overtemperature alarm 1 No alarm thermal overload power unit 1 Motor rotates forwards n_act 0 0 Motor rotates backwar...

Page 791: ...0899 6 p2080 7 r2139 7 p2080 8 r2197 7 p2080 9 r0899 9 p2080 10 r2199 1 p2080 14 r1407 2 p2080 0 r0899 0 p2080 1 r0899 1 Interconnection parameters 2503 7 2548 7 2503 7 2503 7 2503 7 2548 7 2534 7 2503 7 2536 7 2522 7 2503 7 2503 7 Function diagram Internal status word ZSW1 0 ZSW1 1 ZSW1 2 ZSW1 3 ZSW1 4 ZSW1 5 ZSW1 6 ZSW1 8 ZSW1 9 ZSW1 11 ZSW1 12 ZSW1 13 ZSW1 14 ZSW1 15 ZSW1 7 ZSW1 10 Signal 1 Rea...

Page 792: ... 7 r0896 0 p2081 8 r1406 8 p2081 11 r0835 0 Implicitly interconnected p2081 0 r0051 0 ZSW2 0 ZSW2 1 ZSW2 2 ZSW2 3 ZSW2 4 ZSW2 5 ZSW2 6 ZSW2 8 ZSW2 9 ZSW2 11 ZSW2 12 ZSW2 13 ZSW2 14 ZSW2 15 ZSW2 7 ZSW2 10 1 Drive data set DDS effective bit 0 Reserved Reserved Reserved Reserved 1 Parking axis active 1 Traverse to fixed endstop Reserved 1 Motor data set changeover active Slave sign of life bit 0 Slav...

Page 793: ...051 0 Interconnection parameters 1 Drive data set DDS effective bit 0 Reserved Reserved Reserved 1 Ramp function generator inactive 1 Holding brake open 1 Integrator inhibit speed controller 1 Parking axis active 1 Traverse to fixed endstop Reserved Reserved 1 Data set changeover active Slave sign of life bit 0 Slave sign of life bit 1 Slave sign of life bit 3 Slave sign of life bit 2 Meaning 3060...

Page 794: ... 14 MELDW 15 MELDW 7 MELDW 10 1 Torque utilization torque threshold value 2 p2194 1 Ramp up ramp down completed 0 Ramp function generator active 1 n_act speed threshold value 3 p2161 1 n_act speed threshold value 2 p2155 1 Vdc_min controller activ Vdc p1248 Variable signaling function 1 No motor overtemperature alarm 1 No alarm thermal overload power unit 1 Speed setpoint actual value deviation wi...

Page 795: ...OS_STW 9 POS_STW 11 POS_STW 12 POS_STW 13 POS_STW 14 POS_STW 15 POS_STW 7 POS_STW 10 p2612 r2092 2 p2591 r2092 5 p2655 0 r2092 0 p2596 r2092 1 1 Tracking mode active 0 No tracking mode active 1 Set home position 0 Do not set home position 1 Reference cam active Reserved Reserved 1 Jogging incremental active 0 Jogging velocity active Reserved Reserved Reserved Reserved Reserved Reserved Reserved Re...

Page 796: ...aversing block selection bit 0 Traversing block selection bit 1 Traversing block selection bit 2 Traversing block selection bit 3 Traversing block selection bit 4 Traversing block selection bit 5 1 Absolute positioning is selected 0 Relative positioning is selected 1 Absolute positioning MDI direction selection positive 2 Absolute positioning MDI direction selection negative 3 Absolute positioning...

Page 797: ...4 p2655 r2092 0 p2596 r2092 1 1 Referencing type selection for flying referencing 0 Referencing type selection for search for reference 1 Measuring probe 2 is activated 0 Measuring probe 1 is activated 1 Software limit switch activation 3612 3610 3635 3612 Signal p2568 r2092 15 1 Start the search for reference in the negative direction 0 Start the search for reference in the positive direction 1 F...

Page 798: ...sing Block Bit 1 21 Active Traversing Block Bit 2 22 Active Traversing Block Bit 3 23 Active Traversing Block Bit 4 24 Active Traversing Block Bit 5 25 Reserved Reserved 1 STOP cam minus active 1 MDI active 0 MDI inactive 1 STOP cam plus aktiv Signal targets for POS_ZSW1 positioning mode r0108 4 1 Signal Interconnection parameters Meaning Function diagram internal control word Function diagram sig...

Page 799: ...Axis moves forward 1 Axis moves backwards 1 Software limit switch minus reached 1 Software limit switch plus reached 1 Position actual value cam switching position 1 1 Direct output 1 via traversing block 1 Direct output 2 via traversing block 1 Fixed stop reached 1 Fixed stop clamping torque reached 1 Traversing command active 1 Travel to fixed stop active siehe 1020 7 PROFIdrive Abtastzeit 1 Pos...

Page 800: ...trol requested 2 Using the connector binector converters the bits can be extracted from two of the PZD receive words 5 to 20 and used as binectors 3 The following representation applies for words 4000 hex 100 for double words 4000 0000 hex 100 The reference variables p200x apply for the ongoing interconnection 100 p200x The following applies for temperature values 100 C 100 4000 hex or 4000 0000 h...

Page 801: ...antities for further interconnection p200x 3 1 r2063 0 26 PROFIdrive send telegram PROFIBUS PROFINET Drive object n Header Drive object 1 Drive object 2 Drive object m Trailer 1 To comply with the PROFIdrive profile send word 1 must be used as status word 1 ZSW1 not as DWORD 2 Every PZD word can be assigned a word or a double word Only one of the 2 interconnection parameters p2051 or p2061 may hav...

Page 802: ...erter p2048 0 0 p2081 0 15 r2089 1 Status word 2 0 0 0 0 0 1 11 p2088 1 0 p2088 1 11 1 0 1 1 0 1 0 0 p2080 0 15 0 0 0 0 0 1 15 p2088 0 15 p2088 0 0 1 0 1 1 0 1 0 0 p2082 0 15 0 0 0 0 0 1 15 p2088 2 15 p2088 2 0 1 0 1 1 0 1 0 0 p2083 0 15 0 0 0 0 0 1 15 p2088 3 0 p2088 3 15 1 0 1 1 0 1 1 1 For clock cycle synchronous SERVO these signals must not be interconnected slave sign of life 0 0 0 0 12 15 r2...

Page 803: ...ncellation and power on inhibit 1 No OFF3 enable possible 0 OFF3 braking with the OFF3 ramp p1135 then pulse cancellation and power on inhibit 1 Enable operation pulses can be enabled 0 Inhibit operation cancel pulses 1 Do not reject traversing task 0 Reject traversing task ramp down with the maximum deceleration 1 No intermediate stop 0 Intermediate stop Activate traversing task Acknowledge fault...

Page 804: ...ZANW 14 SATZANW 15 SATZANW 7 SATZANW 10 p2627 r2091 2 p2628 r2091 3 p2629 r2091 4 p2630 r2091 5 p2647 r2091 15 p2625 r2091 0 p2626 r2091 1 1 Traversing block selection bit 0 1 Traversing block selection bit 1 1 Traversing block selection bit 2 1 Traversing block selection bit 3 1 Traversing block selection bit 4 1 Traversing block selection bit 5 Reserved Reserved Reserved Reserved Reserved Reserv...

Page 805: ... coast down active OFF2 inactive 1 No fast stop active OFF3 inactive 1 Power on inhibit active 1 Alarm present 1 Following error within tolerance 1 Control requested 1 Target position reached 1 Home position set Acknowledgement traversing block activated 1 n_act speed threshold value 3 1 Axis decelerated 1 Axis accelerated 2 p2080 2 r0899 2 p2080 3 r2139 3 p2080 4 r0899 4 p2080 5 r0899 5 p2080 6 r...

Page 806: ...4 MDI_MOD 15 MDI_MOD 7 MDI_MOD 10 Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Signal targets for MDI_MOD positioning mode r0108 4 1 Signal Interconnection parameters Meaning Function diagram internal control word Function diagram signal target Inverted 1 Refer to 1020 7 PROFIdrive sampling time 1 Absolute positioning is selected 0 Relative positioning ...

Page 807: ...ROFINET PZD receive word 1 PZD receive word 2 PZD receive word 5 r2050 1 r2091 15 PZD receive word 3 PZD receive word 4 r2050 3 r2050 2 r2050 4 Reference quantities for further interconnection p200x 1 1 The following representation applies for words 4000 hex 100 The reference variables p200x apply for the ongoing interconnection 100 p200x The following applies for temperature values 100 C 100 4000...

Page 808: ...plies for words 4000 hex 100 The reference variables p200x apply for the ongoing interconnection 100 p200x The following applies for temperature values 100 C 100 4000 hex 0 C 0 Refer to 1020 7 PROFIdrive Abtastzeit 2 PZD send word 7 0 p2051 6 PZD send word 8 PZD send word 13 PZD send word 14 PZD send word 15 0 p2051 7 0 p2051 12 0 p2051 13 0 p2051 14 PROFIBUS PROFINET Drive object n Header Drive o...

Page 809: ...Reserved Reserved Reserved Reserved Reserved Reserved Master sign of life bit 1 Master sign of life bit 2 Master sign of life bit 3 CU_STW 1 CU_STW 2 CU_STW 3 CU_STW 4 CU_STW 5 CU_STW 6 CU_STW 8 CU_STW 9 CU_STW 11 CU_STW 12 CU_STW 13 CU_STW 14 CU_STW 15 CU_STW 7 CU_STW 10 Central measuring probe synchronizing signal source CU_STW 0 Inverted Function diagram signal target Function diagram internal ...

Page 810: ...1 Alarm present 1 Fault not present Reserved 1 Fault present 1 Alarm is not present 1 Safety Message signal not present p2081 7 r2139 7 p2081 8 r0899 8 Implicitly interconnected Reserved 1 System time synchronized Slave sign of life bit 0 Reserved Reserved Reserved Slave sign of life bit 1 Slave sign of life bit 2 Slave sign of life bit 3 CU_ZSW1 1 CU_ZSW1 2 CU_ZSW1 3 CU_ZSW1 4 CU_ZSW1 5 CU_ZSW1 6...

Page 811: ...0738 0 r2091 0 p0741 0 r2091 3 A_DIGITAL 1 A_DIGITAL 2 A_DIGITAL 3 A_DIGITAL 4 A_DIGITAL 5 A_DIGITAL 6 A_DIGITAL 8 A_DIGITAL 9 A_DIGITAL 11 A_DIGITAL 12 A_DIGITAL 13 A_DIGITAL 14 A_DIGITAL 15 A_DIGITAL 7 A_DIGITAL 10 A_DIGITAL 0 Signal Reserved Reserved Reserved Reserved Reserved Reserved Digital output 11 DI DO 11 Digital output 10 DI DO 10 Digital output 9 DI DO 9 Reserved Reserved Reserved Rese...

Page 812: ..._DIGITAL 14 E_DIGITAL 15 E_DIGITAL 7 E_DIGITAL 10 E_DIGITAL 0 Signal 3 Pre assignment can be freely changed Reserved Reserved Digital input 2 DI 2 Reserved Reserved Reserved Digital input 11 DI DO 11 Digital input 10 DI DO 10 Digital input 9 DI DO 9 Digital input 1 DI 1 Digital input 3 DI 3 Reserved Reserved Reserved Digital input 8 DI DO 8 Meaning Digital input 0 DI 0 Function diagram Internal st...

Page 813: ... word sequence control 2 815 2505 Control word setpoint channel 2 816 2520 Control word speed controller 2 817 2522 Status word speed controller 2 818 2526 Status word closed loop control 2 819 2530 Status word current control 2 820 2534 Status word monitoring functions 1 2 821 2536 Status word monitoring functions 2 2 822 2537 Status word monitoring functions 3 2 823 2546 Control word faults alar...

Page 814: ... control is retrieved predefined by STARTER 3 3 To jog 3030 6 To jog 3030 6 To the brake control 2701 5 To the extended brake control 2707 1 To the setpoint channel 3060 1 3070 1 3080 4 To the setpoint channel 3060 1 3070 1 To the setpoint channel 3060 6 3070 7 3080 5 To the control unit 2610 To the control unit 2610 To the control unit 2610 To the control unit 2610 r0898 12 To the brake control 2...

Page 815: ...tive 1 Drive ready 1 Controller enable 1 Control requested 1 Reserved 1 Pulses enabled 1 Open holding brake only for booksize units when the brake is connected to the power unit 1 Command close holding brake 1 Enable setpoint from the brake control 1 Pulse enable from the brake control Bit 9 1 Ready to exchange process data r0899 13 From the basic brake control p0108 14 0 2701 8 From the extended ...

Page 816: ...ved Reserved Reserved Reserved 1 Direction reversal Reserved Reserved 1 Bypass ramp function generator Reserved p1020 C 0 Fixed setpoint selection bit 0 p1111 C 0 Inhibit positive direction PROFIdrive bit 9 10 8 7 6 5 4 3 2 1 0 Bit No 4000 00 μs r1198 5 r1198 6 r1198 11 p1021 C 0 Fixed setpoint selection bit 1 r1198 1 r1198 0 p1113 C 0 Setpoint inversion To the setpoint channel 3060 1 3070 3 r1198...

Page 817: ... Control word speed controller 1 2 3 4 5 6 7 8 9 10 11 0 Bit No 12 13 14 15 Servo Reserved Control word speed controller Reserved Reserved Reserved Reserved Reserved Reserved Reserved 1 Travel to fixed stop Reserved Reserved 1 Droop enable 1 Closed loop torque control active Reserved Set speed adaptation controller I component Reserved r1406 8 r1406 12 To the closed loop speed control 5060 1 p1545...

Page 818: ...m the speed controller 5210 8 From the speed controller 5040 7 1 V f control active Status word speed controller 1 Sensorless operation active 1 Closed loop torque control active 1 Closed loop speed control active Reserved 1 Speed controller I component held 1 Speed controller I component set 1 Torque limit reached 1 Torque limiting upper active 1 Torque limiting lower active 1 Droop enabled 1 Spe...

Page 819: ...atus words Status word closed loop control 1 2 4 Reserved Meaning 1 De magnetization completed Reserved 1 Magnetization completed Reserved 0 Bit No 7 Status word closed loop control 8 9 11 1 Field weakening active Reserved Reserved 1 Vdc_max controller active 14 1 Vdc_min controller active 15 r0056 ZSW closed loop control r0056 14 r0056 15 r0056 1 r0056 4 r0056 8 3 Reserved 5 Reserved 6 Reserved 1...

Page 820: ...us word current control r1408 ZSW closed loop current control 1 2 1 Closed loop current control active Meaning Reserved Reserved 0 Bit No Status word closed loop current control 3 4 Reserved 5 6 7 8 9 Reserved 10 11 Reserved 12 Reserved 13 Reserved 14 Reserved 15 Reserved Refer to 1020 7 250 s 1 Limiting Ud active 1 Limiting Uq active 1 Pos limit Iq active 1 Neg limit Iq active 1 Iq setpoint limit...

Page 821: ...oring functions 1 Reserved Status word monitoring functions 1 n_act speed threshold value 2 p2155 n_act speed threshold value 2 p2155 1 n_act 0 Reserved Reserved n_act n_max 1 Speed setpoint actual value deviation within tolerance t_off Reserved Reserved Reserved 9 10 8 7 6 5 4 3 2 1 0 Bit No r2197 ZSW monitoring functions 1 r2197 7 r2197 6 r2197 2 r2197 1 r2197 3 1 nact smoothed speed actual valu...

Page 822: ...ing 2 Reserved Reserved Reserved 1 n_set p2161 1 n_set 0 1 Motor blocked 1 Motor stalled Reserved Reserved 1 Torque setpoint torque threshold value 1 p2174 1 Load monitoring signals an alarm 1 Load monitoring signals a fault Reserved Reserved Reserved 9 10 8 6 5 4 3 2 1 0 Bit No r2198 5 7 From speed signals 8011 8 From speed signals 8011 8 From torque messages motor locked stalled 8012 8 From torq...

Page 823: ...ue reached or exceeded p2141 Reserved Reserved 1 Speed setpoint actual value deviation within tolerance t_on 1 Ramp up ramp down completed 0 Ramp function generator active 1 Current below residual current threshold Reserved Reserved Reserved Reserved 1 Torque utilization torque threshold value 2 p2194 Reserved Reserved Reserved Reserved PROFIdrive bit 9 10 8 7 6 5 4 3 2 1 0 Bit No 1000 00 μs From ...

Page 824: ...μs To fault buffer 8060 1 r2138 7 This parameter refers to the Control Unit and is used as source to simultaneously acknowledge all faults on all drive objects 1 These parameters refer to the Command Data Sets CDS depending on the individual drive object DO 2 p2103 C 1 Acknowledge p2102 C Ackn all faults 1 2 p2112 C 1 p2116 C 1 p2117 C 1 p2106 C 1 p2107 C 1 p2108 C 1 p3111 C 1 p3112 C 0 T 0 p3110 ...

Page 825: ...otor 8016 8 r2139 8 From the alarm buffer 8065 4 From the fault buffer 8060 6 1 Fault encoder 1 Status word faults alarms 2 1 Fault encoder 2 1 Fault encoder 3 1 Alarm transformer overtemperature 1 Fault motor overtemperature 1 Fault thermal overload power module 1 Acknowledgement running Status word faults alarms 1 1 Fault present Reserved 1 Internal signal 2 present 1 Alarm motor overtemperature...

Page 826: ...ce control 2 826 Siemens AG 2012 All Rights Reserved SINAMICS S110 List Manual LH7 06 2012 6SL3097 4AP10 0BP3 2 7 Sequence control Function diagrams 2610 Sequencer 2 827 2634 Missing enable signals line contactor control 2 828 ...

Page 827: ...nted according to the PROFIdrive profile p0857 p0862 2000 00 μs Missing enable signals 2634 Faults F07300 F07802 F6000 Pulse enable HW 2701 8 Drive at standstill Fault with OFF1 or OFF3 response Drive at standstill 1 1 Drive at standstill 3 3 3 3 3 3 These control commands can also be triggered by a fault response Closed loop control operation De magnetization completed r0046 27 0 Commissioning co...

Page 828: ...feed enable missing Bit Nr 0 10 11 12 1 Ramp function generator enable missing 1 Ramp function generator start missing 1 Setpoint enable missing 16 17 18 1 OFF1 enable internal missing 1 OFF2 enable internal missing 1 OFF3 enable internal missing 26 1 Drive inactive or not operational 19 1 Pulse enable internal missing 25 1 Function bypass active 27 Reserved 28 1 Open brake missing 4 1 Armature sh...

Page 829: ...al LH7 06 2012 6SL3097 4AP10 0BP3 2 8 Brake control Function diagrams 2701 Basic brake control r0108 14 0 2 830 2704 Extended brake control zero speed detection r0108 14 1 2 831 2707 Extended brake control open close brake r0108 14 1 2 832 2711 Extended brake control signal outputs r0108 14 1 2 833 ...

Page 830: ...cted as control signal 3 8 The internal signal includes signals that lead to OFF1 or OFF3 e g BICO or fault response 9 If the brake is permanently applied or released p0855 p0858 or p1215 the drive does not wait while the brake is released or applied 2501 3 p0856 1 Enable speed controller r0898 12 2501 3 p0852 1 Operation enabled r0898 3 7 r0046 21 0 as long as r0046 0 1 OFF1 enable missing or pow...

Page 831: ... n_stop n_thresh 0 0 210 000 0 rpm p1226 20 0 OFF1 present OFF3 present Close brake from standstill detection 2 For p1276 300 000 s the timer is deactivated i e the timer output is always 0 Note When operating a motor with a brake which must not be applied while the motor is rotating the monitoring time of both timers must be set to 300 s 1 Shutdown threshold of the standstill detection In this ca...

Page 832: ...control 4 If the brake is permanently applied or released p0855 p0858 or p1215 the drive does not wait until the brake is released or applied Brake OR logic operation result 1229 10 0 p1279 3 Brake AND logic operation result 1229 11 3 Background Refer to 1020 7 2 Priority assignment high low p1215 p0858 p0855 p0856 p1219 apply brake from standstill detection p1218 Magnetizing completed r0056 4 T 0...

Page 833: ... used p1215 0 1 2610 5 2610 8 Coast down not active r0899 4 Enable operation r0898 3 Power on inhibit r0899 6 2704 8 Close brake from standstill detection Request pulse enable 2707 1 Close brake From the standstill detection 2503 7 2503 7 2501 7 3 1 Brake feedb open p1223 4 1 Open holding brake r0899 12 1 Command close holding brake r0899 13 5 1 This pulse enable path only works for operation with...

Page 834: ...sic Functions SBC Safe Brake Control 2 840 2820 Extended Functions SLS Safely Limited Speed 2 841 2825 Extended Functions SS1 SS2 SOS internal STOP B C D F 2 842 2840 Extended Functions control word and status word 2 843 2846 Extended Functions parameter manager 2 844 2850 Extended Functions F DI 0 F DI 2 2 845 2853 Extended Functions F DO 0 2 846 2855 Extended Functions control interface 2 847 28...

Page 835: ... p9601 p9899 can be reset to the factory settings via p0970 p3900 Safety parameters p9601 p9899 can be changed SI password new p9762 SI ackn password p9763 Safety commissioning mode 2802 1 2804 1 2804 3 2810 3 select STO Safety parameterizing enable y 1 1 Effective password Enter password SET y x Safety parameters p9601 p9899 are valid 1 1 1 Comparator refer to 1021 2 Analog signal memory refer to...

Page 836: ...P1 r9794 P2 r9894 STOP F A P1 p9658 STOP F A P2 p9858 P1 r9795 P2 r9895 P1 r9770 P1 r9780 P2 r9880 Cross checking list Diagnostics for STOP F Faults alarms P1 F A01600 01699 P2 F A30600 30699 Safety monitoring functions Safety Integrated version Monitoring clock cycle F01611 F30611 1 Faults with response NONE STOP F r9772 15 P1 2804 2 r9872 15 P2 2804 5 T 0 Timer for emergency retraction 1 Faults ...

Page 837: ...equested 4 4 1 SBC requested 1 SS1 delay time active in the drive 2 1 Safe Brake Adapter feedback signal 2 2 1 SS1 delay time active on the Control Unit 3 2810 5 2810 5 16 2810 6 17 2810 3 18 2825 8 16 1 STO cause Safety comm mode 2810 6 17 1 STO cause selection via terminal Basic Functions 2810 3 18 1 STO cause selection via SMM 2825 8 19 1 STO cause actual value missing 2810 3 1 STO cause select...

Page 838: ... selection terminal r9772 22 1 0 STO selection via PROFIsafe p9601 2 0 p9601 3 1 p9501 0 1 1 STO cse Safety comm mode 2800 3 r9772 16 2804 1 p9601 0 1 STOP A 1 2802 8 1 2804 1 r9772 20 STO cause selection PROFIsafe 1 2804 1 r9772 18 STO cause selection via SP2 1 2802 2 2804 1 1 1 STO release 2825 8 2804 1 r9872 23 2804 1 p9801 2 0 p9801 3 1 p9852 0 0 SS1 selection via PROFIsafe T 0 p9801 0 1 r9872...

Page 839: ...ue Off Save Pulse suppression Power Module 0 Request Pulse suppression P2 PM IF Request pulse suppression P1 2810 8 M U V W Vdc Vdc Gating unit Gating unit 1 r9872 1 1 STO active for sequence control 1 STO active on Control Unit r9772 1 5 V to SBC Save Pulse suppression 5 V Upper IGBT bridge halve Shutdown path from P1 0 STO_P1 Shutdown path from P2 0 STO_P2 DIAG_L DIAG_U Lower IGBT bridge halve 1...

Page 840: ...Enable SBC p9602 0 SBC selected F30630 Incorrect safety brake control P2 1 Fault brake control 0 SBC requested 0 SBC requested 1 SBC enabled 1 F07930 Incorrect brake control F01630 Incorrect safety brake control P1 1 Fault brake control 1 Both transistors conductive 24 V on the brake Brake opened The BR and BR outputs are only available for compact drive units 1 SBC enabled 0 SBC selected Diagnost...

Page 841: ...0 ms p9383 10000 00 Safe Brake Ramp SI Mtn SLS t P2 0 00 600000000 00 μs p9351 100000 00 1 SI Mtn SLS Gr P1 0 00 1000000 00 1 min p9531 0 3 2000 00 1 0 Select SLS bit 1 r9720 10 Select SLS bit 0 r9720 9 2 Deselect SLS r9720 4 r9720 SI Mtn integ STW SI Mtn SLS lim P2 0 00 1000000 00 mm min p9331 0 3 2000 00 SLS active r9722 4 Status of the SBR function r9723 16 r9733 0 1 SI Mtn setp_lim T 0 2 3 SI ...

Page 842: ...STOP D active r9721 14 1 T 0 STOP F SI Mtn t F B P1 0 00 600000 00 ms p9555 0 00 SI Mtn t F B P2 0 00 600000000 00 μs p9355 0 00 Deselect SS1 r9720 1 STOP B active r9721 12 T 0 SI Mtn IL t_Ver P1 0 00 600000 00 ms p9556 100 00 SI Mtn IL t_Ver P2 0 00 600000000 00 μs p9356 100000 00 SS1 active r9722 1 Actual value speed p9360 p9560 SS1 active r9722 1 SS2 active r9722 2 Safe Acceleration Monitor Saf...

Page 843: ...2 3 1 SOS active 4 1 SLS active 9 1 Active SLS stage bit 0 1 SS1 deselection 1 SS2 deselection 3 5 9 5 Reserved 7 1 Not an internal event Reserved 8 10 1 Active SLS stage bit 1 11 1 SOS selected r9720 Mtn integ STW r9722 Mtn integ Stat 14 Reserved SSM Speed below limit 15 6 Reserved Reserved 6 13 1 Deselect SDI positive 1 Deselect SDI negative 12 Reserved 11 1 SDI positive active 12 13 1 SDI negat...

Page 844: ...0 p3900 Safety parameter p9300 p9399 p9500 p9599 p10000 p10199 can be changed SI password new p9762 SI ackn password p9763 Safety parameterization enable y 1 1 Effective password Password entry SET y x Safety parameters p9300 p9399 p9500 p9599 p10000 p10199 are valid after save STARTER issues a message if a POWER ON is required 1 1 1 Comparator see 1021 2 Analog signal memory see 1021 3 The target...

Page 845: ... Functions F DI 0 F DI 2 fp_2850_98_eng vsd DI 16 p10140 0 DI 17 DI 19 X130 1 X130 3 X130 5 1000 μs DI 17 X130 2 L1 X130 7 X130 4 DI 18 X130 6 DI 19 DI 21 X131 2 DI 21 X131 3 DI 20 X131 1 p10140 2 p10140 1 M1 X131 8 X130 8 M1 F DI 1 F DI 2 2855 1 2855 1 2855 1 F DI 0 C01770 Discrepancy error C01770 Discrepancy error C01770 Discrepancy error SI discrep t_monit 1 00 2000 00 ms p10002 500 00 1 0 1 1 ...

Page 846: ...unction diagram 8 7 6 5 4 3 2 1 DO CU_S110 SINAMICS S110 29 10 08 V04 04 00 Safety Integrated Extended Functions F DO 0 fp_2853_98_eng vsd p9500 12 00 ms DO16 DO16 X131 5 X131 6 F DO Failsafe Digital Output M1 X131 8 F DO 0 2857 8 24 V1 M M1 r0747 16 M 24 V1 X131 7 M1 V1 24 external 1 Signaling parameters are only written to when Safety Integrated is activated r10052 0 r10152 1 1 ...

Page 847: ...lly active Deselection STO r9720 0 Deselection SS1 r9720 1 Deselection SS2 r9720 2 Deselection SOS r9720 3 Deselection SLS r9720 4 Acknowledgement r9720 7 Selection SLS Bit 0 r9720 9 Selection SLS Bit 1 r9720 10 Source plan SI STO F DI P1 p10022 SI SS1 F DI P1 p10023 SI SS2 F DI P1 p10024 SI SOS F DI P1 p10025 SI SLS F DI P1 p10026 SI SLS lim 0 DI P1 p10027 SI SLS lim 1 DI P1 p10028 2825 8 2825 8 ...

Page 848: ...gram 8 7 6 5 4 3 2 1 DO CU_S110 SINAMICS S110 14 09 10 V04 04 00 Safety Integrated Extended Functions Safe State selection fp_2856_98_eng vsd 2857 1 2855 7 2855 7 2855 7 2855 7 SS2 active SS1 active SOS active 2855 7 Pulses cancelled SDI negative active Safe State SI Safe State selection p10039 6 0 1 1 0 SI Safe State selection p10039 0 0 0 p9500 p9300 12 00 ms 2855 7 SLS active 2855 7 SDI positiv...

Page 849: ...sd p10000 00 12 00 ms 2855 7 2855 7 2855 7 2855 7 3 SS2 active 2 SS1 active 1 Pulses cancelled 4 SOS active 5 SLS active 7 Safe State 0 No function 9 Internal event 8 SOS selected 6 SSM feedback signal active 2855 7 2855 7 2855 7 2855 7 2856 8 11 Active SLS threshold bit 1 13 SDI negative active 12 SDI positive active 10 Active SLS threshold bit 0 2855 7 2855 7 2855 7 2855 7 F DO 0 2853 8 SI F DO ...

Page 850: ...nt r9722 7 Active SLS stage bit 0 r9722 9 Active SLS stage bit 1 r9722 10 SOS selected r9722 11 SDI pos active r9722 12 De select STO r9720 0 De select SS1 r9720 1 De select SS2 r9720 2 De select SOS r9720 3 De select SLS r9720 4 Quittierung r9720 7 Select SLS bit 0 r9720 9 Select SLS bit 1 r9720 10 PROFIsafe communication via PROFIBUS PROFINET 2825 8 2825 8 2825 8 2825 8 2820 8 2840 8 2840 8 2861...

Page 851: ...r p9500 12 00 ms 27 04 11 V04 04 00 0 1 Enable SSM hysteresis filter p9501 16 0000 bin Enable SSM hysteresis filter p9301 16 0000 bin SI Mtn SSM hyst P1 0 0010 500 0000 1 min p9547 10 0000 SI Mtn SSM hyst P2 0 0010 500 0000 1 min p9347 10 0000 Si Mtn SSM v_lim P1 0 00 1000 000 00 1 min p9546 20 00 SI Mtn SSM v_lim P2 0 00 1000 000 00 1 min p9346 20 00 0 1 0 1 0 00 100 00 ms p9545 0 00 0 00 100 000...

Page 852: ...0 ms p9565 100 00 SI Mtn SDI t P2 0 00 600000000 00 μs p9365 100000 00 SI Mtn SDI tol P2 0 001 360 000 p9364 12 000 SI Mtn SDI tol P1 0 001 360 000 p9564 12 000 SI Mtn SDI Stop P1 0 14 p9566 1 SI Mtn SDI Stop P2 0 14 p9366 1 T 0 SDI positive active r9722 12 r9722 SI Mtn integ stat SDI negative active r9722 13 SDI positive select r9720 12 r9720 SI Mtn integ STW SDI negative select r9720 13 1 p1082 ...

Page 853: ...ed speed setpoints 2 854 3020 Motorized potentiometer 2 855 3030 Main supplementary setpoint setpoint scaling jogging 2 856 3040 Direction limitation and direction reversal 2 857 3050 Skip frequency bands and speed limitations 2 858 3060 Basic ramp function generator 2 859 3070 Extended ramp function generator 2 860 3080 Ramp function generator selection status word tracking 2 861 ...

Page 854: ... setpoint 8 210 000 000 210 000 000 rpm p1008 D 0 000 Fixed speed setpoint 9 210 000 000 210 000 000 rpm p1009 D 0 000 Fixed speed setpoint 10 210 000 000 210 000 000 rpm p1010 D 0 000 Fixed speed setpoint 11 210 000 000 210 000 000 rpm p1011 D 0 000 Fixed speed setpoint 12 210 000 000 210 000 000 rpm p1012 D 0 000 Fixed speed setpoint 13 210 000 000 210 000 000 rpm p1013 D 0 000 Fixed speed setpo...

Page 855: ...ction generator p1082 100 Only if the function module extended setpoint channel is activated r0108 8 1 2505 7 3050 5 100 x y 2 If initial rounding off is active p1030 2 1 the selected ramp up down times are exceeded accordingly 2 2 0 Mop raise p1035 0 Mop lower p1036 2505 7 r1050 Mop setp after RFG Refer to 1020 7 4000 00 μs r1045 Mop n_set bef RFG p1030 1 0 1 y p1082 p1082 x y 0 Mop Konfiguration...

Page 856: ... scaling jogging r1077 r1073 r1078 Jog 1 r0898 8 Jog 2 r0898 9 fp_3030_98_eng vsd p1055 p1056 Suppl setp scal 1 p1076 C Main setp scal 1 p1071 C Main setpoint 1024 0 p1070 C Supplement setpoint 0 p1075 C p2901 Fixed value 2 p2900 Fixed value 1 0 0 0 1 1 0 1 1 n_set_1 Jog setpoint 1 210 000 000 210 000 000 rpm p1058 D 100 000 Jog setpoint 2 210 000 000 210 000 000 rpm p1059 D 100 000 3040 1 Keep ol...

Page 857: ...g vsd DO SERVO SINAMICS S110 14 07 09 V04 04 00 Setpoint channel Direction limitation and direction reversal 100 Only if the function module extended setpoint channel is activated r0108 8 1 100 4000 00 μs Refer to 1020 7 r1114 Setp after lim 3050 1 1 Inhibit negative direction r1198 5 1 Inhibit positive direction r1198 6 2505 3 p1110 2505 3 p1111 0 1 0 0 1 0 n_limit setp p1063 D n_set_1 3030 8 1 S...

Page 858: ...0108 8 0 3095 applies for the generation of the speed limits w n_skip 2 0 000 210 000 000 rpm p1092 D 0 000 n_skip 3 0 000 210 000 000 rpm p1093 D 0 000 n_skip 1 0 000 210 000 000 rpm p1091 D 0 000 n_skip 4 0 000 210 000 000 rpm p1094 D 0 000 n_skip bandwidth 0 000 210 000 000 rpm p1101 D 0 000 3020 6 3060 4 3070 4 3040 8 1083 p1085 C p1083 n_limit pos 0 000 210 000 000 rpm p1083 D 210 000 000 Max...

Page 859: ...he setpoint limiting Freeze ramp function generator 3080 1 1 0 0 1 0 1 1 0 0 1 1 0 0 Freeze ramp function generator r0898 5 1 Enable speed setpoint r0898 6 2634 4 1 Enable ramp function generator r0898 4 Ramp function generator status bits 3080 5 0 Internal fast stop 0 Internal fast stop Other status bits Ramp up active Ramp down active n_set_4 2501 3 p1140 2501 3 p1141 2501 3 p1142 3080 8 Ramp fl...

Page 860: ...0 1 0 1 0 1 1 0 1 0 0 1 0 1 x y 0 Freeze ramp generator r0898 5 1 Ramp function generator enabled r0898 4 0 Set ramp function generator p1143 C 1 0 1 0 3080 1 n_set_5 2501 3 p1140 2501 3 p1141 Ramp flattening off 3080 8 1 Effective ramp up time Tup_eff Tup IR 2 FR 2 Effective ramp down time Tdn_eff Tdn IR 2 FR 2 2 p1151 00 0 Rounding off at zero crossover enabled p1151 00 1 Rounding off at zero cr...

Page 861: ...generator is effective while the drive is stopped via the ramp function generator Depending on the p1115 the basic ramp function generator 3060 or the extended ramp function generator 3070 is effective When the function module extended setpoint channel r0108 8 0 is not active for OFF1 OFF3 the down ramp of the basic ramp function generator is effective refer to n_set_4 on 3060 8 Interpolator x y 3...

Page 862: ...nt channel not activated 2 862 Siemens AG 2012 All Rights Reserved SINAMICS S110 List Manual LH7 06 2012 6SL3097 4AP10 0BP3 2 11 Setpoint channel not activated Function diagrams 3095 Generating the speed limits r0108 8 0 2 863 ...

Page 863: ...ramp of the basic ramp function generator is active p1135 or p1121 100 Applies only if the function module expanded setpoint channel r0108 8 0 is not active For r0108 8 1 3050 applies instead of 3095 n_limit neg 210 000 000 0 000 rpm p1086 D 210 000 000 Reference value for the ramp function generator Max 1 Min 1 100 n_limit pos 0 000 210 000 000 rpm p1083 D 210 000 000 Maximum speed 0 000 210 000 ...

Page 864: ...e external block change r0108 4 1 2 868 3616 Traversing block mode r0108 4 1 2 869 3617 Travel to fixed stop r0108 4 1 2 870 3618 Direct setpoint input MDI mode dynamic values r0108 4 1 2 871 3620 Direct setpoint input MDI mode r0108 4 1 2 872 3625 Mode control r0108 4 1 2 873 3630 Traversing range limits r0108 4 1 2 874 3635 Interpolator r0108 4 1 2 875 3640 Control word block selection MDI selec...

Page 865: ...1 0 Jog incr 0 1 0 Start of traversing range End of traversing range Motion variables in jog mode 3630 1 a_over act a_over act Position 100 100 4000 00 μs r2674 1 r2673 1 r2672 1 1 The connector outputs are only supplied with values from here if the jog mode is active 3635 4 p2657 Pos act set value 1 0 1 1 0 D Q Q p2589 0 Jog 1 src p2590 0 Jog 2 src r2671 s_set act 1 0 1 Keep old setpoint Keep old...

Page 866: ...t p2597 0 Ref_typ select Feedback signals Meas val ref r2523 0 p2660 Ref_cam pres p2607 1 1 1 1 4000 00 μs r2680 Clearance cam ZM 2 2 3614 2 3614 2 3614 2 Reference point set r2684 11 Search for reference active r2684 0 F07458 Reference cam not found F07459 No zero mark 1 F07460 End of reference cam not found 3 3 3 3614 1 3614 1 Zero marks ZM 1 If no reference cam exists the axis directly moves to...

Page 867: ... 1 p2660 Meas val ref 3612 1 p2595 0 Ref start 3612 1 p2597 Ref_typ select 1 When reference point approach is selected active referencing p2597 0 signal this function diagram is of no significance refer to 3612 Active traversing is not directly associated with the flying referencing mode passive referencing p2597 1 signal The mode can be superimposed on the jog 3610 traversing blocks 3614 and dire...

Page 868: ...l valid fdbk p2661 0 Ext BlckChg 0 1 p2633 1 0 3616 3 Ext BlckChg eval p2632 0 MT_eval select p2510 0 3 1 0 p0488 Meas probe 1 input p0489 Meas probe 2 input 0 MT_eval edge p2511 0 3 Meas val valid r2526 2 Measured value memory V 400 200 100 100 t 0 1 2 3 Signal for external block change has not been received r2678 Ext BlckChg s_act External block change via the measuring probe or BICO A07463 Exte...

Page 869: ...Status signals p2640 0 1 No intermediate stop 0 Intermediate stop p2641 0 1 Do not reject traversing task 0 Reject traversing task 3620 4 3620 1 3620 4 0 1 0 1 0 1 4 3630 1 3650 2 0 4000 00 μs A07461 A07472 A07483 A07485 A07487 F07484 r2686 0 Upper torque limiting effective 3617 7 r2686 1 Lower torque limiting effective 3617 7 Torque limits 5 r2687 Torque setpoint 3615 7 p2632 1 External block cha...

Page 870: ... r2683 13 p2635 r2526 4 r2526 4 Fixed stop reached p2637 3616 0 1 Following err max 0 2147483647 LU p2634 1000 0 1 Fixed stop monit 0 2147483647 LU p2635 100 r2526 4 Fixed stop reached p2637 r2526 5 Fixed stop outside p2638 F07484 Fixed stop outside the monitoring window 3616 4025 4025 Target position Tracking Programmed setpoint position Overview Actual position to fixed stop Fixed stop reached F...

Page 871: ...d DO SERVO SINAMICS S110 04 04 08 V04 04 00 EPOS Direct setpoint input MDI mode dynamic values r0108 4 1 3620 1 4000 00 μs Pos fixed value 2147483648 2147483647 LU p2690 0 p2690 v fixed value 1 2147483647 1000 LU min p2691 600 p2691 a_over fixed value 0 100 100 000 p2692 100 000 p2692 a_over fixed value 0 100 100 000 p2693 100 000 p2693 3620 1 3620 1 3620 1 MDI s_set p2690 p2642 MDI a_over p2693 p...

Page 872: ... A07487 Reject traversing task missing 1 0 1 0 0 1 0 1 3640 6 p2647 3616 5 p2641 1 If connector input p2654 is assigned a connector input 0 the control signals select positioning type direction selection positive and direction input negative are internally supplied with values from this output Based on the value of the connector input the following IDs are evaluated xxXx xx0x absolute p2648 xx1x r...

Page 873: ... reject traversing task p2641 1 No intermediate stop p2640 1 Activate traversing task p2631 0 1 Activate traversing task p2631 0 1 Direct setpoint input p2647 0 Direct setpoint input MDI active r2670 15 1 1 Do not reject traversing task p2641 1 No intermediate stop p2640 1 MDI selection p2647 1 Intermediate stop r2199 0 1 Traversing blocks active r2684 10 0 r2199 0 0 Flying changeover between posi...

Page 874: ...ach velocity reference cams p2605 However the approach velocity reference zero mark p2608 and the approach velocity reference point p2611 are not influenced 2 The STOP cams are low active When a cam responds the drive brakes with maximum deceleration along the ramp After the fault has been acknowledged only movements away from the STOP cam are permitted A07477 Target position software limit switch...

Page 875: ...Backlash comp 200000 200000 LU p2583 0 A07455 Maximum velocity limited A07473 Beginning of the traversing range reached A07474 End of the traversing range reached A07479 Software limit switch minus reached A07480 Software limit switch plus reached F07481 Axis position software limit switch minus F07482 Axis position software limit switch plus Calculation backlash compensation Traversing command ac...

Page 876: ...2 13 14 15 p2625 0 p2628 0 p2629 0 p2630 0 10 5 4 3 2 1 0 Bit No 9 8 To traversing block mode 3616 3 p2647 0 Control word block selection 1 Traversing block selection bit 1 1 Traversing block selection bit 2 Reserved Reserved 1 MDI selection Reserved Reserved Reserved 1 Traversing block selection bit 0 1 Traversing block selection bit 5 1 Traversing block selection bit 4 1 Traversing block selecti...

Page 877: ...ition reached 1 Axis moves forwards 0 Axis stand still or moves backwards 1 Axis moves backwards 0 Axis stand still or moves forwards 1 Software limit switch minus reached 1 Software limit switch plus reached 1 Position actual value cam switching position 1 0 Overrun cam switching position 1 1 Position actual value cam switching position 2 0 Overrun cam switching position 2 1 Direct output 1 via t...

Page 878: ...llowing error within tolerance 1 Modulo correction active 1 Target position reached 1 Reference point set Acknowledgement traversing block activated 1 STOP cam minus active 1 Traversing command active 1 STOP cam plus active r2684 13 From traversing range limits 3630 3 r2684 14 r2684 15 From traversing range limits 3630 3 r2684 3 r2684 7 r2684 8 r2684 10 From interpolator 3635 7 From dynamic follow...

Page 879: ... active r0108 4 1 11 12 13 14 15 r2670 ZSW act trav_block Bit No 10 9 8 7 6 5 4 3 0 1 2 4000 00 μs r2670 0 r2670 1 r2670 4 r2670 5 r2670 2 Active traversing block bit 1 Active traversing block bit 0 Status word active traversing block Active traversing block bit 2 Active traversing block bit 3 Active traversing block bit 4 Active traversing block bit 5 Reserved Reserved Reserved Reserved Reserved ...

Page 880: ...nual LH7 06 2012 6SL3097 4AP10 0BP3 2 13 Position control Function diagrams 4010 Position actual value preprocessing r0108 3 1 2 881 4015 Position controller r0108 3 1 2 882 4020 Standstill positioning monitoring r0108 3 1 2 883 4025 Dynamic following error monitoring cam controllers r0108 3 1 2 884 ...

Page 881: ...se No 0 16777215 p0408 E 2048 1 0 1 0 Enc fine Gx_XIST1 2 18 p0418 0 n 11 3646 7 3646 7 3635 7 3646 7 3635 7 Position difference betw 2 sampling times 1 0 0 Xn Yn Yn 1 Xn 4704 8 4704 8 r2521 1 s_act r2522 1 v_act Enc fine Gx_XIST2 2 18 p0419 0 n 9 r2723 D Load grbx abs_val 4704 8 4 4 4 4 4 4 4 4 4 0 r2684 7 ActVal_prepCorrAct p2512 0 1 0 s_act setting act p2514 0 1 0 MT_eval edge p2511 0 1 0 MT_ev...

Page 882: ...R_output lim src p2540 p2541 s_act r2521 0 p2532 v_set 0 r2666 p2531 s_set 0 r2665 p2530 Adaptation 1 p2537 1 Position controller output limited r2526 6 r2560 n_setp r2561 n_pre ctrl value Tn P 4025 1 n_ffCtrl flt t_dead 0 00 2 00 p2535 D 0 00 t_sample int ctrl 4010 8 4010 8 LU rev LU mm r2524 p2555 p2513 p2512 p2730 4020 1 1 1 When the basic positioner function module r0108 4 1 is active these bi...

Page 883: ...ndow 0 2147483647 LU p2542 200 p2551 0 2683 2 Sig s_set pres t_pos_monit 0 00 100000 00 ms p2545 1000 00 T 0 t_standstill monit 0 00 100000 00 ms p2543 200 00 0 1 F07450 Standstill monitoring has responded 1 T 0 Pos_window 0 2147483647 LU p2544 40 p2554 0 2684 15 Sign trav_cmnd act 1 Target position reached r2684 10 Standstill monitoring p2532 s_act F07451 Positioning monitoring has responded Posi...

Page 884: ... error monitoring F07452 Following error too high p2532 s_act 4015 1 1 0 Position setpoint after the pre control ballancing filter 4015 5 1 n_prectrl fact 0 00 200 00 p2534 D 0 00 p2534 100 p2534 100 p2552 0 2683 14 Signal TfS act 0 1 Following err max 0 2147483647 LU p2634 1000 1 Fixed stop reached r2526 4 0 1 Fixed stop monit 0 2147483647 LU p2635 100 x y Store p2553 0 2683 12 Signal fixed stop ...

Page 885: ...er evaluation Function diagrams 4704 Position and temperature sensing encoders 1 2 2 886 4710 Speed actual value and pole position sensing motor encoder encoder 1 2 887 4720 Encoder interface receive signals encoders 1 2 2 888 4730 Encoder interface send signals encoders 1 2 2 889 4735 Reference mark search with external zero mark encoder 1 2 890 ...

Page 886: ..._STW 7 The contents of r0483 r2723 are determined by the encoder status word control word Refer to 4720 and 4730 8 Interface EnDat or SSI 9 Only of significance when the Position control function module is activated r0108 3 1 and with encoder 1 10 Updated in each DRIVE CLiQ basic cycle Function selection Bit 0 13 Bit 14 15 4720 4 4740 7 Encoder control word 2 only for absolute value encoders e g E...

Page 887: ...Pole position sensing p0432 E p0433 E r0093 Pole pos el norm r0094 Transformat_angle n_act T_smooth 0 00 20 00 ms p1441 D 0 00 Raw position signals from encoder 1 refer to p1300 5060 Inv enc act val p0410 0 E 0 1 250 00 μs 1 Ratio between the electrical and mechanical pole position motor pole pair number 1 Enc commut_factor r0451 III up dn y x A B 4704 8 Fine resolution for the speed actual value ...

Page 888: ...O Reserved part 1 Request cyclic transfer of the absolute position value in Gn_XIST2 e g EQN absolute track acknowledgment in Gn_ZSW bit 13 1 Request parking encoder handshake with Gn_ZSW bit 14 acknowledge encoder fault located in Gn_ZSW bit 15 Handshake with Gn_ZSW bit 11 1 3 The bits are processed with the following priority sequence highest priority lowest priority bit Bit 14 Bit 15 Bit 4 7 Bi...

Page 889: ...Encoder fault the fault is in Gn_XIST2 r0483 Parking encoder active i e the encoder is not operational Bit 0 Bit No Bit 12 Bit 13 Bit 14 Bit 15 Generated value in Gn_XIST2 and can be read Encoder status bits from the position sensing encoder n 4704 8 to the sequence control for Gn_XIST2 4704 5 Position value 2 from encoder n The contents of position actual value 2 Gn_XIST2 at 4704 depends on Gn_ST...

Page 890: ...lected function Reference mark position to the encoder interface 4704 4 3 3 All other bits in the encoder control word must be 0 r0483 n 1 Position actual value 1 4704 8 1 4 Increasing position actual values r0482 The 0 1 edge is evaluated Decreasing position actual values r0482 The 1 0 edge is evaluated This means that the same reference point is always used when traversing to an equivalent zero ...

Page 891: ...ex n 1 encoder n n 1 2 Index 0 encoder 1 Index 1 encoder 2 r0487 n 1 1 r0487 n 1 3 r0487 n 1 2 r0487 n 1 4 r0487 n 1 7 Q D Q D Q D Q D Selecting the function to be activated Store D memory element Activate selected function no measuring probe for encoder n 0 Measuring probes positions to the encoder interface 4704 3 3 3 All other bits of the encoder control word must be 0 r0483 n 1 Position actual...

Page 892: ...que setpoint control type changeover 2 898 5210 Speed controller without encoder 2 899 5300 U f control for diagnostics 2 900 5301 Signaling function variable 2 901 5490 Speed control configuration 2 902 5610 Torque limiting reduction interpolator 2 903 5620 Motoring generating torque limit 2 904 5630 Upper lower torque limit 2 905 5640 Mode changeover power current limiting 2 906 5650 Vdc_max con...

Page 893: ...ontroller pre control active From speed control configuration p1400 7 5490 7 1 Speed pre control for balancing From the speed control configuration p1400 10 n_set smth r0020 Monitoring n_prectrl_2 5030 1 n before setpoint filter from function generator n after setpoint filter from function generator 100 ms 0 1 t x y x y 2701 1 r1170 n_ctrl setp sum 3080 8 Speed setpoint 1 Low pass 2nd order Detail...

Page 894: ...ter filter Sampling time speed control r1436 RefMod v_set outp 250 00 μs Speed limiting Speed setpoint limited r1407 11 r1438 n_ctrl n_set To status word speed controller 2522 3 To V f control 5300 1 To speed controller 5040 1 n_limit neg eff r1087 From setpoint limiting 3050 8 n_limit pos eff r1084 From setpoint limiting 3050 8 3095 7 3095 7 n_set I_comp r1439 To speed controller 5040 1 7012 1 0 ...

Page 895: ...r I component held r1407 5 2522 3 2522 3 Tn Kp Hold Set Set Val Uq at the limit of the ZSW current control r1408 5 Torque limit reached r1407 7 2522 7 2530 7 To Kp Tn adaptation 5050 2 From Kp Tn adaptation 5050 7 r1454 n_ctrl sys dev Tn r0064 n_ctrl sys dev n_ctrl Kp eff r1468 n_ctrl Tn eff r1469 1 1 For p1462 0 0 the I component is disabled integral time Kp 250 00 μs r1481 n_ctrl P M_output 2 Fo...

Page 896: ...n_ctrl Tn eff r1469 1 250 00 μs 2 3 3 3 4 From setpoint limiting 4710 6 3 This parameter is set to 0 when pulses are canceled 5060 2 1 For p1472 0 the I component is disabled Integral time r1493 Mom of inert total Mom of inert skal 1 p1497 C Load mom of inertia p1498 Mot MomInert Ratio 1 000 10 000 000 p0342 M 1 000 Mot M_inertia 0 000 00 100 000 000 00 kgm p0341 M 0 000 00 n_limit neg eff r1087 r...

Page 897: ... 0 00 210 000 00 rpm p1465 D 0 00 Speed dependent Kp_n Tn_n adaptation Tn_n_adapt Kp_n_basic p1460 y x Tn r0063 n_act smooth 4710 6 p1461 D 100 Kp n Kp 0 00 210 000 00 rpm p1464 D 0 00 Kp_n_adapt To the speed controller with encoder 5040 4 To the speed controller without encoder 5210 3 1 00 with factory setting 0 00 400 00 p1456 D 0 00 0 00 400 00 p1457 D 0 00 n_ctrl Kp scal 1 p1466 C n_ctrl Adpt_...

Page 898: ...0 6 2522 3 2 250 00 μs 3 2520 3 p1501 1 p1300 23 M_Ctrl 1 0 1 0 0 1 1 1 p1402 4 1 Control mode p1300 D 20 0 0 1 1 M_suppl total r1515 1 M_lim var fixS_src p1551 e g 0 OFF3 active r0899 5 M_suppl 2 0 p1513 C M_suppl 1 scal 0 p1512 C M_suppl 1 0 p1511 C r1538 M_max upper eff r1534 M_max upper total M_max Scaling upper 1 p1552 1 Sensorless operation active r1407 1 From speed controller without encode...

Page 899: ...4 r1481 n_ctrl P M_output r1482 n_ctrl I M_output n_ctrl Kp eff r1468 n_ctr integ_fdbk T p1494 n_ctrl SLVC Tn 0 0 100 000 0 ms p1472 D 20 0 n_ctrl SLVC Kp 0 000 999 999 000 Nms rad p1470 D 0 300 1 Kp Tn adaptation active From speed control configuration p1400 5 Kp_n adaptation factor 5050 6 1 00 for the factory setting Speed controller Smoothing M_accel T_smooth 0 00 100 00 ms p1517 D 4 00 0 n_ctr...

Page 900: ... smooth rpm r0313 M p f 60 n Pole pair number p Vf T res damp p1339 20 00 f_res damp r0078 f_outp V f resonance damping 6714 4 3 1 Hz 4 77 Hz 95 x p1349 1 2 p1349 f f Mot N f_soll_2 0 fmax Safety ramp function generator for V f control as stall protection Vf t_rmp up_rmp dn 0 000 999 999 000 s p1318 D 10 000 f_set_2 Max ramp steepness r1538 r1318 r1539 r1493 3 3 r0068 I_act abs val p0640 Current l...

Page 901: ... SERVO SINAMICS S110 14 09 09 V04 04 00 Servo control Signaling function variable Car sig S_src addr p3292 Var sig S_src type p3293 Var sig thresh_val p3295 Var sig t_pickup p3297 Var sig t_dropout p3298 Var sig hyst p3296 fall below exceed fall below 1 0 Var sig outp_sig r3294 Comparison with sign p3290 1 Activate function p3290 0 0 1 0 Contents of data register 1 0 1 1 t Var sig S_src 0 p3291 p3...

Page 902: ...erating mode 0 Bit No Speed control configuration 1 5020 3 5640 3 5040 2 5210 5 p1400 D p1400 D n_ctrl config Factory setting 1000 00 μs 1 Kp Tn adaptation active Reserved 7 8 10 11 12 1 Interpolation speed pre control active 1 Interpolation torque setpoint active Speed pre control 0 To setpoint filter 2 1 To balancing Sensorless operation speed actual value starting value 0 0 0 1 setpoint 1 1 521...

Page 903: ...9 M_max lower eff 5650 8 5490 8 2522 3 3080 1 Torque limit reached r1407 7 Upper torque limit active r1407 8 Lower torque limit active r1407 9 Torque limiting 1 r0079 0 M_set_6 5710 1 250 00 μs 2522 3 2522 3 1 As for torque reduction e g for Travel to fixed stop TfS with process data MOMRED refer to PROFIdrive telegrams 102 und 103 2420 0 100 TfS M_red p1542 r1543 100 0 TfS M scal TfS M_red eval 0...

Page 904: ...ffset 100 000 00 100 000 00 Nmp 1532 D 0 00 5640 1 5640 1 1 For p1400 4 1 the first torque limit applies for motoring operation and the other for regenerative operation independently of the sign of the torque and the speed compatible with SIMODRIVE Normal case If neither dynamic limits nor offsets are required the torque limit when motoring is entered via p1520 The torque limit when regenerating i...

Page 905: ...en 20 000 000 00 1 000 000 00 Nm p1521 D 100 00 M_max lower regen 1521 p1523 C 1 Lower torque limit M_max low gen scal 1525 p1529 C p1520 p1522 p1532 p1521 M p1523 B 2 2 3 The limiter ensures that the limits do not mutually overtake one another M n 4 3 M n 2 1 A F07090 A B Fault F07090 is initiated which can also be disabled With 1000 00 μs 4 For the manufacturer specific PROFIdrive telegrams 102 ...

Page 906: ...rom motoring regenerating torque limits 5620 8 r1534 r1535 Power limiting r0063 n_act smooth 4710 6 P_max mot 0 00 10 000 00 kW p1530 100 00 P_max gen 10 000 00 0 00 kW p1531 100 00 5730 2 Min Min 1 P_min P_max Iq_max_1 Iq_min_1 M2Iq torque factor 5730 4 Current limiting M P n M_max_3 M_min_3 1 0 Min Min 1 Nm Nm M P n P_stall 1000 00 μs 250 00 μs 1 M Nm r1533 Iq_max total 5722 8 1 5490 7 1 Torque ...

Page 907: ... b p1240 0 1 4 5 6 or 7 or r0063 60 1 min a p1240 2 3 8 or 9 and r0063 60 1 min b p1240 0 1 4 5 6 or 7 or r0063 60 1 min a p1240 1 or 3 and r0063 0 b p1240 0 2 4 5 6 or 8 or r0063 0 a p1240 1 3 7 or 9 and r0063 0 b p1240 0 2 4 5 6 or 8 or r0063 0 b a b a b a b a a p1240 2 3 8 or 9 and r0063 60 1 min a p1240 1 3 7 or 9 and r0063 0 M_max offset p1532 p1240 7 or 9 if Vdc_ctrl config p1240 M_max offse...

Page 908: ...t filter from function generator x y fn_n p1658 D D_n p1659 D 2 1 p1657 D fn_n p1663 D D_n p1664 D 2 1 p1662 D x y x y Iq_set_1 1 1 1 General 2nd order filter detailed representation at 1022 r1650 2 PT2 low pass detailed representation at 1022 2 2 f y fn D f y fn D Filter 1 Filter 2 f 2nd Order Filter y f 2nd Order Filter y 1 0 1 0 M2Iq torque factor 5730 4 M2Iq torque factor 5730 4 M after setpoi...

Page 909: ... eff A r0078 0 Iq_act p0393 M p0392 M p0391 M I_ctrl Kp p1715 D Kp_I adaptation Kp_I Tn_I p1717 D Ud pre control r1732 U_direct axis_set Uq pre control r1733 U_quad_set r0075 Id_set Id controller Iq controller Uq_set_1 I_ctrl RefMod t_dead p1701 D Ud_set_1 r0077 Iq_set Iq_set_2 5710 8 F07410 Current controller output limited 1 5722 8 5730 1 5730 1 5730 1 5650 8 5650 8 M2Iq torque factor 5730 4 1 F...

Page 910: ... p0320 M Motor data r0331 Mot I_mag_ratedAct 0 1 T 0 Id_set_1 Current limit p0640 D Mot I_max p0323 M Synchronous motor 1 Id_set_3 Field current limiting A07411 Flux controller output limited r0075 Id_set 5714 4 Induction motor IF n Img p0348 n IF Isc p0348 Min Maximum current from Power Module i_max_PM 5730 4 0 9 imax2 id_set2 I_max 5640 6 r1533 Iq_max total Synchronous motor Induction motor 250 ...

Page 911: ... voltage angle is the angle of the voltage in a fixed stator coordinate system 3 Modulat depth smth r0028 r0066 f_outp Iq_act smooth r0030 M_act smooth r0031 250 00 μs 2 2 id iq I_act abs val smth r0027 Id_act smooth r0029 M2Iq Maximum current 2 i_max_PM depends on the power unit temperature 2 Pulse enable via hardware Pulse enable via hardware P_stall 5640 1 2701 8 5722 4 5640 4 5714 2 5730 2 K 1...

Page 912: ...s 2 912 Siemens AG 2012 All Rights Reserved SINAMICS S110 List Manual LH7 06 2012 6SL3097 4AP10 0BP3 2 16 Technology functions Function diagrams 7014 External Armature Short Circuit EASC p0300 2xx or 4xx 2 913 7017 DC brake p0300 1xx 2 914 ...

Page 913: ...y functions External Armature Short Circuit EASC p0300 2xx or 4xx Drive converter M 3 Contactor feedback signal p1236 200 ms 1 T 0 0 T p1237 200 ms Pulse enable via hardware Pulse enable via hardware 1 Pulse inhibit r0046 19 1 1 r0046 4 r0046 20 1 Drive status S1 S2 S3 2610 DI p1231 1 r0002 19 2000 μs Control Unit DO p1235 Contactor closed r1239 0 p1231 2 p1231 1 0 ASC act p1230 EASC External Arma...

Page 914: ...t p0347 p1232 I_set n_act t Pulse inhibit t I_act p1234 5 0 4 5 14 p1231 4 OFF1 OFF3 4 14 5 0 DC braking not about BICO 1 p1231 5 p1231 14 3 DCBRK I_brake 0 00 10000 00 A p1232 M 0 00 DCBRK time 0 0 3600 0 s p1233 M 0 0 DCBRK n_start 20 00 210000 00 1 min p1234 M 0 00 Mot t_de excitat 0 000 20 000 s p0347 M 0 000 r0072 U_output 1 The DC braking current is determined during automatic calculation p0...

Page 915: ...ith 4 inputs 2 919 7216 NOT inverter 2 920 7220 ADD adder with 4 inputs SUB subtracter 2 921 7222 MUL multiplier DIV divider 2 922 7224 AVA absolute value generator 2 923 7230 MFP pulse generator PCL pulse contractor 2 924 7232 PDE ON delay PDF OFF delay 2 925 7234 PST pulse stretcher 2 926 7240 RSR RS flip flop DFR D flip flop 2 927 7250 BSW binary switch NSW numeric switch 2 928 7260 LIM limiter...

Page 916: ...al 1 The free function blocks function is activated in a drive object via p0108 DO_No 18 1 bit 18 1 corresponds to 40000 hex 2 The run time group that belongs to a function block is entered for every function block in the particular parameter for the run time group e g p20032 for AND 0 to 7210 Run time group 1 Run time group property Run time group sampling time 0 1 9 p20000 0 p20000 1 p20000 9 r2...

Page 917: ... 9999 AND 3 run sequence p20045 40 AND 2 run time group p20040 9999 AND 2 run sequence p20041 30 AND 1 AND 0 AND 3 AND 2 I0 I1 I2 I3 Q I0 I1 I2 I3 Q I0 I1 I2 I3 Q I0 I1 I2 I3 Q 0 AND 0 input I0 p20030 0 0 AND 0 input I1 p20030 1 0 AND 0 input I2 p20030 2 0 AND 0 input I3 p20030 3 0 AND 1 input I0 p20034 0 0 AND 1 input I1 p20034 1 0 AND 1input I2 p20034 2 0 AND 1 input I3 p20034 3 0 AND 3 input I0...

Page 918: ...p p20060 9999 OR 3 run sequence p20061 90 OR 2 run time group p20056 9999 OR 2 run sequence p20057 80 OR 1 OR 0 OR 3 OR 2 I0 I1 I2 I3 Q I0 I1 I2 I3 Q I0 I1 I2 I3 Q I0 I1 I2 I3 Q 0 OR 0 input I0 p20046 0 0 OR 0 input I1 p20046 1 0 OR 0 input I2 p20046 2 0 OR 0 input I3 p20046 3 0 OR 1 input I0 p20050 0 0 OR 1 input I1 p20050 1 0 OR 1 input I2 p20050 2 0 OR 1 input I3 p20050 3 0 OR 3 input I0 p20058...

Page 919: ...9999 XOR 3 run sequence p20077 140 XOR 2 run time group p20072 9999 XOR 2 run sequence p20073 130 XOR 1 XOR 0 XOR 3 XOR 2 I0 I1 I2 I3 Q I0 I1 I2 I3 Q I0 I1 I2 I3 Q I0 I1 I2 I3 Q 0 XOR 0 input I0 p20062 0 0 XOR 0 input I1 p20062 1 0 XOR 0 input I2 p20062 2 0 XOR 0 input I3 p20062 3 0 XOR 1 input I0 p20066 0 0 XOR 1 input I1 p20066 1 0 XOR 1 input I2 p20066 2 0 XOR 1 input I3 p20066 3 0 XOR 3 input ...

Page 920: ...0 run time group p20080 9999 NOT 0 run sequence p20081 160 NOT 1 run time group p20084 9999 NOT 1 run sequence p20085 170 NOT 3 run time group p20092 9999 NOT 3 run sequence p20093 190 NOT 2 run time group p20088 9999 NOT 2 run sequence p20089 180 NOT 1 NOT 0 NOT 3 NOT 2 I Q I Q I Q I Q 0 NOT 0 input I p20078 0 NOT 1 input I p20082 0 NOT 3 input I p20090 0 NOT 2 input I p20086 NOT 2 Inv output r20...

Page 921: ...e p20101 220 ADD 0 input X0 0 p20094 0 ADD 0 ADD 1 SUB 0 ADD 0 input X1 0 p20094 1 ADD 0 input X2 0 p20094 2 ADD 0 input X3 0 p20094 3 SUB 0 minuend X1 0 p20102 0 SUB 0 subtrahend X2 0 p20102 1 SUB 0 run time group p20104 9999 SUB 0 run sequence p20105 240 r20103 SUB 0 difference Y X1 X2 Y SUB 1 minuend X1 0 p20106 0 SUB 1 subtrahend X2 0 p20106 1 SUB 1 run time group p20108 9999 SUB 1 run sequenc...

Page 922: ... p20110 3 DIV 0 dividend X0 0 p20118 0 DIV 0 divisor X1 0 p20118 1 DIV 0 run time group p20121 9999 DIV 0 run sequence p20122 300 X0 X1 r20119 1 DIV 0 multiple integer quotient r20119 0 DIV 0 quotient Y QF X1 X0 r20119 2 DIV 0 division remainder MOD YIN DIV 1 DIV 1 dividend X0 0 p20123 0 DIV 1 divisor X1 0 p20123 1 DIV 1 run time group p20126 9999 DIV 1 run sequence p20127 310 X0 X1 r20124 1 DIV 1...

Page 923: ...7224_98_eng vsd DO All Objects SINAMICS S110 20 04 09 V04 04 00 FBLOCKS AVA absolute value generators AVA 0 run time group p20131 9999 AVA 0 run sequence p20132 340 AVA 0 input negative SN r20130 r20129 AVA 0 output Y AVA 0 X Y SN AVA 1 run time group p20136 9999 AVA 1 run sequence p20137 350 AVA 1 input negative SN r20135 r20134 AVA 1 output Y AVA 1 X Y SN AVA 0 input X 0 p20128 AVA 1 input X 0 p...

Page 924: ...9 MFP 1 run sequence p20147 380 PCL 1 run time group p20156 9999 PCL 1 run sequence p20157 410 PCL 0 run time group p20151 9999 PCL 0 run sequence p20152 400 MFP 1 MFP 0 PCL 1 PCL 0 I Q I Q I Q I Q 0 MFP 0 input pulse I p20138 0 MFP 1 input pulse I p20143 0 PCL 1 input pulse I p20153 0 PCL 0 input pulse I p20148 PCL 0 output Q r20150 PCL 1 output Q r20155 MFP 1 output Q r20145 MFP 0 output Q r2014...

Page 925: ...ce p20167 440 PDF 1 run time group p20176 9999 PDF 1 run sequence p20177 470 PDF 0 run time group p20171 9999 PDF 0 run sequence p20172 460 PDE 1 PDE 0 PDF 1 PDF 0 I Q I Q I Q I Q 0 PDE 0 input pulse I p20158 0 PDE 1 input pulse I p20163 0 PDF 1 input pulse I p20173 0 PDF 0 input pulse I p20168 PDF 0 output Q r20170 PDF 1 output Q r20175 PDE 1 output Q r20165 PDE 0 output Q r20160 PDE 0 pulse dela...

Page 926: ... 00 FBLOCKS PST pulse extender PST 1 run time group p20186 9999 PST 1 run sequence p20187 500 PST 0 run time group p20181 9999 PST 0 run sequence p20182 490 PST 1 PST 0 I Q Q 0 PST 1 input pulse I p20183 0 0 PST 0 input pulse I p20178 0 PST 0 output Q r20180 PST 1 output Q r20185 PST 0 pulse duration in ms 0 00 60000 00 p20179 0 00 PST 1 pulse duration in ms 0 00 60000 00 p20184 0 00 T T 0 PST 1 r...

Page 927: ...roup p20196 9999 RSR 1 run sequence p20197 530 RSR 1 0 RSR 1 set S p20193 0 RSR 1 output Q r20194 0 RSR 1 reset R p20193 1 DFR 0 run time group p20201 9999 DFR 0 run sequence p20202 550 DFR 0 I Q D R 0 DFR 0 D input D p20198 1 DFR 1 run time group p20206 9999 DFR 1 run sequence p20207 560 DFR 1 0 DFR 0 set S p20198 2 0 DFR 0 reset R p20198 3 0 DFR 0 tigger input I p20198 0 QN S RSR 0 Inv output QN...

Page 928: ...W 0 output Q r20210 0 1 I1 I 0 BSW 0 input I1 p20208 1 0 BSW 0 switch setting I p20209 BSW 1 run time group p20216 9999 BSW 1 run sequence p20217 590 BSW 1 I0 Q 0 BSW 1 input I0 p20213 0 BSW 1 output Q r20215 0 1 I1 I 0 BSW 1 input I1 p20213 1 0 BSW 1 switch setting I p20214 NSW 0 run time group p20221 9999 NSW 0 run sequence p20222 610 NSW 0 X0 0 1 X1 I 0 NSW 0 switch setting I p20219 NSW 1 run t...

Page 929: ...n time group p20234 9999 LIM 0 run sequence p20235 640 LIM 0 upper limit value LU p20229 0 0 LIM 0 input at the lower limit QL r20233 r20231 LIM 0 output Y LIM 0 X Y LU LL QL QU LIM 1 input at the upper limit QU r20240 LIM 1 run time group p20242 9999 LIM 1 run sequence p20243 650 LIM 1 input at the lower limit QL r20241 r20239 LIM 1 output Y LIM 1 X Y LU LL QL QU LIM 1 input X 0 p20236 LIM 0 inpu...

Page 930: ...nt PT1 0 run time group p20248 9999 PT1 0 run sequence p20249 670 r20247 PT1 0 output Y PT1 0 X Y SV S PT1 0 input X 0 p20244 0 PT1 0 setting value SV 0 p20244 1 r20253 PT1 1 output Y PT1 1 X Y SV S PT1 1 input X 0 p20250 0 PT1 1 setting value SV 0 p20250 1 T PT1 0 smoothing time constant in ms p20246 0 0 PT1 1 run time group p20254 9999 PT1 1 run sequence p20255 680 T PT1 1 smoothing time constan...

Page 931: ...nput at the upper limit QU r20262 INT 0 run time group p20264 9999 INT 0 input at the lower limit QL r20263 r20261 INT 0 output Y X Y LU LL QL QU SV INT 0 setting value SV 0 p20256 1 TI INT 0 integrating time constant in ms p20259 0 0 S 0 INT 0 accept setting value S p20260 INT 0 upper limit value LU p20257 0 0 INT 0 lower limit value LL p20258 0 0 INT 0 run sequence p20265 700 Integrating algorit...

Page 932: ...within interval QM r20271 LVM 0 input quantity below interval QL r20272 LVM 0 interval average value M p20267 LVM 0 interval limit L p20268 LVM 0 hysteresis HY p20269 LVM 0 run sequence p20274 720 QM QU QL M L M L HY HY L L 0 1 M M L HY 0 1 0 1 LVM 1 input quantity above interval QU r20279 LVM 1 run time group p20282 9999 LVM 1 input quantity within interval QM r20280 LVM 1 input quantity below in...

Page 933: ...rved SINAMICS S110 List Manual LH7 06 2012 6SL3097 4AP10 0BP3 2 18 Technology controller Function diagrams 7950 Fixed values r0108 16 1 2 934 7951 Fixed values direct selection p2216 1 2 935 7954 Motorized potentiometer r0108 16 1 2 936 7958 Closed loop control r0108 16 1 2 937 ...

Page 934: ...l 5 200 00 200 00 p2205 D 50 00 p2206 D Tec_ctr fix val 6 200 00 200 00 p2206 D 60 00 p2207 D Tec_ctr fix val 7 200 00 200 00 p2207 D 70 00 p2208 D Tec_ctr fix val 8 200 00 200 00 p2208 D 80 00 p2209 D p2211 D Tec_ctr fix val 11 200 00 200 00 p2211 D 110 00 p2210 D Tec_ctr fix val 10 200 00 200 00 p2210 D 100 00 p2212 D Tec_ctr fix val 12 200 00 200 00 p2212 D 120 00 p2215 D Tec_ctr fix val 15 200...

Page 935: ...rect p2216 1 101 The pre assignment of the sampling time in p0115 6 is 4000 00 μs 0 Tec_ctrl sel bit 0 p2220 C 0 Tec_ctrl sel bit 1 p2221 C 0 Tec_ctrl sel bit 3 p2223 C 0 Tec_ctrl sel bit 2 p2222 C 101 Refer to 1020 7 p0115 6 Drive Object Tec_ctrl fix val 1 200 00 200 00 p2201 D 10 00 Tec_ctrl fix val 2 200 00 200 00 p2202 D 20 00 Tec_ctrl fix val 3 200 00 200 00 p2203 D 30 00 Tec_ctrl fix val 4 2...

Page 936: ... initial rounding The ramp up down time set is exceeded accordingly 1 The setpoint for the motorized potentiometer is saved after OFF and after ON is entered using r2231 101 Refer to 1020 7 r2250 Tec_ctrl mop after RFG Tec_ctrl mop t_up 0 0 1000 0 s p2247 D 10 0 Tec_ctrl mop t_down 0 0 1000 0 s p2248 D 10 0 2 2 Tec_ctrl mop start 200 00 200 00 p2240 D 0 00 r2245 Tec_ctrl mop bef RFG x y 0 0 0 1 1 ...

Page 937: ...wn 0 00 100 00 s p2293 1 00 Tec_ctrl Kp 0 000 1000 000 p2280 1 000 1 Tec_ctrl Tn 0 000 60 000 s p2285 0 000 Tec_ctrl pre control 0 p2289 C Technology controller limited r2349 1 Technology controller de activated r2349 0 2295 0 p2296 C Tec_ctrl output scal 100 00 100 00 p2295 100 00 p2295 p2291 Tec_ctr max_limit 2291 p2297 C p2292 Tec_ctr min_lim 2292 p2298 C r2273 Tec_ctr error p2263 1 p2263 0 Tec...

Page 938: ...d SINAMICS S110 List Manual LH7 06 2012 6SL3097 4AP10 0BP3 2 19 Signals and monitoring functions Function diagrams 8010 Speed signals 1 2 939 8011 Speed signals 2 2 940 8012 Torque signals motor locked stalled 2 941 8014 Thermal monitoring power unit 2 942 8016 Thermal monitoring motor 2 943 ...

Page 939: ...0 00 rpm p2140 D 90 00 n_Hysterrese 2 n_thresh val 2 0 00 210 000 00 rpm p2155 D 900 00 0 1 000 000 ms p2153 0 3050 8 3095 7 0 1 0 1 0 1 n_thresh val 1 0 00 210 000 00 rpm p2141 D 5 00 0 000 300 000 rpm p2142 D 2 00 n_hysteresis 1 n_act n_max r2197 6 n_act p2155 r2197 1 2534 3 f or n comparison value reached exceeded r2199 1 2537 3 T 0 0 10 000 ms p2156 D 0 2534 3 r0063 n_act smooth 4710 7 n n 0 S...

Page 940: ...s 3 0 00 300 00 rpm p2150 D 2 00 n_hysteresis 3 0 00 300 00 rpm p2150 D 2 00 0 RFG active p2148 C t_on n_act n_set 0 0 10 000 0 ms p2167 D 200 0 T 0 1 RESET Priority 1 RESET 2 SET 2537 3 Speed setpoint actual value deviation in tolerance t_on r2199 4 0 T t_del_off n_i n_se 0 0 500 0 ms p2166 D 200 0 Speed setpoint actual value deviation in tolerance t_off r2197 7 2534 3 1 Torque control active r14...

Page 941: ...5610 5 r1539 M_max lower effective r1538 M_max upper effective 5650 8 5650 8 M_max Offset p1532 5620 7 5630 7 r2169 n_act smooth signal Mot block n_thresh 0 00 210 000 00 rpm p2175 120 00 n_act smooth signal p2175 T 0 0 000 65 000 s p2177 1 000 8010 2 F07900 2522 7 Motor locked r2198 6 2536 3 Motor locked detection or motor locked monitoring function not for closed loop torque control Control type...

Page 942: ...emperature F30004 inverter heatsink F30024 thermal model F30025 chip F30035 air intake F30036 electronics module F30037 rectifier 1 Fault thermal overload in power unit 1 Alarm thermal overload power unit 0 1 Alarms power unit overtemperature A05000 inverter heatsink A05001 chip A05002 air intake A05003 electronics module A05004 rectifier F30005 Power unit overload Overload response Power unit ove...

Page 943: ...2 KTY84 0 No sensor Mot temp_sensor p0600 M 0 1 10 1 00 s r0035 T_mot gemessen T 0 p0606 M A07910 Motor overtemperature F07011 Motor overtemperature 1 2548 2 r2135 14 A07820 Temperature sensor not connected A07015 Motor temperature sensor fault alarm A07016 Motor temperature sensor fault fault 140 C 250 C Mot temp_sens time p0607 M 2 0 1 Mot_temp fault thresh p0605 M KTY sensor type threshold not ...

Page 944: ...hts Reserved SINAMICS S110 List Manual LH7 06 2012 6SL3097 4AP10 0BP3 2 20 Diagnostics Function diagrams 8060 Fault buffer 2 945 8065 Alarm buffer 2 946 8070 Fault alarm trigger word r2129 2 947 8075 Fault alarm configuration 2 948 8134 Measuring sockets 2 949 ...

Page 945: ...Background Refer to 1020 7 p2102 p2105 2546 3 p2106 2546 3 p2107 2546 1 p2108 p3110 p3112 Acknowledge faults p3981 Fault code Fault 1 Fault 2 Fault 8 r0949 63 I32 r2133 63 Float Fault 1 Fault 2 Fault 8 r0945 0 r0945 1 r0945 7 r0945 56 r0945 57 r0945 63 r0945 8 r0945 9 r0945 15 Fault value r0949 0 I32 r2133 0 Float r0949 1 I32 r2133 1 Float r0949 7 I32 r2133 7 Float r0949 56 I32 r2133 56 Float r094...

Page 946: ...ual alarm code 0 No alarm present External alarm 1 r2138 10 External alarm 2 r2138 11 External alarm 3 r2138 12 2548 2 Background Refer to 1020 7 2546 3 p2112 2546 3 p2116 2546 3 p2117 r2122 0 r2122 1 r2122 7 r2124 0 I32 r2134 0 Float r2124 1 I32 r2134 1 Float r2124 7 I32 r2134 7 Float r2123 0 ms r2145 0 d r2123 1 ms r2145 1 d r2123 7 ms r2145 7 d r2125 0 ms r2146 0 d r2125 1 ms r2146 1 d r2125 7 ...

Page 947: ...MICS S110 18 05 05 V04 04 00 Faults and alarms Fault alarm trigger word r2129 0 Fault alarm code 1 Fault alarm code 15 Fault alarm code 0 1 15 r2129 r2129 15 r2129 1 r2129 0 Fault alarm trigger word e g as trigger condition to record traces 0 Message signal present 1 Message signal present 15 Message signal present SAelect fault alarm code for trigger p2128 Setting fault alarm trigger Background R...

Page 948: ...19 1 Acknowledgment is only possible using POWER ON 2 Acknowledgment IMMEDIATELY after the cause has been removed 1 The fault response acknowledge mode and message type for all faults and alarms are set to meaningful default values in the factory setting Changes that may be required are only possible in specific value ranges specified by SIEMENS When the message type is changed the supplementary i...

Page 949: ...aling 1 Only for measuring equipment with Ri 1 M 2 With the factory setting input values from 100 100 result in output voltages from 0 4 98 V 3 The input signals are determined by the reference quantities p200x 100 corresponds to p200x The calculated normalization is indicated via r0786 Limit V V 0 1 0 1 x 10 4 98 5 V V 10 5 4 98 y Limit 5 10 5 4 98 4 98 y V x V x x x x y y y y Reference quantitie...

Page 950: ...G 2012 All Rights Reserved SINAMICS S110 List Manual LH7 06 2012 6SL3097 4AP10 0BP3 2 21 Data sets Function diagrams 8560 Command Data Sets CDS 2 951 8565 Drive Data Sets DDS 2 952 8570 Encoder Data Sets EDS 2 953 8575 Motor Data Sets MDS 2 954 ...

Page 951: ... 00 Data sets Command Data Sets CDS Not relevant Refer to 1020 7 CDS selected r0836 0 r0836 CDS effective r0050 0 r0050 r0836 1 r0050 1 BI p0810 0 CDS0 selected r0836 0 0 BI p0810 1 CDS1 selected r0836 0 1 CDS0 effective r0050 0 0 CDS1 effective r0050 0 1 t Example Change over Command Data Set CDS0 CDS1 t t 1 Min Max Factory setting 1 2 2 0 CDS select bit 0 p0810 Copy CDS source p0809 0 0 Copy CDS...

Page 952: ...S number 1 A BICO interconnection to a parameter which is part of a drive data set always influences the currently effective data set Copy DDS source p0819 0 0 Copy DDS target p0819 1 1 Copy DDS start p0819 2 0 DDS number p0180 1 DDS1 DDS0 1 DDS selected r0837 0 r0837 DDS effective r0051 0 r0051 r0837 1 r0051 1 A07530 Drive data set does not exist r0838 r0838 0 Motor data set MDS selected r0838 1 ...

Page 953: ...coder in the drive data set 99 No encoder configured Not relevant Refer to 1020 7 1 Encoder errors always refer to the currently active Encoder Data Set EDS Geberdatensatz 0 p0141 0 Komponentennummer des Sensor Modules p0400 0 p0425 0 0 0 p0820 C 0 p0824 C DDS Drive Data Set p0186 D MDS number p0187 D Enc 1 EDS number p0188 D Enc 2 EDS number EDS for encoder 1 p0400 E p0425 E E p0187 Assigned para...

Page 954: ...g fdbk ZSW r0832 1 r0832 2 r0832 3 r0832 15 Motor Module K2 K1 M1 3 K1 K1H K2 M2 3 K2 K2H K1 K1H K2H 0 V Mot_chng fdbk sig p0828 C p0833 0 0 0 1 0 1 Application Pulse cancellation MDS1 MDS0 p0826 0 Motor number p0827 0 Bit number MDS selected r0838 0 MDS effective r0049 0 p0833 1 0 Drive Application Drive Request pulse enable Application Motor changeover 1 The following applies for the changeover ...

Page 955: ...0BP3 2 22 CANopen interface Function diagrams 9204 Receive telegram free PDO mapping p8744 2 2 956 9206 Receive telegram Predefined Connection Set p8744 1 2 957 9208 Send telegram free PDO mapping p8744 2 2 958 9210 Send telegram Predefined Connection Set p8744 1 2 959 9220 Control word CANopen 2 960 9226 Status word CANopen 2 961 ...

Page 956: ... be used as control word 1 STW1 r2060 0 DWORD PZD receive word 1 PZD receive word 2 PZD receive word 5 PZD receive word 3 PZD receive word 4 PZD receive word 6 PZD receive word 7 PZD receive word 8 PZD receive word 9 PZD receive word 10 PZD receive word 11 PZD receive word 12 PZD receive word 13 PZD receive word 14 PZD receive word 15 PZD receive word 16 Evaluation of the COB ID COB ID for RPDO 1 ...

Page 957: ...rd 5 PZD receive word 3 PZD receive word 4 PZD receive word 6 PZD receive word 7 PZD receive word 8 PZD receive word 9 PZD receive word 10 PZD receive word 11 PZD receive word 12 PZD receive word 13 PZD receive word 14 PZD receive word 15 PZD receive word 16 Evaluation of the COB ID COB ID for RPDO 1 p8700 0 PDO mapping for RPDO 1 p8710 0 3 60400010 60400010 60FF0020 p8703 0 60400010 60FF0020 6071...

Page 958: ...rd 4 PZD send word 5 PZD send word 6 PZD send word 7 PZD send word 8 PZD send word 9 PZD send word 10 PZD send word 11 PZD send word 12 PZD send word 13 PZD send word 14 IF1 Diag PZD send r2053 0 27 1 Telegram up to 4 words or 64 bits The sum of the various objects must not exceed 28 words Object 4 COB ID Object 1 Evaluation of the COB ID and data transfer type COB ID for TPDO 1 p8720 0 PDO mappin...

Page 959: ...send word 3 PZD send word 4 PZD send word 5 PZD send word 6 PZD send word 7 PZD send word 8 PZD send word 9 PZD send word 10 PZD send word 11 PZD send word 12 PZD send word 13 PZD send word 14 IF1 Diag PZD send r2053 0 27 1 Telegram up to 4 words or 64 bits The sum of the various objects must not exceed 28 words Object 4 COB ID Object 1 Evaluation of the COB ID and data transfer type COB ID for TP...

Page 960: ...o fast stop activated enable possible 0 Activate fast stop braking along an OFF3 ramp p1135 then pulse cancellation and power on inhibit 1 Enable operation pulses can be enabled 0 Inhibit operation cancel pulses 1 Enable ramp function generator 0 Inhibit ramp function generator 1 Continue ramp function generator 0 Freeze ramp function generator 1 Enable setpoint 0 Inhibit setpoint the ramp functio...

Page 961: ...0 From status word speed controller 2522 1 Ready to operate DC link loaded pulses blocked 1 Ready to power up Status word CANopen 1 Operation enabled drive follows n_set 1 Fault present 1 No coast down active 1 No fast stop active 1 Power on inhibit active 1 Alarm present Freely interconnectable BI p8785 1 Control requested 1 Target reached 1 1 Torque limit reached 1 Velocity equal to zero Reserve...

Page 962: ...asic Operator Panel 20 BOP20 2 962 Siemens AG 2012 All Rights Reserved SINAMICS S110 List Manual LH7 06 2012 6SL3097 4AP10 0BP3 2 23 Basic Operator Panel 20 BOP20 Function diagrams 9912 Control word interconnection 2 963 ...

Page 963: ...W BOP 9 STW BOP 11 STW BOP 12 STW BOP 13 STW BOP 14 STW BOP 15 STW BOP 7 STW BOP 10 p0848 0 r0019 2 p2102 0 r0019 7 p0840 0 r0019 0 p0844 0 r0019 1 1 On 0 OFF OFF1 1 No coast down 0 Coast down OFF2 1 No fast stop 0 Fast stop OFF3 Acknowledge fault Reserved Reserved Reserved Reserved Interconnection STW BOP r0019 Signal Interconnection parameters Meaning Refer to 1020 7 PROFIdrive sampling time Res...

Page 965: ... 965 Siemens AG 2012 All Rights Reserved SINAMICS S110 List Manual LH7 06 2012 6SL3097 4AP10 0BP3 Faults and alarms 3 Contents 3 1 Overview of faults and alarms 3 966 3 2 List of faults and alarms 3 975 ...

Page 966: ...e via the commissioning software Differences between faults and alarms The differences between faults and alarms are as follows Table 3 1 Differences between faults and alarms Type Description Faults What happens when a fault occurs The appropriate fault reaction is triggered Status signal ZSW1 3 is set The fault is entered in the fault buffer How are faults eliminated Remove the original cause of...

Page 967: ...pulses are suppressed when the brake closing time p1217 expires Zero speed is detected if the actual speed drops below the threshold p1226 or if the monitoring time p1227 started when the speed setpoint speed threshold p1226 has expired Closed loop torque control p1300 23 The following applies to closed loop torque control mode Reaction as for OFF2 When the system switches to closed loop control w...

Page 968: ...d controlled operation and other reactions as described for speed controlled operation STOP1 Under development STOP2 n_set 0 n_set 0 is input immediately to brake the drive along the OFF3 down ramp p1135 The drive remains in closed loop speed control mode IASC DCBRAKE For synchronous motors the following applies If a fault occurs with this fault reaction an internal arma ture short circuit is trig...

Page 969: ...by setting parameter p3981 0 1 2 Acknowledging via binector inputs p2103 p2104 p2105 BI 1 Acknowledge faults BI 2 Acknowledge faults BI 3 Acknowledge faults 3 Acknowledging via a PROFIBUS control signal STW1 7 0 1 edge 4 Acknowledge all faults p2102 BI Acknowledge all faults All of the faults on all of the drive objects of the drive system can be acknowledged using this binector input Note These f...

Page 970: ...e meaning of the letters is as follows A means Alarm F means Fault N means No message or Internal message C means Safety message The optional parentheses indicate whether the type specified for this message can be changed and which message types can be adjusted via parameters p2118 p2119 Information on reaction and acknowledgment is specified independently for a message with an adjustable message ...

Page 971: ... e g with the commissioning software Drive object Each message fault alarm specifies the drive object in which it can be found A message can belong to either one several or all drive objects Reaction Default fault reaction adjustable fault reaction Specifies the default reaction in the event of a fault The optional parentheses indicate whether the default fault reactions can be changed and which f...

Page 972: ...ible causes of the fault alarm A fault or alarm value can also be specified optional Fault value r0949 format The fault value is entered in the fault buffer in r0949 0 63 and specifies addi tional more precise information about a fault Alarm value r2124 format The alarm value specifies additional more precise information about an alarm The alarm value is entered in the alarm buffer in r2124 0 7 an...

Page 973: ...899 Infeed 6900 6999 Braking Module 7000 7999 Drive 8000 8999 Option Board 9000 12999 Reserved 13000 13010 Licensing 13002 19999 Reserved 20000 29999 OEM 30000 30999 DRIVE CLiQ component power unit 31000 31999 DRIVE CLiQ component encoder 1 32000 32999 DRIVE CLiQ component encoder 2 Note Faults that occur are automatically output as an alarm if the encoder is parameterized as a direct measuring sy...

Page 974: ...H7 06 2012 6SL3097 4AP10 0BP3 40000 40999 Controller Extension 32 CX32 41000 48999 Reserved 49000 49999 SINAMICS GM SM GL 50000 50499 Communication Board COMM BOARD 50500 59999 OEM Siemens 60000 65535 SINAMICS DC MASTER closed loop DC current control Table 3 4 Number ranges of faults and alarms continued From To Range ...

Page 975: ...h the FloatingPoint data type The error may be caused by the base system or an OA application e g FBLOCKS DCC Fault value r0949 interpret hexadecimal Only for internal Siemens troubleshooting Note Refer to r9999 for further information about this fault r9999 0 Fault number r9999 1 Program counter at the time when the exception occurred r9999 2 Cause of the FloatingPoint exception Bit 0 1 Operation...

Page 976: ...onent Fault value r0949 interpret hexadecimal yyxxxx hex yy component number xxxx fault cause xxxx 000B hex 11 dec DRIVE CLiQ component has detected a checksum error xxxx 000F hex 15 dec The selected DRIVE CLiQ component did not accept the contents of the firmware file xxxx 0012 hex 18 dec Firmware version is too old and is not accepted by the component xxxx 0013 hex 19 dec Firmware version is not...

Page 977: ...mponent number of the DRIVE CLiQ component Remedy Firmware update using the commissioning software The firmware version of all of the components on the Version overview page can be read in the Project Navigator under Configuration of the associated drive unit and an appropriate firmware update can be carried out Firmware update via parameter take the component number from the alarm value and enter...

Page 978: ...up or p0976 when downloading from the card use the matching version Reaction upon N NONE Acknowl upon N NONE F01012 N Project conversion error Message value 1 Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction OFF2 NONE Acknowledge IMMEDIATELY Cause When converting the project of an older firmware version an error occurred Fault value r0949 decimal interpretation Parameter number of ...

Page 979: ...e also r9925 Firmware file incorrect Remedy For the non volatile memory for the firmware memory card device memory restore the delivery condition Note The file involved can be read out using parameter r9925 See also r9926 Firmware check status Reaction upon F OFF2 Acknowl upon F POWER ON A01017 Component lists changed Message value 1 Drive object All objects Reaction NONE Acknowledge NONE Cause On...

Page 980: ...ful Message value Drive object All objects Reaction NONE Acknowledge NONE Cause The write access to the internal RAM disk was unsuccessful Remedy Adapt the size of the system logbook p9930 to the internal RAM disk F01023 Software timeout internal Message value 1 Drive object All objects Reaction NONE Acknowledge IMMEDIATELY Cause An internal software timeout has occurred Fault value r0949 decimal ...

Page 981: ...01 p2002 p2003 r2004 F01034 Units changeover Calculation parameter values after reference value change unsuc cessful Message value Parameter 1 Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction NONE Acknowledge IMMEDIATELY Cause The change of a reference parameter meant that for an involved parameter the selected value was not able to be re calculated in the per unit representation T...

Page 982: ...bjects Reaction NONE OFF1 OFF2 OFF3 Acknowledge IMMEDIATELY Cause Re naming after saving a parameter back up file in the non volatile memory was unsuccessful One of the parameter back up files to be re named had the read only attribute The parameter back up files are saved in the directory USER SINAMICS DATA It is possible that the non volatile memory is defective Fault value r0949 interpret hexad...

Page 983: ...ssage value 1 Drive object All objects Reaction NONE OFF1 OFF2 OFF3 Acknowledge IMMEDIATELY Cause Writing to at least one parameter back up file PSxxxyyy in the non volatile memory was unsuccessful In the directory USER SINAMICS DATA at least one parameter back up file PSxxxyyy has the read only file attribute and cannot be overwritten There is not sufficient free memory space available The non vo...

Page 984: ...troubleshooting Remedy save the parameters download the project again to the drive unit update the firmware if required replace the Control Unit and or memory card card F01042 Parameter error during project download Message value Parameter 1 Index 2 fault cause 3 Drive object All objects Reaction OFF2 NONE OFF1 OFF3 Acknowledge IMMEDIATELY Cause An error was detected when downloading a project usi...

Page 985: ...he commissioning state device device p0009 not equal to 0 129 Parameter may not be written in download 130 Transfer of the master control is inhibited via binector input p0806 131 Required BICO interconnection not possible because BICO output does not supply floating value 132 Free BICO interconnection inhibited via p0922 133 Access method not defined 200 Below the valid values 201 Above the valid...

Page 986: ...CU Configuring data invalid Message value 1 Drive object All objects Reaction NONE Acknowledge NONE Cause An error was detected when evaluating the parameter files PSxxxyyy ACX PTxxxyyy ACX CAxxxyyy ACX or CCxxxyyy ACX saved in the non volatile memory Alarm value r2124 interpret hexadecimal Only for internal Siemens troubleshooting Remedy Restore the factory setting using p0976 1 and re load the p...

Page 987: ... run time groups on a drive object can be read out in r21005 DCC or 20005 FBLOCKS if necessary the assignment of the run time group p21000 p20000 can be changed in order to increase the sam pling time r21001 r20001 if necessary reduce the number of cyclically calculated blocks DCC and or function blocks FBLOCKS A01064 F CU Internal error CRC Message value Drive object All objects Reaction NONE Ack...

Page 988: ...S G150 The module boots with the factory settings Remedy insert a memory card with compatible parameter backup and carry out a POWER ON insert a memory card without parameter backup and carry out a POWER ON save the parameters p0977 1 A01099 Tolerance window of time synchronization exited Message value Drive object All objects Reaction NONE Acknowledge NONE Cause The time master exited the selecte...

Page 989: ...t permissible Remedy Replace the power unit that is not permissible by a component that is permissible F01120 A Terminal initialization has failed Message value 1 Drive object All objects Reaction OFF1 OFF2 Acknowledge IMMEDIATELY POWER ON Cause An internal software error occurred while the terminal functions were being initialized Fault value r0949 interpret hexadecimal Only for internal Siemens ...

Page 990: ...that the sampling times have been inadmissibly set Fault value r0949 interpret hexadecimal 998 Too many time slices occupied by OA e g DCC 999 Too many time slices occupied by the basic system Too many different sampling times may have been set Additional values Only for internal Siemens troubleshooting Remedy check the sampling time setting p0112 p0115 p4099 contact the Hotline F01205 CU Time sli...

Page 991: ...rted by a DRIVE CLiQ component Fault value r0949 decimal interpretation 1 The component does not support the de activation 101 The Motor Module does not support an internal armature short circuit 102 The Motor Module does not support the de activation 201 The Sensor Module does not support actual value inversion p0410 0 1 when using a Hall sensor p0404 6 1 for the commutation 202 The Sensor Module...

Page 992: ...nfigured p0187 to p0189 but no component numbers exist for them In this case the fault value includes the drive data set number plus 100 encoder number e g 3xx if a component number was not entered in p0141 for the third encoder p0189 See also p0121 p0131 p0141 p0142 p0186 p0187 p0188 Remedy Enter the missing component number or remove the component and restart commissioning See also p0121 p0131 p...

Page 993: ...nserting a component of the target topology an inactive non operational drive object becomes operational again The associated parameter of the component is in this case set to activate p0125 p0145 p0155 p0165 Note This is the only message that is displayed for a de activated drive object Remedy The alarm automatically disappears again with the following actions activate the drive object involved p...

Page 994: ...ve object numbers p0101 it is not permissible for a drive object number to be repeated by entering a 0 the drive objects with PZD are separated from those without PZD only 2 partial lists are permitted After the second 0 all values must be 0 dummy drive object numbers 255 are only permitted in the first partial list A01321 Topology Drive object number does not exist in configuration Message value ...

Page 995: ...list A01324 Topology Dummy drive object number incorrectly created Message value 1 Drive object All objects Reaction NONE Acknowledge NONE Cause In p0978 dummy drive object numbers 255 are only permitted in the first partial list Alarm value r2124 interpret decimal Index of p0978 under which the illegal value is located Remedy Set p0009 to 1 and change p0978 Rules p0978 must include all of the dri...

Page 996: ...connected one after the other is greater than 125 bb Not used cccc preliminary component number of the first component and component that resulted in the fault aa 05 hex 5 dec The component is not permissible for SERVO bb 01 hex 1 dec SINAMICS G available bb 02 hex 2 dec Chassis available cccc preliminary component number of the first component and component that resulted in the fault aa 06 hex 6 ...

Page 997: ...xx 1 Component at this Control Unit not permissible xx 2 Component in combination with another component not permissible Note Pulse enable is prevented Remedy Remove the illegal components and restart the system F01355 Topology Actual topology changed Message value 1 Drive object All objects Reaction NONE Acknowledge IMMEDIATELY Cause The device target topology p0099 does not correspond to the dev...

Page 998: ...onent number of component before the defective component xx fault cause xx 1 Component at this Control Unit not permissible Note Pulse enable is withdrawn and prevented Remedy Remove the defective components and restart the system F01360 Topology Actual topology not permissible Message value Fault cause 1 preliminary component number 2 Drive object All objects Reaction NONE Acknowledge IMMEDIATELY...

Page 999: ...1 dec An NX10 or NX15 was connected to a SIMOTION control cc 02 hex 2 dec A CX32 was connected to a SINUMERIK control Remedy Re alarm value 1 Replace all NX10 or NX15 by a CX32 Re alarm value 2 Replace all CX32 by an NX10 or NX15 F01380 Topology Actual topology defective EEPROM Message value Preliminary component number 1 Drive object All objects Reaction NONE Acknowledge POWER ON Cause When detec...

Page 1000: ...ation of the drive unit in the commis sioning software and correct differences A01425 Topology Comparison serial number of a component is different Message value Component number 1 Component class 2 Differences 3 Drive object All objects Reaction NONE Acknowledge NONE Cause The topology comparison has detected differences in the actual and target topologies in relation to one component The serial ...

Page 1001: ...wnload the target topology again using the commissioning software Note Under Topology Topology view the commissioning software where relevant offers improved diagnostics capa bility e g setpoint actual value comparison A01481 Topology Comparison power unit missing in the actual topology Message value Component number 1 Drive object All objects Reaction NONE Acknowledge NONE Cause The topology comp...

Page 1002: ... change over check DRIVE CLiQ cables for interruption and contact problems check the 24 V supply voltage check that the Terminal Module is working properly Note Under Topology Topology view the commissioning software where relevant offers improved diagnostics capa bility e g setpoint actual value comparison A01484 Topology Comparison DRIVE CLiQ Hub Module missing in the actual topology Message val...

Page 1003: ...figuration to the drive unit check that the actual topology matches the target topology and if required change over check that the option board is functioning correctly Note Under Topology Topology view the commissioning software where relevant offers improved diagnostics capa bility e g setpoint actual value comparison A01488 Topology Comparison EnDat encoder missing in the actual topology Messag...

Page 1004: ...edge NONE Cause There are BICO interconnections as signal sink from a drive object that is either inactive not operational The BI CI parameters involved are listed in r9498 The associated BO CO parameters are listed in r9499 The list of the BICO interconnections to other drive objects is displayed in r9491 and r9492 of the de activated drive object Note r9498 and r9499 are only written to if p9495...

Page 1005: ... for current p2001 contains the reference value for voltage Fault value r0949 decimal interpretation Parameter number of the BICO input signal sink Remedy Not necessary Reaction upon A NONE Acknowl upon A NONE F01512 BICO No scaling available Message value 1 Drive object All objects Reaction OFF2 Acknowledge POWER ON Cause An attempt was made to determine a conversion factor for a scaling that doe...

Page 1006: ...ble word BICO input in the second index the memory areas overlap e g p8861 The param eter is then reset to the factory setting Alarm value r2124 interpret decimal Parameter number of the BICO input signal sink Remedy Not necessary Reaction upon F NONE Acknowl upon F IMMEDIATELY F01515 A BICO Writing to parameter not permitted as the master control is active Message value Drive object SERVO_S110 CA...

Page 1007: ...the crosswise data comparison between the CU and Motor Module MM and initiated a STOP F As a result of this fault after the parameterized transition has expired p9658 fault F01600 SI CU STOP A initiated is output Fault value r0949 decimal interpretation 0 Stop request from the Motor Module 1 999 Number of the cross checked data that resulted in this fault This number is also displayed in r9795 1 S...

Page 1008: ...ts upgrade the Motor Module software upgrade the Control Unit software Re fault value 1900 1901 1902 carry out a POWER ON power off on for all components upgrade the Control Unit software replace Control Unit Re fault value 2000 2001 2002 2004 2005 check the tolerance time SGE changeover and if required increase the value p9650 p9850 p9652 p9852 check the wiring of the safety relevant inputs SGE c...

Page 1009: ...Acknowl upon A NONE N01621 F A SI CU Safe Stop 1 active Message value Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction NONE Acknowledge NONE Cause The Safe Stop 1 SS1 function has been selected on the Control Unit CU and is active Note This message does not result in a safety stop response Remedy Not necessary Note CU Control Unit SI Safety Integrated SS1 Safe Stop 1 corresponds to...

Page 1010: ...lose holding brake operation No brake connected or wire breakage check whether brake releases for p1278 1 and p9602 p9802 0 SBC de activated Short circuit in brake winding For fault value 40 Fault in brake closed state For fault value 50 Fault in the brake control circuit of the Control Unit or communication fault between the Control Unit and Motor Mod ule brake control For fault value 80 SafeBrak...

Page 1011: ...the first time 1000 Reference and actual checksum on the Control Unit are not identical booting at least one checksum checked piece of data is defective 2000 Reference and actual checksum on the Control Unit are not identical commissioning mode reference checksum incorrectly entered into the Control Unit p9799 not equal to r9798 when de activating the safety functions p9501 or p9503 were not delet...

Page 1012: ...ce test as well as an example of the acceptance report are provided in the following literature SINAMICS S120 Function Manual Safety Integrated For fault value 3005 carry out the function checks for the modified hardware and generate an acceptance report The fault with fault value 3005 can only be acknowledged when the STO function is de selected For fault value 9999 carry out diagnostics for the ...

Page 1013: ...tiple of the actual value sensing clock cycle 102 An error has occurred when transferring the DP clock cycle to the Motor Module MM 103 An error has occurred when transferring the DP clock cycle to the Sensor Module 104 105 four times the current controller sampling time is greater than 1 ms when operating with a non isochronous PRO FIBUS four times the current controller sampling time is greater ...

Page 1014: ...ROFIBUS configuration error Message value 1 Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction NONE OFF1 OFF2 OFF3 Acknowledge IMMEDIATELY POWER ON Cause There is a PROFIBUS configuration error for using Safety Integrated monitoring functions with a higher level control SINUMERIK or F PLC Note For safety functions that have been enabled this fault results in a STOP A that cannot be a...

Page 1015: ...meter error Message value 1 Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction OFF2 Acknowledge IMMEDIATELY POWER ON Cause When accessing the Safety Integrated parameters for the Motor Module MM in the non volatile memory an error has occurred Note This fault results in a STOP A that can be acknowledged Fault value r0949 decimal interpretation 129 safety parameters for the Motor Modu...

Page 1016: ...ed for a parallel circuit configuration 18 An attempt was made to enable the PROFIsafe function for Basic Functions although this cannot be supported 19 An attempt was made to enable the SBA Safe Brake Adapter although this cannot be supported 20 An attempt was made to enable the motion monitoring functions integrated in the drive and the STO function both controlled via F DI 21 An attempt was mad...

Page 1017: ...tion error has occurred Fault value r0949 interpret hexadecimal Only for internal Siemens troubleshooting Remedy carry out a POWER ON power off on upgrade firmware to later version contact the Hotline F01663 SI CU Copying the SI parameters rejected Message value Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction OFF2 Acknowledge IMMEDIATELY POWER ON Cause One of the following values ...

Page 1018: ...x yy any ensure that the Control Unit is connected to the Power Module Re fault value 800004 hex Check that parameters p9500 p9300 are the same A01666 F SI Motion CU Steady state static 1 signal at the F DI for safety relevant acknowl edgement Message value Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction NONE Acknowledge NONE Cause A logical 1 signal is present at the F DI configu...

Page 1019: ... the parameters p0971 1 and carry out a POWER ON For fault value 4 check whether there is a DRIVE CLiQ communication error between the Control Unit and the Sensor Module involved and if required carry out a diagnostics routine for the faults identified For fault value 10 align the EDS assignment of all of the encoders used for Safety Integrated p0187 p0189 Note SI Safety Integrated F01671 SI Motio...

Page 1020: ...not support the safe motion monitoring function with the higher level control Note This fault does not result in a safety stop response Fault value r0949 decimal interpretation Only for internal Siemens troubleshooting Remedy upgrade the Sensor Module software use a Sensor Module that supports the safe motion monitoring function Note SI Safety Integrated F01680 SI Motion CU Checksum error safety m...

Page 1021: ...8 15 and p9503 3 Monitoring function SLS override not supported p9501 5 4 Monitoring function external ESR activation not supported p9501 4 5 Monitoring function F DI in PROFIsafe not supported p9501 30 6 Enable actual value synchronization not supported p9501 3 9 Monitoring function not supported enable bit reserved p9501 2 p9501 17 29 p9501 31 if required p9501 6 10 Monitoring functions only sup...

Page 1022: ...ult in a safety stop response Fault value r0949 decimal interpretation 1 Limit values SLP1 interchanged 2 Limit values SLP2 interchanged Remedy Correct the limit values in p9534 and p9535 and carry out a POWER ON Note SI Safety Integrated SLP Safely Limited Position SE Safe software limit switches F01685 SI Motion CU Safely limited speed limit value too high Message value 1 Drive object SERVO_S110...

Page 1023: ...or the Safe Cam SCA function is not a multiple of 360 000 mDegrees Note This fault does not result in a safety stop response Remedy Correct the modulo value for SCA and carry out a POWER ON Note SCA Safe Cam SN Safe software cam SI Safety Integrated See also p9505 SI Motion SCA SN modulo value Control Unit F01688 SI Motion CU Actual value synchronization not permissible Message value Drive object ...

Page 1024: ...49 decimal interpretation 0 There is no physical NVRAM available in the drive 1 There is no longer any free memory space in the NVRAM Remedy For fault value 0 use a Control Unit NVRAM For fault value 1 de select functions that are not required and that take up memory space in the NVRAM contact the Hotline Note NVRAM Non Volatile Random Access Memory non volatile read and write memory A01691 F SI M...

Page 1025: ...rm restart or POWER ON Remedy carry out a warm restart p0009 30 p0976 2 3 carry out a POWER ON power off on for all components Note Before performing an acceptance test a POWER ON must be carried out for all components Reaction upon F NONE OFF1 OFF2 OFF3 Acknowl upon F POWER ON A01695 F SI Motion Sensor Module was replaced Message value 1 Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Rea...

Page 1026: ..._S110 PN Reaction NONE Acknowledge NONE Cause The time set in p9559 for the forced checking procedure of the safety motion monitoring functions has been exceeded A new test is required After next selecting the forced checking procedure parameterized in p9705 the message is withdrawn and the mon itoring time is reset Note This message does not result in a safety stop response As the shutdown paths ...

Page 1027: ... The drive is stopped via a STOP A pulses are suppressed via the safety shutdown path of the Control Unit Possible causes stop request from the 2nd monitoring channel pulses not suppressed after a parameterized time p9557 after test stop selection subsequent response to the message C01706 SI Motion CU SAM SBR limit exceeded subsequent response to the message C01714 SI Motion CU Safely Limited Spee...

Page 1028: ... set acceleration monitoring p9506 3 SAM safe acceleration monitoring After initiating STOP B SS1 or STOP C SS2 the speed has exceeded the selected tolerance Motion monitoring functions encoderless with set brake ramp monitoring p9506 1 SBR Safe brake ramp monitoring After initiating STOP B SS1 or SLS changeover to the lower speed stage the speed has exceeded the selected tolerance The drive is sh...

Page 1029: ...nitoring functions integrated in the drive Via Terminal Module 54F TM54F or PROFIsafe motion monitoring functions with SINUMERIK Via the machine control panel Note SI Safety Integrated SOS Safe Operating Stop SBH Safe operating stop C01709 SI Motion CU STOP D initiated Message value Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction NONE Acknowledge IMMEDIATELY POWER ON Cause The dri...

Page 1030: ... message values may also occur in the following cases if the cause that is explicitly mentioned does not apply cycle times not set uniformly p9500 p9300 and p9511 p9311 differently parameterized axis types p9502 p9302 excessively fast cycle times p9500 p9300 p9511 p9311 for message values 3 44 57 232 and 1 encoder systems differently parameterized encoder values p9516 p9316 p9517 p9317 p9518 p9318...

Page 1031: ... request 75 Velocity limit nx p9546 p9346 76 Stop response for SLS1 p9563 0 p9363 0 77 Stop response for SLS2 p9563 1 p9363 1 78 Stop response for SLS3 p9563 2 p9363 2 79 Stop response for SLS4 p9563 3 p9363 3 81 Velocity tolerance for SAM p9548 p9348 82 SGEs for SLS correction factor 83 Acceptance test timer p9558 p9358 84 Trans time STOP F p9555 p9355 85 Trans time bus failure p9580 p9380 86 ID ...

Page 1032: ...or these fault values the failsafe control signals failsafe values are transferred to the safety functions 6000 A fatal PROFIsafe communication error has occurred 6064 6071 Error when evaluating the F parameters The values of the transferred F parameters do not match the expected values in the PROFIsafe driver 6064 Destination address and PROFIsafe address are different F_Dest_Add 6065 Destination...

Page 1033: ...0 p9511 carry out a POWER ON power off on for all components replace the hardware Re message value 1033 If required upgrade the firmware version of the Control Unit to a more recent version which is released for DQI encoders Re message value 1041 reduce the minimum current p9588 for synchronous motors increase the absolute value of p9783 Check whether the function Closed loop controlled operation ...

Page 1034: ...the setting of the PROFIsafe address of the Control Unit p9610 and that of the Motor Module p9810 Re message value 6065 check the setting of the value in the F parameter F_Dest_Add at the PROFIsafe slave It is not permissible for the destination address to be either 0 or FFFF Re message value 6066 check the setting of the value in the F parameter F_Source_Add at the PROFIsafe slave It is not permi...

Page 1035: ...7 SI SLS input terminal p10026 p10126 8 SI SLS_Limit 1 input terminal p10027 p10127 9 SI SLS_Limit 2 input terminal p10028 p10128 10 SI Safe State signal selection p10039 p10139 11 SI F DI input mode p10040 p10140 12 SI F DO 0 signal sources p10042 p10142 13 Different states for static inactive signal sources p10006 p10022 p10028 14 SI discrepancy monitoring time outputs p10002 p10102 15 SI acknow...

Page 1036: ...tion SLS limit values processor 1 p9563 SI Motion SLS specific stop response processor 1 C01716 SI Motion CU Tolerance for safe motion direction exceeded Message value 1 Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction NONE Acknowledge IMMEDIATELY POWER ON Cause The tolerance for the safe motion direction function was exceeded The drive is stopped as a result of the config ured sto...

Page 1037: ...bleshooting Remedy check the encoder connection replace the encoder This message can be acknowledged as follows motion monitoring functions integrated in the drive Via Terminal Module 54F TM54F or PROFIsafe motion monitoring functions with SINUMERIK Via the machine control panel C01770 SI Motion CU Discrepancy error of the failsafe inputs or outputs Message value 1 Drive object SERVO_S110 CAN SERV...

Page 1038: ...puts active Message value Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction NONE Acknowledge NONE Cause The test stop for the fail safe digital inputs F DI and or fail safe digital outputs F DO is presently being performed Note F DI Failsafe Digital Input F DO Failsafe Digital Output Remedy The alarm disappears automatically after successfully ending or canceling when a fault condit...

Page 1039: ...t F30773 MM is signaled with fault value 0000_0127 This means that in state 7 Z 7 the state of the external readback signal was not set correctly Y 2 after DO 0 X 1 was switched to ON ON Fault value 0001_0127 indicates that 0 was expected W 0 and 1 V 1 was read back from the hardware Fault value 0000_0127 on the MM indicates that the states were as expected In the case of fault F30773 W and V are ...

Page 1040: ...ove their cause check the setting of p10010 All the drive objects controlled by the TM54F must be listed See also p9601 SI enable functions integrated in the drive processor 1 p9801 SI enable functions integrated in the drive processor 2 Reaction upon F NONE OFF1 OFF2 OFF3 Acknowl upon F IMMEDIATELY Reaction upon N NONE Acknowl upon N NONE C01798 SI Motion CU Test stop running Message value Drive ...

Page 1041: ...t found without motor data Message value Component number 1 Drive object All objects Reaction NONE Acknowledge NONE Cause An SMI DQI without motor data has been found e g SMI installed as replacement part Alarm value r2124 interpret decimal Component number from target topology Remedy 1 Download the SMI DQI data motor encoder data from the data backup again p4690 p4691 2 Carry out a POWER ON power...

Page 1042: ...s not an integer multiple of the current controller clock cycle 7 Master application cycle time Tmapc is not an integer multiple of the speed controller clock cycle 8 Bus reserve bus cycle time Tdp data exchange time Tdx less than two current controller clock cycles 10 Instant of the setpoint acceptance not To data exchange time Tdx To_min 11 Master application cycle time Tmapc 14 x Tdp or Tmapc 0...

Page 1043: ...me Tdp was set too short Note PB PROFIBUS PN PROFINET Reaction upon N NONE Acknowl upon N NONE Reaction upon A NONE Acknowl upon A NONE F01912 N A PB PN clock cycle synchronous operation sign of life failure Message value Drive object All objects Reaction OFF1 OFF3 Acknowledge IMMEDIATELY Cause The maximum permissible number of errors in the controller sign of life clock synchronous operation has ...

Page 1044: ...check bus configuration check parameters for clock cycle synchronization ensure To Tdx Note To Time of setpoint acceptance Tdx Data exchange time Reaction upon F NONE OFF1 Acknowl upon F IMMEDIATELY A01930 PB PN current controller clock cycle clock cycle synch not equal Message value 1 Drive object All objects Reaction NONE Acknowledge NONE Cause The current controller clock cycle of all drives mu...

Page 1045: ... the master is using another clock synchronous DP clock cycle than was transferred to the slave in the parameter izing telegram at least one drive object has a pulse enable not controlled from PROFIBUS PROFINET either Remedy check the master application and bus configuration check the consistency between the clock cycle input when configuring the slave and clock cycle setting at the mas ter check ...

Page 1046: ...IBUS PN PROFINET A01945 PROFIBUS Connection to the Publisher failed Message value Fault cause 1 bin Drive object All objects Reaction NONE Acknowledge NONE Cause For PROFIBUS peer to peer data transfer the connection to at least one Publisher has failed Alarm value r2124 binary interpretation Bit 0 1 Publisher with address in r2077 0 connection failed Bit 15 1 Publisher with address in r2077 15 co...

Page 1047: ... incorrect Alarm value r2124 interpret decimal 2 PZD amount p2022 too great for the first drive object p978 0 The number of possible PZD items in a drive object is determined by the number of indices in r2050 p2051 Remedy Re alarm value 2 Check the amount of USS PZD p2022 and the maximum PZD amount r2050 p2051 for the first drive object p0978 0 Reaction upon F NONE OFF1 Acknowl upon F IMMEDIATELY ...

Page 1048: ... Reaction NONE Acknowledge NONE Cause The drive object specified for connection is not a SERVO VECTOR or DC_CTRL See also p4815 Function generator drive number Remedy Use a SERVO VECTOR DC_CTRL drive object with the corresponding number Note The alarm is reset as follows remove the cause of this alarm restart the function generator A02008 Function generator Drive specified a multiple number of tim...

Page 1049: ...s Reaction NONE Acknowledge NONE Cause The speed actual value of a drive selected for connection is greater than the value for the standstill detection set using p1226 Remedy Set the relevant drives to zero speed before starting the function generator Note The alarm is reset as follows remove the cause of this alarm restart the function generator A02015 Function generator Drive enable signals miss...

Page 1050: ...ol A02025 Function generator Period too short Message value Drive object All objects Reaction NONE Acknowledge NONE Cause The value for the period is too short See also p4821 Function generator period Remedy Check and adapt the value for the period Note The alarm is reset as follows remove the cause of this alarm restart the function generator See also p4821 Function generator period A02026 Functi...

Page 1051: ...E Cause The bandwidth referred to the time slice clock cycle of the function generator has either been set too low or too high Depending on the time slice clock cycle the bandwidth is defined as follows Bandwidth_max 1 2 x time slice clock cycle Bandwidth_min Bandwidth_max 100000 Example Assumption p4830 125 µs Bandwidth_max 1 2 x 125 µs 4000 Hz Bandwidth_min 4000 Hz 100000 0 04 Hz Note p4823 Func...

Page 1052: ... cycle is shorter than the selected basic clock cycle 0 p0110 0 See also p4720 Trace recording cycle Remedy Increase the value for the trace cycle A02057 Trace Time slice clock cycle invalid Message value Drive object All objects Reaction NONE Acknowledge NONE Cause The time slice clock cycle selected does not match any of the existing time slices See also p4723 Time slice cycle for trace Remedy E...

Page 1053: ...nal to be traced check whether the relevant signal can be traced A02061 Trace Invalid signal Message value Drive object All objects Reaction NONE Acknowledge NONE Cause the specified signal does not exist the specified signal can no longer be traced recorded See also p4730 Trace record signal 0 p4731 Trace record signal 1 p4732 Trace record signal 2 p4733 Trace record signal 3 Remedy specify the s...

Page 1054: ...Acknowledge IMMEDIATELY Cause The trace parameterization in the drive unit was deleted due to a unit changeover or a change in the reference parameters Remedy Restart trace A02099 Trace Insufficient Control Unit memory Message value Drive object All objects Reaction NONE Acknowledge NONE Cause The memory space still available on the Control Unit is no longer sufficient for the trace function Remed...

Page 1055: ...All objects Reaction OFF2 NONE OFF1 OFF3 Acknowledge IMMEDIATELY POWER ON Cause An internal software error has occurred within an OA application Fault value r0949 interpret hexadecimal Only for internal Siemens troubleshooting Remedy carry out a POWER ON power off on for all components upgrade firmware to later version contact the Hotline replace the Control Unit Note OA Open Architecture Reaction...

Page 1056: ...tion NONE Acknowledge IMMEDIATELY Cause A checksum error occurred when evaluating the non volatile data NVRAM on the Control Unit The NVRAM data affected was deleted Remedy POWER ON all components switch the power off and then back on again A03507 F N Digital output not set Message value 1 Drive object All objects Reaction NONE Acknowledge NONE Cause Despite specification by the signal source the ...

Page 1057: ...libration data point was determined to be invalid Alarm value r2124 binary interpretation Bit 1 10 V value analog input 0 invalid Bit 3 10 V value analog input 1 invalid Bit 4 Offset analog output 0 invalid Bit 5 10 V value analog output 0 invalid Bit 6 Offset analog output 1 invalid Bit 7 10 V value analog input 1 invalid Remedy power down power up the power supply for the Control Unit check the ...

Page 1058: ...perature has been reached For air cooled power units the threshold is 42 C hysteresis 2 K The response is set using p0290 If the air intake temperature increases by an additional 13 K then fault F30035 is output Remedy Check the following is the ambient temperature within the defined limit values has the fan failed Check the direction of rotation Reaction upon N NONE Acknowl upon N NONE A05003 N P...

Page 1059: ...overload response Reaction upon N NONE Acknowl upon N NONE N05007 A Power unit Overtemperature thermal model chassis PU Message value Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction NONE Acknowledge NONE Cause The temperature difference between the chip and heat sink has exceeded the permissible limit value r0293 chassis power units only Depending on p0290 an appropriate overload ...

Page 1060: ... PTC or bimetallic NC contact See also p0604 Motor temperature alarm threshold p0605 Motor temperature fault threshold p0606 Motor tem perature timer A07012 N Drive I2t motor model overtemperature Message value 1 Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction NONE Acknowledge NONE Cause The thermal I2t motor model for synchronous motors identified that the temperature alarm thres...

Page 1061: ...1 Motor temperature sensor type p0607 Temperature sensor fault timer F07080 Drive Incorrect control parameter Message value Parameter 1 Drive object All objects Reaction NONE Acknowledge IMMEDIATELY POWER ON Cause The closed loop control parameters have been parameterized incorrectly e g p0356 L_spread 0 Fault value r0949 decimal interpretation The fault value includes the parameter number involve...

Page 1062: ...eter 1 Drive object All objects Reaction NONE Acknowledge IMMEDIATELY Cause The ACX file macro to be executed was not able to be found in the appropriate directory Fault value r0949 decimal interpretation Parameter number with which the execution was started See also p0015 Remedy check whether the file is saved in the appropriate directory on the memory card Example If p0015 is set to 1501 then th...

Page 1063: ...ot possible for the selected pulse frequency p1800 Encoderless operation is activated under the following conditions the changeover speed for encoderless operation p1404 is less than the maximum speed p0322 a control type with encoderless operation has been selected p1300 encoder faults of the motor encoder result in a fault response with encoderless operation p0491 See also p0491 Motor encoder fa...

Page 1064: ...N SERVO_S110 DP SERVO_S110 PN Reaction NONE Acknowledge NONE Cause The ON 1 command is present no 0 signal The command is either influenced via binector input p0840 current CDS or control word bit 0 via the master control Remedy Switch the signal via binector input p0840 aktueller CDS or control word bit 0 via the master control to 0 F07220 N A Drive Master control by PLC missing Message value Dri...

Page 1065: ...nit has expired p0857 when exiting commissioning or at the end of the motor identification routine or the speed controller optimization the drive unit is not automatically powered up again Fault value r0949 interpret hexadecimal Only for internal Siemens troubleshooting Remedy increase the number of restart attempts p1211 The actual number of starting attempts is displayed in r1214 increase the de...

Page 1066: ...240 0 Reaction upon N NONE Acknowl upon N NONE A07402 N Drive DC link voltage minimum controller active Message value Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction NONE Acknowledge NONE Cause The DC link voltage controller has been activated due to the lower switch in threshold r1248 A system deviation can occur between the setpoint and actual speed A possible cause can be e g t...

Page 1067: ...tage present Motor Module defective Remedy connect the motor or check the motor contactor check the DC link voltage r0070 check the Motor Module F07411 Drive Flux controller output limited Message value Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction OFF2 NONE OFF1 Acknowledge IMMEDIATELY Cause The specified flux setpoint cannot be reached although 90 of the maximum current has be...

Page 1068: ...ationary motor data identification p1910 increase the changeover speed for the motor model p1752 The monitoring is completely de activated for p1752 p1082 maximum speed with pole position identification activated p1982 1 check the procedure for pole position identification p1980 and force a new pole position identification procedure by means of de selection followed by selection p1982 0 1 Note For...

Page 1069: ...nowl upon A NONE N07415 F Drive Angular commutation offset transfer running Message value Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction OFF2 Acknowledge NONE Cause The angular commutation offset was automatically determined using p1990 1 This fault causes the pulses to be suppressed this is necessary to transfer the angular commutation offset to p0431 See also p1990 Encoder adju...

Page 1070: ...cy The Shannon frequency is calculated according to the following formula 0 5 p0115 1 Remedy reduce the natural frequency of PT2 element for reference model p1433 reduce the speed controller sampling time p0115 1 F07426 A Technology controller actual value limited Message value 1 Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction OFF1 IASC DCBRAKE NONE OFF2 OFF3 Acknowledge IMMEDIATE...

Page 1071: ...0297 p0316 N A Rotary synchronous motors connected to a high frequency converter p1082 rpm 4 33165 p0316 square root p0316 2 4 86E 9 p0297 r0313 2 r0377 r0233 mH r0234 µF p0297 r0313 2 r0377 r0233 mH r0234 µF Linear motor connected to a high frequency converter p1082 m min 0 6894 p0316 square root p0316 2 1 91865E 7 p0297 r0313 3 1415 2 r0377 r0233 mH r0234 µF p0297 r0313 2 r0377 r0233 mH r0234 µF...

Page 1072: ...IATELY Cause The function Current controller dynamics higher p1810 11 1 is selected however is not supported by the power unit r0192 27 0 or by the safety technology without encoder 9506 1 Fault value r0949 decimal interpretation 1 firmware of the booksize power unit is not up to date blocksize or S120 combi power unit was used 2 a sine cosine encoder with encoderless safety technology is used Rem...

Page 1073: ...s 1 Motor encoder without position tracking v p0421 p2506 p0433 p2505 p0432 p2504 p2576 2 Motor encoder with position tracking for the measuring gear v p0412 p2506 p2505 p2504 p2576 3 Motor encoder with position tracking for the load gear v p2721 p2506 p0433 p0432 p2576 4 Motor encoder with position tracking for the load and measuring gear v p2721 p2506 p2576 5 Direct encoder without position trac...

Page 1074: ...bb component number cc drive data set See also p0408 Rotary encoder pulse No p0419 Fine resolution absolute value Gx_XIST2 in bits p2721 Load gear rotary absolute gearbox revolutions virtual Remedy reduce the fine resolution p0419 reduce the multiturn resolution p2721 See also p0419 Fine resolution absolute value Gx_XIST2 in bits p2721 Load gear rotary absolute gearbox revolutions virtual F07448 A...

Page 1075: ... necessary the absolute encoder adjusted p2507 See also p0010 Drive commissioning parameter filter p2507 LR absolute encoder adjustment status Reaction upon A NONE Acknowl upon A NONE F07450 A LR Standstill monitoring has responded Message value Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction OFF1 OFF2 OFF3 Acknowledge IMMEDIATELY Cause After the standstill monitoring time p2543 e...

Page 1076: ...ee also p2502 LR encoder assignment A07454 LR Position actual value preprocessing does not have a valid encoder Message value Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction NONE Acknowledge NONE Cause One of the following problems has occurred with the position actual value preprocessing an encoder is not assigned for the position actual value preprocessing p2502 0 an encoder is ...

Page 1077: ...tart referencing and activate traversing task p2595 p2631 Remedy Check the appropriate input signals and correct F07458 EPOS Reference cam not found Message value Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction OFF1 OFF2 OFF3 Acknowledge IMMEDIATELY Cause After starting the search for reference the axis moved through the maximum permissible distance to search for the reference cam...

Page 1078: ...NONE Acknowledge NONE Cause A traversing block selected via BI p2625 to BI p2630 was started via BI p2631 0 1 edge Activate traversing task the number of the started traversing block is not contained in p2616 0 n the started traversing block is suppressed Alarm value r2124 interpret decimal Number of the selected traversing block that is also not available Remedy correct the traversing program sel...

Page 1079: ...raversing block has illegal task parameters Message value 1 Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction NONE Acknowledge NONE Cause The task parameter in the traversing block contains an illegal value Alarm value r2124 interpret decimal Number of the traversing block with an illegal task parameter Remedy Correct the task parameter in the traversing block A07468 EPOS Traversing...

Page 1080: ...et position Remedy in the traversing block correct the target position change the modulo range p2576 A07472 EPOS Traversing block ABS_POS ABS_NEG not possible Message value 1 Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction NONE Acknowledge NONE Cause In the traversing block the positioning mode ABS_POS or ABS_NEG were parameterized with the modulo correction not activated Alarm va...

Page 1081: ...tual traversing operation the target position is less than the software limit switch minus Remedy correct the target position change software limit switch minus CI p2578 p2580 See also p2578 EPOS software limit switch minus signal source p2580 EPOS software limit switch minus p2582 EPOS software limit switch activation Reaction upon F OFF1 OFF2 OFF3 Acknowl upon F IMMEDIATELY A07478 F EPOS Target ...

Page 1082: ...mit switch minus Remedy correct the target position change software limit switch minus CI p2578 p2580 See also p2578 EPOS software limit switch minus signal source p2580 EPOS software limit switch minus p2582 EPOS software limit switch activation Reaction upon A NONE Acknowl upon A NONE F07482 A EPOS Axis position software limit switch plus Message value Drive object SERVO_S110 CAN SERVO_S110 DP S...

Page 1083: ...lue Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction NONE Acknowledge NONE Cause In the modes traversing blocks or direct setpoint input MDI at the start of motion the binector input no interme diate stop intermediate stop BI p2640 did not have a 1 signal Remedy Connect a 1 signal to the binector input no intermediate stop intermediate stop BI p2640 and re start motion See also p26...

Page 1084: ...eaction OFF3 Acknowledge IMMEDIATELY Cause A 0 signal was detected at binector input BI p2569 i e the STOP cam minus was reached For a positive traversing direction the STOP cam minus was reached i e the wiring of the STOP cam is incorrect See also p2569 EPOS STOP cam minus Remedy leave the STOP cam minus in the positive traversing direction and return the axis to the valid traversing range check ...

Page 1085: ...otor encoder with position tracking for load and measuring gear p2506 p2721 5 Direct encoder without position tracking p2506 p0433 p0432 p2506 p0433 p0421 p0432 for multiturn encoders 6 Direct encoder with position tracking for measuring gear p2506 p0412 F07494 LR Drive Data Set changeover in operation Message value Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction OFF1 OFF2 OFF3 Ac...

Page 1086: ... Alarm value r2124 interpret decimal 6 The input terminal for the measuring probe is not set 4098 Error when initializing the measuring probe 4100 The measuring pulse frequency is too high 50000 The measuring clock cycle is not a multiple integer of the position controller clock cycle Remedy De activate the measuring probe evaluation BI p2509 0 signal Re alarm value 6 Set the input terminal for th...

Page 1087: ...Cause Only for power units The motor data set was not configured this means that a data set number was not entered into the associated drive data set Fault value r0949 decimal interpretation The fault value includes the drive data set number of p0186 Remedy The index of the motor data set associated with the drive data set should be entered into p0186 See also p0186 Motor Data Sets MDS number F075...

Page 1088: ...losed loop control operating mode p2621 EPOS traversing block task Remedy Change the EPOS traversing block task type or change the open loop closed loop control mode See also p1300 Open loop closed loop control operating mode p2621 EPOS traversing block task F07509 Drive Component number missing Message value 1 Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction OFF2 Acknowledge IMMED...

Page 1089: ... same p0186 0 p0186 1 p0186 7 p0186 8 p0186 9 p0186 15 p0186 16 p0186 17 p0186 23 p0186 24 p0186 25 p0186 31 See also p0180 Number of Drive Data Sets DDS p0186 Motor Data Sets MDS number p2038 IF1 PROFId rive STW ZSW interface mode Remedy structure the data according to the rules of the SIMODRIVE 611 universal interface mode check the interface mode p2038 Reaction upon N NONE Acknowl upon N NONE F...

Page 1090: ...xxxx First MDS yyyy Second MDS Remedy parameterize the appropriate motor data sets differently p0827 select the setting p0833 0 0 motor changeover via the drive A07520 Drive Motor cannot be changed over Message value 1 Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction NONE Acknowledge NONE Cause The motor cannot be changed over Alarm value r2124 interpret decimal 1 The contactor for...

Page 1091: ...r interface has been parameterized incorrectly Fault value r0949 decimal interpretation 1 The encoder type setting for encoder interface 1 or 2 is not the same for all data sets Accordingly the following parameter assignment for example would generate a fault p0187 0 0 Encoder data set 0 is assigned to drive data set 0 p0187 1 1 Encoder data set 1 is assigned to drive data set 1 p0400 0 9000 A val...

Page 1092: ...y the ratio of the measuring gear must be an integer number p0314 p0433 p0432 Note For operation with track C D this quotient must be less than 8 See also p0404 Encoder configuration effective p0432 Gearbox factor encoder revolutions p0433 Gearbox factor motor load revolutions F07552 A Drive encoder Encoder configuration not supported Message value Fault cause 1 component number 2 encoder data set...

Page 1093: ...hing encoder evaluation r0458 r0459 See also p0430 Sensor Module configuration p0437 Sensor Module configuration extended r0458 Sensor Module properties r0459 Sensor Module properties extended p1982 PolID selection Reaction upon A NONE Acknowl upon A NONE F07555 A Drive encoder Configuration position tracking Message value Component number 1 encoder data set 2 drive data set 3 fault cause 4 Drive ...

Page 1094: ...ledge NONE Cause The reference point coordinate received when adjusting the encoder via connector input CI p2599 lies outside the half of the encoder range and cannot be set as actual axis position The maximum permissible value is displayed in the supplementary information Remedy Set the reference point coordinate less than the value from the supplementary information See also p2598 EPOS reference...

Page 1095: ...RAM if required de select position tracking for the incremental encoder p0411 3 0 Reaction upon A NONE Acknowl upon A NONE A07565 F N Drive Encoder error in PROFIdrive encoder interface 1 Message value 1 Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction NONE Acknowledge NONE Cause An encoder error was signaled for encoder 1 via the PROFIdrive encoder interface G1_ZSW 15 Alarm value ...

Page 1096: ...SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction OFF2 ENCODER Acknowledge IMMEDIATELY Cause The motor encoder signals that it is not ready initialization of encoder 1 motor encoder was unsuccessful the function parking encoder is active encoder control word G1_STW 14 1 the encoder interface Sensor Module is de activated p0145 the Sensor Module is defective Remedy Evaluate other queued faults vi...

Page 1097: ...le of integer of the position controller clock cycle Remedy De activate the measuring probe evaluation BI p2509 0 signal Re alarm value 6 Set the input terminal for the measuring probe p0488 p0489 or p2517 p2518 Re alarm value 4098 Check the Control Unit hardware Re alarm value 4100 Reduce the frequency of the measuring pulses at the measuring probe Re alarm value 4200 Set the clock cycle ratio be...

Page 1098: ...ssage value Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction NONE Acknowledge NONE Cause The position actual value is set to the value received via CI p2515while BI p2514 1 signal A possible system deviation cannot be corrected Remedy Not necessary The alarm automatically disappears with BI p2514 0 signal A07587 Encoder 1 Position actual value preprocessing does not have a valid en...

Page 1099: ...sage value 1 Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction NONE Acknowledge NONE Cause The value range 2147483648 2147483647 for the position actual value representation was exceeded When the overflow occurs the referenced or adjustment absolute measuring system status is reset Fault value r0949 decimal interpretation 1 The position actual value r2521 has exceeded the value rang...

Page 1100: ...earch and measuring probe evaluation BI p2508 and BI p2509 1 sig nal activated reference function reference mark search or measuring probe evaluation was de activated BI p2508 and BI p2509 0 signal Remedy check the causes and resolve reset the control BI p2508 and BI p2509 0 signal and activate the requested function Reaction upon F OFF1 OFF2 OFF3 Acknowl upon F IMMEDIATELY A07597 F Encoder 2 Refe...

Page 1101: ...ements to length units LU has exceeded the value range 2147483648 2147483647 for displaying the position actual value Remedy If the value for the maximum possible absolute position LU is greater than 4294967296 then it is not possible to make an adjustment due to an overflow For rotary encoders the maximum possible absolute position LU is calculated as follows 1 Motor encoder without position trac...

Page 1102: ...ue correction factor p0326 increase the up ramp p1318 or reduce the load check the motor and motor cables for short circuit and ground fault check the Motor Module and motor combination F07802 Drive Infeed or power unit not ready Message value Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction OFF2 NONE Acknowledge IMMEDIATELY Cause After an internal power on command the infeed or dr...

Page 1103: ...or the voltage class differ between the old and new power units For inverters the following applies If the new power unit is accepted then if required the current limit p0640 can be reduced by a lower maximum current of the power unit r0209 torque limits stay the same If not only the power unit is changed but also the motor then the motor must be re commissioned e g using p0010 1 This is also nece...

Page 1104: ...wledge NONE Cause The BICO signal for external alarm 2 was triggered The condition for this external alarm is fulfilled See also p2116 External alarm 2 Remedy Eliminate the causes of this alarm Reaction upon F NONE IASC DCBRAKE OFF1 OFF2 OFF3 STOP1 STOP2 Acknowl upon F IMMEDIATELY POWER ON A07852 F External alarm 3 Message value Drive object All objects Reaction NONE Acknowledge NONE Cause The BIC...

Page 1105: ...itch out the internal armature short circuit p1231 0 or de activate Safe Torque Off p9501 p9561 0 Note STO Safe Torque Off SH Safe standstill F07900 N A Drive Motor locked speed controller at its limit Message value Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction OFF2 NONE OFF1 OFF3 STOP1 STOP2 Acknowledge IMMEDIATELY Cause Motor has been operating at the torque limit longer than ...

Page 1106: ...s controlled for the data set changeover If there is no fault then the fault tolerance p1744 and p0492 can be increased For closed loop speed and torque control without speed encoder the following applies check whether the drive in the open loop controlled mode r1750 0 stalls under load If yes then increase the cur rent setpoint using p1610 check whether the drive stalls due to the load if the spe...

Page 1107: ...e alarm with p2149 0 0 A07904 N External armature short circuit Contactor feedback signal Closed missing Message value Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction NONE Acknowledge NONE Cause When closing the contactor feedback signal p1235 did not issue the signal Closed r1239 1 1 within the mon itoring time p1236 Remedy check that the contactor feedback signal is correctly co...

Page 1108: ...alue 102 if the external armature short circuit with contactor feedback signal p1231 1 is selected this feedback signal must be connected to an input terminal e g r722 x and then connected to BI p1235 alternatively the external armature short circuit without contactor feedback signal p1231 2 can be selected For fault value 103 if the external armature short circuit without contactor feedback signa...

Page 1109: ...NE Cause The Motor Module signals that the motor is short circuited through the power semiconductors r1239 5 1 The pulses cannot be enabled The internal armature short circuit is selected p1231 4 Remedy For synchronous motors the armature short circuit braking is activated with binector input p1230 1 signal See also p1230 Armature short circuit DC braking activation p1231 Armature short circuit DC...

Page 1110: ...xcitation equipment check the flux control p1590 p1592 p1597 check the control for oscillation and take the appropriate counter measures e g optimize the speed control loop parameterize a bandstop filter A07918 N Three phase setpoint generator operation selected active Message value Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction NONE Acknowledge NONE Cause Only for separately exc...

Page 1111: ...racteristic too low Remedy check the connection between the motor and load adapt the parameterization corresponding to the load F07924 Drive Torque speed too high Message value Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction OFF1 NONE OFF2 OFF3 Acknowledge IMMEDIATELY Cause The torque deviates from the torque speed envelope characteristic too high Remedy check the connection betwe...

Page 1112: ...rts the autonomous internal voltage protection r0192 10 1 then the Motor Module auto matically decides using the DC link voltage as to whether the armature short circuit should be activated The armature short circuit is activated and response OFF2 is initiated if the DC link voltage exceeds 800 V If the DC link voltage falls below 450 V then the armature short circuit is withdrawn If the motor is ...

Page 1113: ...m is output for r1229 4 1 See also p1216 Motor holding brake opening time r1229 Motor holding brake status word Remedy check the functionality of the motor holding brake check the feedback signal p1223 Reaction upon F NONE OFF1 OFF2 OFF3 Acknowl upon F IMMEDIATELY Reaction upon N NONE Acknowl upon N NONE A07932 Brake does not close Message value Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110...

Page 1114: ...ke control configuration was left at No motor holding brake available p1215 0 Remedy For fault value 0 No remedy required For fault value 1 If required change the motor holding brake configuration p1215 1 2 If this fault value unexpectedly occurs then the motor connections should be checked in order to rule out that they have been interchanged See also p1215 Motor holding brake configuration React...

Page 1115: ...emedy Use a motor with DRIVE CLiQ and the matching motor code Reaction upon A NONE Acknowl upon A NONE A07965 N Drive Save required Message value Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction NONE Acknowledge NONE Cause The angular commutation offset p0431 was re defined and has still not been saved In order to permanently accept the new value it must be saved in a non volatile ...

Page 1116: ...VO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction OFF2 NONE OFF1 Acknowledge IMMEDIATELY Cause A fault has occurred during the identification routine Fault value r0949 decimal interpretation 1 Current limit value reached 2 Identified stator resistance lies outside the expected range 0 1 100 of Zn 3 Identified rotor resistance lies outside the expected range 0 1 100 of Zn 4 Identified stator reactan...

Page 1117: ... ratio of the Motor Module to the rated motor current should not be less than 0 5 and not be greater than 4 check configuration star delta For fault value 2 for parallel circuits check the motor winding system in p7003 If for power units connected in parallel a motor is specified with a single winding system p7003 0 although a multi winding system is being used then a large pro portion of the stat...

Page 1118: ... speed control motor rotor may be locked or closed loop speed control is not functioning for p1215 1 3 brake the same as the sequence control check the control sense p0410 0 ensure that enable signals are present during measurement remove any pulling loads from motor increase max current p0640 reduce max speed p1082 suppress meas p1959 For fault value 193 the motor has moved through more than 5 el...

Page 1119: ...was unsuccessful Fault value r0949 decimal interpretation 1 No current is established 2 The starting current is not zero 3 The selected max distance was exceeded p1981 4x The measuring signal does not permit a clear evaluation 5 The max current was exceeded during the measurement 6 The current measurement must be re calibrated 7x The Sensor Module does not support the pole position identification ...

Page 1120: ...1993 For fault value 10 do not initiate a data set changeover during the pole position identification For fault value 11 for incremental encoders without commutation with zero mark p0404 15 0 it does not make sense to adjust the encoder to determine the commutation angle p1990 1 In this case the function should be de selected p1990 0 or for an encoder with suitable zero mark commutation with zero ...

Page 1121: ...bject SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction ENCODER OFF2 Acknowledge IMMEDIATELY Cause In operation the operating mode that requires a pole position identification was changed over which is not possible in this state the drive was changed over flying from encoderless operation to operation with encoder without having previously carried out a pole position identification for the encod...

Page 1122: ...ion r61000 r61001 Reaction upon F NONE Acknowl upon F IMMEDIATELY A08565 CBE20 Consistency error affecting adjustable parameters Message value Drive object CU_S110 CAN CU_S110 DP CU_S110 PN Reaction NONE Acknowledge NONE Cause A consistency error was detected when activating the configuration p8925 1 for the PROFINET interface The currently set configuration has not been activated Possible causes ...

Page 1123: ...on OFF3 Acknowledge IMMEDIATELY Cause A CANopen NMT state transition from operational to pre operational or after stopped Fault value r0949 decimal interpretation 1 CANopen NMT state transition from operational to pre operational 2 CANopen NMT state transition from operational to stopped Note In the NMT state pre operational process data cannot be transferred and in the NMT state stopped no proces...

Page 1124: ...quired optimize p8623 Re alarm value 2 reduce the cycle times of the SDO receive messages SDO request from master only after SDO feedback for previous SDO request See also p8622 CAN bit rate p8623 CAN Bit Timing selection A08754 CAN Incorrect communications mode Message value Drive object All objects Reaction NONE Acknowledge NONE Cause In the operational mode an attempt was made to change paramet...

Page 1125: ...le Message value Drive object All objects Reaction NONE Acknowledge NONE Cause An existing PDO COB ID was allocated Remedy Select another PDO COB ID A13000 License not adequate Message value 1 Drive object All objects Reaction NONE Acknowledge NONE Cause for the drive unit the options that require a license are being used but the licenses are not sufficient an error occurred when checking the exis...

Page 1126: ...license p9920 p9921 if necessary de activate unlicensed function modules p0108 r0108 See also p9920 Licensing enter license key p9921 Licensing activate license key F30001 Power unit Overcurrent Message value Fault cause 1 bin Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction OFF2 Acknowledge IMMEDIATELY Cause The power unit has detected an overcurrent condition closed loop control ...

Page 1127: ... VSM differs from the phase assignment at the power unit line phase interrupted Fault value r0949 decimal interpretation DC link voltage at the time of trip 0 1 V Remedy increase the ramp down time activate the DC link voltage controller use a brake resistor or Active Line Module increase the current limit of the infeed or use a larger module for the Active Line Module check the device supply volt...

Page 1128: ...The power unit was overloaded r0036 100 the permissible rated power unit current was exceeded for an inadmissibly long time the permissible load duty cycle was not maintained Fault value r0949 decimal interpretation I2t 100 16384 Remedy reduce the continuous load adapt the load duty cycle check the motor and power unit rated currents See also r0036 Power unit overload I2t r0206 Rated power unit po...

Page 1129: ...r 2 Remedy Contact the manufacturer F30015 N A Power unit Phase failure motor cable Message value Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction OFF2 NONE OFF1 OFF3 Acknowledge IMMEDIATELY Cause A phase failure in the motor feeder cable was detected The signal can also be output in the following case the motor is correctly connected however the closed speed control is instable an...

Page 1130: ... if necessary check the connection of the optional Voltage Sensing Module check the connection and technical data of the line reactor check the power cables for short circuit or ground fault replace power unit The following applies to Motor Modules check the motor data and if required recalculate the controller parameters p0340 3 As an alternative run a motor data identification p1910 1 p1960 1 ch...

Page 1131: ... ground fault in the power cables winding fault or ground fault at the motor CT defective Additional cause for CU310 CUA31 when the brake is applied this causes the hardware DC current monitoring to respond Additional cause for parallel switching devices r0108 15 1 the closed loop circulating current control is either too slow or has been set too fast Fault value r0949 decimal interpretation Absol...

Page 1132: ...igher than the rated pulse frequency F30025 Power unit Chip overtemperature Message value 1 Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction OFF2 Acknowledge IMMEDIATELY Cause Chip temperature of the semiconductor has exceeded the permissible limit value the permissible load duty cycle was not maintained insufficient cooling fan failure overload ambient temperature too high pulse f...

Page 1133: ...ed 11 Pre charging completed ready for pulse enable 12 It was detected that the STO terminal was energized at the power unit xxxx Missing internal enable signals power unit inverted bit coded FFFF hex all internal enable signals avail able Bit 0 Power supply of the IGBT gating shut down Bit 1 Ground fault detected Bit 2 Peak current intervention Bit 3 I2t exceeded Bit 4 Thermal model overtemperatu...

Page 1134: ...ower cables for short circuit or ground fault check the length of the power cables A30032 Power unit Hardware current limiting phase V Message value Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction NONE Acknowledge NONE Cause Hardware current limit for phase V responded The pulsing in this phase is inhibited for one pulse period closed loop control is incorrectly parameterized faul...

Page 1135: ...e Bit 1 1 Power electronics range Remedy check the ambient temperature check the fan for the inside of the unit F30035 Power unit Air intake overtemperature Message value 1 Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction OFF1 OFF2 Acknowledge IMMEDIATELY Cause The air intake in the power unit has exceeded the permissible temperature limit For air cooled power units the temperature...

Page 1136: ...perature is in the permissible range check the motor load check the line supply phases Notice This fault can only be acknowledged after this alarm threshold for alarm A05004 has been undershot F30040 Power unit Undervolt 24 V Message value 1 Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction OFF2 Acknowledge IMMEDIATELY POWER ON Cause Failure of the 24 V power supply for the power un...

Page 1137: ...supply for the power unit the 31 5 V threshold was exceeded for more than 3 ms Fault value r0949 decimal interpretation 24 V voltage 0 1 V Remedy Check the 24 V DC power supply of the power unit A30044 F Power unit Overvoltage 24 V alarm Message value Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction NONE Acknowledge NONE Cause The following applies for CU31x 24 V power supply fault...

Page 1138: ...om the external fan indicates a fault fan faulty blocked feedback signal inaccurate Remedy check the external fan and replace if necessary if you are using an external fan with feedback check its wiring X12 2 or X13 2 Note If you are using an external fan without feedback check that the feedback terminal wiring on the power unit is con nected to ground and make this connection if necessary X12 1 2...

Page 1139: ...dy Check the 24V power supply for stability and value Reaction upon F NONE OFF1 OFF2 OFF3 Acknowl upon F IMMEDIATELY F30055 Power unit Braking chopper overcurrent Message value Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction OFF2 Acknowledge IMMEDIATELY Cause An overcurrent condition has occurred in the braking chopper Remedy check whether the braking resistor has a short circuit ...

Page 1140: ... is not supported 1 The DRIVE CLiQ cycle is not supported 2 Internal timing problem clearance between RX and TX instants too low 3 Internal timing problem TX instant too early Remedy The power unit only supports the following cycles 62 5 µs 125 µs 250 µs and 500 µs For fault value 0 Set a permitted current control cycle For fault value 1 Set a permitted DRIVE CLiQ cycle Re fault value 2 3 Contact ...

Page 1141: ...is not supported After re inserting the Control Unit in operation communica tions to the Power Module no longer possible 20A hex The Control Unit was inserted on a Power Module which has another code number 20B hex The Control Unit was inserted on a Power Module which although it has the same code number has a different serial number 601 hex The Control Unit was inserted on a Power Module whose po...

Page 1142: ...alue r0949 interpret bitwise binary Bit 0 Phase U Bit 1 Phase V Bit 2 Phase W Remedy check the motor data if required carry out commissioning check the motor circuit configuration star delta U f operation Increase up ramp U f operation Check the assignment of the rated currents of the motor and Motor Module check the power cable connections check the power cables for short circuit or ground fault ...

Page 1143: ...0600 SI MM STOP A initiated Message value 1 Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction OFF2 Acknowledge IMMEDIATELY POWER ON Cause The Safety Integrated function integrated in the drive in the Motor Module MM has detected a fault and initiated STOP A pulse suppression via the safety shutdown path of the Motor Module forced checking procedure of the safety shutdown path of the...

Page 1144: ...he Control Unit or STO also as subsequent response was initiated too fre quently via PROFIsafe TM54F 1001 1002 Initialization error change timer check timer 1950 Module temperature outside the permissible temperature range 1951 Module temperature not plausible 2000 Status of the STO selection on the Control Unit and Motor Module are different 2001 Feedback signal for safe pulse suppression on the ...

Page 1145: ...ion upon F OFF2 Acknowl upon F IMMEDIATELY POWER ON Reaction upon A NONE Acknowl upon A NONE N30621 F A SI MM Safe Stop 1 active Message value Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction NONE Acknowledge NONE Cause The Safe Stop 1 function SS1 was selected on the Motor Module MM and is active Note This message does not result in a safety stop response Remedy Not necessary Note...

Page 1146: ... breakage check whether brake releases for p1278 1 and p9602 p9802 0 SBC de activated Short circuit in brake winding 40 Fault in brake closed state 60 70 Fault in the brake control circuit of the Control Unit or communication fault between the Control Unit and Motor Mod ule brake control 81 SafeBrakeAdapter Fault in brake closed state 82 SafeBrakeAdapter Fault in open brake state 83 SafeBrakeAdapt...

Page 1147: ...e copy function for the node identifier p9700 1D hex acknowledge hardware CRC p9701 EC hex save all parameters p0977 1 carry out a POWER ON power off on for all components For a parallel connection check the PROFIsafe address in the Control Unit and Motor Module and if required align save all parameters p0977 1 carry out a POWER ON power off on for all components The following generally applies up...

Page 1148: ...y commissioning routine For fault value 1000 again carry out safety commissioning routine replace the memory card or Control Unit For fault value 2000 check the safety parameters in the Motor Module and adapt the reference checksum p9899 Re fault value 2003 2005 Carry out an acceptance test and generate an acceptance report The procedure when carrying out an acceptance test as well as an example o...

Page 1149: ...S110 PN Reaction OFF2 Acknowledge IMMEDIATELY POWER ON Cause An error has occurred when aligning the Safety Integrated monitoring functions on the Control Unit CU and Motor Module MM Control Unit and Motor Module were not able to determine a common set of supported SI monitoring functions there is either a DRIVE CLiQ communication error or communication has failed Safety Integrated software releas...

Page 1150: ... 10 An attempt was made to enable the STO function although this cannot be supported 11 An attempt was made to enable the SBC function although this cannot be supported 13 An attempt was made to enable the SS1 function although this cannot be supported 14 An attempt was made to enable the safe motion monitoring function with the higher level control although this cannot be supported 15 An attempt ...

Page 1151: ...e actual one The system might have been rebooted reset Fault value r0949 interpret hexadecimal 200000 hex 400000 hex Fault in the actual booting operation 2 hex parameters p9500 and p9300 are not the same if Safety message C30711 is displayed at the same time Additional values defect before the last time that the system booted Remedy carry out a POWER ON power off on upgrade firmware to later vers...

Page 1152: ...0 DP SERVO_S110 PN Reaction OFF2 Acknowledge IMMEDIATELY POWER ON Cause The actual checksum calculated by the Motor Module and entered in r9398 over the safety relevant parameters does not match the reference checksum saved in p9399 at the last machine acceptance Safety relevant parameters have been changed or a fault is present Note This fault results in a STOP A that can be acknowledged Fault va...

Page 1153: ... Control Unit Remedy de select the monitoring function involved p9301 p9301 p9303 p9601 p9801 Upgrade the Motor Module firmware Note ESR Extended Stop and Retract SCA Safe Cam SN Safe software cam SDI Safe Direction safe motion direction SI Safety Integrated SLP Safely Limited Position SE Safe software limit switches SLS Safely Limited Speed SG Safely reduced speed See also p9301 p9501 p9503 p9601...

Page 1154: ...rocessor 1 F30692 SI Motion MM Incorrect parameter value encoderless Message value Parameter 1 Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction OFF2 Acknowledge IMMEDIATELY POWER ON Cause The parameter cannot be parameterized with this value if encoderless motion monitoring functions have been parameterized in p9306 Note This message does not result in a safety stop response Fault ...

Page 1155: ...SBR Safe Brake Ramp safe brake ramp monitoring SI Safety Integrated C30701 SI Motion MM STOP B initiated Message value Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction OFF3 Acknowledge IMMEDIATELY POWER ON Cause The drive is stopped via a STOP B braking along the OFF3 ramp As a result of this fault after the time parameterized in p9356 has expired or after the speed threshold param...

Page 1156: ... whether safety faults are present and if required carry out the appropriate diagnostic routines for the partic ular faults check whether the standstill tolerance matches the accuracy and control dynamic performance of the axis This message can only be acknowledged via the Terminal Module 54F TM54F or PROFIsafe Note SI Safety Integrated SOS Safe Operating Stop SBH Safe operating stop See also p953...

Page 1157: ...ERVO_S110 DP SERVO_S110 PN Reaction NONE Acknowledge IMMEDIATELY POWER ON Cause When cross checking and comparing the two monitoring channels the drive detected a difference between the input data or results of the monitoring functions and initiated a STOP F One of the monitoring functions no longer reliably functions i e safe operation is no longer possible If at least one monitoring function is ...

Page 1158: ... the encoder Re message value 1040 de select encoderless monitoring functions select and de select STO if monitoring function is active issue SLS pulse enable within 5 s of de selecting STO Re other message values The significance of the individual message values is described in safety message C01711 of the Control Unit Note This message can only be acknowledged via the Terminal Module 54F TM54F o...

Page 1159: ...fe motion direction function was exceeded The drive is stopped as a result of the config ured stop response p9366 Message value r9749 interpret decimal 0 Tolerance for the safe motion direction positive function exceeded 1 Tolerance for the safe motion direction positive negative function exceeded Remedy check the traversing motion program in the control check the tolerance for SDI function and if...

Page 1160: ...s td p10002 td p10002 p9500 Example For a 12 ms SI sampling cycle and a switching frequency of 110 ms p10017 0 the maximum discrepancy time which can be set is as follows p10002 110 2 ms 12 ms 43 ms Rounded off p10002 36 ms is obtained since the discrepancy time can only be accepted as a whole SI sampling cycle the value will need to be rounded up or down to a whole SI sampling time value if the r...

Page 1161: ...Test stop state Expectation Mode 1 Mode 2 Mode 3 Mode 4 5 0 1 7 0 0 9 0 0 11 1 1 13 0 1 Second diag expected states in table format Test stop state Expectation Mode 1 Mode 2 Mode 3 Mode 4 5 1 7 0 9 1 11 0 13 1 DI expected states in table format Test stop state Expectation Mode 1 Mode 2 Mode 3 Mode 4 5 1 1 7 0 0 9 0 1 11 0 1 13 1 1 Example Fault F01773 CU is signaled with fault value 0001_0127 and ...

Page 1162: ...aluate the other messages that are presently available Reaction upon F OFF2 Acknowl upon F IMMEDIATELY F30801 Power unit DRIVE CLiQ Sign of life missing Message value Component number 1 fault cause 2 Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction OFF2 Acknowledge IMMEDIATELY Cause A DRIVE CLiQ communication error has occurred from the Control Unit to the power unit concerned The ...

Page 1163: ...ect SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction OFF2 Acknowledge IMMEDIATELY Cause For 3P gating unit The last switching status word in the setpoint telegram is identified by the end ID Such an end ID was not found Remedy carry out a POWER ON power off on for all components upgrade firmware to later version contact the Hotline A30810 F Power unit Watchdog timer Message value Drive object S...

Page 1164: ...I2C bus error occurred Message value 1 Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction NONE IASC DCBRAKE OFF1 OFF2 OFF3 STOP1 STOP2 Acknowledge IMMEDIATELY Cause Communications error with an EEPROM or A D converter Fault value r0949 interpret hexadecimal 80000000 hex internal software error 00000001 hex 0000FFFF hex module fault Remedy Re fault value 80000000 hex upgrade firmware ...

Page 1165: ...HIBIT Cause The measured zero mark distance does not correspond to the parameterized zero mark distance For distance coded encoders the zero mark distance is determined from zero marks detected pairs This means that if a zero mark is missing depending on the pair generation this cannot result in a fault and also has no effect in the system The zero mark distance for the zero mark monitoring is set...

Page 1166: ...esponse threshold for the differential signal level of the encoder is 1600 mV A signal level of 500 mV peak value corresponds to the numerical value 5333 hex 21299 dec Note The analog value of the amplitude error is not measured at the same time with the hardware fault output by the Sen sor Module The fault value can only be represented between 32767 32767 dec 770 770 mV The signal level is not ev...

Page 1167: ...eld replace the encoder or encoder cable replace the Sensor Module Re fault value bit 6 1 Update Sensor Module firmware Re fault value bit 8 1 Check parameterization p0429 2 Re fault value bit 9 1 EMC connect the cable shield replace the encoder or encoder cable replace the Sensor Module Re fault value bit 10 1 Check parameterization p0429 2 p0449 Re fault value bit 11 1 Check parameterization p04...

Page 1168: ...ER IASC DCBRAKE NONE Acknowledge PULSE INHIBIT Cause The encoder sends a set error bit via the serial protocol Fault value r0949 interpret binary Bit 0 Fault bit in the position protocol Remedy For fault value bit 0 1 In the case of an EnDat encoder F31111 may provide further details Reaction upon N NONE Acknowl upon N NONE Reaction upon A NONE Acknowl upon A NONE F31115 N A Encoder 1 Amplitude er...

Page 1169: ...l level of the encoder must lie in the range 375 mV to 600 mV 500 mV 25 20 The response thresholds are 176 mV observe the frequency response of the encoder and 955 mV A signal level of 500 mV peak value corresponds to the numerical value 5333 hex 21299 dec Note The analog values of the amplitude error are not measured at the same time with the hardware fault output by the Sensor Module See also p0...

Page 1170: ...lue r0949 decimal interpretation Only for internal Siemens troubleshooting See also p0491 Motor encoder fault response ENCODER p0492 Square wave encoder maximum speed differ ence per sampling cycle Remedy check the tachometer feeder cable for interruptions check the grounding of the tachometer shielding if required increase the maximum speed difference per sampling cycle p0492 Reaction upon N NONE...

Page 1171: ...owledge IMMEDIATELY Cause Fault in internal reference voltage of ASICs for encoder 1 Fault value r0949 decimal interpretation 1 Reference voltage error 2 Internal undervoltage 3 Internal overvoltage Remedy Replace the motor with DRIVE CLiQ or the appropriate Sensor Module F31123 N A Encoder 1 Signal level A B unipolar outside tolerance Message value Fault cause 1 bin Drive object SERVO_S110 CAN SE...

Page 1172: ...fault output by the Sensor Module See also p0491 Motor encoder fault response ENCODER Remedy check that the encoder cables and shielding are routed in compliance with EMC replace the encoder or encoder cable Reaction upon N NONE Acknowl upon N NONE Reaction upon A NONE Acknowl upon A NONE F31126 N A Encoder 1 Amplitude AB too high Message value Amplitude 1 Angle 2 Drive object SERVO_S110 CAN SERVO...

Page 1173: ...e with EMC check the adjustment of the Hall sensor Reaction upon N NONE Acknowl upon N NONE Reaction upon A NONE Acknowl upon A NONE F31130 N A Encoder 1 Zero mark and position error from the coarse synchronization Message value Angular deviation electrical 1 angle mechanical 2 Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction ENCODER IASC DCBRAKE NONE OFF1 OFF2 OFF3 STOP1 STOP2 Ack...

Page 1174: ...ts 1 pulse 4 quadrants See also p0491 Motor encoder fault response ENCODER Remedy check that the encoder cables are routed in compliance with EMC check the plug connections replace the encoder or encoder cable check whether the coding disk is dirty or there are strong ambient magnetic fields adapt the parameter for the clearance between zero marks p0425 if message output above speed threshold redu...

Page 1175: ...it 2 Lighting reserved Bit 3 Signal amplitude reserved Bit 4 Position value reserved Bit 5 Overvoltage reserved Bit 6 Undervoltage reserved Bit 7 Overcurrent reserved Bit 8 Battery reserved Bit 16 Lighting F3x135 x 1 2 3 Bit 17 Signal amplitude F3x135 x 1 2 3 Bit 18 Singleturn position 1 F3x135 x 1 2 3 Bit 19 Overvoltage F3x135 x 1 2 3 Bit 20 Undervoltage F3x135 x 1 2 3 Bit 21 Overcurrent F3x135 x...

Page 1176: ...set check the encoder type used incremental absolute and for SMCxx the encoder cable if relevant note additional fault messages that describe the fault in detail Reaction upon N NONE Acknowl upon N NONE Reaction upon A NONE Acknowl upon A NONE F31151 N A Encoder 1 Encoder speed for initialization AB too high Message value 1 Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction ENCODER I...

Page 1177: ...oltage of the analog sensor For fault value 2 check the voltage setting for each encoder period p4675 For fault value 3 check the range limit setting and increase it if necessary p4676 Reaction upon N NONE Acknowl upon N NONE Reaction upon A NONE Acknowl upon A NONE F31163 N A Encoder 1 Analog sensor position value exceeds limit value Message value 1 Drive object SERVO_S110 CAN SERVO_S110 DP SERVO...

Page 1178: ...AN SERVO_S110 DP SERVO_S110 PN Reaction NONE Acknowledge NONE Cause The 1 5 x parameterized zero mark distance was exceeded The zero mark distance for the zero mark monitoring is set in p0425 rotary encoder or p0424 linear encoder Alarm value r2124 interpret decimal Number of increments after POWER ON or since the last zero mark that was detected 4 increments 1 encoder pulse Remedy check that the ...

Page 1179: ...ion Bit 0 Alarm bit in the position protocol Bit 1 Incorrect quiescent level on the data line Bit 2 Encoder does not respond does not supply a start bit within 50 ms Bit 3 CRC error The checksum in the protocol from the encoder does not match the data Bit 4 Encoder acknowledgement error The encoder incorrectly understood the task request or cannot execute it Bit 5 Internal error in the serial driv...

Page 1180: ...EDIATELY Reaction upon N NONE Acknowl upon N NONE A31414 F N Encoder 1 Amplitude error track C or D C 2 D 2 Message value C track 1 D track 2 Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction NONE Acknowledge NONE Cause The amplitude C 2 D 2 of track C or D of the encoder or from the Hall signals is not within the tolerance band width Alarm value r2124 interpret hexadecimal yyyyxxxx...

Page 1181: ...are fault output by the Sensor Module See also p0491 Motor encoder fault response ENCODER Remedy check the speed range frequency characteristic amplitude characteristic of the measuring equipment is not suf ficient for the speed range check that the encoder cables and shielding are routed in compliance with EMC check the plug connections replace the encoder or encoder cable check the Sensor Module...

Page 1182: ...coders check the plug connections also the transition resistance check the encoder signals replace the encoder or encoder cable Reaction upon F NONE ENCODER IASC DCBRAKE OFF1 OFF2 OFF3 STOP1 STOP2 Acknowl upon F IMMEDIATELY Reaction upon N NONE Acknowl upon N NONE A31421 F N Encoder 1 Coarse position error Message value 1 Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction NONE Acknow...

Page 1183: ...The error for track C D is greater than 15 mechanical or 60 electrical or the error for the Hall signals is greater than 60 electrical One period of track C D corresponds to 360 mechanical One period of the Hall signal corresponds to 360 electrical The monitoring responds if for example Hall sensors are connected as equivalent for the C D tracks with the incor rect rotational sense or supply value...

Page 1184: ... sign designates the direction of motion when detecting the zero mark distance Remedy check that the encoder cables are routed in compliance with EMC check the plug connections replace the encoder or encoder cable check encoder limit frequency adapt the parameter for the distance between zero marks p0424 p0425 Reaction upon F NONE ENCODER IASC DCBRAKE OFF1 OFF2 OFF3 STOP1 STOP2 Acknowl upon F IMME...

Page 1185: ... the permissible limits Alarm value r2124 interpret decimal 1 Input voltage outside detectable measuring range 2 Input voltage outside measuring range set in p4673 3 The absolute value of the input voltage has exceeded the range limit p4676 Remedy Re alarm value 1 check the output voltage of the analog sensor Re alarm value 2 check the voltage setting for each encoder period p4673 Re alarm value 3...

Page 1186: ...upon N NONE A31470 F N Encoder 1 Soiling detected Message value Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction NONE Acknowledge NONE Cause In the case of the alternative encoder system interface on the Sensor Module Cabinet 30 SMC30 encoder soiling is signaled via a 0 signal at terminal X521 7 Remedy check the plug connections replace the encoder or encoder cable Reaction upon F ...

Page 1187: ...tion Note The deviation difference found is also displayed in r0477 Remedy Reset the position tracking as follows select encoder commissioning p0010 4 reset the position tracking as follows p0411 2 1 de select encoder commissioning p0010 0 The fault should then be acknowledged and if necessary the absolute encoder adjusted p2507 See also p0010 Drive commissioning parameter filter p2507 LR absolute...

Page 1188: ...tion ENCODER IASC DCBRAKE NONE Acknowledge IMMEDIATELY Cause A time slice overflow has occurred in encoder 1 Fault value r0949 decimal interpretation 9 Time slice overflow of the fast current controller clock cycle time slice 10 Time slice overflow of the average time slice 12 Time slice overflow of the slow time slice 999 Timeout when waiting for SYNO e g unexpected return to non cyclic operation...

Page 1189: ...tage matching for track safety A unsuccessful Bit 6 Mid voltage matching for track safety B unsuccessful Bit 7 Mid voltage matching for track C unsuccessful Bit 8 Mid voltage matching for track D unsuccessful Bit 9 Mid voltage matching for track R unsuccessful Bit 10 The difference in mid voltages between A and B is too great 0 5 V Bit 11 The difference in mid voltages between C and D is too great...

Page 1190: ...Motor encoder fault response ENCODER Remedy Re causes 1 2 Carry out an automatic adjustment using the pole position identification routine Acknowledge the fault Initiate the pole position identification routine with p1990 1 Then check that the pole position identification routine is correctly executed SERVO If a pole position identification technique is selected in p1980 and if p0301 does not cont...

Page 1191: ... specified in the length byte or in the receive list xx 04 hex The length of the receive telegram does not match the receive list xx 05 hex The type of the receive telegram does not match the receive list xx 06 hex The address of the component in the telegram and in the receive list do not match xx 07 hex A SYNC telegram is expected but the received telegram is not a SYNC telegram xx 08 hex No SYN...

Page 1192: ...terpret hexadecimal yyxx hex yy component number xx fault cause xx 41 hex Telegram type does not match send list See also p0491 Motor encoder fault response ENCODER Remedy Carry out a POWER ON Reaction upon N NONE Acknowl upon N NONE Reaction upon A NONE Acknowl upon A NONE F31837 N A Encoder 1 DRIVE CLiQ Component fault Message value Component number 1 fault cause 2 Drive object SERVO_S110 CAN SE...

Page 1193: ...rror has occurred in the Sensor Module of encoder 1 Fault value r0949 decimal interpretation 1 Background time slice is blocked 2 Checksum over the code memory is not OK 10000 OEM memory of the EnDat encoder contains data that cannot be interpreted 11000 11499 Descriptive data from EEPROM incorrect 11500 11899 Calibration data from EEPROM incorrect 11900 11999 Configuration data from EEPROM incorr...

Page 1194: ...hex 19 dec The telegram is longer than that specified in the length byte or in the receive list and the receive telegram is too early xx 03 hex 03 dec Telegram is longer than specified in the length byte or in the receive list xx 14 hex 20 dec The length of the receive telegram does not match the receive list and the receive telegram is too early xx 04 hex 04 dec The length of the receive telegram...

Page 1195: ...er error shutdown threshold master Reaction upon N NONE Acknowl upon N NONE Reaction upon A NONE Acknowl upon A NONE F31886 N A Encoder 1 DRIVE CLiQ CU Error when sending DRIVE CLiQ data Message value Component number 1 fault cause 2 Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction ENCODER IASC DCBRAKE NONE Acknowledge IMMEDIATELY Cause A DRIVE CLiQ communication error has occurred...

Page 1196: ...lt value r0949 interpret hexadecimal yyxx hex yy component number xx fault cause xx 0B hex Synchronization error during alternating cyclic data transfer Remedy Carry out a POWER ON See also p9915 DRIVE CLiQ data transfer error shutdown threshold master Reaction upon N NONE Acknowl upon N NONE Reaction upon A NONE Acknowl upon A NONE F31896 N A Encoder 1 DRIVE CLiQ CU Inconsistent component propert...

Page 1197: ...018 Reaction upon N NONE Acknowl upon N NONE Reaction upon A NONE Acknowl upon A NONE A31902 F N Encoder 1 SPI BUS error occurred Message value 1 Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction NONE Acknowledge NONE Cause Error when operating the internal SPI bus Fault value r0949 interpret hexadecimal Only for internal Siemens troubleshooting Remedy replace the Sensor Module if r...

Page 1198: ...oders p0404 9 1 without track A B yyyy 5 For SQW encoder value in p4686 greater than in p0425 yyyy 6 DRIVE CLiQ encoder cannot be used with this firmware version yyyy 7 For the SQW encoder the Xact1 correction p0437 2 is only permitted with equidistant zero marks yyyy 8 The motor pole pair width is not supported by the linear scale being used See also p0491 Motor encoder fault response ENCODER Rem...

Page 1199: ... and p0187 Reaction upon N NONE Acknowl upon N NONE Reaction upon A NONE Acknowl upon A NONE A31920 F N Encoder 1 Temperature sensor fault Message value Fault cause 1 channel number 2 Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction NONE Acknowledge NONE Cause When evaluating the temperature sensor an error occurred Alarm value r2124 interpret decimal yyxx hex yy channel number xx ...

Page 1200: ...E ENCODER IASC DCBRAKE OFF1 OFF2 OFF3 STOP1 STOP2 Acknowl upon F IMMEDIATELY POWER ON Reaction upon N NONE Acknowl upon N NONE F32100 N A Encoder 2 Zero mark distance error Message value 1 Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction OFF1 IASC DCBRAKE NONE OFF2 OFF3 STOP1 STOP2 Acknowledge PULSE INHIBIT Cause The measured zero mark distance does not correspond to the parameteri...

Page 1201: ...he reference track signal track R does not lie within the tolerance bandwidth for encoder 2 The fault can be initiated when the unipolar voltage level is exceeded RP RN or if the differential amplitude is under shot Fault value r0949 interpret hexadecimal yyyyxxxx hex yyyy 0 xxxx Signal level track R 16 bits with sign The response thresholds of the unipolar signal levels of the encoder are between...

Page 1202: ...ay provide additional details Re fault value bit 1 1 Incorrect encoder type replace the encoder or encoder cable Re fault value bit 2 1 Incorrect encoder type replace the encoder or encoder cable Re fault value bit 3 1 EMC connect the cable shield replace the encoder or encoder cable Re fault value bit 4 1 EMC connect the cable shield replace the encoder or encoder cable replace the Sensor Module ...

Page 1203: ...oder is defective Replace the encoder where the motor encoder has a direct DRIVE CLiQ socket Replace the motor Re fault value bit 6 1 The battery must be changed only for encoders with battery back up Reaction upon N NONE Acknowl upon N NONE Reaction upon A NONE Acknowl upon A NONE F32112 N A Encoder 2 Error bit set in the serial protocol Message value 1 Drive object SERVO_S110 CAN SERVO_S110 DP S...

Page 1204: ...eaction OFF1 IASC DCBRAKE NONE OFF2 OFF3 Acknowledge IMMEDIATELY Cause The amplitude of the rectified encoder signals A and B and the amplitude from the roots of A 2 B 2 for encoder 2 are not within the tolerance bandwidth Fault value r0949 interpret hexadecimal yyyyxxxx hex yyyy Signal level track B 16 bits with sign xxxx Signal level track A 16 bits with sign The nominal signal level of the enco...

Page 1205: ... actual value if applicable is monitored in the current controller sampling time Fault value r0949 decimal interpretation Only for internal Siemens troubleshooting See also p0492 Square wave encoder maximum speed difference per sampling cycle Remedy check the tachometer feeder cable for interruptions check the grounding of the tachometer shielding if required increase the maximum speed difference ...

Page 1206: ... Cause Fault in internal reference voltage of ASICs for encoder 2 Fault value r0949 decimal interpretation 1 Reference voltage error 2 Internal undervoltage 3 Internal overvoltage Remedy Replace the motor with DRIVE CLiQ or the appropriate Sensor Module F32123 N A Encoder 2 Signal level A B unipolar outside tolerance Message value Fault cause 1 bin Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S...

Page 1207: ...the same time with the hardware fault output by the Sensor Module Remedy check that the encoder cables and shielding are routed in compliance with EMC replace the encoder or encoder cable Reaction upon N NONE Acknowl upon N NONE Reaction upon A NONE Acknowl upon A NONE F32126 N A Encoder 2 Amplitude AB too high Message value Amplitude 1 Angle 2 Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 ...

Page 1208: ... the encoder cables are routed in compliance with EMC check the adjustment of the Hall sensor Reaction upon N NONE Acknowl upon N NONE Reaction upon A NONE Acknowl upon A NONE F32130 N A Encoder 2 Zero mark and position error from the coarse synchronization Message value Angular deviation electrical 1 angle mechanical 2 Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction OFF1 IASC DCB...

Page 1209: ...s 1 pulse 4 quadrants Remedy check that the encoder cables are routed in compliance with EMC check the plug connections replace the encoder or encoder cable check whether the coding disk is dirty or there are strong ambient magnetic fields adapt the parameter for the clearance between zero marks p0425 if message output above speed threshold reduce filter time if necessary p0438 Reaction upon N NON...

Page 1210: ...ed Bit 3 Signal amplitude reserved Bit 4 Position value reserved Bit 5 Overvoltage reserved Bit 6 Undervoltage reserved Bit 7 Overcurrent reserved Bit 8 Battery reserved Bit 16 Lighting F3x135 x 1 2 3 Bit 17 Signal amplitude F3x135 x 1 2 3 Bit 18 Singleturn position 1 F3x135 x 1 2 3 Bit 19 Overvoltage F3x135 x 1 2 3 Bit 20 Undervoltage F3x135 x 1 2 3 Bit 21 Overcurrent F3x135 x 1 2 3 Bit 22 Temper...

Page 1211: ... messages that describe the fault in detail Reaction upon N NONE Acknowl upon N NONE Reaction upon A NONE Acknowl upon A NONE F32151 N A Encoder 2 Encoder speed for initialization AB too high Message value 1 Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction ENCODER IASC DCBRAKE NONE OFF1 OFF2 OFF3 STOP1 STOP2 Acknowledge PULSE INHIBIT Cause The encoder speed is too high during while...

Page 1212: ...E Acknowl upon A NONE F32163 N A Encoder 2 Analog sensor position value exceeds limit value Message value 1 Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction ENCODER IASC DCBRAKE NONE Acknowledge PULSE INHIBIT Cause The position value has exceeded the permissible range of 0 5 0 5 Fault value r0949 decimal interpretation 1 Position value from the LVDT sensor 2 Position value from the...

Page 1213: ... after POWER ON or since the last zero mark that was detected 4 increments 1 encoder pulse Remedy check that the encoder cables are routed in compliance with EMC check the plug connections check the encoder type encoder with equidistant zero marks adapt the parameter for the clearance between zero marks p0425 replace the encoder or encoder cable Reaction upon F NONE IASC DCBRAKE OFF1 OFF2 OFF3 STO...

Page 1214: ...om the encoder does not match the data Bit 4 Encoder acknowledgement error The encoder incorrectly understood the task request or cannot execute it Bit 5 Internal error in the serial driver An illegal mode command was requested Bit 6 Timeout when cyclically reading Bit 8 Protocol is too long e g 64 bits Bit 9 Receive buffer overflow Bit 10 Frame error when reading twice Bit 11 Parity error Bit 12 ...

Page 1215: ...gnal level track C 16 bits with sign The nominal signal level of the encoder must lie in the range 375 mV to 600 mV 500 mV 25 20 The response thresholds are 230 mV observe the frequency response of the encoder and 750 mV A signal level of 500 mV peak value corresponds to the numerical value 5333 hex 21299 dec Note If the amplitude is not within the tolerance bandwidth then it cannot be used to ini...

Page 1216: ... For an HTL TTL encoder the speed difference between two sampling cycles has exceeded the value in p0492 The change to the averaged speed actual value if applicable is monitored in the current controller sampling time Alarm value r2124 interpret decimal Only for internal Siemens troubleshooting See also p0492 Square wave encoder maximum speed difference per sampling cycle Remedy check the tachomet...

Page 1217: ...relevant correct the assignment of the tracks to the position value that is serially transferred To do this the two tracks must be connected inverted at the Sensor Module interchange A with A and B with B or for a programmable encoder check the zero offset of the position Reaction upon F NONE IASC DCBRAKE OFF1 OFF2 OFF3 STOP1 STOP2 Acknowl upon F IMMEDIATELY Reaction upon N NONE Acknowl upon N NON...

Page 1218: ...cknowl upon N NONE A32431 F N Encoder 2 Deviation position incremental absolute too large Message value 1 Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction NONE Acknowledge NONE Cause When the zero pulse is passed a deviation in the incremental position was detected For equidistant zero marks the following applies The first zero mark passed supplies the reference point for all subse...

Page 1219: ...ONE Cause The unipolar level CP CN or DP DN for encoder 2 is outside the permissible tolerance Alarm value r2124 binary interpretation Bit 0 1 Either CP or CN outside the tolerance Bit 16 1 Either DP or DN outside the tolerance The unipolar nominal signal level of the encoder must lie in the range 2500 mV 500 mV The response thresholds are 1700 mV and 3300 mV Note The signal level is not evaluated...

Page 1220: ...2 check the voltage setting for each encoder period p4675 Re alarm value 3 check the range limit setting and increase it if necessary p4676 Reaction upon N NONE Acknowl upon N NONE A32462 N Encoder 2 Analog sensor no channel active Message value 1 Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction NONE Acknowledge NONE Cause Channel A and B are not activated for the analog sensor Rem...

Page 1221: ...olutions The highest possible value depends on the pulse number p0408 and the fine resolution p0419 Remedy The fault should be resolved as follows select encoder commissioning p0010 4 reset the position tracking as follows p0411 2 1 de select encoder commissioning p0010 0 The fault should then be acknowledged and the absolute encoder adjusted Reaction upon N NONE Acknowl upon N NONE Reaction upon ...

Page 1222: ...SC DCBRAKE NONE OFF2 OFF3 Acknowledge IMMEDIATELY Cause A DRIVE CLiQ communication error has occurred from the Control Unit to the encoder involved Fault value r0949 interpret hexadecimal yyxx hex yy component number xx fault cause xx 0A hex The sign of life bit in the receive telegram is not set Remedy check the electrical cabinet design and cable routing for EMC compliance replace the component ...

Page 1223: ...ssage value 1 Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction OFF1 IASC DCBRAKE NONE OFF2 OFF3 Acknowledge PULSE INHIBIT Cause The encoder was not successfully initialized Fault value r0949 interpret hexadecimal Bit 0 1 Encoder initialization with the motor rotating has failed deviation involving coarse and fine position in encoder pulses 4 Bit 2 Mid voltage matching for track A u...

Page 1224: ...ion control the serial number is accepted when starting the adjustment p2507 2 When the encoder is adjusted p2507 3 the serial number is checked for changes and if required the adjustment is reset p2507 1 Proceed as follows to hide serial number monitoring set the following serial numbers for the corresponding Encoder Data Set p0441 FF p0442 0 p0442 0 p0444 0 p0445 0 Remedy Mechanically adjust the...

Page 1225: ...03 hex Telegram is longer than specified in the length byte or in the receive list xx 04 hex The length of the receive telegram does not match the receive list xx 05 hex The type of the receive telegram does not match the receive list xx 06 hex The address of the component in the telegram and in the receive list do not match xx 07 hex A SYNC telegram is expected but the received telegram is not a ...

Page 1226: ...949 interpret hexadecimal yyxx hex yy component number xx fault cause xx 41 hex Telegram type does not match send list Remedy Carry out a POWER ON Reaction upon N NONE Acknowl upon N NONE Reaction upon A NONE Acknowl upon A NONE F32837 N A Encoder 2 DRIVE CLiQ Component fault Message value Component number 1 fault cause 2 Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction OFF1 IASC D...

Page 1227: ... the code memory is not OK 10000 OEM memory of the EnDat encoder contains data that cannot be interpreted 11000 11499 Descriptive data from EEPROM incorrect 11500 11899 Calibration data from EEPROM incorrect 11900 11999 Configuration data from EEPROM incorrect 16000 DRIVE CLiQ encoder initialization application error 16001 DRIVE CLiQ encoder initialization ALU error 16002 DRIVE CLiQ encoder HISI S...

Page 1228: ...eceive telegram is too early xx 04 hex 04 dec The length of the receive telegram does not match the receive list xx 15 hex 21 dec The type of the receive telegram does not match the receive list and the receive telegram is too early xx 05 hex 05 dec The type of the receive telegram does not match the receive list xx 16 hex 22 dec The address of the power unit in the telegram and in the receive lis...

Page 1229: ...BRAKE NONE OFF2 OFF3 Acknowledge IMMEDIATELY Cause A DRIVE CLiQ communication error has occurred from the Sensor Module encoder 2 involved to the Control Unit Data were not able to be sent Fault value r0949 interpret hexadecimal yyxx hex yy component number xx fault cause xx 41 hex Telegram type does not match send list Remedy Carry out a POWER ON Reaction upon N NONE Acknowl upon N NONE Reaction ...

Page 1230: ...O_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction OFF2 IASC DCBRAKE NONE OFF1 OFF3 STOP1 STOP2 Acknowledge IMMEDIATELY Cause The properties of the DRIVE CLiQ component Sensor Module for encoder 2 specified by the fault value have changed in an incompatible fashion with respect to the properties when booted One cause can be e g that a DRIVE CLiQ cable or DRIVE CLiQ component has been replaced Fault v...

Page 1231: ...VO_S110 PN Reaction NONE Acknowledge NONE Cause Error when operating the internal I2C bus Fault value r0949 interpret hexadecimal Only for internal Siemens troubleshooting Remedy replace the Sensor Module if required upgrade the firmware in the Sensor Module contact the Hotline Reaction upon F NONE ENCODER IASC DCBRAKE OFF1 OFF2 OFF3 STOP1 STOP2 Acknowl upon F IMMEDIATELY Reaction upon N NONE Ackn...

Page 1232: ...an or equal to 1000 r0313 p0433 p0432 1000 Reaction upon N NONE Acknowl upon N NONE Reaction upon A NONE Acknowl upon A NONE A32915 F N Encoder 2 Configuration error Message value 1 Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S110 PN Reaction NONE Acknowledge NONE Cause The configuration for encoder 2 is incorrect Alarm value r2124 interpret decimal 1 Re parameterization between fault alarm is...

Page 1233: ... and is correctly connected check the temperature sensor selection in p0600 to p0603 replace the Sensor Module hardware defect or incorrect calibration data Reaction upon F NONE IASC DCBRAKE OFF1 OFF2 OFF3 STOP1 STOP2 Acknowl upon F IMMEDIATELY Reaction upon N NONE Acknowl upon N NONE A32940 F N Sensor 2 Spindle clamping state error Message value 1 Drive object SERVO_S110 CAN SERVO_S110 DP SERVO_S...

Page 1234: ...n of the PROFINET controllers as well as the p8929 and p9601 3 setting Reaction upon F NONE Acknowl upon F IMMEDIATELY A50020 F PROFINET Second controller missing Message value Drive object CU_S110 CAN CU_S110 DP CU_S110 PN Reaction NONE Acknowledge NONE Cause The PROFINET function Shared Device has been activated p8929 2 However only the connection to a PRO FINET controller is present See also p8...

Page 1235: ...knowl upon F IMMEDIATELY A50514 FBLOCKS Sampling time of fixed run time group differs Message value Drive object All objects Reaction NONE Acknowledge NONE Cause The sampling time of a system function was set to a value p0112 p0115 lower than the smallest permissible sam pling time that is allowed for the fixed run time group belonging to this system block 1 ms The fixed run time group involved is...

Page 1236: ...r20003 unlike all the other Control Units is automatically set the same as the PROFIBUS sampling time See also r20008 Hardware sampling times available Remedy correctly set the sampling time of the run time group if required take all of the blocks from the run time group Note Fault F50518 only detects an incorrectly parameterized run time group If after correcting p20000 i in the project this erro...

Page 1237: ...A 1237 Siemens AG 2012 All Rights Reserved SINAMICS S110 List Manual LH7 06 2012 6SL3097 4AP10 0BP3 Appendix A Contents A 1 ASCII table excerpt A 1238 A 2 List for motor code encoder code A 1239 ...

Page 1238: ... selected ASCII characters Table A 1 ASCII table excerpt Character Decimal Hexadecimal Character Decimal Hexadecimal Space 32 20 H 72 48 45 2D I 73 49 0 48 30 J 74 4A 1 49 31 K 75 4B 2 50 32 L 76 4C 3 51 33 M 77 4D 4 52 34 N 78 4E 5 53 35 O 79 4F 6 54 36 P 80 50 7 55 37 Q 81 51 8 56 38 R 82 52 9 57 39 S 83 53 A 65 41 T 84 54 B 66 42 U 85 55 C 67 43 V 86 56 D 68 44 W 87 57 E 69 45 X 88 58 F 70 46 Y...

Page 1239: ... xxxx 104 10423 1PH4133 4NF2x xxxx 104 10407 1PH4133 4xF5x xxxx 104 10424 1PH4135 4NF2x xxxx 104 10409 1PH4135 4xF5x xxxx 104 10425 1PH4137 4NF2x xxxx 104 10411 1PH4137 4xF5x xxxx 104 10426 1PH4138 4NF2x xxxx 104 10413 1PH4163 4NF2x xxxx 104 10416 1PH4163 4xF5x xxxx 104 10427 1PH4163 xxF2x L37 104 10431 1PH4167 4NF2x xxxx 104 10418 1PH4167 4xF5x xxxx 104 10428 1PH4167 xxF2x L37 104 10432 1PH4168 4...

Page 1240: ... xxFxx xxxx 107 10709 1PH7133 xxDxx xLxx 107 12710 1PH7133 xxDxx xxxx 107 10710 1PH7133 xxFxx xLxx 107 12711 1PH7133 xxFxx xxxx 107 10711 1PH7133 xxGxx xLxx 107 12712 1PH7133 xxGxx xxxx 107 10712 1PH7133 xxZxx xxxx N05 107 10767 1PH7135 xxFxx xLxx 107 12713 1PH7135 xxFxx xxxx 107 10713 1PH7137 xxBxx xxxx 107 10766 1PH7137 xxDxx xLxx 107 12714 1PH7137 xxDxx xxxx 107 10714 1PH7137 xxFxx xLxx 107 127...

Page 1241: ... xxGxx xxxx 107 10724 1PH7167 xxZxx N08 107 10778 1PH7184 xxBxx xxxx 107 10725 1PH7184 xxDxx xxxx 107 10735 1PH7184 xxExx xxxx 107 10727 1PH7184 xxFxx xxxx 107 10736 1PH7184 xxLxx xxxx 107 10737 1PH7184 xxTxx xxxx 107 10726 1PH7186 xxBxx xxxx 107 10770 1PH7186 xxDxx xxxx 107 10734 1PH7186 xxExx xxxx 107 10730 1PH7186 xxFxx xxxx 107 10768 1PH7186 xxLxx xxxx 107 10769 1PH7186 xxTxx xxxx 107 10729 1P...

Page 1242: ...xxFxx xxxx 107 10759 1PH7288 xxBxx xxxx 107 10760 1PH7288 xxCxx xxxx 107 10761 1PH7288 xxDxx xxxx 107 10762 1PH7288 xxFxx xxxx 107 10763 1PH8083 1xF0x xxxx 108 10801 1PH8083 1xF1x xxxx 108 10864 1PH8083 1xF2x xxxx 108 10865 1PH8083 1xG0x xxxx 108 10866 1PH8083 1xG1x xxxx 108 10867 1PH8083 1xG2x xxxx 108 10868 1PH8083 1xM0x xxxx 108 10869 1PH8083 1xM1x xxxx 108 10870 1PH8083 1xN0x xxxx 108 10879 1P...

Page 1243: ...1xS1x xxxx 108 10891 1PH8103 1xD0x xxxx 108 10893 1PH8103 1xD1x xxxx 108 10894 1PH8103 1xF0x xxxx 108 10895 1PH8103 1xF1x xxxx 108 10896 1PH8103 1xF2x xxxx 108 10897 1PH8103 1xG0x xxxx 108 10898 1PH8103 1xG1x xxxx 108 10899 1PH8103 1xG2x xxxx 108 11800 1PH8103 1xM0x xxxx 108 11820 1PH8103 1xM1x xxxx 108 11821 1PH8103 1xM2x xxxx 108 11822 1PH8105 1xF0x xxxx 108 11801 1PH8105 1xF1x xxxx 108 11802 1P...

Page 1244: ...1xF0x xxxx 108 10803 1PH8131 1xF1x xxxx 108 10804 1PH8131 1xF2x xxxx 108 10805 1PH8131 1xG2x xxxx 108 10806 1PH8131 1xS0x xxxx 108 10808 1PH8131 1xS0x xxxx 108 10807 1PH8131 1xS1x xxxx 108 10810 1PH8131 1xS1x xxxx 108 10809 1PH8133 1xD0x xxxx 108 10811 1PH8133 1xD1x xxxx 108 10812 1PH8133 1xF0x xxxx 108 10813 1PH8133 1xF1x xxxx 108 10814 1PH8133 1xF2x xxxx 108 10815 1PH8133 1xG0x xxxx 108 10816 1P...

Page 1245: ...1xF2x xxxx 108 10838 1PH8163 1xB0x xxxx 108 11882 1PH8163 1xB1x xxxx 108 11883 1PH8163 1xD0x xxxx 108 11884 1PH8163 1xD1x xxxx 108 11885 1PH8163 1xF0x xxxx 108 11886 1PH8163 1xF1x xxxx 108 11887 1PH8163 1xF2x xxxx 108 11888 1PH8163 1xG0x xxxx 108 11889 1PH8163 1xG1x xxxx 108 11890 1PH8163 1xG2x xxxx 108 11891 1PH8165 1xB0x xxxx 108 11892 1PH8165 1xB1x xxxx 108 11893 1PH8165 1xD0x xxxx 108 11894 1P...

Page 1246: ...1xD2x xxxx 108 10851 1PH8224 1xF2x xxxx 108 10852 1PH8224 1xL2x xxxx 108 10853 1PH8226 1xB2x xxxx 108 10854 1PH8226 1xC2x xxxx 108 10855 1PH8226 1xD2x xxxx 108 10856 1PH8226 1xF2x xxxx 108 10857 1PH8226 1xL2x xxxx 108 10858 1PH8228 1xB2x xxxx 108 10859 1PH8228 1xC2x xxxx 108 10860 1PH8228 1xD2x xxxx 108 10861 1PH8228 1xF2x xxxx 108 10862 1PH8228 1xL2x xxxx 108 10863 1PH8284 1xB2x xxxx 108 11827 1P...

Page 1247: ...1xC1x xxxx 108 11853 1PH8354 1xC4x xxxx 108 11854 1PH8354 1xD1x xxxx 108 11855 1PH8354 1xD4x xxxx 108 11856 1PH8354 1xQ1x xxxx 108 11857 1PH8354 1xQ4x xxxx 108 11858 1PH8356 1xB1x xxxx 108 11859 1PH8356 1xB4x xxxx 108 11860 1PH8356 1xC1x xxxx 108 11861 1PH8356 1xC4x xxxx 108 11862 1PH8356 1xD1x xxxx 108 11863 1PH8356 1xD4x xxxx 108 11864 1PH8356 1xQ1x xxxx 108 11865 1PH8356 1xQ4x xxxx 108 11866 1P...

Page 1248: ...2 All Rights Reserved SINAMICS S110 List Manual LH7 06 2012 6SL3097 4AP10 0BP3 1PH8358 1xQ4x xxxx 108 11874 1PH8358 7xD1x xxxx 108 12809 1PH8358 7xQ4x xxxx 108 11875 Table A 2 Motor code for induction motors continued Order number Motor type p0300 Motor code p0301 ...

Page 1249: ...609 1FK6061 7AF7x xxxx 236 23610 1FK6061 7AH7x xxxx 236 23611 1FK6063 6AF7x xxxx 236 23612 1FK6064 7AF7x xxxx 236 23613 1FK6064 7AH7x xxxx 236 23614 1FK6080 6AF7x xxxx 236 23615 1FK6082 7AF7x xxxx 236 23616 1FK6083 6AF7x xxxx 236 23617 1FK6085 7AF7x xxxx 236 23618 1FK6092 3AC21 1GB0 236 23698 1FK6100 8AF7x xxxx 236 23619 1FK6101 8AF7x xxxx 236 23620 1FK6103 8AF7x xxxx 236 23621 1FK7011 xAK2x xxxx ...

Page 1250: ...AH7x xxxx 237 23708 1FK7060 xAC7x xxxx 237 23754 1FK7060 xAF7x xxxx 237 23709 1FK7060 xAH7x xxxx 237 23710 1FK7060 xBF7x xxxx 237 23766 1FK7061 xAF7x xxxx 237 23711 1FK7061 xAH7x xxxx 237 23712 1FK7062 xAC7x xxxx 237 23755 1FK7062 xAF7x xxxx 237 23767 1FK7062 xAH7x xxxx 237 23756 1FK7062 xBF7x xxxx 237 23750 1FK7063 xAC7x xxxx 237 23757 1FK7063 xAF7x xxxx 237 23713 1FK7063 xAH7x xxxx 237 23714 1FK...

Page 1251: ...AF7x xxxx 237 23731 1FK7086 xSF7x xxxx 237 23730 1FK7092 xAC2x xxxx 236 23697 1FK7093 xAC2x xxxx 236 23699 1FK7100 xAC7x xxxx 237 23762 1FK7100 xAF7x xxxx 237 23723 1FK7101 xAC7x xxxx 237 23745 1FK7101 xAF7x xxxx 237 23724 1FK7103 xAA7x xxxx 237 23773 1FK7103 xAC7x xxxx 237 23746 1FK7103 xAF7x xxxx 237 23725 1FK7105 xAC7x xxxx 237 23728 1FK7105 xAF7x xxxx 237 23729 1FT6021 6AK7x xxxx 206 20601 1FT...

Page 1252: ...AK7x xxxx 206 20620 1FT6064 xWF7x xxxx 206 22604 1FT6064 xWH7x xxxx 206 22605 1FT6064 xWK7x xxxx 206 22606 1FT6081 xAC7x xxxx 206 20621 1FT6081 xAF7x xxxx 206 20622 1FT6081 xAH7x xxxx 206 20623 1FT6081 xAK7x xxxx 206 20624 1FT6082 xAC7x xxxx 206 20625 1FT6082 xAF7x xxxx 206 20626 1FT6082 xAH7x xxxx 206 20627 1FT6082 xAK7x xxxx 206 20628 1FT6082 xWH7x xxxx 206 22630 1FT6084 xAC7x xxxx 206 20629 1FT...

Page 1253: ...AF7x xxxx 206 20638 1FT6102 xAH7x xxxx 206 20639 1FT6105 xAB7x xxxx 206 20640 1FT6105 xAC7x xxxx 206 20641 1FT6105 xAF7x xxxx 206 20642 1FT6105 xSB7x xxxx 206 21607 1FT6105 xSC7x xxxx 206 21608 1FT6105 xSF7x xxxx 206 21609 1FT6105 xSH7x xxxx 206 21610 1FT6105 xWC7x xxxx 206 22613 1FT6105 xWF7x xxxx 206 22614 1FT6108 xAB7x xxxx 206 20643 1FT6108 xAC7x xxxx 206 20644 1FT6108 xAF7x xxxx 206 20645 1FT...

Page 1254: ...xWD7x xxxx 206 22621 1FT6136 xAB7x xxxx 206 20651 1FT6136 xAC7x xxxx 206 20652 1FT6136 xSB7x xxxx 206 21620 1FT6136 xSC7x xxxx 206 21621 1FT6136 xSF7x xxxx 206 21622 1FT6136 xWB7x xxxx 206 22622 1FT6136 xWD7x xxxx 206 22623 1FT6138 xWA7x xxxx 206 22696 1FT6138 xWB7x xxxx 206 22624 1FT6138 xWD7x xxxx 206 22625 1FT6163 xSB7x xxxx 206 21623 1FT6163 xSD7x xxxx 206 21624 1FT6163 xWA7x xxxx 206 22697 1F...

Page 1255: ...WF7x xxxx 207 20747 1FT7064 xWK7x xxxx 207 20748 1FT7065 xSF7x xxxx 207 20781 1FT7065 xSH7x xxxx 207 20782 1FT7065 xWF7x xxxx 207 20770 1FT7065 xWH7x xxxx 207 20771 1FT7066 xAF7x xxxx 207 20722 1FT7066 xAH7x xxxx 207 20733 1FT7066 xWF7x xxxx 207 20749 1FT7066 xWH7x xxxx 207 20750 1FT7067 xSF7x xxxx 207 20783 1FT7067 xSH7x xxxx 207 20784 1FT7067 xWF7x xxxx 207 20772 1FT7067 xWH7x xxxx 207 20773 1FT...

Page 1256: ...AC7x xxxx 207 20736 1FT7086 xAF7x xxxx 207 20714 1FT7086 xAH7x xxxx 207 20715 1FT7086 xSC7x xxxx 207 20792 1FT7086 xSF7x xxxx 207 20793 1FT7086 xSH7x xxxx 207 20794 1FT7086 xWC7x xxxx 207 20758 1FT7086 xWF7x xxxx 207 20759 1FT7086 xWH7x xxxx 207 20760 1FT7087 xSF7x xxxx 207 20778 1FT7087 xSH7x xxxx 207 20779 1FT7087 xWF7x xxxx 207 20769 1FT7087 xWH7x xxxx 207 20780 1FT7087 xWY7x xxxx 207 20768 1FT...

Page 1257: ...WB7x xxxx 207 20742 1FT7108 xWC7x xxxx 207 20766 1FT7108 xWF7x xxxx 207 20767 1PH8131 2xF0x xxxx 200 20001 1PH8131 2xF1x xxxx 200 20002 1PH8131 2xF2x xxxx 200 20003 1PH8131 2xL0x xxxx 200 20004 1PH8131 2xL1x xxxx 200 20005 1PH8131 2xL2x xxxx 200 20006 1PH8133 2xF0x xxxx 200 20007 1PH8133 2xF1x xxxx 200 20008 1PH8133 2xF2x xxxx 200 20009 1PH8133 2xG2x xxxx 200 20010 1PH8133 2xL0x xxxx 200 20011 1PH...

Page 1258: ...xF0x xxxx 200 20053 1PH8165 2xF1x xxxx 200 20054 1PH8165 2xL0x xxxx 200 20055 1PH8165 2xL1x xxxx 200 20056 1PH8166 2xF2x xxxx 200 20057 1PH8166 2xG2x xxxx 200 20058 1PH8166 2xL2x xxxx 200 20059 1PH8166 2xM2x xxxx 200 20060 1PH8167 2xF0x xxxx 200 20061 1PH8167 2xF1x xxxx 200 20062 1PH8167 2xG0x xxxx 200 20063 1PH8167 2xG1x xxxx 200 20064 1PH8167 2xL0x xxxx 200 20068 1PH8167 2xL1x xxxx 200 20069 1PH...

Page 1259: ...20036 1PH8224 2xC2x xxxx 200 20037 1PH8224 2xD2x xxxx 200 20038 1PH8224 2xF2x xxxx 200 20039 1PH8224 2xL2x xxxx 200 20040 1PH8226 2xC2x xxxx 200 20041 1PH8226 2xD2x xxxx 200 20042 1PH8226 2xF2x xxxx 200 20043 1PH8226 2xL2x xxxx 200 20044 1PH8228 2XC2x xxxx 200 20045 1PH8228 2xD2x xxxx 200 20046 1PH8228 2xF2x xxxx 200 20047 1PH8228 2xL2x xxxx 200 20048 Table A 3 Motor code for synchronous motors co...

Page 1260: ...xxxxx xJxx 2054 1FK6xxx xxxxx xSxx 1002 1003 1004 4p 2 speed 6p 3 speed 8p 4 speed The pole number of the resolver cor responds to the pole number of the motor see catalog 1FK6xxx xxxxx xTxx 1001 Table A 5 Encoder code for 1FK7 encoders Order number Encoder code p0400 Comment 1FK7xxx xxxxx xAxx 2001 1FK7xxx xxxxx xExx 2051 1FK7xxx xxxxx xGxx 2052 1FK7xxx xxxxx xHxx 2053 1FK7xxx xxxxx xJxx 2054 1FK...

Page 1261: ...xxxxx xExx 2051 1FT6xxx xxxxx xHxx 2053 1FT6xxx 4xxxx xSxx 1002 4p 2 speed 1FT6xxx 6xxxx xSxx 1003 6p 3 speed 1FT6xxx 8xxxx xSxx 1004 8p 4 speed 1FT6xxx xxxxx xTxx 1001 Table A 7 Encoder code for 1PH4 encoders Order number Encoder code p0400 Comment 1PH4xxx xNxxx xxxx 2002 Table A 8 Encoder code for 1PH7 encoders Order number Encoder code p0400 Comment 1PH7xxx xExxx xxxx 2051 1PH7xxx xHxxx xxxx 30...

Page 1263: ...panel APC Advanced Positioning Control Advanced positioning control AR Automatic Restart Automatic restart ASC Armature Short Circuit Armature short circuit ASCII American Standard Code for Information Interchange American standard code for information interchange ASM Asynchronmotor Induction motor B BB Betriebsbedingung Operating condition BERO Contactless proximity switch BI Binector Input Binec...

Page 1264: ...pply Module CU Control Unit Control Unit CUA Control Unit Adapter Control Unit Adapter CUD Control Unit DC MASTER Control Unit DC MASTER D DAC Digital Analog Converter D A converter DC Direct Current DC current DCB Drive Control Block Drive Control Block DCBRK DC Brake DC brake DCC Drive Control Chart Drive Control Chart DCN Direct Current Negative DC current negative DCP Direct Current Positive D...

Page 1265: ...ild Equivalent circuit diagram ESD Electrostatically Sensitive Devices Electrostatically Sensitive Devices ESD ESR Extended Stop and Retract Extended stop and retract F F Fault Fault FAQs Frequently Asked Questions Frequently asked questions FBL Free Blocks Free function blocks FCC Function Control Chart Function Control Chart FCC Flux Current Control Flux current control FD Function Diagram Funct...

Page 1266: ...short circuit IBN Inbetriebnahme Commissioning ID Identifier 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 circuit breaker with inte grated control ...

Page 1267: ... side converter MSCY_C1 Master Slave Cycle Class 1 Cyclic communication between master Class 1 and slave MSR Motorstromrichter Motor side converter MT Probe Probe N N C Not Connected Not connected N No Report No message or internal message NAMUR Normenarbeitsgemeinschaft für Mess und Regeltechnik in der chemischen Industrie Standardization association for measure ment and control in chemical indus...

Page 1268: ... organization PPI Point to Point Interface Point to point interface PRBS 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 PTC Positive Temperature Coefficient Positive temperature coefficient PTP Point To Point Point to point PWM Pulse Width Modulation Pulse width modulation PZD Prozessdaten ...

Page 1269: ...n direction SE Sicherer Software Endschalter Safe software limit switch SG Sicher reduzierte Geschwindigkeit Safely reduced speed SGA Sicherheitsgerichteter Ausgang Safety related output SGE Sicherheitsgerichteter Eingang Safety related input SH Sicherer Halt Safe standstill SI Safety Integrated Safety Integrated SIL Safety Integrity Level Safety Integrity Level SLM Smart Line Module Smart Line Mo...

Page 1270: ...Transistor Transistor Logic Transistor transistor logic Tv Rate time U UL Underwriters Laboratories Inc Underwriters Laboratories Inc UPS Uninterruptible Power Supply Uninterruptible power supply USV Unterbrechungsfreie Stromversorgung Uninterruptible power supply UTC Universal Time Coordinated Universal time coordinated V VC Vector Control Vector control Vdc DC link voltage VdcN Partial DC link v...

Page 1271: ...B 1271 Siemens AG 2012 All Rights Reserved SINAMICS S110 List Manual LH7 06 2012 6SL3097 4AP10 0BP3 Y Z ZK Zwischenkreis DC link ZM Zero Mark Zero mark ZSW Zustandswort Status word Abbreviation Source of abbreviation Meaning ...

Page 1273: ...05 digital inputs electrically isolated DI 16 DI 19 2 770 2022 CU305 digital inputs electrically isolated DI 20 to DI 22 2 771 2030 CU305 Digital inputs outputs bidirectional DI DO 8 to DI DO 9 2 772 2031 CU305 digital inputs outputs bidirectional DI DO 10 to DI DO 11 2 773 2038 CU305 digital output DO 16 2 774 2040 CU305 Analog input AI 2 775 2410 PROFIBUS PB addresses and diagnostics 2 778 2420 ...

Page 1274: ...n 2 802 2475 STW1 control word 1 interconnection r0108 4 1 2 803 2476 SATZANW Pos block selection interconnection r0108 4 1 2 804 2479 ZSW1 status word 1 interconnection r0108 4 1 2 805 2480 MDIMode interconnection r0108 4 1 2 806 2481 IF1 receive telegram free interconnection via BICO p0922 999 2 807 2483 IF1 send telegram free interconnection via BICO p0922 999 2 808 2495 CU_STW control word Con...

Page 1275: ...F DI 2 2 845 2853 Extended Functions F DO 0 2 846 2855 Extended Functions control interface 2 847 2856 Extended Functions Safe State selection 2 848 2857 Extended Functions assignment F DO 0 2 849 2858 Extended Functions control via PROFIsafe p9601 2 p9601 3 1 2 850 2860 Extended Functions SSM Safe Speed Monitor 2 851 2861 Extended Functions SDI Safe Direction 2 852 3010 Fixed speed setpoints 2 85...

Page 1276: ... signals encoders 1 2 2 888 4730 Encoder interface send signals encoders 1 2 2 889 4735 Reference mark search with equivalent zero mark encoders 1 2 890 4740 Measuring probe evaluation measured value memory encoders 1 to 2 2 891 5020 Speed setpoint filter and speed pre control 2 893 5030 Reference model pre control balancing speed limitation 2 894 5040 Speed controller with encoder 2 895 5042 Spee...

Page 1277: ...4 INT integrator DIF derivative action element 2 931 7270 LVM double sided limit monitor with hysteresis 2 932 7950 Fixed values r0108 16 1 2 934 7951 Fixed values direct selection p2216 1 2 935 7954 Motorized potentiometer r0108 16 1 2 936 7958 Closed loop control r0108 16 1 2 937 8010 Speed signals 1 2 939 8011 Speed signals 2 2 940 8012 Torque signals motor locked stalled 2 941 8014 Thermal mon...

Page 1278: ...C1 x Status commissioning device 1 16 C2 x Status commissioning drive 1 16 Calculated parameter 1 17 Can be changed parameter C1 x C2 x U T 1 16 CANopen interface 2 955 CDS Command Data Set 2 950 2 951 CDS command data set 1 19 CI Connector Input 1 14 CO Connector Output 1 14 CO BO Connector Binector Output 1 14 Command data sets 2 950 Configuring messages 2 944 Connector Input CI 1 14 Output CO 1...

Page 1279: ... words 2 802 Function parameter 1 24 Function diagrams Basic Operator Panel 20 BOP20 Control word BOP20 interconnection 2 963 Function diagrams basic positioner EPOS Control word block selection MDI selection r0108 4 1 2 876 Direct setpoint input MDI mode r0108 4 1 2 872 Direct setpoint input MDI mode dynamic values r0108 4 1 2 871 Flying referencing mode r0108 4 1 p2597 1 signal 2 867 Interpolato...

Page 1280: ...actual value and pole position sensing motor encoder encoder 1 2 887 Function diagrams explanations Explanation of the symbols Part 1 2 754 Explanation of the symbols Part 2 2 755 Explanation of the symbols Part 3 2 756 Handling BICO technology 2 757 Function diagrams free function blocks ADD adder 2 921 AND 2 917 AVA absolute value generator 2 923 BSW binary switch 2 928 DFR D flip flop 2 927 DIF...

Page 1281: ...telegrams and process data 2 780 Manufacturer specific free telegrams and process data 2 781 MDIMode interconnection r0108 4 1 2 806 MELDW status word interconnection 2 794 POS_STW1 positioning control word 1 interconnection r0108 4 1 2 796 POS_STW2 positioning control word 2 interconnection r0108 4 1 2 797 POS_ZSW1 positioning status word 1 interconnection r0108 4 1 2 798 POS_ZSW2 positioning sta...

Page 1282: ...grams servo control Current setpoint filter 2 908 Field current flux input flux reduction flux controller 2 910 Interface to the Motor Module gating signals current actual values 2 911 Iq and Id controller 2 909 Kp_n Tn_n adaptation 2 897 Mode changeover power current limiting 2 906 Motoring generating torque limit 2 904 Reference model pre control balancing speed limitation 2 894 Signaling functi...

Page 1283: ...terminals Control Unit 305 CU305 2 768 Internal control status words 2 813 J Jogging 2 853 2 856 L Line contactor control 2 828 Linked parameter 1 13 List Abbreviations B 1263 ASCII table A 1238 Complete table of contents Contents 9 Encoder code A 1260 Faults and alarms 3 975 List of abbreviations B 1263 Message ranges 3 975 Motor code A 1239 Parameter ranges 1 26 Parameters for command data sets ...

Page 1284: ... 1 17 PDS Power unit Data Set 1 19 2 950 PID controller p0108 16 1 2 933 Position control 2 880 Power unit data sets 2 950 Process data 2 776 Product information Preface 6 PROFIdrive 2 776 pxxxx 1 13 R Ramp function generator 2 853 Reaction to faults 3 967 Resetting faults 3 972 rxxxx 1 13 S Safety Integrated Basic Functions 2 834 Extended Functions 2 834 Safety notices parameter 1 24 Scaling 1 23...

Page 1285: ...2 938 Torque signals 2 938 Triggering when messages are issued r2129 2 944 U U Status Run 1 16 U f control Servo 2 900 Unit parameter 1 20 Usage phases Preface 6 V Values parameter 1 24 Vector control Encoder evaluation 2 885 Version List of all parameters 1 29 List of faults and alarms 3 975 List of parameters for command data sets 1 733 List of parameters for drive data sets 1 735 List of parame...

Page 1287: ......

Page 1288: ...Siemens AG Industry Sector Drive Technologies Motion Control Systems Postfach 3180 91050 ERLANGEN GERMANY Subject to change without prior notice Siemens AG 2012 www siemens com motioncontrol ...

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