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Function modules

8.15 Cogging torque compensation

Drive functions
Function Manual, 11/2017, 6SL3097-4AB00-0BP5

629

8.15.2

Commissioning

Activate cogging torque compensation function module

1.

Activate the “Cogging torque compensation” function module using the commissioning

Wizards in the STARTER.
- OR -

2.

Open the configuration of the drive unit (“Configuration” > “Function module / Technology

package”) and activate the option “Cogging torque compensation” in the dialog “Object

properties”.

You can check that it has been activated in parameter r0108.22.

Activate cogging torque compensation

1.

To activate cogging torque compensation, set p5250.0 to 1.
With this setting, only a table independent of the direction of motion is used for the

cogging torque compensation (p5260).

2.

If you want to use your own table for each motion direction of the Cogging torque

compensation, also set p5250.1 to 1.
With this setting, each direction of motion uses its own table.
The compensation values are stored in p5260 (positive direction) and p5261 (negative

direction).

Note
If this option is activated, no additional learning is possible (p5251.1 = 1).

If you deactivate this option with p5250.1 = 0, table p5260 is once again used for both

directions.

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Summary of Contents for SINAMICS S120

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Page 3: ...__ ___________________ SINAMICS S120 Drive functions Function Manual Valid as of Firmware version 5 1 11 2017 6SL3097 4AB00 0BP5 Preface Fundamental safety instructions 1 Infeed 2 Extended setpoint channel 3 Servo control 4 Vector control 5 V f control vector control 6 Basic functions 7 Function modules 8 Monitoring functions and protective functions 9 Safety Integrated Basic Functions 10 Communic...

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

Page 5: ...tion e g suggestions for improvement corrections to the following e mail address mailto docu motioncontrol siemens com Siemens MySupport Documentation At the following address https support industry siemens com My ww en documentation you can find information on how to create your own individual documentation based on Siemens content and adapt it for your own machine documentation Training At the f...

Page 6: ...Units Liquid cooled SINAMICS S120 Manual for AC Drives SINAMICS S120 Manual Combi SINAMICS S120M Manual Distributed Drive Technology SINAMICS HLA System Manual Hydraulic Drive Commissioning STARTER Commissioning Tool Startdrive commissioning tool SINAMICS S120 Getting Started with STARTER SINAMICS S120 Getting Started with Startdrive SINAMICS S120 Commissioning Manual with STARTER SINAMICS S120 Co...

Page 7: ...these functions when the equipment is first supplied or in the event of service The documentation can also contain descriptions of functions that are not available in a particular product version of the drive system The functionality of the supplied drive system should only be taken from the ordering documentation Extensions or changes made by the machine manufacturer must be documented by the mac...

Page 8: ... 1 Adjustable parameter 1070 index 1 p2098 1 3 Adjustable parameter 2098 index 1 bit 3 p0099 0 3 Adjustable parameter 99 indices 0 to 3 r0945 2 3 Display parameter 945 index 2 of drive object 3 p0795 4 Adjustable parameter 795 bit 4 Use of OpenSSL This product contains software https www openssl org that has been developed by the OpenSSL project for use in the OpenSSL toolkit This product contains...

Page 9: ...at 39 2 1 8 Function diagrams and parameters 40 2 2 Smart Infeed 43 2 2 1 Line supply and DC link identification routine for Smart Infeed Booksize 45 2 2 2 Extended Smart Mode 46 2 2 3 Smart Infeed open loop control 46 2 2 4 Function diagrams and parameters 49 2 3 Basic Infeed 51 2 3 1 Basic Infeed open loop control 53 2 3 2 Function diagrams and parameters 56 2 4 Line contactor control 57 2 5 Pre...

Page 10: ... Function diagrams and parameters 110 4 7 Current controller 112 4 8 Autotuning 115 4 8 1 One button tuning 116 4 8 2 Online tuning 120 4 8 2 1 Drive based online tuning 120 4 8 2 2 Automatic pre assignment and adaptation during operation 123 4 8 2 3 Application examples 125 4 8 2 4 Problem handling 126 4 8 3 Current setpoint filter adaptation 127 4 8 3 1 Activating deactivating the current setpoi...

Page 11: ...01 5 Vector control 203 5 1 Technological application 208 5 2 Vector control without encoder SLVC 209 5 2 1 Three phase induction motor 209 5 2 2 Torque setpoint setting 210 5 2 3 Passive loads 212 5 2 4 Blocking drives 213 5 2 5 Active loads 213 5 2 6 Permanent magnet synchronous motors 214 5 2 7 Synchronous reluctance motors 214 5 2 7 1 Overview 214 5 2 7 2 Closed loop controlled operation down ...

Page 12: ...netization for induction motors 267 5 17 Flying restart 271 5 17 1 Fast flying restart 273 5 17 2 Flying restart for a synchronous reluctance motor 275 5 17 3 Messages and parameters 276 5 18 Synchronization 277 5 19 Voltage Sensing Module 279 5 20 Simulation mode 281 5 21 Redundancy mode power units 282 5 22 Bypass 283 5 22 1 Overview 283 5 22 2 Bypass with synchronization with overlap 284 5 22 3...

Page 13: ...8 7 12 5 Function diagrams and parameters 348 7 13 Motor Module as a Braking Module 350 7 13 1 Features 350 7 13 2 Configuring resistors 351 7 13 3 Activating the Braking Module function 354 7 13 4 Protective equipment 356 7 13 5 Overview of the important parameters 357 7 14 OFF3 torque limits 358 7 15 Technology function friction characteristic 359 7 16 Simple brake control 361 7 17 Runtime opera...

Page 14: ...5 2 Updating the firmware via the Web server 410 7 25 2 1 Overview 410 7 25 2 2 Updating firmware configuration on the memory card 411 7 25 3 Updating the firmware 413 7 25 4 Downgrade lock 415 7 25 5 Protection against power failure while updating via the Web server 415 7 26 Extended service mode for CU310 2 connected to blocksize power units 417 7 26 1 Overview 417 7 26 2 Configuring the essenti...

Page 15: ...xtended monitoring functions 472 8 3 Extended Brake Control 474 8 4 Braking Module External 480 8 5 Cooling unit 483 8 6 Extended torque control kT estimator servo 485 8 7 Position control 488 8 7 1 General features 488 8 7 2 Position actual value conditioning 488 8 7 2 1 Features 488 8 7 2 2 Description 488 8 7 2 3 Indexed actual value acquisition 491 8 7 2 4 Load gear position tracking 493 8 7 2...

Page 16: ... 4 ESR responses 578 8 11 4 1 Extended stopping 578 8 11 4 2 Extended retract 578 8 11 4 3 Regenerative operation 580 8 11 5 Restrictions for ESR 580 8 11 6 PROFIdrive telegram for ESR 581 8 11 7 Function diagrams and parameters 581 8 12 Moment of inertia estimator 583 8 12 1 Introduction 583 8 12 2 Commissioning 587 8 12 3 Supplementary functions of the moment of inertia estimator for vector cont...

Page 17: ...0 653 9 5 7 Terminal Module 150 655 9 5 7 1 Measurement with up to 6 channels 657 9 5 7 2 Measurement with up to 12 channels 657 9 5 7 3 Forming groups of temperature sensors 658 9 5 7 4 Evaluating temperature channels 658 9 5 7 5 Setting the smoothing time for temperature channels 659 9 5 8 Motor Module Power Module chassis format 660 9 5 9 Connection of the CU310 2 and the CUA31 CUA32 adapters 6...

Page 18: ...18 10 11 1 2 Content of the partial acceptance test 719 10 11 1 3 Test scope for specific measures 721 10 11 2 Safety logbook 722 10 11 3 Documentation 722 10 11 3 1 Machine description and overview diagram 722 10 11 3 2 SI functions for each drive 723 10 11 4 Acceptance tests 724 10 11 4 1 General information about acceptance tests 724 10 11 4 2 Acceptance test for Safe Torque Off STO 725 10 11 4...

Page 19: ...munication 794 11 2 4 3 Commissioning PROFIBUS slave to slave communication 796 11 2 4 4 Diagnosing the PROFIBUS slave to slave communication in STARTER 801 11 2 5 Messages via diagnostics channels 802 11 3 Communication via PROFINET IO 804 11 3 1 General information about PROFINET IO 804 11 3 1 1 Real time RT and isochronous real time IRT communication 805 11 3 1 2 Addresses 806 11 3 1 3 Dynamic ...

Page 20: ...s Write parameter 869 11 4 7 Communication procedure 870 11 4 8 Messages and parameters 871 11 5 Communication via EtherNet IP 873 11 5 1 Overview 873 11 5 2 Connect drive device to Ethernet IP 873 11 5 3 Requirements for communication 875 11 5 4 Configuring communication 875 11 5 5 Supported objects 876 11 5 6 Integrate the drive device into the Ethernet network via DHCP 886 11 5 7 Messages and p...

Page 21: ... license key 945 13 3 5 Displaying entering the License Key 947 13 3 6 Messages and parameters 949 13 4 BICO technology Interconnecting signals 950 13 4 1 Binectors connectors 950 13 4 2 Interconnecting signals using BICO technology 951 13 4 3 Internal coding of the binector connector output parameters 952 13 4 4 Sample interconnections 953 13 4 5 Notes on BICO technology 954 13 4 6 Scaling 955 13...

Page 22: ...components 1001 13 12 System rules sampling times and DRIVE CLiQ wiring 1004 13 12 1 Overview of system limits and system utilization 1004 13 12 2 System rules 1005 13 12 3 Rules on the sampling times 1007 13 12 3 1 Rules when setting the sampling times 1007 13 12 3 2 Rules for isochronous mode 1009 13 12 3 3 Default settings for the sampling times 1011 13 12 3 4 Setting the pulse frequency 1012 1...

Page 23: ...xample topologies Drives in servo control 1050 A 3 4 1 Example Sampling time 125 µs 1050 A 3 4 2 Examples Sampling time 62 5 µs and 31 25 µs 1051 A 3 5 Topology example Drives in V f control vector control 1052 A 4 Parameterization using the BOP20 1053 A 4 1 General information about the BOP20 1053 A 4 2 Displays and using the BOP20 1056 A 4 3 Fault and alarm displays 1061 A 4 4 Controlling the dr...

Page 24: ...Contents Drive functions 24 Function Manual 11 2017 6SL3097 4AB00 0BP5 ...

Page 25: ...severe injuries or death can occur Observe the safety instructions given in the hardware documentation Consider the residual risks for the risk evaluation WARNING Malfunctions of the machine as a result of incorrect or changed parameter settings As a result of incorrect or changed parameterization machines can malfunction which in turn can lead to injuries or death Protect the parameterization par...

Page 26: ...do not claim to be complete regarding configuration equipment or any eventuality which may arise The application examples do not represent specific customer solutions but are only intended to provide support for typical tasks You are responsible for the proper operation of the described products These application examples do not relieve you of your responsibility for safe handling when using insta...

Page 27: ...out industrial security please visit Industrial security http www siemens com industrialsecurity Siemens products and solutions undergo continuous development to make them more secure Siemens strongly recommends to apply product updates as soon as available and to always use the latest product versions Use of product versions that are no longer supported and failure to apply latest updates may inc...

Page 28: ...Fundamental safety instructions 1 3 Industrial security Drive functions 28 Function Manual 11 2017 6SL3097 4AB00 0BP5 ...

Page 29: ...r failure i e when energy cannot be fed back to the line supply When feeding in with the Active Line Module a line reactor or an Active Interface Module is required Basic Line Module Basic Line Modules are only suitable for infeed operation i e they cannot feed regenerative energy back into the grid If regenerative energy accrues e g when braking the drives it must be converted to heat via a Braki...

Page 30: ...ve Line Modules in chassis format Description The Active Infeed closed loop control works in conjunction with the line reactor or an Active Interface Module and the Active Line Module as step up controller The level of the DC link voltage can be defined through parameters and by means of the control it is independent of line voltage fluctuations The open and closed loop control firmware of the Act...

Page 31: ...d line supply voltage p0210 Active Mode In the Active Mode the DC link voltage is regulated to a variable setpoint p3510 which results in a sinusoidal line current cos φ 1 The level of the reactive current is also controlled and can be specifically defined Smart Mode Energy recovery capability is maintained in Smart Mode although there is a lower DC link voltage in comparison to the Active Mode Th...

Page 32: ...M10 to sense the line voltage drives can also be operated in systems with significant frequency fluctuations beyond the range defined in IEC 61000 2 4 if certain supplementary conditions are met Significant frequency fluctuations may occur e g in isolated diesel electric systems but not in large interconnected systems such as the European interconnected supply network In non European countries e g...

Page 33: ... via the binector input p3533 Note When a Wideband Line Filter is connected it must be parameterized with p0220 1 5 The temperature sensor must be connected to terminal X21 of the Active Line Module The DC link voltage p3510 can be set within the following limits Upper limit Maximum DC link voltage p0280 Product of line voltage p0210 and max step up factor r3508 Lower limit Supply voltage p0210 mu...

Page 34: ...using the line DC link identification routine p3410 While the identification routine is running it is not permissible that other loads are switched in switched out Note In a supply system without regenerative feedback capability e g generators regenerative operation must be inhibited via the binector input p3533 The DC link voltage p3510 can be set within the following limits Upper limit Maximum D...

Page 35: ...ed out Identification methods For additional identification methods see the SINAMICS S120 S150 List Manual p3410 4 Identify and save controller setting with L adaptation An identification run for the total inductance and DC link capacitance is initiated when the pulses are next enabled 2 measuring routines with different current magnitudes Data determined during identification r3411 and r3412 is e...

Page 36: ...e missing enable signals for operation r0002 00 are mapped in parameter r0046 The EP terminals enable pulses must be connected in accordance with the manual of the corresponding power units The drive unit must have been commissioned for the first time Acknowledging faults Faults that are still present but the causes of which have been rectified can be acknowledged using a 0 1 edge at the 1st ackno...

Page 37: ...drives to be braked in a controlled manner Before the infeed is switched off the drives connected to the DC link should be in pulse inhibit mode Control and status messages Table 2 2 Active Infeed open loop control Signal name Internal control word Binector input Display of internal control word PROFIdrive telegram 370 ON OFF1 STWAE 0 p0840 ON OFF1 r0898 0 E_STW1 0 OFF2 STWAE 1 p0844 1 OFF2 and p0...

Page 38: ...point p3610 and the dynamic setpoint via the connector input p3611 The direction of rotation of the line supply is compensated automatically with reactive current control A negative reactive current setpoint causes an inductive reactive current overexcited operation A positive reactive current setpoint generates a capacitive reactive current underexcited operation The closed loop control limits th...

Page 39: ...p3624 p3625 0 5 100 1 7 100 The phase currents in parameter p0069 0 2 U V W can be checked using the trace function of the commissioning tool 2 1 7 Parameterizable bandstop filters for Active Infeed Controls in chassis format Parameterizable bandstop filters that can be used to dampen system resonance are available for the current control loop The main application for these bandstop filters is in ...

Page 40: ...cies for the numerator and the denominator may need to be adapted You can configure the bandstop filters for the Active Infeed using the following parameters Negative phase sequence system control p3639 ff Fixed setpoints p2900 ff Output voltage setpoint filter activation with p5200 0 1 Actual current value filter activation with p5200 2 1 Vdc actual value filter activation with p1656 4 1 2 1 8 Fu...

Page 41: ... r0899 0 12 CO BO Status word sequence control infeed r2138 7 15 CO BO Control word faults alarms r2139 0 15 CO BO Status word faults alarms 1 p3400 Infeed configuration word r3405 0 7 CO BO Infeed status word p3410 Infeed identification method r3411 0 1 Infeed inductance identified r3412 0 1 Infeed DC link capacitance identified p3508 Infeed step up factor maximum p3510 Infeed DC link voltage set...

Page 42: ...value 1 p2901 CO Fixed value 2 fixed value 2 p5200 Signal filter activation p5201 Output voltage setpoint filter 5 type p5202 Output voltage setpoint filter 5 denominator natural frequency p5203 Output voltage setpoint filter 5 denominator damping p5204 Output voltage setpoint filter 5 numerator natural frequency p5205 Output voltage setpoint filter 5 numerator damping p5211 Current actual value f...

Page 43: ...For Smart Line Modules with a power 16 kW Unregulated DC link voltage Regenerative feedback capability Description The firmware of the Smart Line Module is located on the assigned Control Unit The Smart Line Module and Control Unit communicate via DRIVE CLiQ Figure 2 4 Schematic structure of Smart Infeed booksize ...

Page 44: ...e p0210 must be parameterized during commissioning The Extended Smart Mode can be activated as an option see Chapter Extended Smart Mode Page 46 Note In a supply system without regenerative feedback capability e g generators the regenerative operation of the infeed must be deactivated via the binector input p3533 Smart Line Modules do not support kinetic buffering in generator mode ...

Page 45: ...methods Identification method Description p3410 4 An identification run for the total inductance and DC link capacitance is initiated when the pulses are next enabled 2 measuring routines with different current mag nitudes Data determined during the identification routine r3411 and r3412 is entered into p3421 and p3422 and the controller is recalculated At the same time the parameters for current ...

Page 46: ...on Extended Smart Mode does not work with a Smart Line Module 5 and 10 kW Activating the Extended Smart Mode 1 Precondition The Smart Mode is active p3400 0 1 2 Activate the Extended Smart Mode with p3440 1 1 All other adjustable parameters p3441 and following are appropriately preset for standard applications or are automatically optimized with the first operating enable p3440 2 0 2 2 3 Smart Inf...

Page 47: ...Infeed 2 2 Smart Infeed Drive functions Function Manual 11 2017 6SL3097 4AB00 0BP5 47 Switching on the Smart Line Module Figure 2 6 Smart Infeed power up ...

Page 48: ...d by the time entered in p3490 This allows the attached drives to be braked in a controlled manner Control and status messages Table 2 5 Smart Infeed open loop control Signal name Internal control word Binector input Display of internal control word PROFIdrive telegram 370 ON OFF1 STWAE 0 p0840 BI ON OFF1 r0898 0 E_STW1 0 OFF2 STWAE 1 p0844 BI 1 OFF2 and p0845 BI 2 OFF2 r0898 1 E_STW1 1 Enable ope...

Page 49: ...9 9 E_ZSW1 9 Precharging completed ZSWAE 11 r0899 11 E_ZSW1 11 Line contactor closed ZSWAE 12 r0899 12 E_ZSW1 12 2 2 4 Function diagrams and parameters Function diagrams see SINAMICS S120 S150 List Manual 8810 Smart Infeed overview 8820 Smart Infeed Control word sequence control infeed 8826 Smart Infeed Status word sequence control infeed 8828 Smart Infeed Status word infeed 8832 Smart Infeed Sequ...

Page 50: ... down coast down p0852 BI Enable operation disable operation r0898 0 10 CO BO Control word sequence control infeed r0899 0 12 CO BO Status word sequence control infeed r2138 7 15 CO BO Control word faults alarms r2139 0 15 CO BO Status word faults alarms 1 p3400 Infeed configuration word r3405 0 7 CO BO Infeed status word p3410 Infeed identification method p3421 Infeed inductance p3422 Infeed DC l...

Page 51: ...sic Line Modules with temperature monitoring Description The Basic Infeed open loop control can be used to switch on off the Basic Line Module The Basic Line Module is an unregulated infeed unit without regenerative feedback capability The open loop control firmware for the Basic Line Module is on the assigned Control Unit The Basic Line Module and Control Unit communicate via DRIVE CLiQ Figure 2 ...

Page 52: ... An optional Braking Module can be externally mounted on the Basic Line Module chassis A braking resistor must then be connected to the Braking Module If several Motor Modules are supplied from a non regenerative infeed unit e g a Basic Line Module or for power failure or overload for SLM ALM the Vdc_max control may only be activated for a Motor Module whose drive should have a high moment of iner...

Page 53: ...celerate in an uncontrolled fashion which can lead to death or severe injury Only activate the Vdc_max control for the Motor Module whose drive has the highest moment of inertia Inhibit this function for all other Motor Modules or set this function to monitoring only 2 3 1 Basic Infeed open loop control The Basic Line Module can be controlled via a BICO interconnection e g using terminals or field...

Page 54: ...g on the Basic Line Module Figure 2 9 Basic Infeed power up Note Under the condition that the drive system was commissioned with STARTER and no PROFIdrive telegram was activated the infeed can be powered up by issuing an enable signal at the EP terminals and a positive signal edge at OFF1 p0840 ...

Page 55: ...nowledge fault STWAE 7 p2103 BI 1st acknowledge faults or p2104 BI 2nd acknowledge faults or p2105 BI 3rd acknowledge faults r2138 7 E_STW1 7 Master control by PLC STWAE 10 p0854 BI Master control by PLC r0898 10 E_STW1 10 Table 2 8 Basic Infeed status message Signal name Internal status word Parameter PROFIdrive telegram 370 Ready to start ZSWAE 0 r0899 0 E_ZSW1 0 Ready ZSWAE 1 r0899 1 E_ZSW1 1 O...

Page 56: ... signals actual values 8760 Basic Infeed Signals and monitoring functions p3400 0 0 Overview of important parameters see SINAMICS S120 S150 List Manual r0002 Infeed operating display r0046 0 29 CO BO Missing enable signals p0210 Device supply voltage p0840 BI ON OFF OFF1 p0844 BI No coast down coast down OFF2 r0898 0 10 CO BO Control word sequence control infeed r0899 0 12 CO BO Status word sequen...

Page 57: ...line contactor can be controlled via r0863 1 with the following drive objects for the INFEED drive object for the SERVO and VECTOR drive objects Note Further information on the line connection can be found in the manuals Example of commissioning line contactor control Assumption Line contactor control via a digital output of the Control Unit DI DO 8 Line contactor feedback via a digital input of t...

Page 58: ...n parameter p0738 the control signal for the line contactor r0863 1 4 Connect the line contactor feedback contact to DI DO 9 5 Assign p0860 an inverted input signal r0723 9 6 Enter the monitoring time for the line contactor 100 ms in p0861 Function diagrams see SINAMICS S120 S150 List Manual 8938 Active Infeed Missing enables line contactor control Overview of important parameters see SINAMICS S12...

Page 59: ...arging is integrated in the Smart Line Module itself although the bypass contactor must be provided externally Unlike Basic Line Modules in frame sizes FB and GB a Basic Line Module in frame size GD requires a separate precharging circuit The bypass contactor must be designed as circuit breaker The precharging circuit comprises a precharging contactor and precharging resistors the circuit must be ...

Page 60: ...Infeed 2 5 Precharging and bypass contactor chassis Drive functions 60 Function Manual 11 2017 6SL3097 4AB00 0BP5 ...

Page 61: ...ol can be deactivated Deceleration ramp OFF1 via p1121 D The deceleration ramp in p1121 is also effective when the Extended setpoint channel is deactivated Deceleration ramp OFF3 via p1135 D For PROFIdrive telegrams 2 to 103 and 999 only free assignment STW 1 bit 5 freeze ramp function generator no function 3 1 1 Activating the function module for servo control In servo control the extended setpoi...

Page 62: ...e conditioned for motor control The setpoint for the motor control can also come from the technology controller see Chapter Technology controller Page 467 Figure 3 1 Extended setpoint channel Properties of the extended setpoint channel Main supplementary setpoint setpoint scaling Direction limitation and direction reversal Suppression bandwidths and setpoint limitation Ramp function generator ...

Page 63: ...ted from various sources using BICO technology e g at p1070 CI Main setpoint see function diagram 3030 There are various options for setpoint input Fixed speed setpoints Motorized potentiometer Jog Fieldbus Setpoint via PROFIBUS for example Analog inputs of the following exemplary components e g Terminal Board 30 TB30 e g Terminal Module 31 TM31 e g Terminal Module 41 TM41 ...

Page 64: ...o adjust the input setpoint p1035 BI Motorized potentiometer setpoint raise p1036 BI Motorized potentiometer setpoint lower Invert setpoint p1039 Configurable ramp function generator e g Ramp up ramp down time p1047 p1048 referred to p1082 Setting value p1043 p1044 Activate deactivate initial rounding p1030 2 1 0 Non volatile storage of the setpoints via p1030 3 1 Configurable setpoint for Power O...

Page 65: ...ized potentiometer configuration p1035 0 n BI Motorized potentiometer setpoint raise p1036 0 n BI Motorized potentiometer setpoint lower p1037 0 n Motorized potentiometer maximum speed p1038 0 n Motorized potentiometer minimum speed p1039 0 n BI Motorized potentiometer inversion p1040 0 n Motorized potentiometer start value p1041 0 n BI Motorized potentiometer manual automatic p1042 0 n CI Motoriz...

Page 66: ...d binector inputs have the same effect as a 0 signal Parameterization with STARTER In the STARTER commissioning tool the Fixed setpoints parameterizing screen form in the project navigator under the relevant drive is called by double clicking Setpoint channel Fixed setpoints Function diagrams see SINAMICS S120 S150 List Manual 3001 Setpoint channel overview 3010 Setpoint channel Fixed speed setpoi...

Page 67: ...ddition point for the main supplementary setpoint in the setpoint channel Both variables are imported via two separate sources and added in the setpoint channel Figure 3 2 Setpoint addition setpoint scaling Parameterization with STARTER The Speed setpoint parameterizing screen form is selected with the icon in the toolbar of the STARTER commissioning tool Function diagrams see SINAMICS S120 S150 L...

Page 68: ...e a machine part e g a conveyor belt The Jog mode can also be used to move a drive into the required position independent of the sequence The jog mode can be selected via digital inputs or fieldbus e g PROFIBUS This means that the setpoint is specified via p1058 0 n and p1059 0 n When a jog signal is present the motor is accelerated to the jog setpoint with the acceleration ramp of the ramp functi...

Page 69: ...usly ON OFF1 has priority Therefore ON OFF1 1 must not be active for jog to be activated OFF2 and OFF3 have priority over jog The switch on command is issued via p1055 and p1056 The jog speed is defined via p1058 and p1059 The following applies in Jog mode The main speed setpoints r1078 are disabled The supplementary setpoint 1 p1155 is disabled The supplementary setpoint 2 p1160 is forwarded and ...

Page 70: ...Extended setpoint channel 3 4 Speed setpoint Drive functions 70 Function Manual 11 2017 6SL3097 4AB00 0BP5 Sequence Figure 3 5 Jog sequence ...

Page 71: ...ted automatically in telegrams 7 9 110 and 111 only Table 3 2 Jog status message Signal name Internal status word Parameter PROFIdrive Siemens telegram 1 352 Ready to start ZSWA 0 r0899 0 ZSW1 0 Ready ZSWA 1 r0899 1 ZSW1 1 Operation enabled ZSWA 2 r0899 2 ZSW1 2 Switching on inhibited ZSWA 6 r0899 6 ZSW1 6 Pulses enabled ZSWA 11 r0899 11 ZSW2 102 2 Only available in Interface Mode p2038 0 Paramete...

Page 72: ...irection of rotation limiting and direction reversal A reversing operation involves a direction of rotation reversal Selecting setpoint inversion p1113 C can reverse the direction of rotation in the setpoint channel Parameter p1110 C or p1111 C can be set respectively to prevent input of a negative or positive setpoint via the setpoint channel However the following settings for minimum speed p1080...

Page 73: ...ted with the icon in the toolbar of the STARTER commissioning tool Function diagrams see SINAMICS S120 S150 List Manual 3001 Setpoint channel overview 3040 Setpoint channel Direction limitation and direction reversal Overview of important parameters see SINAMICS S120 S150 List Manual p1110 0 n BI Block negative direction p1111 0 n BI Block positive direction p1113 0 n BI Setpoint inversion ...

Page 74: ...event operation in the resonance frequency range The limit frequencies can be set via p1080 D and p1082 D Further using connectors p1085 C and p1088 C it is possible to influence these limits in operation Figure 3 7 Skip frequency bands setpoint limitation minimum speed Minimum speed Using parameter p1106 0 n a minimum speed n_min s_src or minimum velocity can be set which is wired via BICO Parame...

Page 75: ... n Minimum speed p1082 0 n Maximum speed p1083 0 n CO Speed limit in positive direction of rotation r1084 CO Speed limit positive effective p1085 0 n CI Speed limit in positive direction of rotation p1086 0 n CO Speed limit in negative direction of rotation r1087 CO Speed limit negative effective p1088 0 n CI Speed limit in negative direction of rotation p1106 0 n CI Minimum speed signal source r1...

Page 76: ... a reference value for calculating the ramps from the ramp up and ramp down time For a quick stop OFF3 a special adjustable ramp is available via the ramp down time p1135 0 n e g for quick controlled stopping after an EMERGENCY OFF button has been pressed There are two types of ramp function generator Basic ramp function generator with Ramp up and ramp down Ramp down for quick stop OFF3 Tracking c...

Page 77: ... mode r0046 31 1 Properties of the extended ramp function generator Figure 3 9 Extended ramp function generator Ramp up time Tup p1120 0 n Ramp down time Tdn p1121 0 n Initial rounding IR p1130 0 n Final rounding FR p1131 0 n Effective ramp up time Tup_eff Tup IR 2 FR 2 Effective ramp down time Tdn_eff Tdn IR 2 FR 2 OFF3 ramp down OFF3 ramp down time p1135 0 n OFF3 initial rounding p1136 0 n OFF3 ...

Page 78: ...tion generator is set The ramp times can be changed independently of one another in a cyclic PROFIdrive telegram If the ramp up time and the ramp down time are to be changed together then the scaling factor transferred in the PROFIdrive telegram is connected to both connectors The scaling also affects the initial and final rounding However it does not have the same effect as in the acceleration ra...

Page 79: ...rque limit is approached The ramp function generator output thereby only exceeds the actual speed value by a deviation value that can be defined in p1145 t1 and t2 almost identical Note Smaller motors For smaller motors and depending on the controller settings required for the application there may still be a greater deviation between the setpoint and the actual value In this case any sudden cance...

Page 80: ... on the speed setpoint with a flattened ramp to the torque current limit Figure 3 11 Standard ramp function generator tracking At the times t1 and t3 an overload torque MOvl starts to act on the drive in addition to the load torque ML The torque limit of the drive is exceeded For t1 the drive is being ramped up along specified ramp function generator ramp The additional torque prevents the further...

Page 81: ... on the specified ramp function generator ramp when the torque falls again to ML t2 and t4 2 versions can be used for the extended ramp function generator tracking The ramp function generator tracking is always active p1151 1 1 For load surges the output of the ramp function generator is tracked to the actual value The tracking ends for setpoint zero The ramp function generator tracking is always ...

Page 82: ...amp down time p1122 0 n BI Bypass ramp function generator p1130 0 n Ramp function generator initial rounding time p1131 0 n Ramp function generator final rounding time p1134 0 n Ramp function generator rounding type p1135 0 n OFF3 ramp down time p1136 0 n OFF3 initial rounding time p1137 0 n OFF3 final rounding time p1138 0 n CI Ramp function generator ramp up time scaling p1139 0 n CI Ramp functi...

Page 83: ...ntrol However for servo control the vector model is optimized according to other criteria In favor of maximum dynamic performance a small deterioration in the control accuracy and control quality is taken into consideration Characteristics of the servo control Maximum computing speed Shortest sampling times Maximum dynamic performance Preferably used with permanent magnet synchronous motors with t...

Page 84: ... Rules for wiring with DRIVE CLiQ Page 1014 in this document below 1 infeed 6 drives with current controller sampling times 125 μs or speed controller sampling times 125 μs 1 infeed 3 drives with current controller sampling times 62 5 μs or speed controller sampling times 62 5 μs 1 infeed 1 drive with current controller sampling times 31 25 μs or speed controller sampling times 62 5 μs Mixed opera...

Page 85: ...us motors of the 1FT6 1FK6 and 1FK7 series cannot be connected Position interface via PROFIdrive for higher level motion control Yes Yes Encoderless speed control Yes as of 10 rated motor speed open loop controlled operation below this Yes for ASM and PMSM from standstill Motor data identification Yes Yes Speed controller sampling time optimization Yes Yes V f control Yes Yes various characteristi...

Page 86: ...using dv dt and sine wave filters 150 Hz Response when operating at the thermal limit of the motor Reduction of the current setpoint or shut down Reduction in the pulse frequency and or the current setpoint or shutdown not applicable with parallel connection sine wave filter Speed setpoint channel ramp function generator Optional reduces the number of drives from 6 to 5 Motor Modules with current ...

Page 87: ...gical applications Value p0500 Application 100 Standard drive SERVO 101 Feed drive limit current limitation 102 Encoderless control down to f 0 passive loads An overview of the influenced parameters and the set values is provided in the SINAMICS S120 S150 List Manual Calculation You call the calculation of the parameters which influence the technological application as follows When exiting quick c...

Page 88: ...mentary speed setpoint can through setpoint addition minimize disturbing influences on the speed setpoint from the position control Figure 4 1 Setpoint addition Interpolator When using a speed setpoint from a higher level control system the speed setpoints are only refreshed updated in the bus cycle The bus cycle is normally significantly slower than the current controller cycle of the SINAMICS dr...

Page 89: ...3 ramp down time 3 To activate the interpolator for the down ramp in the drop down list for p1189 0 select Yes The parameters for the down ramp are only displayed if the extended setpoint channel is deactivated Function diagrams see SINAMICS S120 S150 List Manual 3080 Setpoint channel ramp function generator selection status word tracking Overview of important parameters see SINAMICS S120 S150 Lis...

Page 90: ...point filters are identical in structure and can be set via parameters p1415 0 n filter 1 and p1421 0 n filter 2 as follows Bandstop Low pass 1st order PT1 Low pass 2nd order PT2 Figure 4 2 Filter overview for speed setpoint filters Activating and parameterizing the speed setpoint filters via the expert list You can activate 2 speed setpoint filters in the STARTER expert list using parameter p1414...

Page 91: ...Speed setpoint filter and speed precontrol Overview of important parameters see SINAMICS S120 S150 List Manual p1414 0 n Speed setpoint filter activation p1415 0 n Speed setpoint filter 1 type p1416 0 n Speed setpoint filter 1 time constant p1417 0 n Speed setpoint filter 1 denominator natural frequency p1418 0 n Speed setpoint filter 1 denominator damping p1419 0 n Speed setpoint filter 1 numerat...

Page 92: ...lculated actual speed values operation without encoder Properties Speed setpoint filter Speed controller adaptation Note Speed and torque cannot be controlled simultaneously If speed control is activated this has priority over torque control Limits The maximum speed p1082 D is defined with default values for the selected motor and becomes active during commissioning The ramp function generator ram...

Page 93: ...ee Kp_n adaptation and the speed dependent Kp_n Tn_n adaptation Free Kp_n adaptation is also active in operation without encoder mode and is used in operation with encoder mode as an additional factor for speed dependent Kp_n adaptation Speed dependent Kp_n Tn_n adaptation is only active in operation with encoder mode and also affects the Tn_n value Figure 4 4 Free Kp_n adaptation ...

Page 94: ... is selected with the icon in the toolbar of the STARTER commissioning tool Function diagrams see SINAMICS S120 S150 List Manual 5050 Servo control Speed controller adaptation Kp_n Tn_n adaptation Overview of important parameters see SINAMICS S120 S150 List Manual Free Kp_n adaptation p1455 0 n CI Speed controller P gain adaptation signal p1456 0 n Speed controller P gain adaptation lower starting...

Page 95: ...roller adaptation speed upper p1466 0 n CI Speed controller P gain scaling 4 4 3 Torque controlled operation An operating mode switchover p1300 or binector input p1501 can be used to switch from speed control to torque control mode All torque setpoints from the speed control system are rendered inactive The setpoints for torque control mode are selected by parameterization Properties Switchover to...

Page 96: ...ignals OFF responses OFF1 and p1300 23 Response as for OFF2 OFF1 p1501 1 signal and p1300 23 No separate braking response the braking response is provided by a drive that specifies the torque The pulses are suppressed when the brake application time p1217 expires Standstill is detected when the actual speed value is less than the speed threshold p1226 or when the monitoring time p1227 that started...

Page 97: ...d p1226 has expired Switching on inhibited is activated Parameterization with STARTER The Torque setpoint parameter screen is selected with the icon in the toolbar of the STARTER commissioning tool Function diagrams see SINAMICS S120 S150 List Manual 5060 Servo control Torque setpoint switchover control mode 5610 Servo control torque limiting reduction interpolator Overview of important parameters...

Page 98: ...an be parameterized for motor and regenerative modes Figure 4 7 Current torque setpoint limiting Note This function is always active with the preset factory settings Properties The connector inputs of the function are initialized with fixed torque limits If required the torque limits can also be defined dynamically during operation A control bit can be used to select the torque limitation mode The...

Page 99: ...erative limits can be specified separately from different sources Dynamic limits are required for the torque The dynamic upper and lower limits or alternatively the dynamic motor and regenerative limit can be specified separately from different sources Parameters are used to select the source of the actual limit A torque offset can be parameterized In addition the power limits can be parameterized...

Page 100: ...p1400 4 0 Maximum motor or regenerative mode torque limits p1400 4 1 Fixed torque limit Upper torque limit as positive value p1520 Motor mode torque limit as posi tive value p1520 Lower torque limit as negative value p1521 Regenerative mode torque limit as negative value p1521 Source for variable torque limit Upper torque limit p1522 Motor mode torque limit p1522 Lower torque limit p1523 Regenerat...

Page 101: ...these Set the torque offset Examples Travel to fixed stop Tension control for continuous goods conveyors and winders Parameterization with STARTER The Torque limit parameter screen is selected with the icon in the toolbar of the STARTER commissioning tool Function diagrams see SINAMICS S120 S150 List Manual 5609 Servo control generation of the torque limits overview 5610 Servo control torque limit...

Page 102: ...0 n CO Torque limit lower regenerative p1522 0 n CI Torque limit upper motoring p1523 0 n CI Torque limit lower regenerative r1526 CO Torque limit upper motoring without offset r1527 CO Torque limit lower regenerative without offset p1528 0 n CI Torque limit upper motoring scaling p1529 0 n CI Torque limit lower regenerative scaling p1530 0 n Power limit motoring p1531 0 n Power limit regenerative...

Page 103: ...nded current setpoint filters function module in the function modules selection with a mouse click 4 Download the data to the target system 5 Select group parameter p1656 0 online and open the sub categorization 6 Select the required current setpoint filter e g P1656 0 0 and in the drop down list of the parameter line select setting 1 Active Repeat this procedure for every speed setpoint filter th...

Page 104: ...r data is not performed even when filter parameters are changed Note The set parameter values of the current setpoint filters 5 to 10 are lost if you deactivate the extended current setpoint filters again in the Properties dialog 10 Make the setting p1699 0 to start calculating the filter data 11 Then save the modified project settings Parameterization example Four current setpoint filters connect...

Page 105: ...itude response the phase response is also shown in the following A phase shift results in a control system delay and should be kept to a minimum Figure 4 9 Current setpoint filter Parameterization with STARTER The Current setpoint filter parameter screen is selected with the icon in the toolbar of the STARTER commissioning tool ...

Page 106: ...Table 4 3 Example of a PT2 filter Filter parameters Amplitude log frequency curve Phase frequency curve Characteristic frequency fN 500 Hz Damping DN 0 7 dB 4 6 2 Bandstop with infinite notch depth Table 4 4 Example of band stop with infinite notch depth Filter parameters Amplitude log frequency curve Phase frequency curve Blocking frequency fSp 500 Hz Bandwidth 3 dB fBB 500 Hz Notch depth K dB Re...

Page 107: ... fSp Denominator damping 4 6 3 Bandstop with defined notch depth Table 4 5 Example of band stop with defined notch depth Filter parameters Amplitude log frequency curve Phase frequency curve Blocking frequency fSp 500 Hz Bandwidth fBB 500 Hz Notch depth K 20 dB Reduction Abs 0 dB Simplified conversion to parameters for general order filters No reduction or increase after the blocking frequency Def...

Page 108: ... Table 4 6 Example of band stop Filter parameters Amplitude log frequency curve Phase frequency curve Blocking frequency fSP 500 Hz Bandwidth fBB 500 Hz Notch depth K dB Reduction ABS 10 dB General conversion to parameters for general order filters Numerator natural frequency Numerator damping Denominator natural frequency Denominator damping ...

Page 109: ...ple of general low pass with reduction Filter parameters Amplitude log frequency curve Phase frequency curve Characteristic frequency fAbs 500 Hz Damping D 0 7 Reduction Abs 10 dB Conversion to parameters for general order filters Numerator natural frequency fZ fAbs start of reduction Numerator damping Denominator natural frequency fN Denominator damping DN ...

Page 110: ... Example of general 2nd order filter Filter parameters Amplitude log frequency curve Phase frequency curve Numerator frequency fZ 500 Hz Numerator damping DZ 0 02 dB Denominator frequency fN 900 Hz Denominator damping DN 0 15 dB 4 6 7 Function diagrams and parameters Function diagrams see SINAMICS S120 S150 List Manual 5700 Servo control Current control overview 5710 Servo control Current setpoint...

Page 111: ...int filter 1 p1667 0 n to p1671 0 n Current setpoint filter 3 for distribution see current setpoint filter 1 p1672 0 n to p1676 0 n Current setpoint filter 4 for distribution see current setpoint filter 1 p1699 Filter data acceptance p5200 0 n Current setpoint filter 5 10 activation p5201 0 n to p5205 0 n Current setpoint filter 5 for distribution see current setpoint filter 1 p5206 0 n to p5210 0...

Page 112: ...n motor Current and torque limitation The current and torque limitations are initialized when the system is commissioned for the first time and should be adjusted according to the application Current controller adaptation The P gain of the current controller can be reduced depending on the current by means of current controller adaptation Current controller adaptation can be deactivated with the s...

Page 113: ...tegral time Current and torque limitation p0323 0 n Maximum motor current p0326 0 n Motor stall torque correction factor p0640 0 n Current limit p1520 0 n CO Torque limit upper motoring p1521 0 n CO Torque limit lower regenerative p1522 0 n CI Torque limit upper motoring p1523 0 n CI Torque limit lower regenerative p1524 0 n CO Torque limit upper motoring scaling p1525 0 n CO Torque limit lower re...

Page 114: ...otal r1538 CO Upper effective torque limit r1539 CO Lower effective torque limit Current controller adaptation p0391 0 n Current controller adaptation starting point KP p0392 0 n Current controller adaptation starting point KP adapted p0393 0 n Current controller adaptation P gain adaptation p1590 0 n Flux controller P gain p1592 0 n Flux controller integral time ...

Page 115: ...etting on the speed controller One button tuning X With servo control the speed and EPOS controller can be optimized with this optimization process A control system is measured once and the controllers are set as a result Online tuning X With this optimization process the controller parameters are determined from the constant estimated or parame terized moments of inertia motor torque and moment o...

Page 116: ...an external measuring system is used for the position control this can result in an unstable controller setting The One button tuning function also does not support different sampling times for current controller and torque speed controller It is recommended not to use the One button tuning function with this configuration Activating autotuning You can configure the activation and deactivation of ...

Page 117: ...ad oscillations low frequency resonance are determined using a test signal The function detects frequencies in the range of approx 2Hz to 95Hz No external measuring system is required for the load The frequencies detected zero positions and pole positions are displayed in p5294 0 2 and p5295 0 2 A sufficiently large traversing distance must be preset using parameter p5308 for this function 05 In a...

Page 118: ... the P gain of the speed controller The speed control may become instable if the values are too high r5293 Display of the determined proportional gain of the speed controller calculated from the FFT measurement through One button tuning r5294 Display of the identified mechanical zero positions r5295 Display of the identified mechanical pole positions p5296 0 1 300 10 Setting the amplitude of the n...

Page 119: ...0 Current setpoint filters 2 4 are parameterized with p5301 1 1 These filters are set in order to achieve greater gains in the speed control loop Typically bandstop filters are applied to mechanical resonances Filters are only set when a greater speed controller gain p1460 can be achieved Active oscillation damping is parameterized by setting p5301 5 to 1 The frequency of the load oscillation dete...

Page 120: ... Unstable controller for excessively low stiffness between the motor and load Only the motor measuring system is taken into account for the calculation of the controller parameters If a load side measuring system is used for the position control this can result in an unstable controller setting if the motor shaft is not adequately stiff and there is a relatively high load moment of inertia which i...

Page 121: ...troller parame ters is performed once p5300 0 is then set 2 The Online tuning function is active A new calculation of the controller parameters is performed cyclically if the estimated moment of inertia changes Note Changing parameter p5300 changes parameters p5280 and p1400 Therefore after deactivating the autotuning function check the accuracy of the configuration of parameters p5280 and p1400 a...

Page 122: ... p0977 1 If Cyclically is parameterized the moment of inertia is determined continuously and the controller parameters adapted After the moment of inertial has been determined successfully r1407 26 1 it is recommended that you save the parameters so that the controller does not have to resettle after a POWER ON 06 The function Current setpoint filter adaptation Page 127 is enabled once this bit is...

Page 123: ...ssignment When the Online tuning function is activated settings are made that ensure the safe operation of the online tuning Current setpoint filter The natural frequency of the first PT2 filter behaves proportional to the current controller and speed controller cycles The faster the sampling the higher the positive feedback frequency and therefore the higher the frequency must be set for the curr...

Page 124: ...d for the calculation of the Kp factor When calculating the speed controller gain the time constants of the parameterized current setpoint or actual speed value filter are also taken into account Tn integral time speed controller The integral time results from the estimated dynamic response of the speed control loop r5274 Reference model The reference model adapts the speed setpoint for the integr...

Page 125: ...reduced by the commissioning engineer 4 8 2 3 Application examples Positioning axes A positioning axis application can always be used when an axis performs a point to point motion independent of other axes p5302 7 0 must be set The axis is tuned for positioning without overshoot Interpolating axes EPOS position controller with higher level controller Interpolating axis applications are required wh...

Page 126: ... dynamic response of the axis can now be increased To do this the value of parameter p5272 can be increased If the drive then vibrates again parameter p5272 should be reduced again Behavior at low speeds If the drive has an encoder with poor resolution the motor may hum at very low speeds or at standstill Remedy Increase the actual speed value smoothing p1441 or reduce the dynamic response p5272 S...

Page 127: ...ter You can configure the activation and deactivation of the current setpoint filter adaptation via parameter p5280 The following settings are possible Setting Explanation 1 The Current setpoint filter adaptation function is deactivated together with the as signed filter see p5281 With this setting not only the adaptation but also an assigned filter is deactivated The associated bit is automatical...

Page 128: ...point filters 1 4 are standard The extended current setpoint filters 5 10 can be activated additionally see Chapter Extended current setpoint filters Page 103 Several settings still have to be made or checked before activating the adaptation 1 Parameterize the desired current setpoint filter as bandstop filter 2 Assign the desired current setpoint filter to the adaptation via parameter p5281 examp...

Page 129: ...frequency has not been excited enough or there is no interfering resonance frequency the bandstop filter stops and the current blocking frequency does not change Figure 4 11 Principle of operation The calculated values for the numerator and denominator damping of the bandstop filter are tracked during the movement so that the bandwidth of the bandstop filter increases with increasing blocking freq...

Page 130: ...n addition to a variable mechanical resonance frequency the system also contains non variable mechanical resonance frequencies the non variable frequencies must be suppressed with fixed current setpoint filters The adapted bandstop filter should be the last filter in the filter cascade of the bandstop filters Otherwise the adaptation may be subject to interference from non variable resonance frequ...

Page 131: ...00 Hz as start value The start value may be above or below the sought resonance frequency This value should be set as blocking frequency of the respective bandstop filter before the adaptation is activated and the pulse enable set 4 8 3 3 Stability of the speed control loop Moving the bandstop filter changes the phase and amplitude frequency response of the speed control loop The stability of the ...

Page 132: ...s automatically set to the relevant limit frequency when p5282 or p5283 is written If the adaptation is not active the bandstop filter is automatically set to the relevant limit frequency when the adaptation is activated 4 8 3 5 Remedy for insufficient adaptation Generally the following is valid If the adaptation does not change the blocking frequency of the adapted current setpoint filter during ...

Page 133: ...5 0 n Online One Button Tuning dynamic response time constant r5276 Online One Button Tuning Kv factor estimated r5277 Online One Button Tuning precontrol symmetrizing time estimated p5280 0 n Current setpoint filter adaptation configuration p5281 0 n Current setpoint filter adaptation assignment p5282 0 n Current setpoint filter adaptation lower limit frequency p5283 0 n Current setpoint filter a...

Page 134: ...2017 6SL3097 4AB00 0BP5 p5300 0 n Autotuning selection p5301 0 n One button tuning configuration p5302 0 n Online tuning configuration r5306 0 n Autotuning status p5308 0 n One Button Tuning test signal distance limiting p5309 0 n One Button Tuning test signal duration ...

Page 135: ... speed range p1752 100 p1756 and p1752 With induction motors with encoder the torque image is more accurate in higher speed ranges the effect of the rotor resistance and the saturation of the main field inductance are corrected With synchronous motors with encoder the commutation angle is monitored If the kT estimator has been activated the torque image for synchronous motors is more accurate too ...

Page 136: ...odule and motor Encoder and actual encoder value The following motors can be operated with V f control Induction motors Synchronous motors Note In the V f mode the calculated actual speed value is always displayed in r0063 The speed of the encoder if installed is displayed in r0061 If an encoder is not installed r0061 displays 0 Note The operation of synchronous motors with V f control is allowed ...

Page 137: ...transient response you have the option of gradually increasing the value of p1338 in small steps and evaluating how this affects your system Note The drive can be ramped up to the current limit p0640 relatively quickly without the need for extensive parameterization when operating the drive with a variable moment of inertia for example Note the following Only the ramp function generator stops when...

Page 138: ... characteristic voltage 4 p1338 0 n V f mode resonance damping gain p1339 0 n V f mode resonance damping filter time constant p1349 0 n V f mode resonance damping maximum frequency 2 Set the rated motor speed via parameter p0311 3 Activate V f control with the parameter setting of p1317 1 Note Automatic activation of additional functions With p1317 1 the following functions are also activated auto...

Page 139: ... frequency specification taking into account the number of pole pairs The synchronous frequency associated with the speed setpoint is output no slip compensation Figure 4 14 V f characteristic Function diagrams see SINAMICS S120 S150 List Manual 5300 Servo control V f control for diagnostics 5650 Servo control Vdc_max controller and Vdc_min controller ...

Page 140: ...tor pole pair number current or calculated p0314 0 n Motor pole pair number p0317 0 n Motor voltage constant p0322 0 n Maximum motor speed p0323 0 n Maximum motor current p0640 0 n Current limit p1082 0 n Maximum speed p1317 0 n V f control activation p1318 0 n V f control ramp up ramp down time p1319 0 n V f control voltage at zero frequency p1326 0 n V f control programmable characteristic frequ...

Page 141: ...d proportional gain is set to approximately 30 of the maximum possible gain in order to minimize vibrations when the controller is mounted on the mechanical system of the machine for the first time The integral time of the speed controller is always preset to 10 ms The following tuning measures are necessary in order to achieve the full dynamic response Increase the proportional gain Kp_n p1460 Ch...

Page 142: ... loop and dampened using one or more current setpoint filters This normally enables the proportional gain to be increased e g Kp_n 3 default value After the Kp_n value has been set the ideal integral time Tn_n e g reduced from 10 ms to 5 ms can be determined Example of speed setpoint step change A rectangular step change can be applied to the speed setpoint via the speed setpoint step change measu...

Page 143: ... and current limits as well as the load moment of inertia motor moment of inertia p0341 p0342 load torque p1498 the required torque for a demanded speed dynamic performance optimized from a time perspective Note If the motor is operated with and without an encoder e g p0491 0 or p1404 p1082 the maximum current during operation without an encoder can be reduced via p0642 reference value is p0640 in...

Page 144: ...ther by parameterizing the pole position identification p1982 1 Behavior once pulses have been canceled Once the pulses have been canceled in operation without an encoder the current actual speed value of the motor can no longer be calculated Once the pulses are enabled again the system must search for the actual speed value p1400 11 can be used to parameterize whether the search is to begin with ...

Page 145: ...to operation without an encoder until the speed exceeds p1755 To prevent encoder evaluation alarms in encoderless operation set p1402 1 1 to park the encoder evaluation Reading in the motor temperature via the encoder evaluation remains active Operation without an encoder is displayed in parameter r1407 1 Figure 4 16 Area switchover Note In closed loop control operating mode Speed controller witho...

Page 146: ... is only used when an encoder develops a fault or only for the upper speed range Determine the moment of inertia using the rotating measurement of the motor data identification p1959 420 hex i e only commutation angle and Lq characteristic p1960 1 If you carry out the motor data identification using the STARTER screen set p1959 start the measurement and accept the result If the motor can endlessly...

Page 147: ...ertia estimator function module p1400 18 0 Start a trace recording of parameter r0063 speed actual value and r0079 torque Adjust the moment of inertia p1498 if possible increase and in the controlled range enter a speed setpoint speed higher than p1755 Optimize the settling behavior using the P gain p1470 and the integral time p1472 Exit the trace recording Finally again set the appropriate total ...

Page 148: ...0 0 n Motor temperature sensor for monitoring p0640 0 n Current limit p0642 0 n Encoderless operation current reduction p1300 0 n Open loop closed loop control operating mode p1400 0 n Speed control configuration p1404 0 n Encoderless operation changeover speed r1407 0 26 CO BO Status word speed controller p1470 0 n Speed controller encoderless operation P gain p1472 0 n Speed controller sensorles...

Page 149: ...ine synchronization see r1992 Absolute encoders do not have to be finely synchronized For fine synchronization see also Section Pole position identification Page 163 under Pole position correction with zero marks 5 Make a rotating measurement p1960 Before starting the rotating measurement check and if necessary optimize the setting of the speed controller p1460 p1462 and p1470 p1472 It is preferab...

Page 150: ... data identification can result in slight movement of up to 210 degrees electrical For the rotating motor data identification routine motor motion is initiated which can reach the maximum speed p1082 and the motor torque corresponding to the maximum current p0640 The rotating measurement should be carried out with a motor running at no load de coupled from the mechanical system in order to prevent...

Page 151: ...mum motor current p0341 motor moment of inertia p0350 motor stator resistance cold p0353 motor series inductance p0356 motor stator leakage inductance p0400ff encoder data Rating plate data Input of the rating plate data requires the following parameters Table 4 10 Rating plate data Induction motor Permanent magnet synchronous motor p0304 rated motor voltage p0305 rated motor current p0307 rated m...

Page 152: ...1082 maximum speed p1958 motor data identification ramp up ramp down time p1959 rotating measurement configuration p1960 rotating measurement selection 1 The setting of p1959 has the following effects for the direction of rotation p1821 Positive direction permitted with setting p1821 0 means Clockwise direction of rotation Negative direction permitted with setting p1821 1 means Counter clockwise d...

Page 153: ...nt damping time con stant d axis r1915 stator inductance identified r1925 threshold voltage identified r1927 rotor resistance identified r0374 motor resistance cold gamma p0354 r1932 d inductance r0377 motor leakage inductance total gamma p0353 motor series inductance p0356 motor leakage inductance p0358 motor rotor leakage inductance p1715 current controller P gain p1717 current controller integr...

Page 154: ...agnetic design of the motor can be identified from the saturation characteristic r1969 moment of inertia identified p0341 motor moment of inertia p0342 ratio between the total moment of inertia and that of the mo tor p1498 load moment of inertia r1973 encoder pulse number identified Note The encoder pulse number is only determined with a very high degree of inaccuracy p0407 p0408 and is only suita...

Page 155: ...nly be acknowledged by p1910 2 Table 4 15 Data determined using p1960 for synchronous motors rotating measurement Determined data Data that is accepted p1960 1 r1934 q inductance identified r1935 q inductance identification current Note The q inductance characteristic can be used as basis to manually determine the data for the current controller adaptation p0391 p0392 and p0393 r1937 torque consta...

Page 156: ...et so that only the q inductance the commutation angle offset and the high inertia mass are measured p1959 05 1 and p1959 10 1 as generally the travel limits do not permit longer travel distances in one direction Figure 4 17 Equivalent circuit diagram for induction motor and cable Figure 4 18 Equivalent circuit diagram for synchronous motor and cable ...

Page 157: ...ers see SINAMICS S120 S150 List Manual r0047 Identification status Standstill measurement p1909 0 n Motor data identification control word p1910 Motor data identification stationary Rotating measurement p1958 0 n Rotating measurement ramp up ramp down time p1959 0 n Rotating measurement configuration p1960 Rotating measurement selection ...

Page 158: ...properties pole position identification is not required Absolute encoder e g EnDat DRIVE CLiQ encoder Encoder with C D track and pole pair number 8 Hall sensor Resolver with a multiple integer ratio between the motor pole pair number and the encoder pole pair number Incremental encoder with a multiple integer ratio between the motor pole pair number and the encoder pulse number The pole position i...

Page 159: ...With 1FK7 motors a two stage procedure must not be used p1980 4 The value in p0329 which is set automatically must not be reduced For the motion based procedure the following supplementary conditions apply Note Inaccuracy when determining the commutation angle If several 1FN3 linear motors are coupled with one another and at the same time saturation based pole position identification is used for c...

Page 160: ...etermine the commutation angle the pole position identification routine is used then the commutation angle must redetermined each time that the control sense is changed An incorrect commutation angle can lead to uncontrollable motor movement and therefore result in death or severe injury Check the commutation angle offset F7966 after an actual value inversion and when necessary redetermine the off...

Page 161: ...encoders with the exception of DRIVE CLiQ encoders incremental encoders with equidistant zero mark and resolvers The sequence is then as follows 1 Set the Commutation with selected zero mark mode in p0430 24 2 Via the PROFIdrive encoder interface the drive receives the request for a reference mark search 3 Together with the Sensor Module the drive determines the reference mark as a result of the p...

Page 162: ...rameters depending on the pole position identification procedure Saturation based Motion based Elasticity based p0325 p0329 p1980 Value 0 1 or 4 Value 10 Value 20 p1981 p1982 p1983 r1984 r1985 r1986 r1987 p1990 r1992 p1993 p1994 p1995 p1996 p1997 p3090 p3091 p3092 p3093 p3094 p3095 p3096 r3097 Marking relevant not relevant ...

Page 163: ...sensor The Hall sensor must be me chanically adjusted Does not influence the Hall sensor Shifts the commutation with respect to the zero mark Does not influence the Hall sensor Shifts the commutation with respect to the absolute posi tion after two zero marks have been passed Not permitted Pole position identification No effect Shifts the commutation with respect to the zero mark Shifts the commut...

Page 164: ...djustment determine commutation angle offset p1991 0 n Motor changeover commutation angle offset r1992 0 15 CO BO PolID diagnostics p1993 0 n PolID motion based current p1994 0 n PolID motion based rise time p1995 0 n PolID motion based gain p1996 0 n PolID motion based integral time p1997 0 n PolID motion based smoothing time p3090 0 n PolID elasticity based configuration p3091 0 n PolID elastici...

Page 165: ...DC link of Pgen VDC actual value p1244 VDC actual value p1250 The Vdc controller is a P controller that influences the torque limits It only intervenes when the DC link voltage approaches the upper threshold p1244 or lower threshold p1248 and the corresponding controller is activated with p1240 The recommended setting for the P gain is p1250 0 5 DC link capacitance mF Once the DC link has been ide...

Page 166: ...of the Motor Modules recommendation 50 V below the DC link voltage When the line supply returns the Vdc controller is automatically inactive The drives approach the speed setpoint again If the line supply does not return then the DC link voltage collapses as soon as the kinetic energy of the drives is exhausted with an active Vdc_min controller Note If it is expected that the line supply will retu...

Page 167: ...eached recommended setting 50 V higher than the DC link voltage the braking torque of the drives with an active Vdc_max controller is reduced by shifting the torque limit These drives feed back exactly the same amount of energy that is drawn as a result of losses or loads in the DC link This function minimizes the braking time Note If other drives in the drive line up where the Vdc_max controller ...

Page 168: ...wn threshold when drives are decelerated To ensure that the DC link voltage is not loaded with uncritical drives in the event of a power failure these drives can be switched off with fault F30002 with a parameterizable voltage threshold in p1244 This is done by activating the Vdc_max monitoring p1240 4 6 Function diagrams see SINAMICS S120 S150 List Manual 5300 Servo control V f control for diagno...

Page 169: ...egram of PROFIBUS DP or PROFINET IO with IRT via the encoder interface Gx_XIST1 When DSC is activated the speed setpoint N_SOLL_B from the PROFIdrive telegram from PROFIBUS DP or PROFINET IO with IRT is used as a speed precontrol value The internal quasi position controller DSC position controller FP3090 uses the actual position value G1_XIST1 from the motor measuring system or the actual position...

Page 170: ...rque in the speed controller cycle and so smoother movements and the avoidance of the impact torques Very high path accuracy for torque speed precontrol i e smaller following error in the control be havior High frequency path movements are possible 2 For active symmetrization T_SYMM 0 using p1427 you can set an additive symmetrizing time constant T_SYMM_ADD to symmetrize the speed precontrol value...

Page 171: ...0 the DSC structure is dissolved and the DSC function deactivated The sum from r1119 and p1155 is then added to the values from p1160 and p1430 from the speed precontrol Since it is possible to set higher gain factors using DSC the control loop can become unstable when DSC is disabled For this reason before deselecting DSC the value for KPC in the master must be reduced Speed setpoint filter A spe...

Page 172: ...rrection the drive reverses overshoots the target again etc In order to avoid this behavior the drive limits the position controller to values that the drive can always reliably maintain depending on the acceleration capability Set p1400 17 1 to activate dynamic setpoint limiting in the DSC mode In this case the total weight mtot must be precisely parameterized determine the weight p0341 p0342 and...

Page 173: ...ic Servo Control DSC linear and DSC Spline r0108 6 1 5020 Servo control Speed setpoint filter and speed precontrol 5030 Servo control Reference model precontrol balancing speed limiting Overview of important parameters see SINAMICS S120 S150 List Manual p1160 0 n CI Speed controller speed setpoint 2 p1190 CI DSC position deviation XERR p1191 CI DSC position controller gain KPC p1192 0 n DSC encode...

Page 174: ... torque limit and the lower regenerative mode torque limit Application examples Screwing parts together with a defined torque Moving to a mechanical reference point Signals For PROFIdrive telegrams 2 to 6 the following signals are automatically interconnected Control word 2 bit 8 STW2 8 Status word 2 bit 8 ZSW2 8 For PROFIdrive telegrams 102 to 106 the following signals are also interconnected Mes...

Page 175: ...2 to 6 are used no torque reduction is transferred When the Travel to fixed stop function is activated the motor ramps up to the torque limits specified in p1520 and p1521 If the torque has to be reduced protocols 102 to 106 for example can be used to transfer it Another option would be to enter a fixed value in p2900 and interconnect it to the torque limits p1528 and p1529 ...

Page 176: ...Servo control 4 17 Travel to fixed stop Drive functions 176 Function Manual 11 2017 6SL3097 4AB00 0BP5 Signal chart Figure 4 22 Signal chart for Travel to fixed stop ...

Page 177: ...top and continues to work against the stop until the torque limit has been reached this status being indicated in status bit r1407 7 Torque limit reached Control and status messages Table 4 17 Control Travel to fixed stop Signal name Internal control word STW n_ctrl Binector input PROFIdrive p0922 and or p2079 Activate travel to fixed stop 8 p1545 Activate travel to fixed stop STW2 8 Table 4 18 St...

Page 178: ...0 0 n Speed control configuration r1407 7 CO BO Status word speed controller torque limit reached p1520 0 n CO Torque limit upper motoring p1521 0 n CO Torque limit lower regenerative p1522 0 n CI Torque limit upper motoring p1523 0 n CI Torque limit lower regenerative r1526 CO Torque limit upper motoring without offset r1527 CO Torque limit lower regenerative without offset p1532 0 n Torque limit...

Page 179: ...interconnected as a supplementary torque setpoint p1511 or p1513 In this way the holding torque is set as soon as the brake has been released Function diagrams see SINAMICS S120 S150 List Manual 5060 Servo control Torque setpoint switchover control mode 5620 Servo control Motoring generating torque limit 5630 Servo control Upper lower torque limit Overview of important parameters see SINAMICS S120...

Page 180: ...y can be set with p3297 and a dropout delay with p3298 for the output signal r3294 The setting of a hysteresis results in a tolerance band around the threshold value If the upper band limit is exceeded the output signal r3294 is set to 1 if it drops below the lower band limit the output signal is set to 0 You set the sampling time of the variable signaling function in p3299 After completing the co...

Page 181: ...ng function Function diagrams see SINAMICS S120 S150 List Manual 5301 Servo control variable signaling function Overview of important parameters see SINAMICS S120 S150 List Manual p3290 Variable signaling function start p3291 CI Variable signaling function signal source r3294 BO Variable signaling function output signal p3295 Variable signaling function threshold value p3296 Variable signaling fun...

Page 182: ... purpose The evaluation procedures can be set using parameter p0684 With handshake p0684 0 Factory setting Without handshake 2 edges p0684 1 A change to p0684 0 or 1 is possible in the RUN state Without handshake more than 2 edges p0684 16 Measuring several signal edges per probe without handshake A change to p0684 16 only becomes active after Save parameters and POWER ON A change of p0684 16 to p...

Page 183: ...me zero and an invalid time format This increment is removed again by the higher level control The value 0 in the interface is an invalid time format and indicates that a measured value is not available Sequencer for the control status word processing Monitoring functions sign of life Faults Note Time critical data transfer The status information E_DIGITAL and A_DIGITAL in telegrams 39x are not su...

Page 184: ...ent is deactivated by a 1 0 transition of the control bit in the probe control word Transfer with PROFIdrive telegrams 391 392 or 393 Central measurement without handshake two edges With p0684 1 you activate the evaluation procedure without handshake for the central probe evaluation You can evaluate a maximum of two edges per probe simultaneously within two DP cycles Precondition TDP TMAPC cycle r...

Page 185: ...mptied and the measured values are converted in the sense of a measuring task into a time stamp The time stamps are saved according to their chronological order starting with the oldest in the indexes of parameter r0565 0 15 for the transfer If several probes of being used then the time stamps of the measurements are entered into the telegram block corresponding to their chronological sequence fro...

Page 186: ... For telegram 395 the probe time stamps MT_ZS_1 16 are assigned to the telegram locations using the probe time stamp references MT_ZSB1 4 Four probe time stamps each MT_ZS are assigned a probe time stamp reference MT_ZSB Table 4 19 Assignment probe time stamp reference to time stamp Probe time stamp reference Probe time stamp Bits MT_ZSB1 Reference ZS1 Bits 0 3 Reference ZS2 Bits 4 7 Reference ZS3...

Page 187: ... from MT1 001 MT_ZS2 from MT2 110 MT_ZS2 from MT7 111 MT_ZS2 from MT8 0 MT_ZS2 falling edge 1 MT_ZS2 rising edge Reference MT_ZS3 Bits 8 10 Bit 11 000 MT_ZS3 from MT1 001 MT_ZS3 from MT2 110 MT_ZS3 from MT7 111 MT_ZS3 from MT8 0 MT_ZS3 falling edge 1 MT_ZS3 rising edge Reference MT_ZS4 Bits 12 14 Bit 15 000 MT_ZS4 from MT1 001 MT_ZS4 from MT2 110 MT_ZS4 from MT7 111 MT_ZS4 from MT8 0 MT_ZS4 fallin...

Page 188: ... overflow the latest 16 values are contained in the memory When reading out an entry the oldest value is taken from the memory The remaining entries move down and make space for a new entry FIFO principle Remarks Other applications can also read the probe status and evaluate the probe measured values Example EPOS controls its probes axis specifically A control system can connect to the probe to re...

Page 189: ...ing edges for probe 1 In the DP cycle all time stamps for rising edges are transferred corresponding to their sequence in time for probe 1 Example 2 MT_STW 101H a search is made for rising and falling edges for probe 1 Figure 4 25 A search is made for rising and falling edges for probe 1 In the DP cycle all time stamps for rising and falling edges are transferred corresponding to their sequence in...

Page 190: ...3 MT_STW 303H a search is made for rising and falling edges for probes 1 and 2 Figure 4 26 A search is made for rising and falling edges for probes 1 and 2 In the DP cycle initially all time stamps for rising and falling edges of probe 1 are entered Afterwards all time stamps for rising and falling edges of probe 2 ...

Page 191: ...amp r0566 0 3 CO Probe time stamp reference r0567 CO Probe diagnostic word p0680 0 7 Central probe input terminal p0681 BI Central probe synchronization signal signal source p0682 CI Central probe control word signal source p0684 Central probe evaluation procedure r0685 Central probe control word display r0686 0 7 CO Central probe measuring time rising edge r0687 0 7 CO Central probe measuring tim...

Page 192: ...1429 the bandwidth of the speed controller dynamic response can be increased Especially for synchronous motors the motor q inductance p0356 changes significantly with the torque generating current This response must be taken into account for the precontrol model Configuring the voltage precontrol step by step with simple diagrams is subsequently described Step 1 Setting the adaptation characterist...

Page 193: ...o control 4 21 Voltage precontrol Drive functions Function Manual 11 2017 6SL3097 4AB00 0BP5 193 Examples p0391 0 33A p0392 10 23A p0393 39 31 p0356 10 16 mH Figure 4 27 Adaptation characteristic example 1 ...

Page 194: ...Servo control 4 21 Voltage precontrol Drive functions 194 Function Manual 11 2017 6SL3097 4AB00 0BP5 p0391 2 09A p0392 11A p0393 90 67 p0356 18 24 mH Figure 4 28 Adaptation characteristic example 2 ...

Page 195: ... of the current controller reference model Activate p0340 4 and automatically calculate the closed loop control parameters Or Perform a One Button Tuning Page 116 with p5271 4 1 and p5271 7 1 p5300 1 3 Measure a current controller setpoint step and correct the value p1703 Repeat the current controller setpoint step until the current actual value reaches the setpoint without any overshoot or unders...

Page 196: ...Servo control 4 21 Voltage precontrol Drive functions 196 Function Manual 11 2017 6SL3097 4AB00 0BP5 Figure 4 30 Voltage precontrol p1703 OK ...

Page 197: ...Servo control 4 21 Voltage precontrol Drive functions Function Manual 11 2017 6SL3097 4AB00 0BP5 197 Figure 4 31 Voltage precontrol p1703 too high ...

Page 198: ...dule Extended torque control Page 485 r0108 1 Determine the voltage emulation error with the stationary motor data identification p1909 14 1 and p1910 Activate the compensation of the voltage emulation error p1780 8 1 5 If after reaching the current setpoint the current actual value dips correct the current actual value via p1734 or p1735 see the subsequent diagram Figure 4 32 Example Voltage prec...

Page 199: ...ain measure a current controller setpoint step example following diagram Figure 4 33 Example The measurement result in the example indicates that after reaching the setpoint the current decays according to an exponential function 1 exp t Tsm You estimate the smoothing time based on the time from the point of contact of the initial tangent with the final value straight line 5 Enter the time constan...

Page 200: ...values 8 Again measure a current controller setpoint step Figure 4 34 Example after optimization tuning In most cases the voltage precontrol is correctly set after the eddy current compensation see example If required you can correct again using p1734 Legend for the measurement diagrams Torque generating current setpoint Torque generating current setpoint unsmoothed Quadrature axis voltage setpoin...

Page 201: ...daptation P gain adaptation p1402 0 n Current control and motor model configuration p1428 0 n Speed precontrol symmetrizing dead time p1429 0 n Velocity precontrol balancing time constant p1517 0 n Acceleration torque smoothing time constant p1701 0 n Current controller reference model dead time p1703 0 n Isq current controller precontrol scaling p1715 0 n Current controller P gain p1717 0 n Curre...

Page 202: ...Servo control 4 21 Voltage precontrol Drive functions 202 Function Manual 11 2017 6SL3097 4AB00 0BP5 ...

Page 203: ...peed feedback Properties of vector control Normal computing speed Best speed accuracy Best speed ripple Best torque accuracy Best torque ripple Vector control can be used with or without a speed encoder Using a speed encoder A speed encoder is required if the following criteria apply High speed accuracy is required High dynamic response requirements Better control behavior Better response to distu...

Page 204: ...r load and setpoint changes Short rise times for setpoint changes better control behavior Short settling times for load changes better response to disturbances Acceleration and braking are possible with maximum settable torque Motor protection due to variable torque limitation in motor and regenerative mode Drive and braking torque controlled independently of the speed Maximum breakaway torque pos...

Page 205: ...r Rules for wiring with DRIVE CLiQ Page 1014 in this document below 1 infeed 6 drives with current controller sampling times 125 μs or speed controller sampling times 125 μs 1 infeed 3 drives with current controller sampling times 62 5 μs or speed controller sampling times 62 5 μs 1 infeed 1 drive with current controller sampling times 31 25 μs or speed controller sampling times 62 5 μs Mixed oper...

Page 206: ...ous motors of the 1FT6 1FK6 and 1FK7 series cannot be connected Position interface via PROFIdrive for higher level motion control Yes Yes Encoderless speed control Yes as of 10 rated motor speed open loop controlled operation below this Yes for ASM and PMSM from standstill Motor data identification Yes Yes Speed controller sampling time optimization Yes Yes V f control Yes Yes various characterist...

Page 207: ... using dv dt and sine wave filters 150 Hz Response when operating at the thermal limit of the motor Reduction of the current setpoint or shut down Reduction in the pulse frequency and or the current setpoint or shutdown not applicable with parallel connection sine wave filter Speed setpoint channel ramp function generator Optional reduces the number of drives from 6 to 5 Motor Modules with current...

Page 208: ...OR 1 Pumps and fans 2 Encoderless control down to f 0 passive loads 4 Dynamic response in the field weakening range 5 Starting with high breakaway torque 6 High load moment of inertia e g centrifuges An overview of the influenced parameters and the set values is provided in the SINAMICS S120 S150 List Manual Calculation You call the calculation of the parameters which influence the technological a...

Page 209: ...accuracy For this reason in this range the vector control can be changed over from closed loop to open loop control When using passive loads additional limitations and constraints must be taken into consideration see Supplementary conditions for the operation of third party motors 5 2 1 Three phase induction motor The changeover between closed loop open loop control is controlled by means of the t...

Page 210: ...plementary acceleration torque p1611 can be increased or acceleration precontrol for the speed controller can be used This avoids thermal overloading of the motor at low speeds If the moment of inertia of the drive is almost constant acceleration precontrol with p1496 offers more advantages than the supplementary acceleration torque with p1611 You can determine the drive moment of inertia using th...

Page 211: ...orque Closed loop speed control without encoder down to and including 0 Hz Passive loads down to a frequency of 0 Hz Steady state closed loop speed control down to approx 0 Hz possible Higher dynamic performance when compared to open loop controlled operation Note If in the closed loop controlled mode start from 0 Hz or reversing takes longer than 2 s or the time set in p1758 then the system autom...

Page 212: ...loads p1802 4 SVM FLB without overcontrol p1803 106 factory setting As a consequence the Passive load function is automatically activated Note If p0500 is parameterized when commissioning the motor the calculation is carried out automatically via p0340 and p3900 p0578is is then set automatically Closed loop control without changeover between closed loop and open loop speed control is restricted to...

Page 213: ...ion for reversing drives It is not permissible to use this setting if the load can force the drive to reverse 5 2 5 Active loads Active loads which can reverse the drive e g hoisting gear must be started in the open loop speed control mode In this case bit p1750 6 must be set to 0 open loop controlled operation when the motor is blocked The static steady state torque setpoint p1610 must be greater...

Page 214: ...losed loop operation even under high static loads Whenever the pulses are enabled the rotor position is identified Figure 5 4 Zero point and starting in the open loop controlled mode at low speeds 5 2 7 Synchronous reluctance motors 5 2 7 1 Overview Synchronous reluctance motors RESM are operated with vector control with without encoder Synchronous reluctance motors are motors that do not have a d...

Page 215: ...solely limited by the available voltage for synchronous reluctance motors as a result of the saturation attributes it is slightly below that for induction motors 5 2 7 2 Closed loop controlled operation down to f 0 Hz with test signal Due to the magnetically anisotropic rotor sensorless field oriented operation can be continued until standstill f 0 Hz in the synchronous reluctance motor A replacem...

Page 216: ...ing the parameters and restarting the system 5 2 8 Extended method Closed loop controlled operation down to 0 Hz The actual rotor position can be continuously determined down to 0 Hz standstill With Siemens 1FW4 and 1PH8 torque motors the load can be maintained at standstill or from standstill the motor can accelerate any load up to rated torque When the function is activated at low speeds additio...

Page 217: ...r current The following parameter input is prerequisite for optimal performance Saturation characteristic p0362 to p0369 Load characteristic p0398 p0399 Commissioning sequence for closed loop controlled operation to zero speed Perform the commissioning with motor data identification at standstill Enter the parameters for the saturation characteristic and the load characteristic Activate closed loo...

Page 218: ...SINAMICS S120 S150 List Manual p0305 0 n Rated motor current r0331 0 n Actual motor magnetizing current short circuit current p0500 Technology application p1300 0 n Open loop closed loop control operating mode p1574 0 n Dynamic voltage reserve p1610 0 n Torque setpoint static without encoder p1611 0 n Supplementary acceleration torque without encoder p1750 0 n Motor model configuration p1755 0 n M...

Page 219: ...2 In the current model range i e at lower speeds torque accuracy depends on whether thermal tracking of the rotor resistance is carried out correctly In the observer model range and at speeds of less than approx 20 of the rated speed torque accuracy depends primarily on whether thermal tracking of the stator resistance is carried out correctly If the resistance of the supply cable is greater than ...

Page 220: ...d controller receives its setpoint r0062 from the setpoint channel and its actual value r0063 either directly from the speed sensor control with sensor VC or indirectly via the motor model control without sensor SLVC The system deviation is increased by the PI controller and in conjunction with the precontrol results in the torque setpoint When the load torque increases the speed setpoint is reduc...

Page 221: ...uced the controller also becomes faster However this increases the overshoot When setting the speed control manually you are advised to define the possible dynamic response via Kp and actual speed value smoothing first so that the integral time can subsequently be reduced as much as possible Please note that the closed loop control must also remain stable in the field weakening range To suppress a...

Page 222: ...back signal is received Only then are the speed controller I component and the speed setpoint enabled Function diagrams see SINAMICS S120 S150 List Manual 6040 Vector control Speed controller with without encoder Overview of important parameters see SINAMICS S120 S150 List Manual r0062 CO Speed setpoint after filter r0063 0 2 CO Actual speed value p0340 0 n Automatic calculation of motor control p...

Page 223: ..._n component can be tuned using the free Kp_n adaptation The free Kp_n adaptation is activated by connecting a signal source at p1455 The factor calculated from this is multiplied by the Kp_n value of the speed dependent adaptation The range of action of the free Kp_n adaptation is set using parameters p1456 to p1459 In addition using p1400 6 1 the Tn_n component of the speed dependent adaptation ...

Page 224: ... the field weakening range In encoderless operation dynamic reduction for the field weakening range can be activated with p1400 0 1 Kp Tn flux setpoint Kp Tn decreases proportionally with the flux setpoint minimum Factor 0 25 This dynamic reduction is activated to reduce the controller dynamic response in the field weakening range Up to the field weakening range the higher controller dynamic of th...

Page 225: ...p1456 0 n Speed controller P gain adaptation lower starting point p1457 0 n Speed controller P gain adaptation upper starting point p1458 0 n Lower adaptation factor p1459 0 n Upper adaptation factor p1466 0 n CI Speed controller P gain scaling Speed dependent Kp_n Tn_n adaptation p1460 0 n Speed controller P gain adaptation speed lower p1461 0 n Speed controller Kp adaptation speed upper scaling ...

Page 226: ...elements directly as additive reference variable enabled via p1496 The motor moment of inertia p0341 is calculated directly during commissioning or when the entire set of parameters is calculated p0340 1 The factor p0342 between the total moment of inertia J and the motor moment of inertia must be determined manually or by means of speed controller tuning The acceleration is calculated from the sp...

Page 227: ...r is precontrolled through injection the speed setpoint r0062 is delayed with the same smoothing time p1442 or p1452 as the actual value r1445 This ensures that no target actual difference r0064 occurs at the controller input during acceleration which would be attributable solely to the signal propagation time When speed precontrol is activated the speed setpoint must be specified continuously or ...

Page 228: ... emulate the speed control loop with a P speed controller The loop emulation can be set in p1433 to p1435 It is activated when p1437 is connected to the output of model r1436 The reference model delays the setpoint actual deviation for the integral component of the speed controller so that transient conditions can be suppressed The reference model can also be emulated externally and its output sig...

Page 229: ...n Ratio between the total and motor moment of inertia r0345 0 n Nominal motor starting time p1400 0 n Speed control configuration p1428 0 n Speed precontrol balancing dead time p1429 0 n Speed precontrol balancing time constant p1496 0 n Acceleration precontrol scaling r1518 0 1 CO Acceleration torque Reference model p1400 0 n Speed control configuration p1433 0 n Speed controller reference model ...

Page 230: ...ective load distribution can also be implemented With the appropriate setting in contrast to torque control or load distribution with overload and limitation this load distribution controls even a smooth mechanical coupling or the case of slipping This method is only suitable to a limited extent for drives that are accelerated and braked with significant changes in speed The droop feedback is used...

Page 231: ...y be used for mechanically coupled drives Function diagrams see SINAMICS S120 S150 List Manual 6030 Vector control Speed setpoint droop Overview of important parameters see SINAMICS S120 S150 List Manual r0079 CO Torque setpoint r1482 CO Speed controller I torque output p1488 0 n Droop input source p1489 0 n Droop feedback scaling r1490 CO Droop feedback speed reduction p1492 0 n BI Droop feedback...

Page 232: ...e p0400 The actual speed of the motor r0061 and the position information for synchronous motors still come from this motor encoder and are not influenced by the setting in p1440 Interconnection of p1440 When interconnecting connector input p1440 with an external actual speed value ensure the speed scaling is the same p2000 The external speed signal should correspond to the average speed of the mot...

Page 233: ...actory setting OFF2 Figure 5 12 Monitoring Speed deviation model external in tolerance Function diagrams see SINAMICS S120 S150 List Manual 6040 Vector control Speed controller with without encoder 8012 Signals and monitoring function Torque messages motor locked stalled Overview of important parameters see SINAMICS S120 S150 List Manual r0063 0 2 CO Actual speed value p1440 0 n CI Speed controlle...

Page 234: ... connecting to fixed torque setpoints is currently not possible Regenerative energy may accumulate and this must be either fed back into the supply system or converted into heat using a braking resistor Figure 5 13 Closed loop speed torque control The total of the two torque setpoints is limited in the same way as the speed control torque setpoint Above the maximum speed p1082 a speed limiting con...

Page 235: ...peed threshold p1226 has expired Switching on inhibited is activated OFF2 Immediate pulse suppression the drive coasts to standstill The motor brake if parameterized is closed immediately Switching on inhibited is activated OFF3 Switch to speed controlled operation n_set 0 is input immediately to brake the drive along the OFF3 deceleration ramp p1135 When standstill is detected the motor brake if ...

Page 236: ... Motor moment of inertia p0342 0 n Ratio between the total and motor moment of inertia p1300 0 n Open loop closed loop control operating mode p1499 0 n Accelerating for torque control scaling p1501 0 n BI Change over between closed loop speed torque control p1503 0 n CI Torque setpoint p1511 0 n CI Supplementary torque 1 p1512 0 n CI Supplementary torque 1 scaling p1513 0 n CI Supplementary torque...

Page 237: ...Torque limit lower regenerative scaling p1530 0 n Motor mode power limit p1531 0 n Regenerative mode power limit The currently active torque limit values are displayed in the following parameters r0067 CO Output current maximum r1526 Torque limit upper motoring without offset r1527 Torque limit lower regenerative without offset All of the following limits apply to the torque setpoint which is pres...

Page 238: ...ble torque If the torque setpoint is limited in the Motor Module this is indicated via the following diagnostic parameters r1407 8 CO BO Status word speed controller Upper torque limit active r1407 9 CO BO Status word speed controller Lower torque limit active Function diagrams see SINAMICS S120 S150 List Manual 6060 Vector control Torque setpoint 6630 Vector control Upper lower torque limit 6640 ...

Page 239: ... drive to compensate the existing losses thereby stabilizing the voltage in the DC link kinetic buffering Note During operation of the Braking Module the following must be observed You must set the threshold of the Braking Module below the Vdc_max threshold You must switch off the Vdc_max controller Properties Vdc control This comprises Vdc_max control and Vdc_min control kinetic buffering which a...

Page 240: ... motor speed continues to drop When the threshold in p1257 is reached this results in a response in accordance with p1256 Once the time threshold p1255 has elapsed without the line voltage being re established a fault is triggered F07406 which can be parameterized as required factory setting OFF3 The Vdc_min controller can be activated for a drive Other drives can participate in supporting the DC ...

Page 241: ...p1254 1 r1242 Vdc_max 50 V Vdc_max Overvoltage threshold of the Motor Module If several Motor Modules are supplied from a non regenerative infeed unit e g a Basic Line Module or for power failure or overload for SLM ALM the Vdc_max control may only be activated for a Motor Module whose drive should have a high moment of inertia For the other Motor Modules this function must be disabled or monitori...

Page 242: ...he Vdc_max monitoring Vector control p1240 4 or 6 Servo control p1240 4 or 6 V f control p1280 4 or 6 WARNING Unexpected motion of individual drives If several Motor Modules are supplied from one infeed unit then if the Vdc_maxcontrol is incorrectly parameterized individual drives can accelerate in an uncontrolled fashion which can lead to death or severe injury Only activate the Vdc_max control f...

Page 243: ...roller switch on level p1243 0 n Vdc_max controller dynamic factor p1245 0 n Vdc_min controller switch on level kinetic buffering r1246 Vdc_min controller switch on level kinetic buffering p1247 0 n Vdc_min controller dynamic factor kinetic buffering p1250 0 n Vdc controller proportional gain p1251 0 n Vdc controller integral time p1252 0 n Vdc controller rate time p1254 Vdc_max controller automat...

Page 244: ...the amplitude log frequency curve A phase shift results in a control system delay and should be kept to a minimum You activate the current setpoint filters with p1656 0 n 0 1 and p1656 0 n 1 1 You set the current setpoint parameters with p1657 to p1666 As long as the parameter setting p1699 1 is active the background calculation of the filter data is not performed even when filter parameters are c...

Page 245: ... p1658 0 n Current setpoint filter 1 denominator natural frequency p1659 0 n Current setpoint filter 1 denominator damping p1660 0 n Current setpoint filter 1 numerator natural frequency p1661 0 n Current setpoint filter 1 numerator damping p1662 0 n Current setpoint filter 2 type p1663 0 n Current setpoint filter 2 denominator natural frequency p1664 0 n Current setpoint filter 2 denominator damp...

Page 246: ...or control there are two current setpoint filters and one actual speed value filter The actual speed value filter has been allocated the number 5 Function diagrams see SINAMICS S120 S150 List Manual 4702 Encoder evaluation vector control overview 4715 Encoder evaluation speed actual value and pole position sensing encod er1 n_act_filter5 Overview of important parameters see SINAMICS S120 S150 List...

Page 247: ...daptation is directly activated with setting p1402 2 1 or deactivated with p1402 2 0 It is automatically activated with p1959 5 p1959 5 1 or deactivated p1959 5 0 Figure 5 17 Current controller adaptation for p0393 1 with p0391 p0392 When swapping the Iq interpolation points e g for ASM the current controller adaptation appears as follows Figure 5 18 Current controller adaptation with swapped Iq i...

Page 248: ...rrent controller adaptation starting point KP p0392 0 n Current controller adaptation starting point KP adapted p0393 0 n Current controller adaptation P gain scaling p1402 0 n Current control and motor model configuration p1703 Isq current controller precontrol scaling p1715 0 n Current controller P gain p1717 0 n Current controller integral time p1959 0 n Rotating measurement configuration ...

Page 249: ...a motor brake it must be open for the rotating measurement p1215 2 For synchronous motors the motor brake must also be open for the standstill measurement so that the motor can orient itself The two motor data identifications can be selected more easily via p1900 p1900 2 Activates the standstill measurement motor not rotating p1900 1 Additionally activates the rotating measurement p1910 is set to ...

Page 250: ...eter is set to 0 p1960 0 Successful completion Pulse inhibit activated and parameter is set to 0 p1900 0 Note To set the new controller setting permanently the data must be saved in a non volatile memory The measurement progress can be tracked using r0047 Completion of the individual motor data identification runs can be read via parameters r3925 to r3928 The motor data identification runs influen...

Page 251: ...e motor Rated magnetization current p0320 x Stator resistance p0350 x x x Rotor resistance p0354 x Stator leakage inductance p0356 x x Stator inductance d axis p0357 x Rotor leakage inductance p0358 x Magnetizing inductance p0360 x Drive converter valve threshold voltage p1825 x x x Converter valve interlocking times p1828 p1830 x x x Since the rating plate data contains the initialization values ...

Page 252: ...estricted to the area of the voltage limit and to field weakening mode Note The standstill measurement must be carried out when the motor is cold In p0625 enter the estimated motor ambient temperature during the measurement for PT1000 or KTY sensor Set p0600 p0601 and read r0035 This is the reference point for the thermal motor model and thermal RS RR adaptation The rated magnetization current and...

Page 253: ...ate motor data identification with p1900 2 or p1910 1 Alarm A07991 is displayed 2 Motor data identification starts the next time that the motor is switched on 3 After a successful motor data identification parameter p1900 or p1910 is reset to 0 If the identification was not successful then instead fault F07990 is output 4 Parameter r0047 indicates the actual status of the measurement or identifica...

Page 254: ...ecomes clear that with the specified dynamic factor the drive cannot operate in a stable manner or the torque ripples are too large the dynamic response is reduced automatically and the result displayed in r1968 The drive must then be checked to ensure that it is stable across the entire control range The dynamic response might need to be reduced or the Kp_n Tn_n adaptation for the speed controlle...

Page 255: ...93 This measurement is automatically activated with 1LA1 and 1LA8 motors p0300 11 18 see p1959 5 Speed controller tuning p1470 and p1472 when p1960 1 operation without encoder p1460 and p1462 when p1960 2 operation with encoder Setting the Kp adaptation Acceleration precontrol setting p1496 p1517 Setting for ratio between the total moment of inertia and that of the motor p0342 Note To set the new ...

Page 256: ...asurement shortened p1959 12 1 If you have set bit 12 in parameter p1959 a shortened rotating measurement is performed with reduced accuracy for the measurement of the moment of inertia In this case the magnetizing current is measured only once instead of twice The measurement of the acceleration processes and the vibration test are not used at all After the end of the measurement the drive is shu...

Page 257: ... identification induction motor data determined r3928 0 n Rotating measurement configuration Motor data identification at standstill p1909 0 n Motor data identification control word p1910 Motor data identification selection Rotating measurement p0391 0 n Current controller adaptation starting point Kp p0392 0 n Current controller adaptation starting point Kp adapted p0393 0 n Current controller ad...

Page 258: ... or F07969 can occur during the motor data identification 5 14 2 Operation with encoder For operation with one encoder which does not provide an absolute pole position e g an incremental encoder with zero mark the encoder must be adjusted and the pole position identified The pole position identification is used for this purpose For encoders without position information e g incremental encoders wit...

Page 259: ...accuracy of the determined commutation angle offset p0431 can be increased using the encoder fine calibration The motor must be able to be rotated without any load to do this Fine calibration procedure 1 Activate the encoder fine calibration p1905 90 Alarm A07976 with alarm value 1 is displayed 2 Set the pulse enable and accelerate the motor n 40 rated speed 3 Wait for the end of the measurement a...

Page 260: ...t time after the power returns the converter can be switched to a rotating motor assuming that the Flying restart function has been activated p1200 1 Replacing an encoder If the encoder is replaced or retrofitted the commutation angle offset must be determined again p1990 1 assuming that the encoder has position information e g zero mark Checking the plausibility of the commutation angle When usin...

Page 261: ...g result p0325 is only used for p1980 4 Technique p1980 4 is recommended if the air gap manifests significant asymmetry e g magnets are embedded in the rotor Technique p1980 1 should be applied if the air gap is constant Technique p1980 8 is recommended for synchronous reluctance motors Technique p1980 6 is used for synchronous motors with a high reluctance torque component The following constrain...

Page 262: ...0430 0 n Sensor Module configuration p0431 0 n Commutation angle offset p0437 0 n Sensor Module extended configuration r0458 Sensor Module properties r0459 Sensor Module extended properties p0640 0 n Current limit p1082 0 n Maximum speed p1215 Motor holding brake configuration p1780 0 n Motor model adaptation configuration p1980 0 n PolID procedure p1982 0 n PolID selection r1984 PolID angular dif...

Page 263: ...wer dynamic response However the disadvantages are only relevant if the motor must respond with a high dynamic performance Also when that the efficiency optimization is active the converter motor control prevents the motor from stalling Optimization techniques Speed and torque are specified by the driven machine As a consequence the flux is the remaining variable for optimizing the efficiency The ...

Page 264: ...oad is connected to the drive the setpoint reference flux increases linearly with the load and reaching the setpoint set in p1570 at approx r0077 r0331 p1570 Figure 5 21 Efficiency tuning In the field weakening range the final value is reduced by the actual degree of field weakening The smoothing time p1582 should be set to approx 100 to 200 ms Flux differentiation see also p1401 1 is automaticall...

Page 265: ...x reduction Advanced efficiency optimization is activated in the default setting To activate advanced efficiency optimization set p1401 14 1 5 15 2 Efficiency optimization for reluctance motors The typically high efficiency for 1FP1 reluctance motors can also be achieved in the partial load range To achieve this depending on the demanded torque the motor is operated with a loss optimized current s...

Page 266: ...ening characteristic Id setpoint ASM p0300 1 6723 Vector control Field weakening controller flux controller p0300 1 6790 Vector control flux setpoint RESM p0300 6 Overview of important parameters see SINAMICS S120 S150 List Manual r0077 CO Torque generating current setpoint r0331 0 n Actual motor magnetizing current short circuit current p1401 0 n Flux control configuration p1570 0 n CO Flux setpo...

Page 267: ...following sequence during motor starting The maximum excitation build up current of the induction motor in reference to the permitted rated power module current r0207 0 is set with parameter p0644 Current limit excitation build up induction motor The field generating current setpoint jumps to the value parameterized in p0644 or the maximum of Imax 0 9 r0067 upper limit field generating current set...

Page 268: ...out quick magnetization Alarms and faults Flux controller configuration When a function controlled by parameter p1401 and p0621 is activated the system checks whether any other incompatible function is already selected If this is the case alarm A07416 is displayed with the number of the parameter which is incompatible with the configuration parameter i e p0621 or p1401 As these are data set depend...

Page 269: ...ot be reached at all As soon as the time in p0346 magnetization time is exceeded fault F07411 is output Generally the magnetization time is significantly longer than the flux build up time associated with quick magnetization Cause With quick magnetization configured p1401 6 1 the specified flux setpoint is not reached even though the current setpoint 90 of maximum current Motor data is incorrect M...

Page 270: ...ntroller ASM p0300 1 Overview of important parameters see SINAMICS S120 S150 List Manual r0207 0 4 Rated power unit current p0320 0 n Motor rated magnetizing current short circuit current p0346 0 n Motor excitation build up time p0621 0 n Stator resistance identification after restart p0640 0 n Current limit p0644 0 n Current limit excitation build up induction motor p1401 0 n Flux control configu...

Page 271: ...em waits for a demagnetization time to elapse before the search is carried out The demagnetization time can reduce the voltage at the motor terminals At the pulse enable this avoids high equalizing currents due to a phase short circuit An internal demagnetization time is calculated In addition you can define a de excitation time via parameter p0347 The system waits for the longer of the two times ...

Page 272: ...B00 0BP5 Application example After a power failure a fan drive can be quickly reconnected to the running fan motor by means of the flying restart function Figure 5 24 Flying restart example of induction motor without encoder Figure 5 25 Flying restart example of induction motor with encoder ...

Page 273: ...ment the starting frequency is set to zero The model settles within approximately 200 ms on its own when the parameterization is correct This fast flying restart works only under the following conditions At a current controller cycle time of 250 μs or 400 μs without filter and long cables Up to 4x the rated speed for vector control Up to the rated speed for V f control The settings for fast flying...

Page 274: ...o values 30 Fast flying restart with voltage acquisition The time for the connection to a rotating induction motor can be shortened when the terminal voltage of the motor is measured This requires that a VSM module is connected see Chapter Voltage Sensing Module Page 279 1 Select the voltage measurement for the fast flying restart p0247 5 1 2 Activate the flying restart p1200 0 The following statu...

Page 275: ... function using p1200 1 especially for loads which may coast down after the power is interrupted This avoids the complete mechanical system from being subject to sudden loads 2 Contrary to an induction motor for a synchronous reluctance motor the system does not wait a specific demagnetization time see Flying restart for an induction motor Page 271 Flying restart can be activated for the rotating ...

Page 276: ...0 List Manual p0247 Voltage measurement configuration p0352 0 n Cable resistance p1082 0 n Maximum speed p1200 0 n Flying restart operating mode p1202 0 n Flying restart detection current p1203 0 n Flying restart search rate factor r1204 0 15 CO BO Flying restart V f control status r1205 0 21 CO BO Flying restart vector control status p1780 11 Motor model adaptation configuration Fast flying resta...

Page 277: ... a higher level control system Use of the bypass function supports temporary for example for maintenance work without plant standstill or permanent operation of the motor on the line supply Synchronization is activated with parameter p3800 A VSM10 which is assigned to a drive via DRIVE CLiQ measures the line supply voltage Requirement Drive in the vector control mode with Voltage Sensing Module VS...

Page 278: ...803 0 CO BO Sync line drive control word r3804 CO Sync line drive target frequency r3805 CO Sync line drive frequency difference p3806 0 n Sync line drive frequency difference threshold value r3808 CO Sync line drive phase difference p3809 0 n Sync line drive phase setpoint value p3811 0 n Sync line drive frequency limitation r3812 CO Sync line drive correction frequency p3813 0 n Sync line drive ...

Page 279: ...t Manual in parameter p1200 A VSM can be used for induction motors in order to reduce the duration of the search see Chapter Fast flying restart Page 273 If only one VSM exists it is used to acquire the motor voltages when synchronize is deactivated p3800 0 Topology view The VSM is used on the encoder side for SINAMICS S120 drives The VSM is only used at the VECTOR drive object in sensorless opera...

Page 280: ...using parameter p0158 0 1 on the VECTOR drive object Function diagrams see SINAMICS S120 S150 List Manual 7020 Technology functions Synchronizing 9880 Voltage Sensing Module VSM Analog inputs AI 0 AI 3 9886 Voltage Sensing Module VSM Temperature evaluation Overview of the important parameters see SINAMICS S120 S150 List Manual p0151 0 n Voltage Sensing Module component number p0155 0 n Activate de...

Page 281: ...s with outputs of 75 W it is recommended to test the activation of the power semiconductors after repairs To do so a DC voltage 40 V is applied to the DC link and the possible pulse patterns must be tested by the control software The simulation mode can be activated via p1272 1 Note Simulation mode cannot be activated without a power unit A power unit must be connected via DRIVE CLiQ Requirements ...

Page 282: ...cement power unit has been installed it must be activated accordingly Requirements Only possible for identical chassis power units connected in parallel Maximum number of parallel power units is 4 Maximum 4 Motor Modules Innovation in parallel Parallel connection of power units with suitable power reserves DRIVE CLiQ star topology possibly a DMC20 or a DME20 see SINAMICS S120 Control Units Manual ...

Page 283: ...mented on the plant system side When the drive is started up again after POWER ON the status of the bypass contactors is evaluated After powering up the converter can thereby change straight into Ready to start and bypass status This is only possible if the bypass is activated via a control signal the control signal p1266 is still present once the system has been ramped up and the automatic restar...

Page 284: ...ction is only possible for encoderless closed loop speed control p1300 20 or V f control p1300 0 19 and when an induction motor is used Features Available for vector control Available for induction motors without encoder Commissioning the bypass function The bypass function is part of the function module technology controller that can be activated when using the commissioning wizard Parameter r010...

Page 285: ...rio this can result in a fault trip It is possible to activate an overvoltage protection function which when a Vdc max threshold r1242 is reached the pulses are inhibited as a consequence the DC link voltage stops increasing When the pulses are inhibited the motor coasts down which is why it must be restarted on the fly As a consequence overvoltage protection is only active if the Flying restart f...

Page 286: ... with synchronization with overlap Parameter Description r1261 0 Control signal for contactor K1 r1261 1 Control signal for contactor K2 p1266 Setting the control signal P1269 0 Signal source to provide the feedback signal of contactor K1 P1269 1 Signal source for contactor K2 feedback p3800 1 Synchronization is activated p3802 r1261 2 Synchronizer activation is triggered by the bypass function Tr...

Page 287: ...he drive converter inhibits the pulses The drive converter is in the hot standby state If the on command is withdrawn in this phase the drive converter changes into the basic standby state If the appropriate contactors are being used the drive converter is isolated from the line supply and the DC link is discharged Retrieving the motor from supply mode functions the same but in reverse At the star...

Page 288: ...ch both contactors are open when closing contactor K2 now a phase and frequency difference of approximately zero must be obtained If when switching over the angular difference would be 20 el then current surges be expected that cannot be neglected This is the reason that synchronism is only reached if the angular difference is p3813 maximum of 20 el Compensating a speed decrease using p3809 only m...

Page 289: ...ss function with synchronization without overlap p1260 2 has been activated Table 5 4 Parameter settings for bypass function with synchronization without overlap Parameter Description r1261 0 Control signal for contactor K1 r1261 1 Control signal for contactor K2 p1266 Setting the control signal P1269 0 Signal source to provide the feedback signal of contactor K1 P1269 1 Signal source for contacto...

Page 290: ...ive equipment refer to the diagram Circuit example bypass without synchronization This is why this type of bypass is only suitable for drives with a low power rating When the converter retrieves the motor from the line supply initially contactor K2 is opened and after the excitation time has expired contactor K1 is closed The drive converter then connects to the rotating motor and the motor is fed...

Page 291: ...operations The bypass time debypass time bypass speed variables and the command source for changing over are set using parameters Parameter assignment After activating the bypass function without synchronization p1260 3 the following parameters still have to be set Table 5 5 Parameter settings for non synchronized bypass function with overlap Parameter Description r1261 0 Control signal for contac...

Page 292: ...ck signal synchronization completed p1269 0 1 BI Bypass switch feedback signal Synchronization p3800 0 n Sync line drive activation p3801 0 n Sync line drive drive object number p3802 0 n BI Sync line drive enable r3803 0 CO BO Sync line drive control word r3804 CO Sync line drive target frequency r3805 CO Sync line drive frequency difference p3806 0 n Sync line drive frequency difference threshol...

Page 293: ...nction blocks Faster setpoint transfers from a higher level control system are possible Automatic commissioning routines with different current controller cycles are simplified This function is enabled for Motor Modules and Power Modules in the chassis format in vector control Activating the function To be able to activate the asynchronous pulse frequency the following requirements must be satisfi...

Page 294: ...µs at a pulse frequency of 2 kHz For Motor Modules in the chassis format set the pulse frequency to asynchronous operation with p1800 10 12 Then increase the pulse frequency of the Motor Module Chassis to 1 25 KHz using p1800 while the current controller cycle remains at 500 µs The Motor Module chassis is better utilized as a result of the increased pulse frequency Boundary conditions for asynchro...

Page 295: ...on Manual 11 2017 6SL3097 4AB00 0BP5 295 Overview of important parameters see SINAMICS S120 S150 List Manual p0115 0 6 Sampling times for internal control loops p1800 0 n Pulse frequency setpoint p1810 Modulator configuration p1840 0 n Actual value correction configuration ...

Page 296: ...Vector control 5 23 Asynchronous pulse frequency Drive functions 296 Function Manual 11 2017 6SL3097 4AB00 0BP5 ...

Page 297: ...he dynamic performance requirements are low for example Pumps Fans Belt drives V f control aims to maintain a constant flux Φ in the motor whereby the flux is proportional to the magnetizing current Iµ or the ratio of voltage V to frequency f Φ Iµ V f The torque M generated by an induction motor is proportional to the product of the flux and current the vector product Φ I M Φ I To generate as much...

Page 298: ...boost 1 Linear characteristic with flux current con trol FCC Characteristic that compensates for volt age losses in the stator resistance for static dynamic loads flux current control FCC This is particularly useful for small motors since they have a relatively high stator resistance 2 Parabolic characteris tic Characteristic that takes into account the motor torque curve e g fan pump Quadratic ch...

Page 299: ...y drives with flux cur rent control FCC Characteristic that takes into account the technological particularity of an application e g textile applications Whereby the current limitation Imax controller only affects the output voltage and not the output frequency By disabling slip compensation Voltage losses in the stator resistance for static dynamic loads are also compensated flux current control ...

Page 300: ...ost Parameter p1300 0 n Open loop closed loop control operating mode p1320 0 n V f control programmable characteristic frequency 1 p1327 0 n V f control programmable characteristic voltage 4 p1330 0 n CI V f control independent of voltage setpoint p1331 0 n Voltage limitation p1333 0 n V f control FCC starting frequency r1348 CO V f control Eco factor actual value p1350 0 n V f control soft starti...

Page 301: ...e VECTOR 1 Pumps and fans 2 Encoderless control down to f 0 passive loads 4 Dynamic response in the field weakening range 5 Starting with high breakaway torque 6 High load moment of inertia e g centrifuges An overview of the influenced parameters and the set values is provided in the SINAMICS S120 S150 List Manual Calculation You call the calculation of the parameters which influence the technolog...

Page 302: ... for the use of the Voltage boost function Magnetization build up of an induction motor at n 0 rpm Build up of a torque at n 0 rpm e g in order to hold a load Generation of a breakaway acceleration or braking torque Compensation of ohmic losses in the windings and feeder cables Types of voltage boost Three types of voltage boost can be selected Permanent voltage boost with p1310 Voltage boost only...

Page 303: ...emperature rise as a result of excessive voltage boost If the voltage boost value is too high this can result in an excessively high motor winding temperature increase and therefore result in a shutdown trip Voltage boost permanent Vpermanent p0305 rated motor current p0395 actual stator resistance p1310 permanent voltage boost Figure 6 3 Permanent voltage boost example p1300 0 and p1310 0 ...

Page 304: ...e 6 4 Voltage boost while accelerating example p1300 0 and p1311 0 Function diagrams see SINAMICS S120 S150 List Manual 6301 Vector control V f characteristic and voltage boost Overview of important parameters see SINAMICS S120 S150 List Manual p0304 0 n Rated motor voltage p0305 0 n Rated motor current r0395 0 n Current stator resistance p1300 0 n Open loop closed loop control operating mode p131...

Page 305: ...then the setpoint frequency is automatically reduced If a motor holding brake is used a setting value can be specified at the slip compensation output via p1351 A parameter setting of p1351 0 automatically activates the slip compensation p1335 100 Figure 6 5 Slip compensation Overview of important parameters see SINAMICS S120 S150 List Manual r0330 0 n Rated motor slip p1334 0 n V f control slip c...

Page 306: ...g Note Maximum frequency resonance damping When p1349 0 the changeover limit is automatically set to 95 of the rated motor frequency but only up to a maximum of 45 Hz Function diagrams see SINAMICS S120 S150 List Manual 6310 Vector control Resonance damping and slip compensation Overview of important parameters see SINAMICS S120 S150 List Manual r0066 CO Output frequency r0078 CO Torque generating...

Page 307: ...g the appropriate measures if an overvoltage or undervoltage is present in the DC link Figure 6 7 Vdc control V f Undervoltage in the DC link Typical cause Failure of the supply voltage or supply for the DC link Remedy Specify a regenerative torque for the rotating drive to compensate the existing losses thereby stabilizing the voltage in the DC link kinetic buffering ...

Page 308: ...max control to a smoother or harder setting independently of each other Vdc_min control kinetic buffering With this function the kinetic energy of the motor is used for buffering the DC link voltage in the event of a momentary power failure thereby delaying the drive Vdc_max control This function can be used to control momentary regenerative load without shutdown using overvoltage in the DC link V...

Page 309: ...ctivated for a drive Other drives can participate in supporting the DC link by transferring to them a scaling of their speed setpoint from the controlling drive via BICO interconnection Note If it is expected that the line supply will return you must make sure that the converter is not disconnected from the line supply It could become disconnected for example if the line contactor drops out The li...

Page 310: ...ives can unintentionally accelerate Remedial measures activate the Vdc_max control Vector control p1240 1 factory setting Servo control p1240 1 V f control p1280 1 factory setting Inhibit Vdc_max control Vector control p1240 0 Servo control p1240 0 factory setting V f control p1280 0 Activate the Vdc_max monitoring Vector control p1240 4 or 6 Servo control p1240 4 or 6 V f control p1280 4 or 6 WAR...

Page 311: ...tor V f p1285 0 n Vdc_min controller switch on level kinetic buffering V f r1286 Vdc_min controller switch on level kinetic buffering V f p1287 0 n Vdc_min controller dynamic factor kinetic buffering V f p1290 0 n Vdc controller proportional gain V f p1291 0 n Vdc controller integral time V f p1292 0 n Vdc controller derivative time V f p1293 0 n Vdc_min controller output limit V f p1294 Vdc_max c...

Page 312: ...V f control vector control 6 5 Vdc control Drive functions 312 Function Manual 11 2017 6SL3097 4AB00 0BP5 ...

Page 313: ...orresponds for a reference speed of 1500 RPM to a value of 1200 RPM If the reference speed is changed to 3000 RPM then the value of 80 is kept and now means 2400 RPM Restrictions When a unit changeover occurs rounding to the decimal places is carried out This can mean that the original value might change by up to one decimal place If a referenced form is selected and the reference parameters e g p...

Page 314: ...ence parameters Overview of the important parameters see SINAMICS S120 S150 List Manual p0010 Infeed commissioning parameter filter p0100 IEC NEMA motor standard p0349 Unit system motor equivalent circuit diagram data p0505 Unit system selection p0595 Technological unit selection p0596 Technological unit reference variable p2000 Reference speed reference frequency p2001 Reference voltage p2002 Ref...

Page 315: ...40 takes place Parameters p0514 p0519 are provided for scaling purposes when interconnecting BICO parameters also see SINAMICS S120 S150 List Manual Figure 7 1 Illustration of conversion with reference values Note If a referenced form is selected and the reference parameters e g p2000 are changed retrospectively the referenced values of some of the control parameters are also adjusted to ensure th...

Page 316: ...p0640 Reference torque 100 p2003 p2003 2 rated motor torque p0333 Reference power 100 r2004 r2004 p2003 p2000 2π 60 Reference angle 100 p2005 90 Reference acceleration 100 p2007 0 01 1 s2 Reference frequency 100 p2000 60 Reference modulation depth 100 Maximum output voltage without overload Reference flux 100 Rated motor flux Reference temperature 100 p2006 100 C Reference electrical angle 100 p20...

Page 317: ... 100 p2007 0 01 1 s2 Reference frequency 100 p2000 60 Reference modulation depth 100 Maximum output voltage without overload Reference flux 100 Rated motor flux Reference temperature 100 p2006 100 C Reference electrical angle 100 p2005 90 Note Operation of motors in the field weakening range If the motors are to be operated in the field weakening range 2 1 the value of parameter p2000 must be set ...

Page 318: ...210 3 Reference power 100 r2004 r2004 r0206 Reference modulation depth 100 Maximum output voltage without overload Reference temperature 100 p2006 100 C Reference electrical angle 100 p2005 90 Scaling for the B_INF drive object Table 7 5 Scaling for the B_INF drive object Size Scaling parameter Default when commissioning for the first time Reference frequency 100 p2000 p2000 50 Hz Reference voltag...

Page 319: ... Reference angle p2006 Reference temperature p2007 Reference acceleration p0514 0 9 Specific scaling reference values p0515 0 19 Specific scaling parameter referred to p0514 0 p0516 0 19 Specific scaling parameter referred to p0514 1 p0517 0 19 Specific scaling parameter referred to p0514 2 p0518 0 19 Specific scaling parameter referred to p0514 3 p0519 0 19 Specific scaling parameter referred to ...

Page 320: ...or conductor short circuit once when the pulses are enabled p1901 1 Checks for a ground fault once when the pulses are enabled p1901 2 Checks for a conductor conductor short circuit and ground fault each time the pulses are enabled The test can be executed once after the Control Unit is switched on POWER ON or each time that the pulses are enabled The motor must be stationary when executing the gr...

Page 321: ...oved by deactivating removing drive objects p0105 2 If a component fails the sub topology can also be used to allow a machine to continue running until the spare part is available In this case however no BICO source must be interconnected from this drive object to other drive objects Example of a sub topology The starting point is a machine created offline in STARTER for which Drive 1 has not yet ...

Page 322: ...Basic functions 7 4 Modular machine concept Drive functions 322 Function Manual 11 2017 6SL3097 4AB00 0BP5 Figure 7 2 Example of a sub topology ...

Page 323: ... parameters see SINAMICS S120 S150 List Manual p0105 Activate deactivate drive object r0106 Drive object active inactive p0125 0 n Activate deactivate power unit component r0126 0 n Power unit components active inactive p0145 0 n Enable disable sensor interface r0146 0 n Sensor interface active inactive p9495 BICO behavior for deactivated drive objects p9496 BICO behavior when activating drive obj...

Page 324: ...h are operated without a motor being connected can be damaged or destroyed Never operate a sine wave filter on the Power Module or Motor Module without a connected motor Usage restrictions for sine wave filters The following restrictions must be taken into account when a sine wave filter is used The output frequency is limited to a maximum of 150 Hz The modulation type is permanently set to space ...

Page 325: ... Name Setting p0233 Power unit motor reactor Filter inductance p0234 Power unit sine wave filter capacitance Filter capacitance p0290 Power unit overload response Disable pulse frequency reduction p1082 Maximum speed Fmax filter pole pair number p1800 Pulse frequency Nominal pulse frequency of the filter p1802 Modulator modes Space vector modulation without overload ...

Page 326: ...ors connected in series For details see the following device manuals SINAMICS S120 AC Drive SINAMICS S120 booksize power units SINAMICS S120 air cooled chassis power units SINAMICS S120 liquid cooled chassis power units The maximum permissible pulse frequency for the motor reactor is defined as follows for the SINAMICS power units for booksize and blocksize power units the single rated pulse frequ...

Page 327: ...Drive functions Function Manual 11 2017 6SL3097 4AB00 0BP5 327 Overview of important parameters see SINAMICS S120 S150 List Manual p0230 Drive filter type motor side p0233 Power unit motor reactor p0235 Number of motor reactors in series ...

Page 328: ...ts the rate of voltage rise to values 500 V µs and the typical voltage peaks to the values below with motor cable lengths of 150 m Voltage peaks ÛLL typically 1000 V for Vline 575 V Voltage peaks ÛLL typically 1250 V for 660 V Vline 690 V Restrictions The following restrictions must be taken into account when a dv dt filter is used The output frequency is limited to a maximum of 150 Hz Maximum per...

Page 329: ... 6SL3097 4AB00 0BP5 329 NOTICE Damage to the du dt filter by exceeding the maximum pulse frequency Inadmissibly high pulse frequencies can damage the du dt filter Do not exceed maximum permissible pulse frequency Commissioning The dv dt filter must be activated when commissioning the system p0230 2 ...

Page 330: ...uous operation is only permissible for output frequencies higher than 10 Hz For short time operation output frequencies less than 10 Hz are permissible for a maximum of 5 minutes However this must be followed by a minimum period of 5 minutes where the output frequency is higher than 10 Hz NOTICE Damage to the du dt filter compact plus voltage peak limiter during continuous operation at low output ...

Page 331: ... used The output frequency is limited to a maximum of 150 Hz Maximum permissible motor cable lengths Shielded cables Max 100 m Unshielded cables Max 150 m Further restrictions are contained in the following device manuals SINAMICS S120 AC Drive SINAMICS S120 air cooled chassis power units SINAMICS S120 chassis power units liquid cooled Commissioning During commissioning you must activate the dv dt...

Page 332: ... pulse frequency The pulse frequency can be varied in every current controller cycle if the cycle is constant Current measurement errors resulting from asynchronous pulse and control intervals are compensated by a correction in the actual current value Pulse frequency wobbling can be parameterized with parameter p1810 Modulator configuration Parameter p1811 0 n Pulse frequency wobbling amplitude c...

Page 333: ...ower connections If an encoder is being used the direction of rotation must when required be adapted using p0410 Note Rotating moving measurement for motor data identification of SERVO drives Use parameter p1959 0 n 14 15 0 to activate a direction inhibit for the rotating measurement for motor data identification where necessary The direction inhibit should be deactivated with p1959 0 n 14 15 1 fo...

Page 334: ...ng the direction of rotation p1821 1 Note Position reference is lost at direction reversal If direction reversal is configured in the data set configurations e g p1821 0 0 and p1821 1 1 when the function module Basic positioner or Position control is activated the absolute adjustment is reset after each data set changeover p2507 as the position reference is lost when the direction of rotation is s...

Page 335: ...ubject also note the information in Section Infeed switch on by a drive Page 914 Note Automatic restart functions in servo control and vector control and for infeeds with infeed control After the line supply voltage is connected Smart Line Modules 5kW 10kW automatically switch on When the automatic restart function is activated then the system also restarts after the Control Unit powers up if ther...

Page 336: ...ing then these faults will also be acknowledged if this is successful the startup attempt will be resumed For the case that only the phase voltage fails time moni toring can be set using p1213 6 Restart after a fault with additional startup attempts An automatic restart is carried out after any fault or for p1208 0 1 If the faults occur one after the other then the number of startup at tempts is d...

Page 337: ...eted r0056 4 1 fault F07320 is output The monitoring is deactivated with p1213 0 If p1213 is set lower than the sum of p1212 the magnetization time r0346 and the additional delay time due to flying restart then fault F07320 is generated at each restart p1210 1 prevents a restart The monitoring time must be extended if the faults that occur cannot be immediately and successfully acknowledged e g wh...

Page 338: ...ing status word control word p1206 0 9 Automatic restart fault active p1207 BI Automatic restart AR connection to the following drive object p1208 0 1 BI Automatic restart modification infeed p1210 Automatic restart mode p1211 Automatic restart startup attempts p1212 Automatic restart delay time startup attempts p1213 0 1 Automatic restart monitoring time r1214 0 15 CO BO Automatic restart status ...

Page 339: ...using a contactor circuit with braking resistors The advantage of armature short circuit braking over a mechanical brake is the response time of the internal armature short circuit braking with just a few milliseconds The response time of a mechanical brake is about 40 ms For external armature short circuit braking the slowness of the switching contactor results in a response time of over 60 ms WA...

Page 340: ...king the motor windings are short circuited using the Motor Module Requirement This function has been released for Motor Modules in the booksize and chassis formats Short circuit proof motors p0320 p0323 One of the following motor types is used rotating permanent magnet synchronous motor p0300 2xx linear permanent magnet synchronous motor p0300 4xx The maximum current of the Motor Module r0209 0 m...

Page 341: ...r use suitable resistors to short circuit the motor One of the following motor types is used rotating permanent magnet synchronous motor p0300 2xx linear permanent magnet synchronous motor p0300 4xx Setting The external armature short circuit braking is activated via p1231 1 with contactor feedback signal or via p1231 2 without contactor feedback signal Activation The function is activated as foll...

Page 342: ...6 nmax p0350 nmax maximum speed used Parameterization You can parameterize the Motor Module and the Control Unit using the STARTER commissioning tool The expert lists of the drive objects and an input screen form to enter the digital inputs outputs are available The input screen form of the Control Unit for the digital inputs outputs DI DO 8 to 15 is located under the Control Unit bidirectional di...

Page 343: ...is connected to terminal 12 of terminal strip X132 DO 15 is used as switching output for the short circuit contactor Digital output DO 15 is connected to terminal 13 of terminal strip X132 Parameter r1239 0 indicates the status of the braking and issues the signal for the contactor Figure 7 4 Example of external armature short circuit braking Parameterization of the example 1 Set p1231 1 2 Define ...

Page 344: ...aking with p1233 0 n Setting the start speed for DC braking with p1234 0 n Activation The function is activated if the signal source of p1230 is set to 1 Initially for the motor demagnetization time p0347 0 n the pulses are inhibited until the motor is demagnetized The DC braking start speed parameter p1234 is not taken into account with this activation The DC braking current p1232 0 n is injected...

Page 345: ...ing restart function is not available the drive can only be restarted from standstill In this case for a new start you must wait until the drive has come to a standstill 7 12 2 2 Activation via fault response If DC braking is activated as fault response then the following responses are executed 1 The motor is braked along the braking ramp up to the threshold in p1234 The gradient of the braking ra...

Page 346: ...is then switched off When OFF1 OFF3 is prematurely canceled then normal operation is resumed DC braking as emergency braking of a fault response remains active 7 12 2 4 Activation via a speed threshold Setting If p1231 is set to 14 DC braking as a response is activated as soon as the actual speed falls below p1234 Activation Before activation the actual speed must be p1234 DC braking can then be a...

Page 347: ...ule does not support the autonomous integrated voltage protection mechanism r0192 10 0 an external 24 V supply UPS must be provided for the components to ensure reliable operation in the event of mains power failure If the Motor Module supports the autonomous integrated voltage protection mechanism r0192 10 1 the 24 V supply for the components must be implemented via a Control Supply Module to ens...

Page 348: ...e no longer satisfied after a motor type has been changed see p0300 then those modified parameters that have armature short circuit braking or DC braking as a response e g p2100 p2101 or p0491 are set to the factory setting Note Deselecting armature short circuit or DC braking Armature short circuit or DC braking cannot be deactivated using parameter p1231 as long as a response parameterized with ...

Page 349: ...728 CU set input or output p0738 BI CU signal source for terminal DI DO 8 To p0745 BI CU signal source for terminal DI DO 15 p0748 CU invert digital outputs p1226 0 n Standstill recognition speed threshold p1230 0 n BI Armature short circuit DC braking activation p1231 0 n Armature short circuit DC braking configuration p1232 0 n DC braking braking current p1233 0 n DC braking duration p1234 0 n S...

Page 350: ...h to the resistors Configuration in STARTER VECTOR drive object V f control Note This function is released for SINAMICS S120 Motor Modules Cabinet SINAMICS S120 Motor Modules Chassis 500 V 690 V SINAMICS S120 Motor Modules Chassis 380 V 480 V 250 kW SINAMICS S120 Motor Modules Chassis Liquid Cooled 380 V 480 V 250 kW SINAMICS S120 Motor Modules Chassis Liquid Cooled 500 V 690 V 7 13 1 Features Thr...

Page 351: ...f 500 V to 690 V all Motor Modules in the chassis format have been released for use of this function You can enter the resistance value in a star connection into parameter p1360 The default setting of the resistance values is calculated from p1360 p1362 0 6 r0207 0 p1362 0 Braking Module activation threshold according to the following table r0207 0 4 rated current of the Motor Module Table 7 8 Res...

Page 352: ...0 4 644 3 096 660 85 85 1070 111 4 167 1 5 139 3 426 690 85 85 1158 120 6 180 8 5 562 3 708 F 500 100 100 841 103 0 154 5 3 433 2 289 600 100 100 967 118 4 177 6 3 948 2 632 660 100 100 1070 131 0 196 6 4 368 2 912 690 100 100 1158 141 8 212 7 4 728 3 152 F 500 120 115 841 118 5 177 7 2 986 1 990 600 120 115 967 136 2 204 3 3 433 2 289 660 120 115 1070 150 7 226 1 3 798 2 532 690 120 115 1158 163 ...

Page 353: ...1 0 700 H 500 575 515 841 530 5 795 7 0 667 0 444 600 575 515 967 609 9 914 9 0 767 0 511 660 575 515 1070 674 9 1012 3 0 848 0 565 690 575 515 1158 730 4 1095 6 0 918 0 612 J 500 735 680 841 700 4 1050 6 0 505 0 337 600 735 680 967 805 3 1208 0 0 581 0 387 660 735 680 1070 891 1 1336 7 0 642 0 428 690 735 680 1158 964 4 1446 6 0 695 0 463 J 500 810 805 841 829 2 1243 7 0 427 0 284 600 810 805 967...

Page 354: ...e factory setting of p0210 Table 7 10 Activation threshold Line supply voltage V 380 480 500 600 660 690 Tolerance 10 15 60 s 10 15 60 s 10 15 60 s Udmax V 820 1022 1220 UDC link Braking Module activation threshold p1362 0 Vmin 759 948 1137 Vrated 774 967 1159 Vmax 789 986 1179 HW shutdown threshold Vmin 803 1003 1198 Vrated 819 1022 1220 Vmax 835 1041 1244 7 13 3 Activating the Braking Module fun...

Page 355: ...follows during the configuration 1 Activate the Parallel connection checkbox in the Power Unit Additional Data configuration dialog box see step 7 of the above list The pull down menu for the Number of parallel modules appears 2 Select the desired number of Motor Modules 3 Click Continue until you reach Complete You have now completed the wizard for the configuration of the Motor Modules 4 Check t...

Page 356: ...arm A06921 is output if phase non symmetry is detected The errors are located in parameter r0949 Parameter r0949 11 Wire break phase U Parameter r0949 12 Wire break phase V Parameter r0949 13 Wire break phase W Fault F06922 is output if phase failure is detected Overcurrent The Imax controller is active The setpoint is stored in parameter p0067 Overtemperature of the resistors The temperature is m...

Page 357: ...ameters see SINAMICS S120 S150 List Manual r0207 0 4 Rated power unit current r0949 0 63 Fault value p1300 0 n Open loop closed loop control operating mode p1330 0 n CI V f control independent of voltage setpoint p1360 Braking Module braking resistor cold p1362 0 1 Braking Module activation threshold r1363 CO Braking Module output voltage p1364 Braking Module non symmetrical resistance ...

Page 358: ...rder to avoid this there is a binector input p1551 that for a LOW signal activates the torque limits p1520 and p1521 This means that the drive can brake with the maximum torque by interconnecting the signal OFF 3 r0899 5 to this binector Function diagrams see SINAMICS S120 S150 List Manual 5620 Servo control Motoring generating torque limit 5630 Servo control Upper lower torque limit 6630 Vector c...

Page 359: ...surement are predefined as a function of the maximum speed p1082 during first commissioning They can be changed appropriately The automatic friction characteristic plot can be activated using p3845 The characteristic is then plotted the next time that it is enabled The following settings are possible p3845 0 Friction characteristic curve recording deactivated p3845 1 Friction characteristic curve ...

Page 360: ...tions Friction characteristic Overview of important parameters see SINAMICS S120 S150 List Manual p3820 0 n Friction characteristic value n0 p3839 0 n Friction characteristic value M9 r3840 0 8 CO BO Friction characteristic status word r3841 CO Friction characteristic curve output p3842 Activate friction characteristic p3843 0 n Friction characteristic smoothing time friction moment difference p38...

Page 361: ...orms the action and activates the output for the holding brake The exact sequence control is shown in function diagrams 2701 and 2704 see SINAMICS S120 S150 List Manual The operating principle of the holding brake can be configured via parameter p1215 Figure 7 7 Sequence diagram simple brake control The start of the closing time for the brake depends on the expiration of the shorter of the two tim...

Page 362: ...as a result of incorrect parameterization If the drive moves against the closed holding brake this can destroy the holding brake and as a consequence result in death or severe injury If a holding brake is being used do not set p1215 0 Correctly set all of the parameters involved Note It is only permissible to activate brake control monitoring for booksize power units and blocksize power units with...

Page 363: ...ction module extended brake control p0855 0 n BI Unconditionally open holding brake p0856 0 n BI Speed controller enabled p0858 0 n BI Unconditionally close holding brake r0899 12 CO BO Status word sequence control holding brake open r0899 13 CO BO Status word sequence control close holding brake command p1215 Motor holding brake configuration p1216 Motor holding brake opening time p1217 Motor hol...

Page 364: ...r is stopped and the value saved If p0651 is at 0 the counter is deactivated If the maintenance interval set in p0651 is reached alarm A01590 is triggered Once the motor has been maintained the maintenance interval must be reset Note If the motor data set is switched during the star delta changeover without the motor being changed the two values in p0650 must be added to determine the correct numb...

Page 365: ...project is upgraded from firmware V4 6 to V4 7 then the time stamp settings for the old project are retained The times displayed for the error messages do not therefore differ from those in the old firmware version If a new project is created in firmware version V4 7 and above the factory setting for the p3100 2 and therefore a different time basis for error messages If the behavior desired is the...

Page 366: ...gy saving potential When compared to continuous flow machines with parabolic load characteristic machines with a linear or constant load characteristic such as conveyor drives or reciprocating pumps have a lower energy saving potential This function is optimized for fluid flow machines Situation In a conventionally controlled plant or system the flow rate of the medium is controlled using valves o...

Page 367: ... rate changes proportionally with the speed of the continuous flow machine Any throttles or valves remain completely open The entire plant system characteristic is shifted by the speed controller to achieve the required flow rate As a consequence the complete system operates close to the optimum efficiency and especially in the partial load range uses significantly less energy than when using a th...

Page 368: ...the calculation if you do not enter the interpolation points for your plant system characteristic The values of the factory setting can deviate from your plant system characteristic and result in an inaccurate calculation This calculation is configurable individually for each individual axis Activation of the function This function is enabled only for vector mode 1 The function is automatically ac...

Page 369: ...hich serve as basis for the actual value generation A change in the fault state serves as trigger for the recording Data is recorded a short time before the fault state as well as afterwards The diagnostics data is saved on the memory card in the following directories USER SINAMICS DATA SMTRC00 BIN USER SINAMICS DATA SMTRC07 BIN USER SINAMICS DATA SMTRCIDX TXT The following information is containe...

Page 370: ...u about this the drive only outputs alarm A3x4701 when an SMC30 is used 1 x encoder number x 1 2 or 3 Commissioning Connect the corresponding encoder signal with the CTRL input monitoring signal of the device terminal X521 7 Parameterization is not required Note The input is automatically set to a high level if a wire is broken As a consequence for a broken wire the encoder is considered to be goo...

Page 371: ...ptation Page 376 Pulse number correction for faults Page 377 Monitoring tolerance band pulse number Page 378 Expansion of the encoder evaluation 1x 4x Page 379 Setting the measuring time to evaluate speed 0 Page 380 The number of current controller cycles can be set to generate the average value of the speed actual value Page 380 These supplementary functions allow you to improve the evaluation of...

Page 372: ...ng For squarewave encoders with push pull signals this function monitors encoder tracks A B A B as well as R R The encoder track monitoring monitors the most important properties of the signals amplitude offset phase position Commissioning The following parameters must be set as requirement for track monitoring p0404 3 1 switches to the square wave encoder p0405 0 1 sets the signal to bipolar Set ...

Page 373: ... signal R pin 11 1 x encoder number x 1 2 or 3 7 20 2 Zero mark tolerance This function allows individual faults to be tolerated regarding the number of encoder pulses between two zero marks Commissioning 1 Set parameter p0430 21 1 to activate the zero mark tolerance function Sequence The function runs as follows 1 The zero mark tolerance function starts to become effective after the 2nd zero mark...

Page 374: ...coder number x 1 2 or 3 7 20 4 Adjustable hardware filter The adjustable hardware filter function allows an encoder signal to be filtered therefore suppressing short interference pulses Commissioning 1 Set parameter p0438 0 to activate the adjustable hardware filter function Parameterization 1 In parameter p0438 square wave encoder filter time enter the filter time in the range from 0 to 100 μs Th...

Page 375: ...n of the zero mark This functionality is suitable for encoders where the zero mark 1 pulse wide In this particular case errors would otherwise occur as a result of the edge detection of the zero mark For a positive direction of rotation the positive edge of the zero mark is evaluated and for a negative direction of rotation the negative edge As a consequence for encoders where the zero mark is wid...

Page 376: ...0437 2 0 no pulse number correction for faults are set 1 x encoder number x 1 2 or 3 7 20 6 Pole position adaptation For example for a dirty encoder disk the drive adds the missing pulses to the pole position using the zero mark that is cyclically received in order to correct the pole position error If for example EMC interference causes too many pulses to be added then these will be subtracted ag...

Page 377: ...ng encoder pulses for example if the encoder disk is dirty Using the two parameters set the tolerance for the deviating pulse number If the deviation exceeds the tolerance window size fault F3x1311 is output Note When the Commutation with zero mark function p0404 15 1 is activated then the system waits until fine synchronization has been completed before making a correction r1992 8 1 The pole posi...

Page 378: ... the number of corrected pulse errors is displayed in r4688 with the correct sign Set p0437 7 0 in order to indicate the corrected pulse errors per zero mark distance in r4688 For a drift after one revolution if the tolerance band limit is not reached an alarm is not output A new measurement is performed if the zero mark is exceeded 4 Number of pulses outside the tolerance band If the tolerance ba...

Page 379: ...sing and falling edges of a contiguous pulse pair on the A and B tracks are evaluated 2 For the 1x evaluation only the first or the last edge of a contiguous pulse pair on the A and B tracks are evaluated 3 A 4x evaluation of the pulse encoder signals allows a minimum speed to be detected which is a factor of 4 lower than for the 1x evaluation For incremental encoders with uneven pulse duty factor...

Page 380: ... 7 20 11 Sliding averaging of the speed actual value For slow speed drives 40 rpm when using standard encoders with a pulse number of 1024 a problem is encountered due to the fact that the same number of encoder pulses is not available for every current controller cycle for p0430 20 1 Speed calculation without extrapolation Incremental difference The different number of encoder pulses means that t...

Page 381: ...profiles and their possible causes Fault profile Fault description Remedy No fault F3x101 zero mark failed Check that the connec tion assignment is cor rect A interchanged with A or B interchanged with B F3x100 Zero mark distance error Check whether the con nection assignment is correct R interchanged with R Interjected zero mark Use zero mark tolerance ...

Page 382: ...3097 4AB00 0BP5 Fault profile Fault description Remedy Zero mark too wide Use edge evaluation of the zero mark EMC faults Use an adjustable hard ware filter Zero mark too early late interference pulse or pulse loss on the A B track For faults use pole position adaptation or pulse number correction ...

Page 383: ...Basic functions 7 20 Tolerant encoder monitoring Drive functions Function Manual 11 2017 6SL3097 4AB00 0BP5 383 7 20 13 Tolerance window and correction Figure 7 10 Tolerance window and correction ...

Page 384: ...dge evaluation x p0437 6 Freezing the actual speed for dn dt errors x p0437 7 Uncorrected encoder pulses accu mulate x x p0437 26 Deselection track monitoring x p0438 Square wave encoder filter time x r0452 Square wave encoder filter time display x p0453 Pulse evaluation zero speed measuring time x p4680 Zero mark monitoring tolerance permissible x x p4681 Zero mark monitoring tolerance window lim...

Page 385: ... A3x400 Alarm threshold zero mark distance error x A3x401 Alarm threshold zero mark clear ance failed x A3x418 Speed difference per sampling rate exceeded x A3x422 Number of pulses square wave encoder outside tolerance x Table legend 1 Encoder track monitoring 2 Zero mark tolerance 3 Freezing the speed setpoint 4 Adjustable hardware filter 5 The measuring time can be set to evaluate zero speed 6 S...

Page 386: ... p0438 0 n Square wave encoder filter time r0452 0 2 Square wave encoder filter time display r0458 0 2 Sensor Module properties r0459 0 2 Sensor Module extended properties p4680 0 n Zero mark monitoring tolerance permissible p4681 0 n Zero mark monitoring tolerance window limit 1 positive p4682 0 n Zero mark monitoring tolerance window limit 1 negative p4683 0 n Zero mark monitoring tolerance wind...

Page 387: ...arked the power unit and all the encoders assigned to the motor control are switched to inactive r0146 n 0 Control is carried out via the control status words of the cyclic telegram STW2 7 and ZSW2 7 or using parameters p0897 and r0896 0 The drive must be brought to a standstill by the higher level controller disable pulses e g via STW1 0 OFF1 DRIVE CLiQ communication to downstream components via ...

Page 388: ...igher level control system disable pulses e g via STW1 0 OFF1 The monitoring functions for the power unit remain active r0126 1 Note Removing replacing parked components Once parked components have been disconnected connected they can only be unparked once they have been successfully integrated in the actual topology see r7853 Example Parking axis In the following example an axis is parked To ensu...

Page 389: ... 12 Function chart parking encoder Overview of important parameters see SINAMICS S120 S150 List Manual p0105 Activate deactivate drive object r0106 Drive object active inactive p0125 0 n Activate deactivate power unit component r0126 0 n Power unit components active inactive p0145 0 n Enable disable sensor interface r0146 0 n Sensor interface active inactive p0895 0 n BI Activate deactivate power ...

Page 390: ...ltiturn encoder An absolute encoder that provides an absolute image of the position over several encoder revolutions e g 4096 revolutions Description Position tracking enables the load position to be reproduced when using gearboxes It can also be used to extend the position area With position tracking an additional measuring gear can be monitored and also a load gear if the position control functi...

Page 391: ... the stored revolutions of a rotary absolute encoder p0421 is used The position area can be extended by increasing this value If the measuring gear is available this value equals the number of resolvable motor revolutions which is stored in r0483 Gearbox ratio p0433 p0432 7 22 2 Measuring gearbox If a mechanical gear measuring gear is located between an endlessly rotating motor load and the encode...

Page 392: ...of 1 3 of a load revolution after three encoder overflows the motor and load zero position coincide again The position of the load can no longer be clearly reproduced after one encoder overflow If position tracking is activated via p0411 0 1 the gear ratio p0433 p0432 is calculated with the encoder actual position value r0483 Figure 7 16 Odd numbered gears with position tracking p0412 8 Features C...

Page 393: ...coder value r0483 from a singleturn encoder It must be possible to display the virtual encoder range via r0483 Note If the gear factor is not equal to 1 then p0412 always refers to the motor side The virtual resolution which is required for the motor is then used here For rotary axes with modulo offset the virtual multiturn resolution p0412 is preset as p0421 and can be changed For linear axes the...

Page 394: ... the pole position and encoder position This reference must also be carefully maintained when using measuring gears This is the reason that the ratio between the pole pair number and the encoder revolutions must be an integer multiple 1 e g pole pair number 17 measuring gear 4 25 ratio 4 Commissioning The position tracking of the measuring gear can be activated in the drive wizard STARTER during t...

Page 395: ...onfiguration p0412 0 n Measuring gear absolute encoder rotary revolutions virtual p0413 0 n Measuring gear position tracking tolerance window p0421 0 n Absolute encoder rotary multiturn resolution p0432 0 n Gear factor encoder revolutions p0433 0 n Gear factor motor load revolutions r0477 CO Measuring gear position difference r0485 CO Measuring gear raw encoder value incremental r0486 CO Measuring...

Page 396: ...n be connected to any free DRIVE CLiQ socket via the Sensor Module 7 23 1 Requirements for creating a project Requirements As of STARTER V4 1 5 Project with one CU320 2 The project can also be created OFFLINE A description of this can be found in Section Commissioning in the SINAMICS S120 Commissioning Manual with STARTER Connection conditions for ENCODER drive objects All encoders that can be ass...

Page 397: ...igator inserting an Encoder drive object Procedure 1 Double click Insert encoder The Insert Encoder dialog box opens 2 Enter a name for the encoder in the Name input field 3 Click the Drive object no button 4 Enter a new drive object number in the Drive object no input field All assigned drive object numbers are shown in the Assigned drive object no list 5 Click OK The configuration window for enc...

Page 398: ...al pulses per revolution can be set over a wide range With the additional inputs and outputs these can be used for example to transfer analog speed setpoints or control and status signals for example OFF1 ON ready for operation or fault 7 24 1 SIMOTION mode The SIMOTION mode of the incremental encoder emulation is set using parameter p4400 0 The incremental encoder emulation is based on the speed ...

Page 399: ...as pulse encoder emulation including the zero mark The signals of the pulse encoder emulation appear just like the signals of a TTL encoder and can be processed by an external controller or hardware Note Connector input p4420 should be interconnected with signal source r0479 diagnostics encoder actual position value Gn_XACT1 The value is updated with each DRIVE CLiQ base cycle and displayed with t...

Page 400: ... p4420 is inverted Only one Encoder Data Set EDS can be interconnected to precisely one TM41 When the same EDS is interconnected to an additional TM41 only the actual position value can be emulated but not the zero mark position Using p4401 1 1 the zero position is synchronized with the zero mark of the absolute encoder If you have to remain compatible with older firmware versions for example for ...

Page 401: ...tion of an absolute encoder Pole pitch of the resolver Referencing to the zero position of the encoder with selection of the correct zero position using a BERO switching signal CU parameter p0493 Referencing to an external zero mark connected via an input terminal CU parameter p0495 Note Original encoder with several zero marks If the original encoder leading encoder has several zero marks positio...

Page 402: ...le of a pulse number step up ratio The leading encoder emits 12 pulses and a zero mark per revolution However the application requires 32 pulses per revolution By setting p4408 and p4418 the required 32 pulses a revolution are available at X520 of the TM41 Figure 7 20 Step up ratio of the encoder pulse number ...

Page 403: ...e generated zero mark with the zero mark of the leading encoder the pulse number per encoder revolution of the encoder at the TM41 input p4408 must always precisely coincide with the pulse number per encoder revolution of the encoder interconnected at connector input p4420 The pulse numbers emulated by the TM41 are set using p0408 and p0418 If p4408 0 is set then the values from p0408 and p0418 al...

Page 404: ... of the A track belonging to the reference mark which for a positive direction of rotation comes before the zero mark Figure 7 22 Example Zero mark synchronization Layout of the synchronization After the SINAMICS system has been powered up the TM41 drive object requests the zero position of the leading encoder via the encoder interface The encoder emulation follows the movements of the leading enc...

Page 405: ...4099 3 125 µs 250 µs 500 µs Resolution 31 25 Hz 15 625 Hz 7 8125 Hz SINAMICS mode p4400 1 Output frequency fmax p0418 17 bit 1024 kHz 512 kHz 256 kHz Output frequency fmax p0418 17 bit 512 kHz 256 kHz 128 kHz Output frequency fmax p0418 18 bit 256 kHz 128 kHz 64 kHz SIMOTION mode p4400 0 Output frequency fmax 1024 kHz 512 kHz 256 kHz Table 7 13 Maximum output frequencies for TM41 1024 kHz p4401 7 ...

Page 406: ...0 r0479 n SERVO or VECTOR n 0 2 p4408 sets the gear ratio pulse number this must correspond to the pulse number of the leading encoder p4418 sets the fine resolution of the signal source this must correspond to the fine resolution of the leading encoder p0408 sets the pulse number of the encoder emulation p0418 sets the fine resolution of the encoder emulation Note To be able to signal encoder emu...

Page 407: ... Module 41 TM41 Incremental encoder emulation p4400 0 9676 Terminal Module 41 TM41 Incremental encoder emulation p4400 1 9678 Terminal Module 41 TM41 Control word sequence control p4400 0 9680 Terminal Module 41 TM41 Status word sequence control 9682 Terminal Module 41 TM41 Sequencer p4400 0 Overview of important parameters see SINAMICS S120 S150 List Manual General r0002 TM41 status display p0408...

Page 408: ...encoder simulation speed setpoint 1 p4426 TM41 encoder emulation pulses for the zero mark Incremental encoder emulation using the encoder actual position p4400 1 p4408 TM41 encoder emulation pulse number leading encoder p4418 TM41 encoder emulation fine resolution leading encoder p4420 CI TM41 encoder emulation position setpoint p4421 TM41 encoder emulation dead time compensation p4422 TM41 encode...

Page 409: ...included on the new memory card Older memory cards still function but prevent a safe upgrade WARNING Malfunction due to software manipulation when using exchangeable storage media The storage of files on removable storage media involves a high risk of infection e g via viruses or malware As a result of incorrect parameterization machines can malfunction which in turn can lead to injuries or death ...

Page 410: ...or start a firmware upgrade manually for specific components The versions of the DRIVE CLiQ components and that of the Control Unit can also differ Information can be found in the version overview Note DRIVE CLiQ components with higher firmware releases are downwards compatible and also operate with DRIVE CLiQ components that have lower firmware releases Note Upgrade for SINAMICS S120 chassis Upgr...

Page 411: ...ts Existing drive project Web server has been started Firmware or configuration is packed in a zip archive PG PC is connected to the Control Unit target device STARTER Download to file system has been carried out Calling the Manage config display area Click the Manage config entry in the navigation The Manage config area is then displayed on the right in the Internet browser Figure 7 24 Web server...

Page 412: ...ration in the downloaded archive is not checked for consistency No reset A reset of the firmware configuration is not initiated after the download Delete all All files are deleted on the memory card before the archive is unpacked Note Activate this option only when updating the firmware Important data would be destroyed with this option when updating the configuration NOTICE loss of data Only the ...

Page 413: ...t A memory card with the latest firmware The STARTER commissioning tool or Startdrive with new firmware on the programming device PG PC PG PC is connected to the Control Unit target device Updating the firmware via the Web server to the latest version 1 Update the data on the memory card Start the Web server Page 440 Transfer the firmware via the Web server to the memory card Page 411 After the up...

Page 414: ...ate device version device type Then select the required firmware version e g version SINAMICS S120 firmware version 4 x Change version 3 Replace the memory card Disconnect the Control Unit from the power supply Remove the memory card containing the old firmware version Insert the memory card containing the new firmware version Switch on the Control Unit again 4 Wait until the Control Unit has comp...

Page 415: ...e a Control Unit from a higher to a lower firmware version it is possible that certain functions will no longer be available 7 25 5 Protection against power failure while updating via the Web server To ensure data protection against power failure updating via the Web server as of firmware V4 6 the data on the working partition is duplicated on the memory card on the backup partition This ensures t...

Page 416: ...ted In this case an entry is made in the diagnostic buffer of the Control Unit A POWER ON must therefore be performed to update the data on the backup partition Automatic restoration of defective data If defective data is detected on the memory card the system automatically restores the relevant data If for example the working partition of the memory card is damaged this partition is reformatted a...

Page 417: ...as this it is justifiable that the converter continues to operate in the essential service mode Note Warranty is lost in the essential service mode If you activate the essential service mode all of the warranty claims associated with the converter become null and void The essential service mode can have the following effects Exceptionally high temperatures inside and outside the converter Open fir...

Page 418: ...the motor have no effect The converter blocks all functions that switch off the motor to save energy e g PROFIenergy or hibernation mode WARNING Unexpected exiting of the essential service mode by selecting Safe Torque Off PM240 2 Power Modules have terminals to select the Safe Torque Off STO safety function An active STO function switches the motor off thus terminating the essential service mode ...

Page 419: ...r to the alternative setpoint p3882 Interaction between bypass and the essential service mode If when activating the essential service mode bypass operation is active converter operation is selected internally in order to ensure that the setpoint is entered via the source intended for the essential service mode If faults are still present after the number of start attempts parameterized in p1211 t...

Page 420: ...0 Last known setpoint r1078 smoothed factory setting p3882 1 Fixed speed setpoint 15 p1015 p3882 2 Maximum speed p1082 4 Set the source to select the direction of rotation For p3881 0 1 2 3 if you interconnect p3883 with a free digital input of your choice p3883 inverts the direction of rotation during the essential service mode For example to interconnect p3883 with DI 4 set p3883 722 4 5 Optiona...

Page 421: ...important parameters see SINAMICS S120 S150 List Manual p0491 Motor encoder fault response ENCODER p1210 Automatic restart mode p1211 Automatic restart startup attempts p1212 Automatic restart delay time startup attempts p1213 0 1 Automatic restart monitoring time p1266 BI Bypass control command p1267 Bypass changeover source configuration p3880 BI ESM activation signal source p3881 ESM setpoint s...

Page 422: ...SMC30 is provided in the SINAMICS S120 Control Units Manual More information on the Control Unit CU310 2 is provided in the SINAMICS S120 AC Drive Manual Application Speed controlled drive The drive is subject to speed control when operating on the controller The clock frequency stipulates the speed setpoint The pulse number is entered in p0408 This is calculated from the clock frequency of the co...

Page 423: ...ack monitoring no zero mark etc in the STARTER configuration wizard in the Encoder Data dialog box Note The pulse direction interface is activated using p0405 5 1 e g via the Expert list of STARTER Overview of important parameters see SINAMICS S120 S150 List Manual p0010 Drive commissioning parameter filter r0061 CO Actual speed value unsmoothed p0400 0 n Encoder type selection p0404 0 n Encoder c...

Page 424: ...atures below the maximum permitted ambient temperature the maximum output current is controlled as a function of the operating temperature This function also accounts for the dynamic response of the thermal performance rise and decay curves of the operating temperature An alarm threshold is calculated that is weighted with the current ambient temperature By weighting the alarm threshold with the c...

Page 425: ...d on one frequency converter The original motor data set p0300 ff is not modified It is merely the data set transfer to the closed loop control which is organized according to the number of parallel connected motors The stationary motor data identification also works for parallel connections The rotating measurement function also works if the motors can rotate without distance limit Uneven loading...

Page 426: ...he Parallel motor connection option 2 Enter the number of motors in the parallel connection in the entry field Number This display and input function is available for vector control only For servo control the parallel connection of motors can only be configured using the expert list parameter p0306 Motors with integrated DRIVE CLiQ interface SINAMICS Sensor Module Integrated can also be connected ...

Page 427: ...EDS changeover and e g two SMCs must be used in cases where a motor with encoder needs to be decoupled from connections operating with encoder Vector control with encoder for parallel connected drives functions in the same way as for a single drive if the drives are coupled via the load and the speeds do not differ by more than the working point dependent pull out slip Counter example The gear rat...

Page 428: ...mory size of 100 MB The total memory size of the stored data influences the backup times The larger the data quantity the longer the backup takes Configuration The basic configuration of the Web server is performed either via the STARTER or during the first commissioning The Web server is active by default in the factory setting of the drive Data transfer In addition to the normal unsecured transm...

Page 429: ...nding brief information is then displayed in the SIEMENS Industry Online Support From the brief information you can then download a detailed description as a PDF file 7 30 2 Requirements and addressing Preconditions The Web server is available for all CU310 2 and CU320 2 Control Units via the LAN interface X127 For Control Units with PROFINET interface the Web server is also available via this int...

Page 430: ...ate IP addresses As delivered the integrated Ethernet interface has IP address 169 254 11 22 Supported Internet browsers In the current version the SINAMICS Web server supports large displays such as on usual PC screens Access to the Web server is possible with the following Internet browsers Microsoft Internet Explorer 11 Microsoft Edge 38 Mozilla Firefox 52 Google Chrome 62 ...

Page 431: ...ert list using the appropriate parameters The configuration parameters for the Web server can be found in the SINAMICS S120 S150 List Manual Parameter p8986 activates the Web server Calling the configuration dialog of the Web server 1 Select the required drive in the project navigator 2 Call the Web server context menu The Web Server Configuration dialog box then opens Figure 7 26 Configuring the ...

Page 432: ... all data is transferred encrypted The configuration option provided to limit connections to HTTPS can only be changed when the Web server is active In the STARTER configuration dialog see image Configuring the Web server with default settings in the Web server prior to commissioning via parameter p8986 Procedure 1 In the configuration dialog box activate the Only permit access via secure connecti...

Page 433: ...edure is identical to the password assignment in STARTER Enabling users The SINAMICS and Administrator users can be enabled with their specific rights It is also possible to specify whether a password protection should be active for the SINAMICS user Default settings SINAMICS No password protection It is recommended that a password is assigned This must comprise at least 8 characters Administrator...

Page 434: ...se special characters and avoid passwords which you have already used elsewhere Please note that if the Windows language settings are changed errors can occur when subsequently checking the password If you use language specific special characters you must ensure that the same language setting is active on the computer for subsequent entry of the password To enable a user and activate a password pr...

Page 435: ...sword can be changed at any time If a password has already been assigned for a user the existing password is shown in encrypted form To change a password you have to know the existing password 1 Click the Change password button in the user setting area The Web Server Specify Password dialog box opens 2 Enter your old password in the uppermost text box 3 Enter the new password in the New password i...

Page 436: ... Page 973 and know how protection Page 976 The specified settings of the write and know how protection including password protection also apply for access via the web server to the drive parameters and configuration The Web server cannot be used to bypass this protection An OEM exception list specifies which parameters can also be displayed in the web server in spite of activated know how protecti...

Page 437: ...critical parameters are not included in the OEM exception list 7 30 4 2 Web server access protection Both user logins with the following standard rights are available for the SINAMICS Web server User Login name Function Standard rights User 1 SINAMICS Diagnostics user Activated Read access rights and the right to acknowledge faults User 2 Administrator Parameter assignment user Deac tivated Access...

Page 438: ...ng depending on the user Access rights can be set individually for each user and parameter list in the parameter lists via the Web server configuration Password assignment For SINAMICS and the Administrator users password protection is regulated as follows by default SINAMICS No password protection It is recommended that a password is assigned This must comprise at least 8 characters Administrator...

Page 439: ...or user creates list Read Change list Read Write You can change the rights of individual parameter lists based on the default settings shown in the table SINAMICS and Administrator users can reduce their own rights Administrator users can reduce the rights of SINAMICS users or expand them up to their own level Note For safety reasons the user administrator should never give the user SINAMICS the w...

Page 440: ...ed individual parameter list 5 Click Access The Access rights dialog box opens with the access settings of the parameter list Figure 7 29 Access rights The preset access rights can be seen for the SINAMICS and the Administrator users The checkbox is selected for the activated access rights 6 Activate or deactivate the relevant access rights by clicking the corresponding checkbox 7 Click Confirm to...

Page 441: ...t interface X127 169 254 11 22 Note Security In addition to a normal connection to your drive secure data transfer via HTTPS is also possible However this requires that you use certificates in the browser of your PC see Certificates for the secure data transfer Page 460 2 Confirm with Return The start page of the Web server then opens The most important data of your drive is displayed Figure 7 30 ...

Page 442: ...ve functions 442 Function Manual 11 2017 6SL3097 4AB00 0BP5 3 Enter the login name and password at the top left 4 Click Login to confirm the input Figure 7 31 Start page after logging in After logging in you can call other display areas ...

Page 443: ... areas directly by clicking in the navigation Display area Different information is displayed in the various areas Example of Parameter The display is divided further by tabs in the various display areas The name of the display area is shown at the top Logging out If you no longer require the web server or want to block the detailed display areas you should log out for security reasons Click Logou...

Page 444: ...umn headers Identification and status of a component As with using the STARTER a system component can also be identified and its status displayed using the Web server Column Description Identification Allows a drive object to be identified If the entry Identify via LED is displayed in this column an LED blink test can be performed on the drive As soon as you click the entry Identify via LED the Re...

Page 445: ...splay of the drive object The status and operating display of the drive objects can be called with the aid of the Web server Displaying the Service overview 1 Click the Diagnostics entry in the navigation 2 Click the Service overview tab All the drive objects of the drive are listed in the Internet browser Figure 7 33 Status or operating display of the drive objects ...

Page 446: ...d in the memory card of the drive All the files in the USER SINAMICS DATA TRACE directory of the memory card can be loaded to the Web client i e to the PC The loadable trace files are displayed on the Web page with their name The trace files can be displayed graphically in the commissioning tool Note Activation and parameterization of the multiple trace Detailed information on the activation and p...

Page 447: ... files tab A list of loadable trace files is then displayed in the Trace files tab Figure 7 34 Loading trace files 3 In the list click the name of the trace file that you wish to load You are then prompted whether you want to open the trace file or store it in your file system 4 Save the file in your file system The file stored in the file system can be opened with the commissioning tool e g START...

Page 448: ...aid of the Web server The diagnostic buffer can be used to log important operating events as a logbook The diagnostic buffer is in the non volatile memory so data written to it can be read out for subsequent analysis of a malfunction including pre history Note You can find more detailed information on the diagnostic buffer in the Diagnostic buffer chapter of the SINAMICS S120 Commissioning Manual ...

Page 449: ...c buffer is then displayed on the Diagnostic buffer tab Figure 7 35 Displaying the diagnostic buffer The following information is displayed Column Explanation No Number of the event Time Time of the event Note No synchronized time is displayed when powering up but a time comprised of the following components is used instead 1 1 2000 Time stamp operating hours Date Date of the event Event Display o...

Page 450: ...ct are then displayed on the Alarm display tab Figure 7 36 Displaying alarm messages The following information is displayed Column Explanation Time Time of the event Type Type of the event Drive object Relevant drive object Alarm Alarm ID alarm value with description Component Number of the relevant component The list of alarms and faults is updated automatically The display can be limited to sele...

Page 451: ...rameter lists are saved on the memory card of the drive Therefore a parameter selection performed once is retained for further access even after the drive is switched off An existing write and know how protection also applies without restrictions for parameter access via the Web server Note You can find detailed information about the following parameters in the SINAMICS S120 S150 List Manual in Se...

Page 452: ...owser The Define tab is active when this display area is called Figure 7 37 Drive parameters defining the parameter list 2 Click on the Add new list button Figure 7 38 Drive parameters new list 3 Specify a name without special characters for the new parameter list and click Confirm to confirm the entry 4 Click the Access button and assign the access rights for this parameter list see Section Acces...

Page 453: ...o the right of the first free line The parameter is now inserted in the parameter list 8 Repeat steps 5 to 7 for each parameter that you want to create in the parameter list 9 Click the Save list button to save the parameter list to the memory card of the drive OEM SINAMICS HMI PARLISTS A new tab is created for the new parameter list The name of the parameter list appears in the tab You can view t...

Page 454: ... area of the Web server Note You require the appropriate change rights to delete the selected parameter list see Chapter Access rights for parameter lists in the Web server Page 439 Deleting a parameter list 1 Select the parameter list to be deleted in the List name drop down list Figure 7 40 Drive parameters deleting a parameter list 2 Click the Delete list button If you have the appropriate chan...

Page 455: ...te selected list elements lines 2 Click the DEL button in the parameter list in front of the line that you want to delete Figure 7 41 Drive parameters deleting an individual list If you have the required change rights for this parameter list the line is deleted You can delete further list elements in the same way After deleting all the required list elements the parameter list must be saved 3 Clic...

Page 456: ...er Access rights for parameter lists Page 439 In addition the write and know how protection apply Note You can find detailed information about the following parameters in the SINAMICS S120 S150 List Manual in Section Parameters for write protection and know how protection Parameters that can be changed with active know how protection see Section Parameters with KHP_WRITE_NO_LOCK Parameters that ca...

Page 457: ... Manual 11 2017 6SL3097 4AB00 0BP5 457 Changing parameter values 1 Click the Parameter entry in the navigation 2 Click the tab of the required parameter list in the Parameter display area The parameter list is displayed Figure 7 42 Changing drive parameters ...

Page 458: ... value is not possible or not permitted the dialog box remains open A message text is also displayed When the entry of a parameter value is successful the dialog box is closed The new parameter value is displayed in the parameter list The changed parameter values must be saved to the memory card of the drive After a parameter value has been changed the RAM to ROM button is highlighted red 5 Click ...

Page 459: ...ve compressed zip archive option 4 Download the master configuration via the Web browser on the other drives cloning 5 If the know how protection was not activated in the master configuration you can now finely adjust the configuration for the individual drives If the know how protection was activated you require a password for the fine adjustment of all parameters on the individual drives that ar...

Page 460: ...he browser and the Web server using HTTPS requires the creation and installation of certificates You have three ways of creating a server certificate Use the default configuration Use self created certificates by means of certificate software such as OpenSSL Use a server certificate from a certificate authority Key files You require 2 key files for the encryption technique based on the Transport L...

Page 461: ...http www verisign com Delivery state A private key is generated as a file on the device when you first use HTTPSso that you can access the drive via HTTPS in the SINAMICS delivery state During an HTTPS access using this key a warning is issued in the browser that the certificate is unknown Validity period of the certificates Certificates up to 2044 are valid After expiration of the validity period...

Page 462: ...rver key used later are automatically generated from this data Sequence 1 You first open an HTTPS Web server connection to your drive in the browser 2 The firmware then creates a new server certificate and a private server key from the root certificate and the private key if they are not already available This is individualized for the IP address of the interface used for the communication 3 Follo...

Page 463: ...erver certificate e g 192 168 2 90 TLS crt and the private server key e g 192 168 2 90 TLS key to the memory card of your device OEM SINAMICS HMICFG CERT 2 The used certificate must be loaded to the browser of your PC It is recommended that you first assign a logical name to the certificate Make a backup copy of your certificate and rename the copy e g as SINAMICS crt Import the copied certificate...

Page 464: ... Web server security Administrator password not set Overview of important parameters see SINAMICS S120 S150 List Manual r0196 0 255 Topology component status r8911 0 3 IE IP Address actual r8931 0 3 PN IP Address actual p8984 0 1 BI Web server interface release signal source p8985 0 1 Web server interface configuration p8986 Web server configuration p8987 0 1 Web server port assignment ...

Page 465: ...e parameters and messages are only displayed when the function module is active Please note when configuring that an activated function module frequently requires additional computing time Certain function modules require a purchased license without which the converter cannot be operated when the function module is selected Commissioning with STARTER In the commissioning screens of STARTER you can...

Page 466: ... packages Function modules that are grayed out in STARTER cannot be activated via STARTER Commissioning via parameter only with BOP20 Function modules can be activated deactivated using parameter p0108 of the Control Unit CU Overview of important parameters see SINAMICS S120 S150 List Manual p0108 0 n Drive object function module p0124 0 n Main component identification via LED ...

Page 467: ...an be set separately A value of 0 deactivates the corresponding component Setpoints can be specified via two connector inputs The setpoints can be scaled via parameters p2255 and p2256 A ramp function generator in the setpoint channel can be used to set the setpoint ramp up ramp down time via parameters p2257 and p2258 The setpoint and actual value channel each have a smoothing element The smoothi...

Page 468: ...ive here is to maintain a constant level in the container This is carried out by means of a variable speed pump in conjunction with a sensor for measuring the level The level is determined via an analog input e g AI0 on TB30 and sent to the technology controller The level setpoint is defined in a fixed setpoint The resulting controlled variable is used as the setpoint for the speed controller In t...

Page 469: ...etermine by optimization Function diagrams see SINAMICS S120 S150 List Manual 7950 Technology controller Fixed values binary selection r0108 16 1 and p2216 2 7951 Technology controller Fixed values direct selection r0108 16 1 and p2216 1 7954 Technology controller Motorized potentiometer r0108 16 1 7958 Technology controller Closed loop control r0108 16 1 7959 Technology controller Kp Tn adaption ...

Page 470: ...er setpoint after RFG Closed loop control p2200 0 n BI Technology controller enable p2253 0 n CI Technology controller setpoint 1 p2254 0 n CI Technology controller setpoint 2 p2255 Technology controller setpoint 1 scaling p2256 Technology controller setpoint 2 scaling p2257 Technology controller ramp up time p2258 Technology controller ramp down time r2260 CO Technology controller setpoint after ...

Page 471: ...er minimum limiting signal source p2299 0 n CI Technology controller limitation offset Adaptation of gain and integral time p2252 Technology controller configuration p2310 Technology controller Kp adaptation input value signal source p2311 Technology controller lower Kp adaptation factor p2312 Technology controller upper Kp adaptation factor p2313 Technology controller lower Kp adaptation activati...

Page 472: ...els for drive and outgoing shafts and transfer the peripheral speeds and forces The load monitoring can identify blockages in the working machine and interruptions to the power transmission During load monitoring the current speed torque curve is compared with the programmed speed torque curve p2182 to p2190 If the actual value is outside the programmed tolerance bandwidth a fault or alarm is trig...

Page 473: ...ee SINAMICS S120 S150 List Manual Load monitoring p2181 0 n Load monitoring response p2182 0 n Load monitoring speed threshold 1 p2183 0 n Load monitoring speed threshold 2 p2184 0 n Load monitoring speed threshold 3 p2185 0 n Load monitoring torque threshold 1 upper p2190 0 n Load monitoring torque threshold 3 lower p2192 0 n Load monitoring delay time Speed setpoint monitoring p2150 0 n Hysteres...

Page 474: ...parameter p1215 Via binectors p1219 0 3 and p0855 Using zero speed detection Via the connector interconnection threshold value For an AC drive with Safe Brake Relay the Safe Brake Control safety function requires that the type of the brake control be set in parameter p1278 to Brake control with diagnostic evaluation p1278 0 This parameter is automatically set for booksize components Commissioning ...

Page 475: ...e feedback signal the startup is delayed to the corresponding time difference In order to start up as far as possible without any delay the set timer p1216 must be less than the time to the feedback signal If the timer is set lower however alarm A07931 brake does not open appears Remedy 1 Activate Release with feedback signal p1275 6 1 The pulse enable BO r1229 3 and setpoint enable BO r0899 15 ar...

Page 476: ...r0898 2 and p1275 00 1 OFF3 to Close brake immediately and invert signal To ensure that the frequency converter does not operate against the brake the OFF3 ramp p1135 should be set to 0 seconds Regenerative energy can be generated which must be either fed back to the line supply or dissipated by means of a braking resistor Service brake on crane drives For cranes with manual control it is importan...

Page 477: ...e control Signal name Binector input Control word sequence control inter connection parameters Enable speed setpoint p1142 BI Enable speed setpoint STWA 6 Enable setpoint 2 p1152 BI Setpoint 2 enable p1152 r0899 15 Unconditionally open holding brake p0855 BI Unconditionally open holding brake STWA 7 Enable speed controller p0856 BI Enable speed controller STWA 12 Unconditionally close holding brak...

Page 478: ... diagrams see SINAMICS S120 S150 List Manual 2704 Brake control Extended brake control stationary state detection r0108 14 1 2707 Brake control Extended brake control open close brake r0108 14 1 2711 Brake control Extended brake control signal outputs r0108 14 1 Overview of important parameters see SINAMICS S120 S150 List Manual r0108 14 Drive objects function module Extended brake control r0899 0...

Page 479: ...ource threshold p1221 Open motor holding brake threshold p1277 Motor holding brake delay braking threshold exceeded p1279 0 3 BI Motor holding brake OR AND logic operation Free blocks p1279 0 3 BI Motor holding brake OR AND logic operation Brake monitoring functions p1222 BI Motor holding brake feedback signal brake closed p1223 BI Motor holding brake feedback signal brake open Configuration contr...

Page 480: ... TM31 or TB30 with the Braking Module In order to obtain the maximum power of a Braking Module the Vdc_max control must be disabled Figure 8 5 Example of controlling two booksize Braking Modules Features Braking the motor without any possibility of regenerating into the line supply e g power failure Fast DC link discharge booksize format The Braking Module External terminals are controlled via the...

Page 481: ...urce for terminal DI DO 15 X132 13 X131 5 CU r2138 7 Acknowledge fault Vector Note Parameterization only for power units The parameterization described is only applicable for power units ALM BLM SLM Power Modules in the chassis format do not require this parameterization This is because they either dissipate excess energy using a connected braking resistor or they go into a fault condition if the ...

Page 482: ... function module Braking Module External p3860 Braking Module number of modules connected in parallel r3861 0 7 BO Braking Module inhibit acknowledgment p3862 Braking module DC link fast discharge delay time p3863 BI Braking Module activate DC link fast discharge p3864 0 7 BO Braking Module DC link fast discharge p3865 0 7 BI Braking Module prealarm I2t shutdown p3866 0 7 BI Braking Module fault ...

Page 483: ...an external sensor for liquid flow Evaluation of an external sensor for conductivity Monitoring the liquid intake temperature using external temperature sensors Monitoring the flow rating using internal temperature sensors Evaluation of signals transmitted from the PLC of the cooling unit Acknowledging cooling unit faults Commissioning You activate the cooling unit function module while configurin...

Page 484: ...sing enables cooling unit ready missing r0108 28 Drive object function module cooling unit p0192 06 Power unit firmware properties liquid cooling r0204 06 Power unit hardware properties liquid cooling with cooling unit chassis power unit p0260 Cooling unit startup time 1 p0261 Cooling unit startup time 2 p0262 Cooling unit fault conductivity delay time p0263 Cooling unit fault liquid flow delay ti...

Page 485: ...ossible function modules opens 3 Click the Extended torque control checkbox to activate this option 4 Click OK to activate the function module 5 Select the Connect to selected target devices option 6 Call the Download project to target system function Alternatively you can also activate function modules in STARTER under Configuration Function modules technology packages Activation can be checked i...

Page 486: ...e sensed using a KTY or PT1000 sensor p0601 2 or 3 The kT estimator requires the motor temperature in order to track correct the temperature dependent quantities The estimate is less accurate if a motor temperature sensor is not connected The kT estimator is only activated above a specific speed p1752 The terminal voltage of the converter always has small inaccuracies The lower the output voltage ...

Page 487: ...nfiguration compensation of the voltage emulation error in the drive converter Motor drive converter identification p0352 0 n Cable resistance p1909 0 n Motor data identification control word p1910 Motor data identification stationary kT estimator p1752 0 n Motor model changeover speed operation with encoder p1795 0 n Motor model kT adaptation smoothing time r1797 0 n Motor model kT adaptation cor...

Page 488: ...e p2512 p2513 Setting value p2514 p2515 Position offset p2516 Position actual value r2521 Velocity actual value r2522 Motor revolutions p2504 Load revolutions p2505 Spindle pitch p2506 Position tracking p2720ff 8 7 2 2 Description The actual position value processing converts the actual position value into a neutral distance unit LU Length Unit To do this the function block uses the encoder evalua...

Page 489: ... variables and the neutral length unit LU is established via parameter p2506 LU per load revolution for rotary encoders Parameter p2506 mirrors together with p2504 p2505 the interrelationship between encoder increments and the neutral length unit LU Example Rotary encoder ball screw with a pitch of 10 mm revolution 10 mm should have a resolution of 1 µm i e 1 LU 1 µm One load revolution correspond...

Page 490: ...osition value sensing with linear encoders For linear encoders the interrelationship between the physical quantity and the neutral length unit LU is configured using parameter p2503 LU 10 mm Example Linear encoder 10 mm should have a resolution of 1 µm i e 1 LU 1 µm p2503 10000 Figure 8 8 Actual position value processing ...

Page 491: ...0 An inversion of the axis motion can be entered using a negative value in p2505 8 7 2 3 Indexed actual value acquisition The indexed actual position value acquisition permits e g length measurements on parts as well as the detection of axis positions by a higher level controller e g SIMATIC S7 in addition to the position control e g of a belt conveyor Two more encoders can be operated in parallel...

Page 492: ...p2512 0 3 In addition the actual velocity value r2522 0 3 and the position offset for absolute encoders p2525 0 3 can be processed for each encoder by the higher level controller Features Encoder assignment p2502 D Absolute encoder adjustment p2507 E Activate measuring probe evaluation p2509 0 3 Measuring probe evaluation selection p2510 0 3 Measuring probe edge p2511 0 3 Activate actual position ...

Page 493: ...axes modulo and linear axes Position tracking for the load gear can only be activated once for each motor data set MDS The load actual position value in r2723 must be requested via Gn_STW 13 see Section Control and status words for encoders comprises the following information Encoder pulses per revolution p0408 Fine resolution per revolution p0419 Virtual number of stored revolutions of a rotary a...

Page 494: ...owing diagram illustrates an absolute encoder that can represent eight encoder revolutions p0421 8 Figure 8 9 Position tracking p2721 24 setting p2504 p2505 1 gear ratio 1 In this example this means Without position tracking the position for 4 encoder revolutions around r2521 0 LU can be reproduced With position tracking the position for 12 encoder revolutions 12 load revolutions with load gear ca...

Page 495: ...er is adjusted again when load position tracking is active the load gear position will be reset overflows The permissible position tracking range is mapped on the reproducible encoder range of EPOS It is possible to activate position tracking for several DDS Virtual multiturn encoder p2721 The number of resolvable load rotations for a rotary absolute encoder with active position tracking can be se...

Page 496: ... After switching on the difference between the stored position and the actual position is determined and depending on the result the following is initiated Difference within the tolerance window the position is reproduced based on the current actual encoder value Difference outside the tolerance window an appropriate fault F07449 is output The tolerance window is preset to quarter of the encoder r...

Page 497: ...l relationships and the same encoder data set DDS changeover has no effect on the calibration status and reference point status Restrictions Position tracking cannot be activated for an encoder data set which is used in different drive data sets as encoder1 for different gears If an attempt is still made to activate position tracking fault F07555 Drive encoder Configuration position tracking will ...

Page 498: ...re reset Position tracking for EDS0 is no longer calculated and must be re adjusted when switching back to DDS0 3 Position tracking for EDS0 is continued and the referencing bit is reset 1 4 Pulse inhibit operation Position tracking for EDS0 is continued and the referencing bit is reset 1 5 Position tracking for EDS4 is newly initiated and the referencing bit is reset 1 When switching back to DDS0...

Page 499: ...over is made The saved absolute value of the position tracking including the offset correction from the dissolved DDS is not used Additional information The position tracking memory is only available once for each EDS 8 7 2 5 Commissioning position tracking load gear using STARTER The position tracking function can be configured in the Mechanical system screen for Position control in STARTER The M...

Page 500: ...ssing encoder control word r2521 0 3 CO LR actual position value r2522 0 3 CO LR actual velocity value r2523 0 3 CO LR measured value r2524 CO LR LU revolutions p2525 0 n CO LR encoder adjustment offset r2526 0 9 CO BO LR status word p2720 0 n Load gear configuration p2721 0 n Load gear absolute encoder rotary revolutions virtual p2722 0 n Load gear position tracking tolerance window r2723 0 n CO ...

Page 501: ...ation p2535 p2536 Limiting p2540 p2541 Precontrol p2534 Adaptation p2537 p2538 Note We only recommend that experts use the position controller functions without using the basic positioner Function diagrams see SINAMICS S120 S150 List Manual 4015 Position control Position controller r0108 3 1 Overview of important parameters see SINAMICS S120 S150 List Manual p2533 0 n LR position setpoint filter t...

Page 502: ... fault F07450 is triggered Positioning monitoring is activated via binector inputs p2551 setpoint stationary p2554 0 travel command not active and p2544 positioning window Once the monitoring time p2545 has elapsed the positioning window is checked once If this is not reached fault F07451 is triggered The standstill monitoring and the positioning monitoring can be deactivated using the value 0 in ...

Page 503: ...ontroller has two cam controllers If cam position p2547 or p2548 is passed in the positive direction r2521 p2547 or p2548 then cam signals r2683 8 and r2683 9 are reset Features Standstill monitoring p2542 p2543 Positioning monitoring p2544 p2545 Dynamic following error monitoring p2546 r2563 Cam controllers p2547 p2548 p2683 8 p2683 9 Function diagrams see SINAMICS S120 S150 List Manual 4020 Posi...

Page 504: ...and Probe evaluation functions can be initiated and carried out via binector inputs p2508 and p2509 Binector inputs p2510 and p2511 define the mode for measurement probe evaluation The probe signals are recorded via the encoder status and control word To speed up signal processing direct measuring probe evaluation can be activated by selecting the input terminals for probes 1 2 via p2517 and p2518...

Page 505: ...nerated if during an activated function reference mark search or measuring probe evaluation a fault is signaled using the encoder status word If the position control function module is selected these parameters p2508 to p2511 are preassigned with 0 If the basic positioner function module is selected the reference mark search for search for reference point and measurement probe evaluation for the f...

Page 506: ...rectly configured If the position control function module is active and to optimize the speed controller a function generator signal is interconnected to the speed controller input p1160 then the position controller monitoring functions respond To prevent this from happening the position controller must be disabled p2550 0 and switched to the tracking mode p2655 1 for control using PROFIdrive tele...

Page 507: ...er r0108 4 1 using the commissioning wizards of STARTER The required BICO interconnections are automatically made Note The basic positioner requires the position controller functions The BICO interconnections which are automatically made by the basic positioner when activated must be changed by experienced users experts only Functions of the position control This means that the following functions...

Page 508: ...ock contains the following information Traversing block number Job e g positioning wait GOTO block step setting of binary outputs Motion parameters target position velocity override for acceleration and deceleration Mode e g skip block block change enable conditions such as Continue_with_stop and Continue_flying Task parameters e g delay time block step conditions Direct setpoint specification mod...

Page 509: ...he following settings The axis has been referenced for incremental measuring systems The axis has been adjusted for absolute measuring systems In order to compensate the backlash the determined backlash must be specified in p2583 with the correct polarity At each direction of rotation reversal the actual axis value is corrected dependent on the actual traversing direction and displayed in r2667 Th...

Page 510: ...sition value processing Absolute positioning details e g in a traversing task must always be within the modulo range Modulo offset can be activated for linear and rotary length units The traversing range cannot be limited by a software limit switch With active modulo offset and the application of absolute encoders as a result of potential encoder overflows it must be ensured that there is an integ...

Page 511: ...ant parameters see SINAMICS S120 S150 List Manual p2576 EPOS modulo offset modulo range p2577 BI EPOS modulo offset activation p2583 EPOS backlash compensation r2684 0 15 CO BO EPOS status word 2 r2685 CO EPOS correction value 8 8 2 Limits The velocity acceleration and deceleration can be limited and the software limit switches and STOP cams set Features Traversing profile limits Maximum velocity ...

Page 512: ...erence point approach Maximum acceleration deceleration Parameter p2572 maximum acceleration and p2573 maximum deceleration define the maximum acceleration and the maximum deceleration In both cases the units are 1000 LU s2 Both values are relevant for Jog mode Processing traversing blocks Direct setpoint specification MDI for positioning and setting up Reference point approach The parameters do n...

Page 513: ...hardware In this case the functionality of the STOP cam hardware limit switch is used The function of the STOP cams is activated by the 1 signal on the binector input p2568 activation of STOP cams Once enabled the activity of binector inputs p2569 STOP cam minus and p2570 STOP cam plus is checked These are low active this means if a 0 signal is present at binector input p2569 or p2570 then these a...

Page 514: ... change of both variables which ensures smooth acceleration and braking as shown in the diagram below Ideally acceleration and deceleration should be linear Figure 8 16 Activated jerk limitation The maximum gradient rk can be set in parameter p2574 jerk limitation in the unit LU s3 for both acceleration and braking The resolution is 1000 LU s3 To activate the limitation permanently set parameter p...

Page 515: ... output To avoid this happening using p1513 activate a supplementary torque which corresponds to the brake holding torque As a result after releasing the brake the load cannot sag and the drive remains in closed loop control without fault F07490 being output Function diagrams see SINAMICS S120 S150 List Manual 3630 EPOS Traversing range limits r0108 4 1 Overview of important parameters see SINAMIC...

Page 516: ...alue if violated the drive is stopped therefore exiting the intended motion sequence In this case the relevant safety faults are output first and then the sequential faults created by EPOS Using parameter r9733 the safety functions offer EPOS setpoint limiting values which when taken into account prevent the safety limit value being violated In order to prevent a safety limit violation by the EPOS...

Page 517: ...lute encoder Absolute encoder adjustment Flying referencing passive p2597 1 Note Observe the information about the parameters in Chapter Function diagrams and parameters Page 527 A connector input is provided to enter reference point coordinates for all types of referencing This allows e g changes input via the higher level controller However to permanently enter the reference point coordinate an ...

Page 518: ... Absolute encoders have to be adjusted during commissioning After the machine has been switched off the position information of the encoder is retained When p2507 2 is entered using the reference point coordinate in p2599 an offset value p2525 is determined This is used to calculate the actual position value r2521 Parameter p2507 signals the adjustment with a 3 in addition bit r2684 11 reference p...

Page 519: ...ence point Referencing with DRIVE CLiQ encoders DRIVE CLiQ encoders are available as either multiturn or singleturn absolute encoders If the referencing function is selected via the PROFIdrive encoder interface and if a DRIVE CLiQ encoder or other type of absolute encoder is connected via the DRIVE CLiQ interface the zero point of the singleturn position is used as the reference point Further info...

Page 520: ... 1 This ensures that the cam end and zero mark positions are always overrun at the same speed If signal propagation delays arise during switching processes this ensures that the offset caused during establishment of position is the same in each referencing process Axes that only have one zero mark over their complete traversing or modulo range are designated with parameter p2607 0 no reference cam...

Page 521: ...e reference cam the drive remains stationary and fault F07458 reference cam not found is issued If the axis is already located at the cam when referencing is started then traversing to the reference cam is not executed but synchronization to the reference zero mark is immediately started refer to step 2 Note The velocity override is effective during the search for the cam By changing the encoder d...

Page 522: ...ero mark approach velocity in the direction specified by the signal of binector input p2604 reference point approach start direction The drive synchronizes to the first zero mark and then starts to travel towards the reference point refer to step 3 Note In this case the direction of approach to the reference zero mark is the opposite to the axes with reference cams External zero mark available p04...

Page 523: ...andstill and then travels back Flying referencing Inaccuracies in the actual value acquisition are compensated with flying referencing This increases the load side positioning accuracy The mode flying referencing also known as post referencing positioning monitoring which is selected using a 1 signal at binector input p2597 select referencing type can be used in every mode jog traversing block and...

Page 524: ...d the position difference is less than the inner window p2601 the old actual position value is retained If the drive has already been referenced and the position difference is more than the outer window p2602 alarm A07489 reference point offset outside window 2 is output and the status bit r2684 3 pressure mark outside window 2 set No offset to the actual position value is undertaken If the drive ...

Page 525: ...oders p2507 is reset In the following cases when a DDS changeover takes place the actual position value becomes invalid p2521 0 and the reference point r2684 11 0 is reset The EDS that is effective for the position control changes The encoder assignment changes p2502 The mechanical relationships change p2503 p2506 With absolute encoders the status of the adjustment p2507 is also reset if the same ...

Page 526: ...over response Change over during pulse inhibit or operation has no effect Pulse inhibit Position actual value prepro cessing is new ly initiated1 and referencing bit2 is reset Operation Fault is output Position actual value prepro cessing is newly initiated1 and referencing bit2 is reset Pulse inhibit Position actual value preprocessing is newly initiated1 and referencing bit3 is reset Operation F...

Page 527: ...0 S150 List Manual p0494 0 n Equivalent zero mark input terminal1 p0495 Equivalent zero mark input terminal1 p2596 BI EPOS set reference point p2597 BI EPOS referencing type selection p2598 0 3 CI EPOS reference point coordinate signal source p2599 CO EPOS reference point coordinate value p2600 EPOS reference point approach reference point offset 1 Parameter p0494 corresponds to parameter p0495 re...

Page 528: ...een the motor and spindle The diagram shows an application example for referencing with several zero marks per revolution and selecting the correct zero mark using a BERO signal By using a reduction gear between the motor and the load spindle the drive detects several revolutions of the motor per mechanical revolution of the load and therefore also several encoder zero marks The higher level contr...

Page 529: ...al also here the correct zero mark for referencing can be selected from the several encoder zero marks Preconditions The position of the zero mark that has the shortest distance to the position when the BERO signal switches is to be determined The appropriate mechanical preconditions must be fulfilled when mounting the BERO Preferred mechanical configuration The BERO signal covers the zero mark as...

Page 530: ... to which the BERO is connected 2 Set the corresponding bit of parameter p0490 to 1 The signal inversion means that the evaluation uses the negative edge of the BERO signal Referencing procedure Referencing then proceeds as follows 1 Via the PROFIdrive encoder interface the Control Unit receives the request for a reference mark search 2 Using the parameterization the Control Unit determines the ze...

Page 531: ...then the absolute position is also automatically transferred to the Safety Integrated functions The Safety Integrated functions only evaluate the absolute position if a safety function is parameterized which requires an absolute value e g SLP The following are examples for a load side position calculation depending on various encoder mounting versions and axis types Example 1 Safety Integrated Ext...

Page 532: ...ponds to 10 mm r9708 Figure 8 21 Example 2 EPOS and safe referencing_linear Safety Integrated Extended function uses the rotating motor encoder The gearbox is parameterized using p9521 p9522 The spindle pitch is parameterized in p9520 To calculate the load side absolute position EPOS directly uses the load side linear scale In this example EPOS does not have to take into account the gearbox ratio ...

Page 533: ...nsing and therefore to optimize positioning accuracy on the load side The Safety Integrated Extended functions have lower accuracy requirements than the control For Safety Integrated Extended functions cyclic adjustment is not necessary The initial activation signal initiates referencing If at the next switching signal it is detected that the referenced state already exists then no new reference p...

Page 534: ...a Identifiers 000x hide show block x 0 show x 1 hide A hidden block cannot be selected binary coded via binector inputs p2625 to p2630 An alarm is output if you attempt to do so bbbb Continuation condition 0000 END 0 1 edge at p2631 0001 CONTINUE_WITH_STOP The exact position parameterized in the block is approached brake to standstill and positioning window monitoring before block processing can c...

Page 535: ...he POSITION task p2621 1 defines how the position specified in the traversing task is to be approached 0000 ABSOLUTE The position specified in p2617 is approached 0001 RELATIVE The axis is traveled along the value specified in p2617 0010 ABS_POS For rotary axes with modulo offset only The position specified in p2617 is approached in a positive direction 0011 ABS_NEG For rotary axes with modulo off...

Page 536: ...on override p2620 x Deceleration override p2623 x Task mode p2622 x Task parameter clamping torque 0 01 Nm with rotary motors or clamping force in 1 N with linear motors Possible continuation conditions include END CONTINUE_WITH_STOP CONTINUE_EXTERNAL CONTINUE_EXTERNAL_WAIT ENDLESS POS ENDLESS NEG Using these tasks the axis is accelerated to the specified velocity and is moved until A software lim...

Page 537: ...rpolator cycles p0115 5 The minimum delay time is one interpolation cycle this means that if a delay time is parameterized which is less than an interpolation cycle then the system waits for one interpolation cycle Example Waiting time 9 ms Interpolation cycle 4 ms Active waiting time 12 ms Regardless of the parameterized continuation condition which is parameterized for the task that precedes the...

Page 538: ... THE FLY and CONTINUE_WITH_STOP and CONTINUE_EXTERNAL_WAIT The binary signals r2683 10 output 1 or r2683 11 output 2 can be assigned to digital outputs The assignment in STARTER is made using the Configuration digital output button Any two of the SET_O RESET_O and GOTO tasks can be processed in an interpolation cycle and a subsequent POSITION and WAIT task can be started Function diagrams see SINA...

Page 539: ...s the axis comes into contact with the mechanical fixed stop the closed loop control in the drive raises the torque so that the axis can move on The torque increases up to the value specified in the task and then remains constant The status bit r2683 12 Fixed stop reached is set depending on the binector input p2637 Fixed stop reached If the following error exceeds the value set in parameter p2634...

Page 540: ...oint If the axis leaves the position that it had at detection of the fixed stop by more than the selected monitoring window for the fixed stop p2635 then the status bit r2683 12 is reset At the same time the speed setpoint is set to 0 and fault F07484 Fixed stop outside of the monitoring window is triggered with the reaction OFF3 quick stop The monitoring window can be set using the parameter p263...

Page 541: ...after cancelation It can be moved away from the fixed stop using jog or by selecting a new traversing task Note The fixed stop monitoring window p2635 is only activated when the drive is at the fixed stop and remains active until the fixed stop is exited Vertical axis Note In servo control a torque limit offset p1532 can be entered for vertical axes see also Section Vertical axis Page 179 With asy...

Page 542: ... controlled by means of direct setpoint specification e g via the PLC using process data During traversing the motion parameters can also be influenced on the fly setpoint acceptance and an on the fly change can be undertaken between the Setup and Positioning modes The direct setpoint specification mode MDI can also be used if the axis is not referenced in the setup or relative positioning modes w...

Page 543: ...48 1 of modulo axes p2577 1 To use the positioning function the drive must be in the Operation state r0002 0 The following options are available for starting positioning p2649 is 1 and positive edge on p2647 p2649 is 0 and p2647 is 1 Positive edge on p2650 or Positive edge on p2649 An overview of the setpoint transfer direct setpoint specification can be found in the function diagram 3620 see SINA...

Page 544: ...stop and reject traversing task functions are only effective in traversing blocks and direct setpoint specification MDI modes Function diagrams see SINAMICS S120 S150 List Manual 3618 EPOS Direct setpoint specification MDI mode dynamic values r0108 4 1 3620 EPOS Direct setpoint specification MDI mode r0108 4 1 Overview of important parameters see SINAMICS S120 S150 List Manual p2577 BI EPOS modulo...

Page 545: ... distances are only effective for a 1 signal at p2591 jog incremental For p2591 0 then the axis moves to the start of the traversing range or to the end of the traversing range with the specified velocity An overview of the Jog function can be found in function diagram 3610 see SINAMICS S120 S150 List Manual Features Jog signals p2589 p2590 Velocity p2585 p2586 Incremental p2587 p2588 p2591 Functi...

Page 546: ...Contrary to the status signal setpoint static the status signal remains active e g if a traversing command was stopped by a velocity override or intermediate stop SW limit switch plus reached r2683 7 SW limit switch minus reached r2683 6 These status signals indicate that the parameterized negative p2578 p2580 or positive p2579 p2581 traversing range limit was reached or passed If both status sign...

Page 547: ...odel the permissible following error is determined from the instantaneous velocity and the selected Kv factor Parameter p2546 defines a dynamic following error window that defines the permissible deviation from the calculated value The status signal indicates as to whether the following error is within the window status 1 Target position reached r2684 10 The status signal target position reached i...

Page 548: ... activate traversing task In the mode direct setpoint input MDI for setting up positioning a positive edge is used to acknowledge that a new traversing task or setpoint was transferred the same signal level as binector input p2650 edge setpoint transfer if the transfer type was selected using a signal edge binector input p2649 0 signal Velocity limiting active r2683 1 If the actual setpoint veloci...

Page 549: ...nt setpoints in the form of analog signals If the infeeds are appropriately configured operation can continue even if an infeed has failed The master is selected by the controller and operated under Vdc voltage control parameter p3513 0 with current control The slaves receive their setpoint directly from the master and are only operated under current control parameter p3513 1 Electrical isolation ...

Page 550: ...infeed trains is needed on the line side to prevent circulating currents caused by non synchronous pulsing patterns The entire infeed system supplies a joint DC busbar DC link Since the Active Line Module cannot detect whether the DC link is disconnected or a DC link fuse has blown an additional circuit to monitor these states must be installed DC breaker checkback function and fuse signaling cont...

Page 551: ...ction Manual 11 2017 6SL3097 4AB00 0BP5 551 Topology Figure 8 23 Topology structure and communications network based on PROFIBUS for master slave operation with redundant infeeds four infeed trains Master slave operation can be implemented for a maximum of four Active Line Modules ...

Page 552: ...evelops a fault it is disconnected on the line side by the line contactor on the DC link side using a DC breaker Infeeds must not be switched in to a charged DC link The DC link must be discharged before another infeed train can be switched in An infeed may only be connected to a charged DC link if a DC breaker with pre charging branch is installed 8 9 3 Types of communication To implement master ...

Page 553: ...d the necessity to use one TM31 per CU This communication method is also more susceptible to EMC related problems It is not absolutely essential to use a higher level controller e g SIMATIC S7 for this system Control functions can also be implemented using DCCs in individual CUs 8 9 4 Description of functions The Master slave function module is not implemented in the higher level controller but di...

Page 554: ...ave configuration changes instead of changing the proportional gain of the VDC link controller p3560 When parameter p3422 changes parameter p3560 is recomputed automatically by the firmware Figure 8 24 Structogram of master slave operation three identical Active Line Modules ALMs of identical output rating PROFIBUS communication system Function diagrams The function of the Master slave infeeds fun...

Page 555: ... always equal 100 The current distribution factor can be selected by means of a control word XCS p3577 using a multiplexer with six inputs X0 X5 p3576 0 5 Alternatively a new current distribution factor can be calculated in the higher level controller sent via cyclic PROFIBUS PZD telegrams and interconnected directly to the connector input Infeed additional current distribution factor p3579 A furt...

Page 556: ...e in capacitance will affect the dynamic response of the Vdc control Note Aligning the setpoints of the DC link voltage The setpoints of the DC link voltage Vdc from p3510 of the master and the slaves must be set to the same values to ensure that the Vdc tolerance bandwidth monitoring functions correctly Activation of the master slave function The Master slave function is activated with the checkb...

Page 557: ...d above have not been implemented Master slave switchover If a power unit fails during operation the higher level controller can switch each infeed line from current control slave operation to DC link voltage control master operation and vice versa parameter setting for master p3513 0 for slave p3513 1 Switching an ALM to an operational system In an operational master slave group an ALM must first...

Page 558: ...disable p3516 Infeed current distribution factor p3570 CI Master slave active current setpoint p3571 0 3 CI Master slave active current setpoint multiplexer input p3572 CI Master slave active current setpoint multiplexer selection r3573 CO Master slave active current setpoint multiplexer output p3574 0 3 Master slave DC link voltage monitoring r3575 0 2 BO Master slave DC link voltage monitoring s...

Page 559: ... in vector control It makes sense to connect Line Modules and Motor Modules in parallel for the following reasons To boost the converter output if it is not technically or economically feasible to achieve the required power by any other means To increase the availability for example to maintain emergency operation possibly also at a lower rating if a power unit fails Parallel operation is not rele...

Page 560: ...line and motor sides connected in parallel can control an additional drive e g an auxiliary drive see Section Additional drive in addition to the parallel connection Page 571 Parallel connected power units must be connected to the same Control Unit A Control Unit CU320 2 can simultaneously actuate a maximum of one parallel connection on the line side and one parallel connection on the motor side C...

Page 561: ...ons and the information in the Configuration Manual are maintained You can find this information in the SINAMICS Low Voltage Configuration Manual http www automation siemens com mcms infocenter dokumentencenter ld Documentsu20 Catalogs lv umrichter sinamics engineering manual lv en pdf A slight reduction of the rated current must be considered for parallel connection of power units The reduction o...

Page 562: ...regard to their configuration can be found in the SINAMICS Low Voltage Configuration Manual http www automation siemens com mcms infocenter dokumentencenter ld Documentsu20 Catalogs lv umrichter sinamics engineering manual lv en pdf Infeed concepts parallel one CU and redundant parallel two CUs Some applications require redundant infeeds for a DC line up This requirement can be fulfilled through t...

Page 563: ...ent 12 pulse infeed For a 12 pulse infeed the two redundant infeeds with the same power rating are supplied from a line supply via a three winding transformer Depending on the transformer design the line side voltages of the two infeeds will include minor tolerances of between about 0 5 to 1 These can cause slightly asymmetrical current distribution in normal operation when uncontrolled infeeds ar...

Page 564: ...upplies A current reduction derating of 7 5 must be taken into consideration regardless of the number of modules connected in parallel As Basic Line Modules have no current compensation control the three winding transformer power cabling and line reactors must meet the following requirements in order to provide a balanced current Three winding transformer must be symmetrical recommended vector gro...

Page 565: ...hich two BLMs in each case are controlled by one Control Unit If several Motor Modules are supplied from a non regenerative infeed unit e g a Basic Line Module or for power failure or overload for SLM ALM the Vdc_max control may only be activated for a Motor Module whose drive should have a high moment of inertia For the other Motor Modules this function must be disabled or monitoring must be set ...

Page 566: ... DC link voltage is greater than the rms value of the line rated voltage by a factor of 1 3 Smart Line Modules in chassis format are suitable for connection to grounded TN TT and non grounded IT supply systems The following voltages and power ratings are available Table 8 10 Smart Line Modules Line supply voltage Rated power 380 to 480 V 3 phase AC 250 800 kW 500 to 690 V 3 phase AC 450 1400 kW Th...

Page 567: ...n the two secondary windings In contrast to Basic Line Modules the Smart Line Modules of both subsystems have to be controlled by two Control Units due to the 30 phase displacement in the input voltages 8 10 1 3 Parallel connection of Active Line Modules Active Line Modules can supply motoring energy and return regenerative energy to the line supply The parallel connection of up to four Active Lin...

Page 568: ... with the same cross section and length The current reduction from the rated value for individual Active Interface Modules Active Line Modules in a parallel connection is 5 6 pulse redundant parallel connection of Active Line Modules with multiple Control Units For a description of parallel connections of multiple Active Line Modules under the control of separate Control Units please refer to sect...

Page 569: ...ve a common internal neutral Below are two examples illustrating the possible configuration of parallel connections of motors with a two winding system or single winding system Parallel connection of two Motor Modules to one motor with double winding system Motors in the power range from about 1 MW to 4 MW for which power units connected in parallel are generally used frequently have several paral...

Page 570: ...urrent reduction referred to the rated value for the individual Motor Modules is 5 Parallel connection of two Active Line Modules and two Motor Modules on a motor with a single winding system In many cases it is not possible to use motors with separate winding systems for example in the following cases The required number of separate winding systems cannot be realized due to the pole number The mo...

Page 571: ...ming device This resolves the inconsistency For further detailed information about commissioning restrictions regarding operation and parameterization options please refer to the following manuals SINAMICS S120 Commissioning Manual with STARTER SINAMICS S120 S150 List Manual Parameters r7002 ff 8 10 3 Additional drive in addition to the parallel connection Frequently a controlled auxiliary drive i...

Page 572: ...e way Automatic commissioning of the additional drive object is not possible The additional drive object must be created offline and then transferred online to the drive The additional drive object must be connected to a separate DRIVE CLiQ socket The maximum power of the auxiliary drive must be selected so that the maximum power of all the Motor Modules incl the additional drive does not exceed t...

Page 573: ...drive are configured The parallel connections can be clearly seen in the topology tree as one infeed and one drive You can also see the additional auxiliary drive The DRIVE CLiQ connections are shown as a thin line The three parallel Line Modules are connected to one DRIVE CLiQ line the two Motor Modules to the next DRIVE CLiQ line and the auxiliary drive to a third line Figure 8 27 Topology with ...

Page 574: ...monitoring configuration V f p6397 Motor module phase shift second system r7000 Par_circuit number of active power units p7001 0 n Par_circuit enable power units r7002 0 n CO Par_circuit status power units p7003 Par_circuit winding system p7010 Par_circuit current unbalance alarm threshold p7011 Par_circuit DC link voltage unbalance alarm threshold r7250 0 4 Par_circuit power unit rated power r725...

Page 575: ...ual axis Using a local trigger on the device itself the ESR functions are simultaneously initiated for those axes under the drive line that are activated for ESR Note ESR functionality under Safety Integrated Functions If extended stop and retract are to activated simultaneously with Safety Integrated Functions the following conditions must also be satisfied Further information can be found in the...

Page 576: ...a higher level control depending on the particular situation as long as the ESR response is not yet enabled You can also activate function modules in STARTER under Configuration Function modules technology packages You can check the current configuration in parameter r0108 9 Checking the ESR status The current ESR status can be checked with the aid of parameter r0887 0 13 8 11 2 Valid sources for ...

Page 577: ...e The higher level control removes the Master control by PLC signal F07220 Interruption of data transmission via the fieldbus F01910 or F08501 External trigger signal An external trigger signal from the control triggers the ESR function via the telegrams 390 391 or 392 8 11 3 Invalid sources The following DRIVE CLiQ communication failures do not produce an ESR trigger Pulse suppression of the moto...

Page 578: ...tting p0888 1 N set or p0888 4 N actual 2 Set the time in parameter p0892 for which the last setpoint from r1438 and the last actual value from r0063 are frozen before braking is initiated 3 Select the OFF ramp with parameter p0891 Figure 8 28 OFF ramp with timer 8 11 4 2 Extended retract In the case of a fault the objective is to approach a retraction position The retraction method is used as lon...

Page 579: ...with extended retract The retraction speed is not approached suddenly It is approached via the OFF3 ramp Parameter p0893 supplies the ramp function generator with the setpoint for the ESR retraction speed which is actuated by an OFF3 ramp in the case of drive autonomous motions The safety setpoint velocity limiting p1051 p1052 and the normal velocity limits r1084 r1087 are active Figure 8 30 Conne...

Page 580: ...e lower voltage limit Vdc_min of the DC link via parameter p1248 The infeed detects when the power fails as the DC link voltage drops and this is then signaled as an alarm Figure 8 31 DC link voltage setpoint 8 11 5 Restrictions for ESR Operating several axes in the generator mode Only use one speed controlled axis to buffer the DC link If you have parameterized several axes faults can occur which...

Page 581: ...terconnection parame ters STW1 9 1 Enable ESR response p0889 r2090 9 Table 8 14 MELDW Signal Meaning Interconnection parame ters MELDW 2 1 n_act speed threshold value 3 p2161 p2082 2 r2199 0 MELDW 4 1 Vdc_min controller active Vdc p1248 p2082 4 r0056 15 MELDW 9 1 ESR response initiated generator operation active p2082 9 r0887 12 8 11 7 Function diagrams and parameters Function diagrams see SINAMIC...

Page 582: ...889 BI Enable ESR response p0890 0 4 BI ESR trigger p0891 ESR OFF ramp p0892 ESR timer p0893 ESR velocity ESR speed p1051 0 n CI Speed limit in RFG positive direction of rotation p1052 0 n CI Velocity limit RFG negative direction r1084 CO Speed limit positive effective r1087 CO Speed limit negative effective p1240 0 n Vdc controller or Vdc monitoring configuration p1248 0 n Lower DC link voltage t...

Page 583: ...o activate the moment of inertia estimator during operation with or without an encoder Operation without encoder For operation without encoder the total moment of inertia of the motor and driven machine must be known In controlled operation without encoder for speeds less than p1755 in the acceleration phase it is not permissible that the motor stalls because of moment or inertia that has been par...

Page 584: ... the load torque ML from the actual motor torque The following conditions must be satisfied to do this Speed p1226 Acceleration setpoint 8 1 s2 Acceleration moment of inertia r1493 0 9 p1560 After determining the load torque the moment of inertia can be determined in the acceleration phases If the source of p1502 has a 1 signal the moment of inertia is not estimated The accuracy of the moment of i...

Page 585: ... conditions must be fulfilled for this calculation Acceleration torque MB must be than p1560 r0333 rated motor torque and than 80 of the friction torque 0 4 p1563 p1564 For operation without encoder the speed must be p1755 in closed loop controlled operation The converter calculates the load torque again after acceleration If the load estimation has taken place and the moment of inertia does not s...

Page 586: ...rce of p1502 1 This means that a previous moment of inertia that was correctly determined is not modified as a result of an incorrect estimation This condition is also violated when for example the friction torque changes significantly with the speed An excessively high backlash no frictional connection and fast periodic movements that decouple the masses elastomechanically can also have a negativ...

Page 587: ...ction automatically activates the Moment of inertia estimator Additional settings and special issues Using parameters p1561 and p1562 you define how quickly and or how precisely the moment of inertia should be estimated The lower the values in both parameters the shorter the moment of inertia estimator measurements As a consequence a quickly changing torque can be better estimated The higher the v...

Page 588: ...ction module must be activated Configuring moment of inertia precontrol 1 Ensure that the acceleration precontrol scaling is not equal to zero p1496 0 2 Activate the acceleration model of the speed controller precontrol p1400 20 1 3 Configure the moment of inertia precontrol using p5310 Using bit 0 you can activate the calculation of the characteristic p5312 p5315 Using bit 1 you can activate the ...

Page 589: ...y know the characteristic from other measurements In this case you must set the parameters to known values when commissioning the system The converter iteratively determines the characteristic by performing measurements while the motor is operational Additional supplementary functions for vector control Accelerated moment of inertia estimation p1400 24 1 Using this setting when the drive accelerat...

Page 590: ... Acceleration torque r1538 CO Upper effective torque limit r1539 CO Lower effective torque limit p1560 0 n Moment of inertia estimator accelerating torque threshold value p1561 0 n Moment of inertia estimator change time moment of inertia p1562 0 n Moment of inertia estimator change time load p1563 0 n CO Moment of inertia estimator load torque positive direction of rotation p1564 0 n CO Moment of...

Page 591: ...to one quarter of the controller frequency Activating the function module 1 Select the infeed in the project navigator and open the Properties shortcut menu The Object properties dialog then opens 2 Click the Function modules tab 3 Activate the Additional closed loop controls function module in the function modules selection with a mouse click Parameter r0108 03 indicates whether the function modu...

Page 592: ...d The APC function module provides additional functions which resolve this conflict Using APC it is possible to dampen attenuate oscillation and at the same suppress disturbances with a high speed control gain Mechanical oscillations can be excited in 2 ways Excitation by the command variable setpoint motion of the axis In this case oscillation can be reduced by influencing the command variable se...

Page 593: ...ote The functions integrated in APC represent their own control loop or provide the possibility of intervening in the speed control loop As a consequence parameterizing the APC is critical from a stability standpoint To optimize APC in conjunction with a direct measuring system requires a deep understanding of control technology e g interpretation of frequency responses Examples are shown in the f...

Page 594: ...sured using the direct measuring system to dampen oscillation An external acceleration sensor can be used instead of measuring the acceleration using a direct measuring system APC with load velocity control Page 616 Requires a direct measuring system P control of the velocity at the direct measuring system Preconditions The Advanced Position Control APC r0108 7 function module for SINAMICS S120 is...

Page 595: ...setting can be made in STARTER from the screen form Technology Position control Mechanics If this is not the case then the setting must be made using the Expert list This is only possible if the drive has not been enabled r0002 0 The following steps are required 1 p0010 25 position control commissioning 2 For all drives Setting the gear ratio p2504 gearbox motor revolutions SINUMERIK MD 31060 p250...

Page 596: ...er 2 is used A possibly existing third measuring system p3701 3 encoder 3 can be used Further a measuring system from another signal source can be used To do this BICO sink p3749 provided for the purpose is wired set the signal scaling using p3748 This is activated using p3700 9 1 p3701 is then ignored This case is especially interesting for master slave axes see also the example provided in Chap ...

Page 597: ...tion can be successfully used the oscillation to be dampened must have a sufficient effect on the axis motor This means that the oscillation must be able to measured in the motor current Before the function can be optimized the speed controller loop must first be optimized as this forms the subordinate control loop Note The function AVS can also be used when a direct measuring system is available ...

Page 598: ...Function modules 8 14 Advanced Position Control including Active Vibration Suppression Drive functions 598 Function Manual 11 2017 6SL3097 4AB00 0BP5 Function diagram excerpt from function diagram 7012 ...

Page 599: ...the calculation see the section above It is important that these values are correctly preassigned for the calculation It makes sense to use a PT1 lowpass filter p3709 We recommend a time constant that is approximately 1 10 of the oscillation frequency in Hz The highpass filter is active p3751 It can make sense to use this especially if in the process the axis is subject to static or low frequency ...

Page 600: ...n be measured The stability of the control loop can be identified based on the amplitude reserve at the frequency where the phase goes through 180 in the example at 200 Hz A damping effect is achieved if at the oscillation frequency in the example 18 Hz the phase is approximately at 0 and at the same time the amplitude is in the vicinity of 0 dB Figure 8 33 APC without sensor on the load side p370...

Page 601: ...r in both cases Red APC inactive The closed loop control is at the limit of its stability The position control gain is too high Yellow APC active p3761 3 ms The oscillation is dampened The position control gain can be kept or even in creased slightly Figure 8 34 Reference frequency response position controller control on a direct measuring system If a direct measuring system exists then the APC ca...

Page 602: ...Advanced Position Control including Active Vibration Suppression Drive functions 602 Function Manual 11 2017 6SL3097 4AB00 0BP5 Examples Positioning response with and without APC Figure 8 35 Positioning response without APC ...

Page 603: ... Active Vibration Suppression Drive functions Function Manual 11 2017 6SL3097 4AB00 0BP5 603 Figure 8 36 Positioning response APC ideally set Measured signals Orange r0061 0 motor speed velocity Brown r3771 0 load speed velocity Light blue r3777 1 APC output ...

Page 604: ... as a consequence a higher speed controller gain can be set This effect can be reinforced by combining with the differential position feedback The effect of a natural oscillation at the motor is only very low e g as a result of a high gearbox ratio This means that the speed controller has no influence on the oscillation The effects of the oscillation at the motor can be made more obvious by using ...

Page 605: ...system If an axis is equipped with a measuring system encoder 2 or encoder 3 then this can be selected using p3701 BICO sink p3749 can be activated by setting p3700 9 1 The load speed actual value can now be freely interconnected e g from a master axis Scaling can be set using p3748 The encoder combination is activated using p3700 8 1 However differential position feedback is activated using p3700...

Page 606: ...is parameter are approximately the stiffness of the axis itself This value can differ at a different axes Example The mechanics forms a two mass oscillating system with a quenching frequency of 20 Hz The load moment of inertia is 0 01 kgm2 The stiffness is then given by A highpass filter for the differential position feedback can be parameterized in parameter p3767 The default value is generally s...

Page 607: ...n Suppression Drive functions Function Manual 11 2017 6SL3097 4AB00 0BP5 607 Examples Yel low Speed controlled system without encoder combination Red Speed controlled system with encoder combination p3702 0 3 Figure 8 39 Encoder combination effect on the speed control system ...

Page 608: ...erence frequency response speed controller without differential position feedback Red Reference frequency response speed controller with differential position feedback Figure 8 40 Differential position input effect on the reference frequency response speed controller As a result of the differential position feedback the resonant position is shifted to a higher frequency The damping effect of the s...

Page 609: ... significant self locking of a gearbox Frequently when using a direct measuring system high frequency resonance points occur in the range 100 Hz in the control loop which can result in significant problems when setting APC In cases such as these the APC filter must be used in order to ensure control loop stability It must also be taken into consideration that resonance effects such as these are de...

Page 610: ...Function modules 8 14 Advanced Position Control including Active Vibration Suppression Drive functions 610 Function Manual 11 2017 6SL3097 4AB00 0BP5 Function diagram excerpt from function diagram 7012 ...

Page 611: ...e acceleration sensor for APC is activated with p3700 1 1 There are two feedback branches for this function Each branch is parameterized using a gain factor p3761 and p3766 Frequently practical values for the gain lie in a range between 1 ms and 10 ms however this depends on the mechanical system of the axis Filters can be activated for both branches see function diagram and Chapter Additional inf...

Page 612: ...ive functions 612 Function Manual 11 2017 6SL3097 4AB00 0BP5 Examples Yellow Speed controller reference frequency response Magenta APC closed circuit load speed motor speed measured with APC inactive Green APC open circuit filter 1 output motor speed p3761 3 ms Figure 8 41 APC circuit open ...

Page 613: ...on Drive functions Function Manual 11 2017 6SL3097 4AB00 0BP5 613 Yellow Speed controller reference frequency response Magenta APC closed circuit load speed motor speed p3761 3 ms Green APC open circuit filter 1 output motor speed measured with APC active Figure 8 42 APC circuit closed ...

Page 614: ...ction Manual 11 2017 6SL3097 4AB00 0BP5 The following diagram shows in the time domain how APC with acceleration feedback acts on the motor and load velocity Blue Load speed Green Motor speed Figure 8 43 APC with acceleration input example At the beginning the motor must move more in order to combat oscillation ...

Page 615: ...al 11 2017 6SL3097 4AB00 0BP5 615 Principle of operation of the two feedback loops The following diagrams show the principle of operation of the two combined APC feedback loops Block diagram Figure 8 44 Control loop with two APC feedbacks Load frequency response without APC Figure 8 45 Sample load frequency response ...

Page 616: ...With this function a P control of the load velocity is implemented in parallel to normal speed control The oscillation is shifted to higher frequencies and dampened The motor makes relatively significant compensating movements as a result of the function In its principle of operation the function has a certain similarity to encoder combination It makes sense to use this function especially togethe...

Page 617: ...Function modules 8 14 Advanced Position Control including Active Vibration Suppression Drive functions Function Manual 11 2017 6SL3097 4AB00 0BP5 617 Function diagram excerpt from function diagram 7012 ...

Page 618: ...tween 0 and 1 Filters can be activated for both branches see function diagram and Chapter Additional information Page 619 Measuring the function The following measuring functions can be used to measure the APC load velocity control functions APC closed circuit Speed controller reference frequency response Position controller reference frequency response You can find detailed information on how to ...

Page 619: ...highpass filter with p3751 as a highpass time constant Bit 1 can be set but is not effective 3 0 1 The setpoint acceleration of the axis is taken into account in the APC calculation This is especially relevant for applications that require a high contour accuracy 1 8 0 1 The speed from the direct measuring system selected for APC weighted with p3702 and the motor speed are used as speed actual val...

Page 620: ...uencies p3706 or p3707 Check the filter effect by analyzing the frequency response Observe the phase rotation as a result of filtering The phase rotation may mean that there is not enough phase reserve for the APC control loop Dependency on the parameter set Most APC parameters are dependent on DDS you can find more detailed information on this topic for example in the SINAMICS S120_S150_List_Manu...

Page 621: ... the effectiveness of the function is increased To do this the slave drives must be parameterized as follows p3700 9 1 p3749 Master r3771 0 p3748 The scaling must be appropriately set When doing this different gearbox ratios different direction rotation and if the motors used for the master and slave have different rated speeds the ratio of the scaling parameters p2000 must be taken into account M...

Page 622: ...ower the measurement bandwidth as the frequency resolution of the measurement increases Use case SINUMERIK There are several predefined measurement functions in HMI Operate to measure APC control loops Measurement functions APC open circuit and APC closed circuit are available in the menu Commissioning Optimization test Speed control loop Note These measurement functions are only displayed if a va...

Page 623: ...are no predefined measurement functions to measure the relevant frequency responses of APC However for the predefined measurement functions you have the option of recording 2 additional signals Using mathematical functions you can display the required frequency responses as Bode diagram 1 Select the measurement function and the additional signals Figure 8 47 Measurement functions and signals ...

Page 624: ...ion modules 8 14 Advanced Position Control including Active Vibration Suppression Drive functions 624 Function Manual 11 2017 6SL3097 4AB00 0BP5 2 Define the transfer functions Figure 8 48 Transfer functions ...

Page 625: ... speed smoothed to the measuring signals 3 Set the mathematical function Bode diagram Input r80 output r1445 Measure encoder combina tion and differential position feedback using the speed controller reference fre quency response 1 As measuring function select Speed controller reference frequency response 2 Add signal r1445 Actual speed smoothed to the measuring signals 3 Set the mathematical func...

Page 626: ...ing filter 2 x p3707 0 n Advanced positioning control undersampling filter 3 x p3708 0 n Advanced Positioning Control actual speed value smoothing time encoder 2 p3709 0 n AVS APC velocity actual value smoothing time encoder 3 p3711 0 n Advanced Positioning Control filter 1 1 denominator natural frequency p3712 0 n Advanced Positioning Control filter 1 1 denominator damping p3713 0 n Advanced Posi...

Page 627: ...anced Positioning Control acceleration sensor high pass time constant p3752 0 n APC controller preassignment natural oscillation frequency p3760 0 n Advanced Positioning Control load speed controller 1 P gain p3761 0 n AVS APC load velocity controller 1 derivative action time p3765 0 n Advanced Positioning Control load speed controller 2 P gain p3766 0 n Advanced Positioning Control load speed con...

Page 628: ...ompensation you have to perform corresponding learn runs for each direction of motion Note The activation of this function module leads to a significant increase in the required computing time per drive axis The operation of 6 servo axes on one Control Unit can no longer be guaranteed in all constellations and should be reduced to 5 axes Requirement This function module is only available for the S...

Page 629: ...been activated in parameter r0108 22 Activate cogging torque compensation 1 To activate cogging torque compensation set p5250 0 to 1 With this setting only a table independent of the direction of motion is used for the cogging torque compensation p5260 2 If you want to use your own table for each motion direction of the Cogging torque compensation also set p5250 1 to 1 With this setting each direc...

Page 630: ...ption Supplementary slow learning This setting is used to fill the compensation table in several steps across multiple learning processes This is required for example with a linear motor During the learning process the cog ging torque compensation is automatically deactivated This supplementary learn ing is only possible for non direction based cogging torque compensation p5250 1 0 During suppleme...

Page 631: ... end of the slow learning r5255 0 n Nm or N Cogging torque compensation input Shows the actual torque actual force when learning 1 n Nm or N Cogging torque compensation output Shows the precontrolled actual torque actual force p5256 n rpm or m min Used to switch between the two compensation tables where p5250 1 1 for direction reversal in order to prevent frequent switching between the two tables ...

Page 632: ...when learning is negative In this particular case the start value and final value are interchanged after learning 4 A further learning process is required for the missing part of the compensation table In this example measure in the opposite direction from the left third of the traversing distance to the right edge Ensure that the 2nd learning run overlaps with the 1st learning run previously cond...

Page 633: ...g for the positive direction with p5251 0 0 7 Move the motor with 1 5 revolutions per minute in negative direction 8 Activate slow learning for the compensation table of this direction of motion with p5251 0 1 Die compensation table p5261 is filled 9 Check the mean values for slow learning Wait at least one revolution of the motor As soon as the mean values r5254 0 are 2 the slow learning can be e...

Page 634: ...ive object function module p5250 0 n Cogging torque compensation configuration p5251 Activate cogging torque compensation learning p5252 Cogging torque compensation table length p5253 Cogging torque compensation periodicity intermittency factor r5254 0 3 Cogging torque compensation diagnostics r5255 0 1 CO Cogging torque compensation input output p5256 0 n Cogging torque compensation direction rev...

Page 635: ...nk voltage with hardware shutdown threshold F30002 Overvoltage OFF2 Undervoltage1 Comparison of DC link voltage with hardware shutdown threshold F30003 Undervoltage OFF2 Short circuit1 2 Monitoring threshold checked for overcurrent F30001 Overcurrent OFF2 Uce monitoring of IGBT modules chassis only F30022 Uce monitoring OFF2 chassis only Ground fault Monitoring the sum of all phase currents After ...

Page 636: ...000 F30004 Is used to monitor the temperature r0037 0 of the heat sink on the power semiconductors IGBT Chip temperature A05001 F30025 Significant temperature differences can occur between the IGBT barrier junction and the heat sink The calculated barrier junction temperature is displayed in r0037 13 18 the monitoring ensures that the specified maximum barrier junction temperature is not exceeded ...

Page 637: ...ed when you do not need to reduce the pulse frequency or the pulse frequency has already been set to the lowest level Further the load should also have a characteristic similar to the fan that is a quadratic torque characteristic with falling speed Reducing the converter output current reduces the losses in the power unit No reduction p0290 1 You should choose this option if it is neither possible...

Page 638: ...rol the current limit must already have been reached Once the on delay p2177 has elapsed the message Motor blocked and fault F07900 are generated The enable for blocked motor monitoring can be deactivated using p2144 Figure 9 1 Blocking protection Function diagrams see SINAMICS S120 S150 List Manual 8012 Signals and monitoring functions Torque messages motor locked stalled Overview of important pa...

Page 639: ...ne of the two signals is set then after the delay time in p2178 fault F7902 motor stalled is output Figure 9 2 Stall protection Function diagrams see SINAMICS S120 S150 List Manual 6730 Vector control Interface to Motor Module ASM p0300 1 8012 Signals and monitoring functions Torque messages motor locked stalled Overview of important parameters see SINAMICS S120 S150 List Manual r1408 0 15 CO BO S...

Page 640: ... temperature model are calculated from the motor operating data Whereby the masses of the motor parts and the type of ventilation for the I2t model for synchronous motors the motor current in relation to the operating time is taken into consideration in the calculation For motor temperature protection without temperature sensor p0600 0 n is set to 0 p0612 00 to 1 and p0612 01 to 1 If you are using...

Page 641: ...model time constant The actual value of the motor winding temperature can be measured using a temperature sensor and subsequently taken into account The model motor temperature is indicated in r0632 It is calculated from the following values Absolute current actual value r0068 I2t motor model thermal time constant p0611 Motor stall current p0318 Measured motor temperature r0035 if available Motor ...

Page 642: ...tor winding referred to the ambient temperature 1 333 fixed value p5350 Boost factor Defines the boost factor for the copper losses at standstill p0612 0x1 p0612 0x101 Activation Activates the motor module and or additionally the expansion r0632 r0632 Actual temperature Indicates the stator winding temperature of the motor temperature model r0034 r0034 Motor utilization Indicates the actual motor ...

Page 643: ...from thermal motor model 2 is continuously corrected to track the measured temperature value After deactivating the temperature sensor with p0600 0 the calculation continues with the last measured temperature value Commissioning the motor model You activate the thermal motor model 2 with p0612 01 1 The expansion makes the motor model more precise You can additionally activate this expansion using ...

Page 644: ...eds the alarm threshold alarm A07012 Drive Motor temperature model 1 3 overtemperature is output p5391 Fault threshold If the model motor temperature r0632 exceeds the fault threshold fault F07011 Drive Motor overtemperature is output p5350 Boost factor Defines the boost factor for the copper losses at standstill 9 5 1 4 Function diagrams and parameters Messages see SINAMICS S120 S150 List Manual ...

Page 645: ...mp_mod stator winding temperature p5350 0 n Mot_temp_mod 1 3 zero speed boost factor p5390 0 n Mot_temp_mod 1 3 alarm threshold p5391 0 n Mot_temp_mod 1 3 fault threshold Thermal motor model 2 p0344 0 n Motor weight for thermal motor type p0612 0 n Mot_temp_mod activation p0617 0 n Stator thermally relevant iron component p0618 0 n Stator thermally relevant copper component p0619 0 n Rotor thermal...

Page 646: ...n the motor windings The sensors used are selected as standard from the following four different sensor types PTC KTY84 PT100 PT1000 Bimetallic sensor with NC contact abbreviated bimetal NC contact Function of the PTC The temperature sensor is connected to the Sensor Module at the appropriate terminals Temp and Temp see the relevant section in the SINAMICS S120 Control Units and Supplementary Syst...

Page 647: ...T100 PT1000 A PT100 or PT1000 is in principle a PTC with a very linear characteristic and is suitable for continuous and exact temperature measurements Not every sensor input is PT100 PT1000 capable You can find more detailed information on measurable actual temperature values or on adjustable temperature values for fault and alarm thresholds in the SINAMICS S120 Commissioning Manual with STARTER ...

Page 648: ...act SME125 X200 See below KTY84 PTC PT1000 bimetallic NC contact 9 5 3 1 Sensor Module Cabinet Mounted A Sensor Module Cabinet Mounted SMCx0 evaluates the sensor signals The results are transferred to the drive for further processing via DRIVE CLiQ The SMCx0 is intended for operation in a control cabinet SMC10 SMC20 SMC30 and SMC40 differ regarding the encoder interfaces They have the same functio...

Page 649: ...e to the motor outside a control cabinet Several motor temperature channels are required The motor temperature sensors do not have safe protective separation Safe protective separation is not possible SME12x has an IP67 degree of protection SME12x are particularly suitable for linear and torque motor applications If r0458 0 2 8 1 up to three temperature sensors can be connected at terminal block X...

Page 650: ...l 4 PT1000 p4601 0 n to p4603 0 n 60 sets temperature sensor type PT1000 If the value in parameter r4620 0 3 is not equal 200 C then the temperature display is valid The actual value of the temperature sensors is displayed r4620 1 temperature sensors from channel 2 r4620 2 temperature sensors from channel 3 r4620 3 temperature sensors from channel 4 PTC p4601 0 n to p4603 0 n 10 11 12 sets the tem...

Page 651: ... sensor connection Device Interface Chan nel Tem p Temp Temperature sensor type TM31 X522 0 7 8 KTY84 PTC PT1000 TM120 X521 0 2 1 KTY84 1C130 PTC PT1000 bimetallic NC contact Linear motor KTY84 1C130 PT1000 1 4 3 KTY84 1C130 PTC PT1000 bimetallic NC contact Linear motor KTY84 1C130 PT1000 2 6 5 KTY84 1C130 PTC PT1000 bimetallic NC contact Linear motor KTY84 1C130 PT1000 3 8 7 KTY84 1C130 PTC PT100...

Page 652: ...ameter r4105 300 C PTC p4100 1 sets the PTC temperature sensor type and activates the evaluation r4105 indicates the following values If the temperature actual value is less than the nominal response temperature then 50 C is displayed If the temperature actual value is higher than the nominal response temperature then 250 C is displayed If the actual temperature value is invalid F35920 initiated t...

Page 653: ...e TM120 also trigger a fault You will find additional information in the SINAMICS S120 Control Units and Supplementary System Components Manual Temperature measurement p0600 0 n 20 or 21 activates the motor temperature sensing via an external sensor p0601 0 n 11 sets the evaluation for several temperature channels p0608 0 3 allocates the temperature channels for the motor temperatures to signal so...

Page 654: ...alid the value 300 C is in the parameter PT1000 p4100 0 3 6 assigns the temperature sensor type PT1000 to a corresponding channel 1 to 4 and activates the evaluation r4105 0 3 displays the actual temperature value of the measuring channel involved of the temperature evaluation If no sensor has been selected or if the actual temperature value is invalid the value 300 C is in the parameter PTC p4100...

Page 655: ... can be connected in a 1x2 1x3 or 1x4 wire system In a 2x2 wire system up to 12 input channels can be evaluated 12 input channels can be evaluated in the factory setting The temperature channels of a TM150 can be subdivided into three groups and evaluated together The TM150 can acquire the signals from KTY84 PTC bimetallic NC contact PT100 and PT1000 temperature sensors and evaluate them The fault...

Page 656: ...d to the actual temperature value Table 9 6 Selecting the sensor types Value of p4100 0 11 Temperature sensor Temperature display range r4105 0 11 0 Evaluation disabled 1 PTC thermistor 50 C or 250 C 2 KTY84 99 C to 250 C 4 Bimetallic NC contact 50 C or 250 C 5 PT100 99 C to 250 C 6 PT1000 99 C to 250 C Measuring the cable resistances When using 2 wire sensors to increase the measuring accuracy th...

Page 657: ...e first sensor is connected to terminals 1 and 2 The 2nd sensor number first sensor 6 is connected at terminals 3 and 4 You can find additional information in function diagram 9627 in the SINAMICS S120 S150 List Manual When connecting 2 2 wire sensors to terminal X531 the 1st sensor is assigned to temperature channel 1 The 2nd sensor is assigned to channel 7 1 6 Up to 12 temperature sensors can be...

Page 658: ...sors PTC and bimetallic NC contacts are only assigned two temperatures 50 C and 250 C depending on the state Within a group with continuous temperature actual values the calculation of the maximum minimum average value temperature is significantly falsified by taking into account switching temperature sensors 9 5 7 4 Evaluating temperature channels For each of the individual 12 temperature channel...

Page 659: ...tputs the value 300 C to the outputs for the maximum value minimum value and the mean value 9 5 7 5 Setting the smoothing time for temperature channels For long or unshielded temperature cables interference can cause the TM150 to respond and incorrectly shutdown the drive To avoid this a smoothing time can be set for every temperature channel in TM150 for the respective temperature signal Setting ...

Page 660: ... To do this you have to know over how many temperature channels you wish to configure a smoothing time The implemented smoothing time is displayed after the entry in p4122 beneath the entry field for the selected temperature channel r4120 0 11 5 Repeat steps 2 to 4 for all temperature sensors channels used 9 5 8 Motor Module Power Module chassis format Motor Modules have a direct connection for a ...

Page 661: ...cted via p0602 Note Bimetallic NC contact is only possible for booksize formats Temperature sensing using a bimetallic NC contact is only possible with Motor Modules in the booksize format Note PT100 is only possible for the chassis format Temperature sensing using a PT100 is only possible with Motor Modules in the chassis format If r0192 15 1 is displayed then the PT 100 temperature sensor type c...

Page 662: ...terface Temp Temp PTC KTY PT100 CU 310 2 DP PN Encoder interface X120 1 2 x x Terminal strip X23 1 8 x x CUA31 Terminal strip X210 1 2 x x CUA32 Terminal strip X210 1 2 x x Encoder interface X220 1 8 x x CUA31 Setting the temperature measurement and the temperature channels p0600 0 n 11 sets the temperature channel via CU terminals p0601 0 n 0 1 2 3 5 sets the temperature sensor type and the respo...

Page 663: ...TY84 p0604 0 n motor temperature alarm threshold p0605 0 n motor temperature fault threshold p0606 0 n motor temperature timer timer to changeover from an alarm to a fault value 9 5 11 Temperature sensor evaluation Temperature sensing using PT1000 or KTY84 When the alarm threshold p0604 is exceeded alarm A07910 is output For vector control using parameter p0610 you can set the drive response when ...

Page 664: ...or set in p0600 is not connected alarm A07820 Temperature sensor not connected is triggered 9 5 12 Function diagrams and parameters Function diagrams see SINAMICS S120 S150 List Manual 8016 Signals and monitoring functions thermal monitoring motor Mot_temp ZSW F A 8017 Signals and monitoring functions motor temperature model 1 I2t 9576 Terminal Module 31 TM31 Temperature evaluation 9605 Terminal M...

Page 665: ...ature sensor 3 sensor type p4603 0 n Motor temperature sensor 4 sensor type r4620 0 3 Motor temperature measured Additional parameters for TM31 p4100 TM31 sensor type p4102 0 1 TM31 fault threshold alarm threshold p4103 TM31 temperature evaluation delay time r4104 0 1 BO TM31 temperature evaluation status r4105 CO TM31 actual temperature value Additional parameters for TM120 p4100 0 3 TM120 temper...

Page 666: ...8 0 11 TM150 fault threshold alarm threshold hysteresis p4119 0 11 TM150 activate deactivate smoothing r4120 0 11 TM150 actual value smoothing time in ms p4121 TM150 filter rated line frequency p4122 0 11 TM150 smoothing time constant Thermal motor models p0318 0 n Motor stall current p0335 0 n Type of motor cooling p0344 0 n Motor weight for thermal motor type p0611 0 n I2t motor model thermal ti...

Page 667: ...stems You should subscribe to and carefully read the corresponding newsletter in order to obtain the latest information and to allow you to modify your equipment accordingly To subscribe to the newsletter please proceed as follows 1 Go to the following Siemens internet site in your browser Siemens Drives http www industry siemens com drives global en pages drive technology aspx 2 Select the desire...

Page 668: ... which newsletter is available for this particular subject area or topic You can subscribe to the appropriate newsletter by clicking on the Subscribe entry If you require more detailed information on the newsletters then please use the supplementary function on the website 7 At the very least register for the newsletters for the following product areas Safety Integrated Newsletter ...

Page 669: ...he probability of failure PFH and certification of the safety functions apply even if no password has been set More information can be found in the SINAMICS S120 Safety Integrated Function Manual 10 2 1 Explanations standards and terminology Safety Integrated The Safety Integrated functions enable the implementation of highly effective application oriented functions for man and machine protection ...

Page 670: ...integrity with regard to safety oriented software but also defined quantitative error probability ranges with regard to the hardware IEC 61800 5 2 Adjustable speed electrical power drive systems Part 5 2 Safety requirements Functional Note Certifications In conjunction with certified components the safety functions of the SINAMICS S120 drive system fulfill the following requirements Safety integri...

Page 671: ...r SCOUT you can only set the safety relevant parameters of the 1st channel offline To set the safety relevant parameters of the 2nd channel proceed as follows Activate the Copy parameters after download checkbox and then establish an online connection to the drive unit Perform the download and then adapt the checksums Execute the Copy RAM to ROM command and then a POWER ON Or establish an online c...

Page 672: ...ns Extended Functions and Advanced Functions Safety Integrated Basic Functions The following functions are part of the standard scope of the drive and can be used without any additional license Safe Torque Off STO STO is a safety function that prevents the drive from restarting unexpectedly in accordance with EN 60204 1 2006 Section 5 4 Safe Stop 1 SS1 time controlled Safe Stop 1 is based on the S...

Page 673: ...Safe Speed Monitor SSM Safe Acceleration Monitor SAM Safe Brake Ramp SBR Safe Direction SDI Safe gearbox stage switchover Safety Info Channel SIC Safe homing Safe Brake Test SBT 1 Safely Limited Acceleration SLA 1 The Safe Brake Test SBT is a diagnostic function that is included in the list of Safety Integrated Extended Functions for organizational reasons only Safety Integrated Advanced Functions...

Page 674: ... Onboard F DI F DO CU310 2 x1 x x 1 Only the F DI 0 can be used for the control The F DO is not available Note PROFIsafe or TM54F Using a Control Unit control is possible either via PROFIsafe or TM54F Mixed operation is not permissible 10 2 4 Parameter Checksum Version Password Properties of Safety Integrated parameters The following applies to Safety Integrated parameters They are kept separate f...

Page 675: ...he safety parameterization is password protected against accidental or unauthorized changes Note The password protection is only available online Checking the checksum For each monitoring channel the Safety parameters include one parameter for the actual checksum for the Safety parameters that have undergone a checksum check During commissioning the actual checksum must be transferred to the corre...

Page 676: ...0 In other words The Safety password does not need to be set during first commissioning In the case of a series commissioning of Safety or in the case of spare part installation the following applies The safety password is retained on the memory card and in the STARTER project No safety password is required in the case of spare part installation Change password for the drives p0010 95 Commissionin...

Page 677: ...out in a timely fashion p9659 SI forced dormant error detection timer A forced dormant error detection test stop must be performed on the switch off signal paths at least once during the time set in this parameter Once this time has elapsed an alarm is output and remains active until forced dormant error detection test stop is carried out The timer returns to the set value each time the STO SS1 fu...

Page 678: ...utomatically then set p10048 1 If you have parameterized the forced dormant error detection test stop for POWER ON you can still initiate a forced dormant error detection test stop at any time through the application If the automatically initiated function cannot be correctly completed as a result of a problem e g communication failure then after the problem has been resolved the function is autom...

Page 679: ...d configures the machine plant A careful and thorough acceptance test must then be performed by qualified personnel and the results documented Implements and validates all the measures required in accordance with the machine plant risk analysis by means of the programmed and configured Safety Integrated functions or by other means The use of Safety Integrated does not replace the machine plant ris...

Page 680: ...ases listed above ensure that an automatic restart is absolutely not possible WARNING Danger to life as a result of undesirable motor motion when the system powers up and the drives are activated after changing or replacing hardware and or software After hardware and or software components have been modified or replaced it is only permissible for the system to run up and the drives to be activated...

Page 681: ...ter When the Safe Torque Off function is selected the following applies The motor cannot be started accidentally The pulse suppression safely disconnects the torque generating energy supply to the motor The power unit and motor are not electrically isolated The selection deselection of the STO function also acknowledges the safety faults when the Basic Functions are used The standard acknowledgmen...

Page 682: ...ding to death or severe injury Take suitable measures to prevent undesirable movement e g by using a brake with safety relevant monitoring For additional information see Section Safe Brake Control SBC Page 689 1 The maximum movement can involve Synchronous rotary motors Max movement 180 no of pole pairs Synchronous linear motors Max movement pole width Enabling the Safe Torque Off function The Saf...

Page 683: ... The following is executed if the cause of the fault has been removed Each monitoring channel cancels safe pulse suppression via its switch off signal path The Safety requirement Close motor holding brake is canceled A motor holding brake is closed by the Safe Brake Control SBC function if connected and configured Any pending STOP F or STOP A commands are canceled see r9772 r9872 The messages in t...

Page 684: ...8 and p2119 Response time for the Safe Torque Off function For the response times when the function is selected deselected via input terminals see the table in Section Response times Page 693 Internal armature short circuit with the Safe Torque Off function The function internal armature short circuit can be configured together with the STO function The STO safety function has the higher priority ...

Page 685: ...ls is parameterized by setting a delay 0 in p9652 In this case the STO function can no longer be selected directly via terminals i e either STO or SS1 can be selected via terminals If the Safe Stop 1 time controlled function has been selected by parameterizing a delay time in p9652 STO can no longer be selected directly via terminals Precondition The Basic Functions are enabled via terminals and o...

Page 686: ... and then again deselected immediately Note Setting the delay time So that the drive is able to travel down the OFF3 ramp completely and any motor holding brake present can be applied before the pulses have been safely deleted the delay time should be set as follows Motor holding brake parameterized Delay time p9652 p1135 p1228 p1217 Motor holding brake not parameterized Delay time p9652 p1135 p12...

Page 687: ...WARNING Axis motion that is not monitored During the unmonitored delay time for Safe Stop 1 time controlled with external stop axis motion is possible that is not monitored This motion can result in death or severe injury If there is a hazard due to unwanted movement in your application take measures to counter it for example by using a brake with safe monitoring For more information see Chapter S...

Page 688: ...e pulse cancellation Overview of important parameters see SINAMICS S120 S150 List Manual p1135 0 n OFF3 ramp down time p1217 Motor holding brake closing time p1228 Pulse suppression delay time p9601 SI enable functions integrated in the drive Control Unit p9652 SI Safe Stop 1 delay time Control Unit r9772 0 23 CO BO SI Status Control Unit r9773 0 31 CO BO SI Status Control Unit Motor Module r9774 ...

Page 689: ...tion on the Motor Module Safe Brake Relay SBR Safe Brake Adapter SBA involves a safe two channel method Note No SBC for SINAMICS HLA SINAMICS HLA does not support Safe Brake Control Note Controlling the brake via a relay for Safe Brake Control If you use the Safe Brake Control SBC function the use of relays contactors can cause faults in the brake control when brakes are switched For this reason t...

Page 690: ...reakage can be detected Enabling the Safe Brake Control function The Safe Brake Control function is enabled via parameter p9602 The SBC function can be used only together with STO The selection of SBC alone is not possible Two channel brake control Note Connecting the brake The brake cannot be directly connected to the Motor Module in chassis format A Safe Brake Adapter is also required The brake ...

Page 691: ...p9621 you can define via which digital input the relay NO contacts feedback signal of the Safe Brake Adapter is routed to the Control Unit To evaluate the feedback signal contacts you must maintain the wait times caused by the SBA Parameter p9622 is pre assigned with the SBA relay wait times p9622 0 wait time switching on p9622 1 wait time switching off Further functionality and the activation of ...

Page 692: ...t if the SBA feedback signal SBA_DIAG is read in via an input of the power unit then in addition this digital input is automatically entered into parameter p9621 Manually defining the power unit Enter the component number of the power unit to which the SBA is connected into parameter p7015 If no SBA is connected to the power unit faults are detected when controlling the motor holding brake and fau...

Page 693: ...0 µs or 500 µs r9780 16 ms Note for understanding the tables The drive system is the component that provides the safety functions The designation fault free drive system means that the component that provides the safety functions does not have a defect itself Worst case for a fault free drive system For faults outside the drive system such as e g faulty setpoint input from a control system limit v...

Page 694: ...SS1E time controlled Selection until SBC is initiated 4 r9780 p9652 t_E1 8 r9780 p9652 t_E1 SS1 time controlled Selection until braking is initiated 3 r9780 2 ms t_E1 4 r9780 2 ms t_E1 1 The following applies for t_E debounce time of the digital input being used p9651 0 t_E 2 p0799 default 4 ms p9651 0 t_E p9651 p0799 1 ms The minimum time for t_E is t_E_min 2 ms 10 7 2 Control via PROFIsafe The f...

Page 695: ... an error occurs 2 t_K is the time for internal communication within the SINAMICS module t_K can be determined as follows For isochronous communication t_K To for To see parameter r2064 4 For non isochronous communication t_K 4 ms for modules on which p2048 or p88483 do not exist t_K value from p2048 or p88483 for modules on which p2048 or p88483 exist 3 p2048 is applicable for communication via I...

Page 696: ...is available on the CU310 2 Overview of the safety function terminals for SINAMICS S120 The different power unit formats of SINAMICS S120 have different terminal designations for the inputs of the safety functions These are shown in the following table Table 10 5 Inputs for safety functions Module 1st switch off signal path p9620 0 2nd switch off signal path EP terminals Control Unit CU320 2 X122 ...

Page 697: ...rminal DI 17 as a switchoff signal path As 2nd switch off signal path use any free digital input DI For further information about the terminals see the Equipment Manuals Note Function of the EP terminals The EP terminals are only evaluated if the Safety Integrated Basic Functions are enabled via onboard terminals Description of the two channel structure The functions are separately selected desele...

Page 698: ...ponding drives must be grouped together as follows 1 Switch off signal path Connect the p9620 parameters of all drives that belong to a group with a single DI r0722 x of the CU320 2 2 Switch off signal path Motor Module Power Module with CUA3x Wire the terminals for the individual Motor Modules Power Modules belonging to the group with CUA31 CUA32 Note Parameterization of the grouping The grouping...

Page 699: ...ct deselect Safe Torque Off separately for group 1 drives 1 and 2 and group 2 drives 3 and 4 For this purpose the same grouping for Safe Torque Off must be realized both for the Control Unit and the Motor Modules Figure 10 3 Example Grouping terminals with Motor Modules Booksize and CU320 2 Information on the parallel connection of chassis type Motor Modules When chassis type Motor Modules are con...

Page 700: ...correctly initiated at these inputs the tolerance time must always be set shorter than the shortest time between two switching events ON OFF OFF ON If the Safe Torque Off function is not selected deselected within the tolerance time this is detected by the cross comparison and fault F01611 STOP F is output In this case the pulses have already been canceled as a result of the selection of Safe Torq...

Page 701: ...en you interconnect a fail safe input of the converter with a fail safe output of a control module the converter responds to these test signals Figure 10 4 Converter response to a bit pattern test Note Debounce time for unwanted triggering of Safety Integrated functions If the test pulses cause an unwanted triggering of the Safety Integrated functions these test pulses can be suppressed with the a...

Page 702: ... only be connected to the sole DRIVE CLiQ X100 socket of the Control Unit Table 10 6 Overview of the TM54F interfaces Type Number Fail safe digital outputs F DO 4 Fail safe digital inputs F DI 10 Sensor 1 power supplies dynamic response supported 2 2 Sensor 1 power supply no dynamic response 1 Digital inputs for checking the F DO with activated forced checking procedure test stop 4 1 Sensors Fail ...

Page 703: ... and return the status of the relevant F DI Test signals from F DOs and interference pulses can be filtered out using the input filter p10017 so that they do not cause any faults Explanation of terms NC contact NC contact to select the safety function a zero level must be present at both inputs NC contact NO contact to select the safety function a zero level must be present at input 1 and a 1 leve...

Page 704: ...event input terminal The monitoring time p10002 for the discrepancy of the two digital inputs of an F DI may have to be increased so that switching operations do not trigger an undesired response thereby necessitating a safe acknowledgment Therefore the signal states at the two associated digital inputs F DI must have the same state within this monitoring time otherwise the following fault will be...

Page 705: ...utputs F DO consist of 2 digital outputs and 1 digital input that checks the switching state for the forced checking procedure test stop The 1st digital output switches the 24 V DC and the 2nd digital output switches the X514 power supply TM54F The status of each F DO can be read at parameter r10052 The status of the associated DI can be read at parameter r10053 only available for TM54F_SL TM54F S...

Page 706: ... each one of the four drive groups with the F DO STO active SS1 active SS2 active SOS active SLS active SSM feedback active Safe state SOS selected Internal event Active SLS level bit 0 Active SLS level bit 1 SDI positive active SDI negative active SLP active Active SLP area The following safe state signals can be requested via p10039 0 3 for each drive group index 0 corresponds with drive group 1...

Page 707: ...ctions Each F DO supports the interconnection of up to 6 signals by way of indexing p10042 0 5 to p10045 0 5 and their output as logical AND operation Function diagrams see SINAMICS S120 S150 List Manual 2893 SI TM54F fail safe digital inputs F DI 0 F DI 4 2894 SI TM54F fail safe digital inputs F DI 5 F DI 9 2895 SI TM54F fail safe digital outputs F DO 0 F DO 3 digital inputs DI 20 23 2900 SI TM54...

Page 708: ...List Manual p10039 0 3 SI TM54F Safe State signal selection p10042 0 5 SI TM54F F DO 0 signal sources p10043 0 5 SI TM54F F DO 1 signal sources p10044 0 5 SI TM54F F DO 2 signal sources p10045 0 5 SI TM54F F DO 3 signal sources r10051 0 9 CO BO SI TM54F digital inputs status r10052 0 3 CO BO SI TM54F digital outputs status r10053 0 3 CO BO SI TM54F digital inputs 20 23 status ...

Page 709: ... must be commissioned individually for each drive Note Incompatible version in the Motor Module If the version in the Motor Module is incompatible the Control Unit responds as follows during the switchover to safety commissioning mode p0010 95 Fault F01655 SI CU Align the monitoring functions is output The fault initiates stop response OFF2 The Control Unit triggers a safe pulse suppression via it...

Page 710: ...4 Note Save after project download Once a project has been downloaded it must be stored on the non volatile memory card copy from RAM to ROM Replacing Motor Modules with a more recent firmware version After a Motor Module fails a more recent firmware version can be installed on the new Motor Module If the old and new devices have different firmware versions it may be necessary to adjust the refere...

Page 711: ...ressed An existing and parameterized motor holding brake has already been applied In this mode fault F01650 or F30650 with fault value 2003 is output after a Safety pa rameter is changed for the first time This behavior applies for the entire duration of Safety commissioning that means the STO function cannot be selected deselected while safety commissioning mode is active because this would const...

Page 712: ...uring this tolerance time 8 p9651 Value Debounce time for the fail safe digital inputs to control STO SBC SS1 9 p9658 Value Set transition period from STOP F to STOP A STOP F is the stop response that is initiated when the data cross check is violated as a result of fault F01611 or F30611 SI Defect in a monitoring channel STOP F normally triggers No stop response After the parameterized time has e...

Page 713: ...ce test required is output with fault code 2000 and it is not pos sible to exit the safety commissioning mode If the target checksum on Motor Modules has not been correctly adapted then fault F01650 SI CU Acceptance test required is output with fault code 2001 and it is not pos sible to exit the safety commissioning mode If a safety monitoring function has not been enabled p9601 0 safety commissio...

Page 714: ... STOP A the motor is switched directly to zero torque via the Safe Torque Off STO function A motor at standstill cannot be started again accidentally A moving motor coasts to standstill This can be prevented by using external braking mechanisms e g holding or operating brake When STOP A is present Safe Torque Off STO is active STOP F If an error occurs in the data cross check Transition to STOP A ...

Page 715: ...lue not equal to 95 for p9601 0 then all the Safety faults can be acknowledged Once Safety commissioning mode has been selected again p0010 95 all the faults that were previously present reappear 2 The higher level controller sets the signal Internal Event ACK via the PROFIsafe telegram STW bit 7 A falling edge in this signal resets the status Internal Event and so acknowledges the fault Note Safe...

Page 716: ... Acceptance test structure Authorized person acceptance report The test of each SI function must be carried out by an authorized person and logged in the acceptance report The report must be signed by the person who carried out the acceptance test Access rights to SI parameters must be protected by a password This procedure must be documented in the acceptance report the password itself must not a...

Page 717: ...l drive Safety related function expansions transfer of the commissioning settings to other series machines hardware changes software upgrades or similar permit the acceptance test to be performed with a reduced scope if necessary A summary of conditions which determine the necessary test scope or proposals in this context is provided below Requirements for the acceptance test The machine is proper...

Page 718: ...ecordings of individual parameters The procedure is described in detail in section Acceptance tests Page 724 When testing the functions STO SS1 and SBC you do not have to make any trace recording C Functional testing of the forced checking procedure Testing the forced checking procedure of the safety functions on each drive for each control type Testing the forced checking procedure of the safety ...

Page 719: ...ty functions Detailed function test and evaluation of SI functions used For some functions this contains trace recordings of individual parameters The procedure is described in detail in section Acceptance tests Page 724 The function test can be left out if no parameters of the individual safety functions have been changed In the case that only parameters of individual functions have been changed ...

Page 720: ...due to axis movements during the acceptance test The operation causes the machine to move Take suitable measures to ensure that nobody is in the danger zone during the acceptance test 2 Test of fail safe actual value acquisition Only necessary if Extended Functions are used If the motion monitoring functions are activated e g SLS or SSM with hysteresis briefly operate the drive in both directions ...

Page 721: ...acquisition E Conclusion of the report Replacement of the Control Unit power unit hardware Yes Points 1 and 2 No Yes only Point 1 Yes only Point 1 Yes Replacement of the Power Mod ule or Safe Brake Relay Yes Points 1 and 2 Yes Points 1 or 2 and 3 Yes only Point 1 Yes only Point 1 Yes Firmware up grade CU power unit Sensor Mod ules Yes only Point 2 Yes if new safety functions are to be used Yes Yes...

Page 722: ... reference CRC to be changed so that the drive can be operated without SI faults In addition to functional safety changes safety changes as a result of hardware being replaced can be detected when the CRC has changed The following changes are recorded by the safety logbook Functional changes are recorded in the checksum r9781 0 Functional cyclic redundancy checks of the basic safety functions inte...

Page 723: ...I monitoring clock cycle Control Unit SI monitoring clock cycle Motor Module Parameters Motor Modules r9780 r9880 r9780 r9880 r9780 r9880 r9780 r9880 r9780 r9880 r9780 r9880 Safety Integrated checksums Basic Functions Drive number SI reference checksum SI pa rameters Control Unit SI reference checksum SI parame ters Motor Module p9799 p9899 10 11 3 2 SI functions for each drive Drive number SI fun...

Page 724: ...e acceptance tests are to be carried out at the maximum possible machine speed and acceleration rates to determine the maximum braking distances and braking times that can be expected Note Non critical alarms When evaluating the alarm buffer you can tolerate the following alarms A01697 SI Motion Motion monitoring test required A01796 SI Motion CU Waiting for communication These alarms occur after ...

Page 725: ... inactive group only relevant for grouping 2 Run the drive Check whether the correct drive is operational Select STO when you issue the traversing command and check the following The drive coasts to a standstill or is braked and stopped by the mechanical brake No Safety faults and alarms r0945 0 7 r2122 0 7 r9772 17 1 STO selection via terminal DI CU EP terminal Motor Module only rele vant for STO...

Page 726: ...ive drive r9774 0 r9774 1 0 STO deselected and inactive group only relevant for grouping r9774 5 r9774 6 0 SS1 deselected and inactive group only relevant for grouping 2 Run the drive Check whether the correct drive is operational Select SS1 when you issue the traversing command and check the following Drive brakes along the OFF3 ramp p1135 not in the case of SS1 with external stop Before the expi...

Page 727: ...772 22 0 SS1 deselection via terminals DI CU EP terminal Motor Module only relevant for SS1 via terminal r9772 23 0 SS1 deselection via PROFIsafe only relevant for SS1 via PROFIsafe r9773 0 r9773 1 0 STO deselected and inactive drive r9773 5 r9773 6 0 SS1 deselected and inactive drive r9774 0 r9774 1 0 STO deselected and inactive group only relevant for grouping r9774 5 r9774 6 0 SS1 deselected an...

Page 728: ... 4 0 SBC not requested group only relevant for grouping r9773 1 0 STO inactive drive r9774 1 0 STO inactive group only relevant for grouping 2 Run drive if applied brake is released Check whether the correct drive is operational Select STO SS1 when you issue the traversing command and check the following The brake is applied for SS1 the drive is previously decelerated along the OFF3 ramp No Safety...

Page 729: ...cksum SI parameters Control Unit SI reference checksum SI parameters Motor Module p9799 p9899 p9799 p9899 p9799 p9899 p9799 p9899 p9799 p9899 p9799 p9899 Drive name Drive number SI reference checksum SI parameters Control Unit SI reference checksum SI parameters Motor Module p9399 0 p9399 1 p9729 0 p9729 1 p9729 2 p9399 0 p9399 1 p9729 0 p9729 1 p9729 2 p9399 0 p9399 1 p9729 0 p9729 1 p9729 2 p939...

Page 730: ...of changes r9782 0 Time stamp for hardware dependent tracking of changes r9782 1 1 These parameters can be found in the expert list of the Control Unit Data backup Storage medium Storage location Type Designation Date Parameter PLC program Circuit diagrams Countersignatures Commissioning engineer This confirms that the tests and checks have been carried out properly Date Name Company dept Signatur...

Page 731: ...ngeable to p9601 SI enable safety functions Safety Integrated commis sioning p0010 95 p9602 SI enable safe brake control p9610 SI PROFIsafe address Control Unit p9620 SI signal source for Safe Torque Off p9650 SI SGE changeover tolerance time Motor Module p9651 SI STO SBC SS1 debounce time Control Unit p9652 SI Safe Stop 1 delay time p9658 SI transition time STOP F to STOP A p9659 SI timer for the...

Page 732: ...DO 3 signal sources p10046 SI TM54F F DO feedback signal input activation p10047 0 3 SI TM54F F DO test stop mode p10048 SI TM54F F DI F DO test stop configuration r10051 0 9 CO BO SI TM54F digital inputs status r10052 0 3 CO BO SI TM54F digital outputs status r10053 0 3 CO BO SI TM54F digital inputs 20 23 status r10054 SI TM54F fail safe events active r10055 SI TM54F drive specific communication ...

Page 733: ...7 D 76131 Karlsruhe Internet http www profibus com IEC 61800 7 PROFIdrive device classes Table 11 1 PROFIdrive device classes PROFIdrive PROFIBUS DP PROFINET IO Example Peripheral device P device DP slave IO Device Drive unit Control Unit CU320 2 Motion controller higher level controller or host of the automation system Class 1 DP master IO Controller Higher level control SIMATIC S7 and SIMOTION S...

Page 734: ... exchange via a cyclic data channel Motion control systems require cyclically updated data in operation for open loop and closed loop control tasks This data must be sent to the drive units in the form of setpoints or transmitted from the drive units in the form of actual values via the communications system Transmission of this data is usually time critical Acyclic data exchange via an acyclic da...

Page 735: ...is always accessible Table 11 3 Properties of IF1 and IF2 IF1 IF2 PROFIdrive and SIEMENS telegram x Free telegram x x Isochronous mode x x Drive object types All All Can be used for PROFINET IO PROFIBUS DP SINAMICS Link PN Gate Ether net IP PROFINET IO PROFIBUS DP CANopen SINAMICS Link PN Gate Ethernet IP Cyclic operation x x PROFIsafe x x Note For additional information on the IF1 and IF2 interfa...

Page 736: ...is realized in the drive and the closed loop position control in the control system such as is required for robotics and machine tool applications with coordinated motion sequences on multiple drives Motion control is primarily implemented using a central numerical controller NC The position control loop is closed via the bus i e the communication between the controller and the drive must be isoch...

Page 737: ...ith torque precontrol 1 position encoder encoder 1 x 126 Dynamic Servo Control with torque precontrol 2 position encod ers encoder 1 and encoder 2 x 136 Dynamic Servo Control with torque precontrol 2 position encod ers encoder 1 and encoder 2 4 trace signals x 138 Dynamic Servo Control with torque precontrol 2 external position encoders encoder 2 and encoder 3 4 trace signals x 139 Speed position ...

Page 738: ...ain factor and the XERR system deviation With the aid of this data the position controller can be calculated in the drive The position setpoint interpolation is still performed in the controller This can be used to significantly increase the dynamic stability stiffness of the position control loop in PROFIdrive application class 4 11 1 2 Cyclic communication Cyclic communication is used to exchang...

Page 739: ...ive internal process data links are set up automatically in the STARTER in accordance with the telegram number setting The SINAMICS S120 S150 List Manual contains the manufacturer specific telegrams SIEMENS telegrams in the following function diagrams 2419 PROFIdrive Manufacturer specific telegrams and process data 1 2420 PROFIdrive Manufacturer specific telegrams and process data 2 2421 PROFIdriv...

Page 740: ...2061 0 10 WORD connect or input p2051 0 27 p2051 0 31 p2051 0 24 p2051 0 9 p2051 0 4 p2051 0 11 Free binector connector con verter p2080 0 15 p2081 0 15 p2082 0 15 p2083 0 15 p2084 0 15 r2089 0 4 Telegram interconnections The telegram interconnection is made automatically and blocked Telegrams 20 111 220 352 are exceptions There in addition to the fixed interconnections selected process data PZD c...

Page 741: ...d double word values are inserted in the telegram as referenced variables p200x apply as reference variables telegram contents 4000 hex or 4000 0000 hex in the case of double words if the input variable has the value p200x Figure 11 2 Normalization of speed You can find the detailed structure of the telegrams in the SINAMICS S120 S150 List Manual in the associated function diagrams Which drive obj...

Page 742: ...5 TM41 28 20 TM120 5 5 TM150 5 5 TB30 5 5 CU 25 20 Interface Mode Interface Mode is used for displaying the assignment of the control and status words in line with other drive systems and standardized interfaces Interface Mode cannot be set by p2038 but rather by setting the telegrams in p0922 When standard telegram 20 is set the VIK NAMUR Interface Mode is permanently specified p2038 2 This relat...

Page 743: ...iew of status words and actual values A detailed overview of the status words and actual values is contained in the SINAMICS S120 S150 List Manual in the following function diagrams 2449 PROFIdrive PZD send signals profile specific interconnection 2450 PROFIdrive PZD send signals manufacturer specific interconnection 11 1 2 3 Examples Based on the PROFIdrive communication of the encoder interface ...

Page 744: ...unctions 744 Function Manual 11 2017 6SL3097 4AB00 0BP5 Example Find reference mark Assumptions for the example Distance coded reference mark Two reference marks function 1 function 2 Position control with encoder 1 Figure 11 4 Sequence chart for Find reference mark ...

Page 745: ...FIdrive Drive functions Function Manual 11 2017 6SL3097 4AB00 0BP5 745 Example Flying measurement Assumptions for the example Measuring probe with rising edge function 1 Position control with encoder 1 Figure 11 5 Sequence chart for Flying measurement ...

Page 746: ...figuration in order to activate this function the master and slave must only be preset for this function PROFIBUS The controller side default setting is made via the hardware configuration e g HW Config with SIMATIC S7 The device side default setting is made using the parameterization telegram when the bus ramps up Fixed sampling times are used for all data communication The Global Control GC cloc...

Page 747: ...d in the process data The control loop is closed via PROFIBUS The position controller is located in the controller The current and speed control and actual value sensing encoder interface are located in the device The position controller cycle is transferred via the fieldbus to the devices The slaves synchronize their speed and or current controller cycle with the position controller cycle of the ...

Page 748: ...s the following elements Global control telegram PROFIBUS only Cyclic part setpoints and actual values Acyclic part parameters and diagnostic data Reserve PROFIBUS only Token passing Token Holding Time TTH For searching for a new node in the drive line up GAP Waiting time until start of the next cycle Figure 11 7 Isochronous drive coupling motion control with PROFIdrive ...

Page 749: ...l Unit onboard interfaces and COMM BOARD in the SINAMICS system The functionality is assigned to interfaces IF1 and IF2 using indices For example the following applications are possible PROFIBUS DP for control and PROFINET to acquire actual values measured values of the drive PROFIBUS DP for control and PROFINET for engineering only Mixed mode with two masters the first for logic and coordination ...

Page 750: ...NET CAN option CBC10 Control Unit onboard COMM BOARD CAN Parameter p8839 0 1 is used to set the parallel operation of the hardware interfaces and the assignment to the cyclic interfaces IF1 and IF2 for the Control Unit drive object The sequence of objects is in line with p0978 list of drive objects for both interfaces The factory setting of p8839 0 1 99 enables the implicit assignment see table ab...

Page 751: ... interface 1 and interface 2 Values 0 Inactive 1 Control Unit onboard 2 COMM BOARD 99 Automatic For p8839 the following rules apply The setting of p8839 applies for all drive objects of a Control Unit device parameter For the setting p8839 0 99 and p8839 1 99 automatic assignment factory setting the hardware used is automatically assigned to interfaces IF1 and IF2 Both indices must be selected so ...

Page 752: ...re available for acyclic communication The following options are available for reading and writing parameters S7 protocol This protocol uses the STARTER commissioning tool in online operation via PROFIBUS PROFINET PROFIdrive parameter channel with the following data sets PROFIBUS Data block 47 0x002F The DPV1 services are available for master class 1 and class 2 PROFINET Data block 47 and 0xB02F a...

Page 753: ...t access by several additional PROFIBUS masters master class 2 or PROFINET IO supervisor e g commissioning tool Transfer of different parameters in one access multiple parameter request Transfer of complete arrays or part of an array possible Only one parameter request is processed at a time for each controller device connection no pipelining A parameter request response must fit into a data set e...

Page 754: ...ttribute Number of elements 4 Parameter number 6 Subindex 8 nth parameter address Attribute Number of elements Parameter number Subindex 1st parameter value s Format Number of values Values nth parameter value s Format Number of values Values Parameter response Offset Values for read access only Error values for negative response only Response header Request reference mirrored Response ID 0 Axis m...

Page 755: ...ositive or nega tive Negative means Cannot execute part or all of request The error values are transferred instead of the values for each subresponse Drive object number Unsigned8 0x00 0xFF Number Specification of the drive object number for a drive unit with more than one drive object Different drive objects with separate parameter number ranges can be accessed over the same DPV1 connection Numbe...

Page 756: ...values in the DPV1 parameter re sponses The error values in the event of a negative response If the values make up an odd number of bytes a zero byte is attached This ensures the integrity of the word structure of the telegram Values Unsigned16 0x0000 0x00FF The values of the parameter for read or write access If the number of bytes is odd a zero byte is appended This ensures the integrity of the ...

Page 757: ...value for attribute number of ele ments parameter number subindex or a combination of these 0x17 Illegal format Write request Illegal or unsupported parameter data format 0x18 Number of values inconsistent Write request A mismatch exists between the number of values in the parameter data and the number of elements in the parameter address 0x19 Drive object does not exist You have attempted to acce...

Page 758: ...t be writ ten during download 0x78 Parameter s s Write access only in the commissioning state drive configuration device p0009 3 0x79 Parameter s s Write access only in the commissioning state define drive type device p0009 2 0x7A Parameter s s Write access only in the commissioning state data record base configuration de vice p0009 4 0x7B Parameter s s Write access only in the commissioning state...

Page 759: ...s is not permitted because an access code is not available 11 1 4 3 Determining the drive object numbers Further information about the drive system e g drive object numbers can be determined as follows using parameters p0101 r0102 and p0107 r0107 1 The value of parameter r0102 Number of drive objects for drive object axis 1 is read via a read request Drive object 1 is the Control Unit CU which is ...

Page 760: ... a request and response data block Basic procedure 1 Create a request to read the parameters 2 Invoke the request 3 Evaluate the response Create the request Parameter request Offset Request header Request reference 25 hex Request ID 01 hex 0 1 Axis 02 hex Number of parameters 01 hex 2 3 Parameter address Attribute 10 hex Number of elements 08 hex 4 5 Parameter no 945 dec 6 Subindex 0 dec 8 Informa...

Page 761: ...ID 01 hex 0 1 Axis mirrored 02 hex Number of parameters 01 hex 2 3 Parameter value Format 06 hex Number of values 08 hex 4 5 1st value 1355 dec 6 2nd value 0 dec 8 8th value 0 dec 20 Information about the parameter response Request reference mirrored This response belongs to the request with request reference 25 Response ID 01 hex Read request positive values stored as of 1st value Axis mirrored n...

Page 762: ...ROFINET PROFIBUS Special requirements for this example Servo control or vector control with activated Extended setpoint channel function module Task description Jog 1 and 2 are to be set up for drive 2 also drive object number 2 via the input terminals of the Control Unit A parameter request is to be used to write the corresponding parameters as follows BI p1055 r0722 4 Jog bit 0 BI p1056 r0722 5 ...

Page 763: ... hex Number of elements 01 hex 10 11 Parameter no 1056 dec 12 Subindex 0 dec 14 3rd parameter ad dress Attribute 10 hex Number of elements 01 hex 16 17 Parameter no 1058 dec 18 Subindex 0 dec 20 4th parameter ad dress Attribute 10 hex Number of elements 01 hex 22 23 Parameter no 1059 dec 24 Subindex 0 dec 26 1st parameter val ue s Format 07 hex Number of values 01 hex 28 29 Value 02D2 hex 30 Value...

Page 764: ...The multi parameter request comprises four individual parameter requests 1st parameter address 4 Parameter address Attribute 10 hex The parameter values are to be written Number of elements 01 hex One array element is written Parameter number Specifies the number of the parameter to be written p1055 p1056 p1058 p1059 Subindex 0 dec ID of the first array element 1st parameter value 4th Parameter va...

Page 765: ...e the standard diagnostics for PROFIBUS and PROFINET This allows the PROFIdrive classes of the SINAMICS drive to be integrated into the system diagnostics of a higher level control system and automatically displayed on an HMI The information transferred is saved for the drive objects in the following parameters r0947 0 63 fault number r3120 0 63 component fault r2122 0 63 alarm code r3121 0 63 com...

Page 766: ...ncoming message The alarm remains until SINAMICS sends the corresponding outgoing message The time stamps are generated from the higher level controller when the messages are received The existing mechanisms of TIA and S7 Classic can be used Alarms or faults are acknowledged using the already known acknowledgment routes Transfer is possible via interface IF1 and or IF2 Note Constraint If a shared ...

Page 767: ...cification http www profibus com A message always comprises the following components in this specific sequence Block Header 6 Byte Blocktype Blocklength BlockversionHigh BlockversionLow API 4 Byte Slot Number 2 Byte Sub Slot Number 2 Byte Channel Number 2 Byte Channel Properties 0x8000 2 Byte User Structure Identifier 2 Byte Channel Diagnosis Data 6 Byte Channel Number 2 Byte Channel Properties 2 ...

Page 768: ...ge issued additional messages are available in the channel Direction Bits 15 13 3 Input Output Channel Error Type U16 0x9000 0x9001 0x9002 0x9003 0x9004 0x9005 0x9006 0x9007 0x9008 0x9009 0x900A 0x900B 0x900C 0x900E 0x900F 0x9010 0x9011 0x9012 0x9013 Hardware software error Network fault Supply voltage fault DC link overvoltage Power electronics faulted Overtemperature of the electronic components...

Page 769: ...tive on the CU drive object then this fault is propagated to all of the drive objects associated with the CU This fault can therefore be read out at each drive object 11 1 5 2 PROFIBUS based diagnostics For communication via PROFIBUS in the case of fault the following diagnostics data is output Standard diagnostics Page 770 Identifier related diagnostics Page 771 Status messages module status Page...

Page 770: ... For communication via PROFIBUS standard diagnostics is structured as follows Bit 7 6 5 4 3 2 1 0 Octet Name 1 Station status 1 Master_ Lock 0 Prm_Fault 0 Not_ Supported Ext_Diag Cfg_Fault Station_ Not_ Ready Station_ Non_ Exist 0 2 Station status 2 0 0 Sync_ Mode Freeze_ Mode WD_On 1 Stat_Diag 0 Prm_Req 3 Station status 3 Ext_ Diag_ Overflow 0 0 0 0 0 0 0 4 Master_Add 5 Ident_Number HighByte of t...

Page 771: ...incl this byte 2 Bit structure KB_7 KB_6 KB_5 KB_4 KB_3 KB_2 KB_1 KB_0 3 Bit structure KB_11 KB_10 KB_9 KB_8 x Bit structure KB_n 1 KB_n Status messages module status Status messages and module status briefly represent an overview of the state of the devices Bit 7 6 5 4 3 2 1 0 Octet Name 1 Header byte 0 0 Block length 2 32 incl this byte 2 Module status 0x82 3 Slot 0 4 Specifier 0 5 Slot_4 Slot_3...

Page 772: ...d 18 DC link overvoltage 19 Power electronics faulted 20 Electronic component overtemp 21 Ground phase fault detected 22 Motor overload 23 Commun with controller faulted 24 Safety monit Detected an error 25 Act Position speed value error 26 Internal communication faulted 27 Infeed faulted 28 Braking controller faulted 29 External signal state error 30 Application function faulted 31 Parameterizati...

Page 773: ... 0 0 0 0 0 0 0 0 9 Info byte 1 Mixed 0x45 ChannelTypeID SINAMICS 10 Info byte 2 24 number of diagnostic bits channel 11 Info byte 3 1 1 channel signals 12 Channel Error Vector 0 0 0 0 0 0 0 Channel 0 1 13 Channel related diag nostics channel 0 Err 7 Err 6 Err 5 Err 4 Err 3 Err 2 Err 1 Err 0 14 Err 15 Err 14 Err 13 Err 12 Err 11 Err 10 Err 9 Err 8 15 0 0 0 0 Err 19 Err 18 Err 17 Err 16 1 Alarm_Spec...

Page 774: ...ommunication at field level Note PROFIBUS for drive technology is standardized and described in the following document PROFIdrive Profile Drive Technology PROFIBUS User Organization e V Haid und Neu Strasse 7 D 76131 Karlsruhe Internet http www profibus com Note Before synchronizing to the isochronous PROFIBUS all of the drive object pulses must be inhibited also for those drives that are not cont...

Page 775: ... mode Examples Programming devices human machine interfaces Slaves With respect to PROFIBUS the SINAMICS drive unit is a slave Bus access method PROFIBUS uses the token passing method i e the active stations masters are arranged in a logical ring in which the authorization to send is received within a defined time frame Within this time frame the master with authorization to send can communicate w...

Page 776: ...hown see above The following drive objects can exchange process data Active Infeed A_INF Basic Infeed B_INF Control Unit CU_S ENC Smart Infeed S_INF SERVO Terminal Board 30 TB30 Terminal Module 15 TM15 Terminal Module 31 TM31 Terminal Module 41 TM41 Terminal Module 120 TM120 Terminal Module 150 TM150 VECTOR Note The sequence of drive objects in HW Config must be the same as that in the drive p0978...

Page 777: ...components SERVO 3 comprises a Double Motor Module terminal X2 and other components Terminal Board 30 TB30 The process data is to be exchanged between the drive objects and the higher level automation system Telegrams to be used Telegram 370 for Active Infeed Standard telegram 6 for SERVO User defined for Terminal Board 30 for the three SERVO drives Component and telegram structure The predefined ...

Page 778: ...ts in the DP slave properties overview must be configured as follows Active Infeed A_INF Telegram 370 SERVO 1 Standard telegram 6 SERVO 2 Standard telegram 6 SERVO 3 Standard telegram 6 Terminal Board 30 TB30 User defined DP slave properties overview Figure 11 12 Slave properties overview When you click Details the properties of the configured telegram structure are displayed e g I O addresses axi...

Page 779: ...ual 11 2017 6SL3097 4AB00 0BP5 779 DP slave properties details Figure 11 13 Slave properties details The axis separator separates the objects in the telegram as follows Slots 4 and 5 Object 1 Active Infeed A_INF Slots 7 and 8 Object 2 SERVO 1 Slots 10 and 11 Object 3 SERVO 2 etc ...

Page 780: ...nual 11 2017 6SL3097 4AB00 0BP5 11 2 2 Commissioning PROFIBUS 11 2 2 1 Setting the PROFIBUS interface Interfaces and diagnostic LED A PROFIBUS interface with LEDs and address switches is available as standard on the CU320 2 DP Control Unit Figure 11 14 Interfaces and diagnostic LED ...

Page 781: ...ch L is used to set the hexadecimal value for 160 Table 11 7 PROFIBUS address switch Rotary coding switch es Significance Examples 21dec 35dec 126dec 15hex 23hex 7Ehex 161 16 1 2 7 160 1 5 3 E Setting the PROFIBUS address The factory setting for the rotary coding switches is 0dec 00hex There are two ways to set the PROFIBUS address 1 Using a parameter To set the bus address for a PROFIBUS node usi...

Page 782: ...e valid for PROFIBUS addressing If values above 127 are set then the set value is interpreted as 0 If a value 0 or 127 is set the value in parameter p0918 defines the PROFIBUS address 11 2 2 2 PROFIBUS interface in operation Generic station description file A generic station description file clearly and completely defines the properties of a PROFIBUS slave The SINAMICS S GSD file contains among ot...

Page 783: ...ntification Bus terminating resistor and shielding Reliable data transmission via PROFIBUS depends amongst other things on the setting of the bus terminating resistors and the shielding of the PROFIBUS cables Bus terminating resistor The bus terminating resistors in the PROFIBUS plugs must be set as follows First and last nodes in the line Switch on terminating resistor Other nodes in the line Swi...

Page 784: ...ect are filled with zeros The setting without PZD can be defined on a node or object e g infeed controlled via terminals 4 Assign the I O addresses according to the user program 11 2 2 4 Diagnostics options The standard slave diagnostics can be read online in the HW config 11 2 2 5 SIMATIC HMI addressing You can use a SIMATIC HMI as a PROFIBUS master master class 2 to access SINAMICS directly With...

Page 785: ...D for unsigned 16 REAL for float Area DB DB data block number Parameter number 1 65535 DBB DBW DBD data block offset Drive object No and sub index bit 15 10 Drive object No 0 63 bit 9 0 Sub index 0 1023 or expressed differently DBW 1024 drive object No sub index Length Not activated Acquisition cycle Any Number of elements 1 Decimal places Any Note You can operate a SIMATIC HMI together with a dri...

Page 786: ... VECTOR If no OFF response is to be triggered the fault response can be reparameterized accordingly Fault F01910 can be acknowledged immediately The drive can then be operated even without PROFIdrive Figure 11 15 Monitoring telegram failure with a bus fault Telegram failure with a CPU stop After telegram failure bit r2043 0 is set to 1 Binector output r2043 0 can be used for a quick stop for examp...

Page 787: ... is at a standstill Settings CU p2047 20 ms A_INF p2044 2 s VECTOR p2044 0 s Sequence 1 Following a telegram failure and once the additional monitoring time p2047 has elapsed binector output r2043 0 of drive object CU switches to 1 At the same time alarm A01920 is output for the A_INF drive objects and alarm A01920 and fault F01910 are output for VECTOR 2 When F01910 is output an OFF3 is triggered...

Page 788: ...ansfer to closed loop control system 1 The actual position value G1_XACT1 is read into at time TI before the start of each cycle and transferred to the master in the next cycle 2 The closed loop control of the master starts at time TM after each position controller cycle and uses the transferred actual value in the telegram 3 In the next cycle the master forwards the calculated setpoints to the sl...

Page 789: ... object SERVO VECTOR in the drive unit minimum 125 µs Does not apply to vector V f TO TDX TO_MIN TO TDP Time of setpoint transfer This is the time at which the transferred setpoints speed setpoint are accept ed by the closed loop control system after the start of the cycle TO integer multiple of TBASE_IO TO_MIN corresponds to the longest speed controller cycle p0115 1 of a drive object SERVO VECTO...

Page 790: ...er the drive system must be switched on POWER ON or parameter p0972 1 reset drive unit must be set TI and TO Setting the times in TI and TO as short as possible reduces the dead time in the position control loop TO TDX TOmin Settings and tuning can be done using a tool e g HW Config in SIMATIC S7 Minimum times for reserves Table 11 11 Minimum times for reserves Data Time required µs Basic load 300...

Page 791: ...d sign of life errors in succession set in p0925 is exceeded the response is as follows A corresponding message is output The value zero is output as the slave sign of life Synchronization with the master sign of life is started Slave sign of life ZSW2 12 ZSW2 15 are used for the slave sign of life The slave sign of life counter is incremented in each DP cycle TDP Example SINAMICS vector drives wi...

Page 792: ...cation Data Exchange Broadcast DXB req Slave to slave communication is used in the following 1 From the perspective of the Class 1 master Figure 11 18 Slave to slave communication with the publisher subscriber model Publisher With the slave to slave communication function at least one slave must act as the publisher The publisher is addressed by the master when the output data is transferred with ...

Page 793: ...This internal link corresponds as far as the timing is concerned to a link via PROFIBUS Requirements The following preconditions should be observed for the slave to slave communication function STARTER as of Version 4 2 Configuration Drive ES Basic Drive ES SIMATIC or Drive ES PCS7 as of Version 5 3 SP3 Alternatively using a GSD file Firmware as of Version 4 3 The maximum number of process data pe...

Page 794: ...egram when bus communication is being established 11 2 4 2 Activating parameterizing slave to slave communication The slave to slave communication function must be activated both in the publishers as well as in the subscribers whereby only the subscriber is to be configured The publisher is automatically activated during bus startup Activation in the publisher The master is informed abut which sla...

Page 795: ...ished Figure 11 19 Filter block in the parameterizing telegram SetPrm Configuration telegram ChkCfg Using the configuration telegram a slave knows how many setpoints are to be received from the master and how many actual values are to be sent to the master For slave to slave communication a special space ID is required for each tap The PROFIBUS configuration tool e g HW Config generates this ID Th...

Page 796: ...munication The commissioning of slave to slave communication between two SINAMICS drive devices using the additional Drive ES package is described below in an example Settings in HW Config Based on the example of the project below the settings in HW Config are described when using standard telegrams Figure 11 20 Example project of a PROFIBUS network in HW Config ...

Page 797: ...onfig In the project example you defined a CPU 314 controller as master and 2 SINAMICS S120 Control Units as slaves Of the slaves one CU310 2 DP is the publisher and one CU320 2 DP the subscriber 2 Select the CU320 2 DP Control Unit as slave 3 Via its properties dialog in the overview configure the telegram for the connected drive object Figure 11 21 Telegram selection for drive object ...

Page 798: ...contain the telegram components for the actual values and setpoints for the second drive object e g CU310 2 DP Figure 11 22 Detail view of slave configuration 5 Create an additional setpoint slot 6 for the first drive object using the Insert slot button behind the existing setpoint slot 5 Figure 11 23 Insert new slot 6 Under the PROFIBUS Partner column change the new setpoint slot 6 from an output...

Page 799: ...slave communication within the same drive device 8 The I O address column displays the start address for every drive object Select the start address of the data of the drive object to be read In the example 268 is proposed If the complete data of the publisher is not to be read set this using the Length column Alternatively you can shift the start address of the access so that the required data ca...

Page 800: ...lationships are shown here which correspond to the current status of the configuration in HW Config Figure 11 25 Slave to slave communication overview After the slave to slave communication link has been created instead of showing Standard telegram 2 for the drive object User defined appears in the configuration overview under telegram selection Figure 11 26 Telegram assignment for slave to slave ...

Page 801: ...ension is not required in the STARTER 11 2 4 4 Diagnosing the PROFIBUS slave to slave communication in STARTER Since the PROFIBUS slave to slave communication is implemented on the basis of a broadcast telegram only the subscriber can detect connection or data faults e g via the publisher data length see Configuration telegram The publisher can only detect and report an interruption of the cyclic ...

Page 802: ...the drive device is missing or has failed Any interruption to the publisher is also reported by the fault F01946 at the affected drive object A failure of the publisher only impacts the respective drive objects More detailed information on the messages can be found in the SINAMICS S120 S150 List Manual 11 2 5 Messages via diagnostics channels Messages can be displayed not only via the well known c...

Page 803: ...sses 1 When establishing the communication between SINAMICS and a master the activated diagnostics mode of this controller is first transferred to the drive With activated diagnostics SINAMICS first transfers all pending messages to the master Symmetrically all currently active messages in the master are deleted by SINAMICS when closing the communication connection Messages The message texts are d...

Page 804: ... cell level Experience gained from both systems was integrated into PROFINET IO An Ethernet based automation standard defined by PROFIBUS International PROFIBUS user organization PROFINET IO is a manufacturer independent communication and engineering model PROFINET IO defines every aspect of the data exchange between IO controllers devices with so called master functionality and the IO devices dev...

Page 805: ...839 1 the PZD channel can be reactivated see Section Parallel operation of communication interfaces Page 749 11 3 1 1 Real time RT and isochronous real time IRT communication Real time communication When communication takes place via TCP IP the resultant transmission times may be too long and not defined to meet the production automation requirements When communicating time critical IO user data P...

Page 806: ...ard 500 μs CBE20 and a jitter accuracy of less than 1 μs can be achieved when this transmission method is implemented Figure 11 29 Bandwidth distribution reservation PROFINET IO 11 3 1 2 Addresses MAC address Every Ethernet and therefore every PROFINET interface is assigned a worldwide unique device identifier in the factory This 6 byte long device identifier is the MAC address The MAC address is ...

Page 807: ...STARTER This function can also be performed with HW Config of STEP 7 The function is called Edit Ethernet node here Note IP addresses of the onboard interfaces It is not permissible that the IP address band of the Ethernet interface and the PROFINET interface are the same The factory setting of the IP address of the Ethernet interface X127 is 169 254 11 22 the subnet mask is 255 255 0 0 Ethernet i...

Page 808: ...ice If the IP address and device name are stored in non volatile memory this data is also forwarded with the memory card of the Control Unit The memory card allows module exchange without an IO supervisor when a fault occurs in a PROFINET device If a complete Control Unit needs to be replaced due to a device or module defect the new Control Unit automatically parameterizes and configures using the...

Page 809: ...erver The SINAMICS device uses the associated setting after a POWER ON to obtain a new IP address from the DHCP server Setting the DHCP address assignment with SINAMICS parameters As an alternative to the address assignment by the SIMATIC Manager the DHCP address assignment can also be initiated using SINAMICS parameters In this case the Control Unit always fetches the IP address from a DHCP serve...

Page 810: ...the dialog is open When the dialog box is closed the LED automatically goes dark The function is available as of STEP 7 V5 3 SP1 via Ethernet or via STARTER 11 3 1 5 Data transfer Properties The PROFINET interface on a drive unit supports the simultaneous operation of IRT Isochronous Real Time Ethernet RT Real Time Ethernet Standard Ethernet services TCP IP LLDP UDP and DCP PROFIdrive telegram for...

Page 811: ...F Basic Infeed B_INF Control Unit CU_S ENC Smart Infeed S_INF SERVO Terminal Board 30 TB30 Terminal Module 15 TM15 Terminal Module 31 TM31 Terminal Module 41 TM41 Terminal Module 120 TM120 Terminal Module 150 TM150 VECTOR Note The sequence of drive objects in HW Config must be the same as that in the drive p0978 Drive objects after the first zero in p0978 must not be configured in the HW Config Th...

Page 812: ... 2 PN DP Control Unit The CBE20 Communication Board X1400 is a PROFINET switch with 4 additional PROFINET ports Notes Note PROFINET routing Routing is not possible between the onboard interfaces X127 and X150 or between the onboard interfaces of the Control Unit 320 2 PN and an inserted CBE20 X1400 Note PROFINET interfaces on the CU320 2 PN with CBE20 The integrated PROFINET interface of the CU320...

Page 813: ... in detail in the SIMOTION SCOUT Communication System Manual For an example of how to link a Control Unit to a SIMATIC S7 via PROFINET IO please refer to the FAQ in the Online Support PROFINET IO communication between an S7 CPU and SINAMICS S120 http support automation siemens com WW view en 27196655 A description of the CBE20 and how you can install it is provided in the SINAMICS S120 Control Uni...

Page 814: ... r8935 0 5 PN MAC Address r8936 0 1 PN cyclic connection state r8937 0 5 PN diagnostics r61000 0 239 PROFINET name of station r61001 0 3 PROFINET IP of station CBE20 p8940 0 239 CBE2x name of station p8941 0 3 CBE2x IP Address p8942 0 3 CBE2x Default Gateway p8943 0 3 CBE2x Subnet Mask p8944 CBE2x DHCP mode p8945 CBE2x interfaces configuration r8950 0 239 CBE2x Name of Station actual r8951 0 3 CBE...

Page 815: ...end cycle IRT Two options are available with this RT class IRT high flexibility IRT high performance The real time classes IRT high flexibility and IRT high performance can be selected as options in the synchronization settings configuration area of HW Config In the description below both these classes are simply referred to as IRT Software preconditions for configuring IRT STEP 7 5 4 SP4 HW Confi...

Page 816: ...with IRT are transferred according to a schedule Modules The following S110 S120 modules support the IRT high performance S120 CU320 together with the CBE20 S120 CU320 2 DP together with the CBE20 S120 CU320 2 PN S120 CU310 PN S120 CU310 2 PN S110 CU305 PN Clock generation via PROFINET IO isochronous communication SINAMICS S120 with CU310 2 PN CU320 2 DP CU320 2 PN can only assume the role of a sy...

Page 817: ...sion and receiving are guaranteed for any topologies Reload the network configu ration after a change Not relevant Only when the size of the IRT high flexibility interval needs to be modified reser vation of position is possi ble Always when the topology or the communications relation ships change Maximum switching depth number of switches in one line 10 at 1 ms 61 64 For possible send cycles see ...

Page 818: ...th SINAMICS SINAMICS drive that is assigned to the I O system of SIMOTION1 This is arranged in the topology in such a way that its RT communication must be established through the IRT synchronization domain Figure 11 30 RT communication across the limits of synchronization domains Update cycles and send cycles for RT classes Definition of the update time send cycle If we take a single IO device in...

Page 819: ...in isochronous mode In this case the update cycle mode must always be set to fixed factor under IO device properties IO cycle tab Mode pulldown menu This means that STEP 7 will not automatically adjust the update cycle and thus the update cycle will always correspond to the send cycle 3 The send cycles from the odd range can be set only if a synchronization domain does not include any IO devices w...

Page 820: ... performance can contain a maximum of one IRT high performance island Island means that the devices must be interconnected to match the configured topology A synchronization master must be positioned in the relevant island IRT high flexibility is subject to the same topology rules as for IRT high performance the only exception being that a topology does not need to be configured However if a topol...

Page 821: ...bmodules depending on the particular drive object Module Sub slot 1 MAP Subslot 2 PROFIsafe Subslot 3 PZD telegram Subslot 4 PZD extension Subslot 5 Max number of PZD SERVO MAP Telegram 30 31 901 902 903 Telegrams 1 220 free PZD 16 16 Supplementary telegrams 700 701 750 PZD 2 2 2 4 2 6 8 8 Supplementary telegrams 700 701 750 PZD 2 2 2 4 2 6 8 8 20 28 VECTOR MAP Telegram 30 31 901 902 903 Telegrams...

Page 822: ...elegram xyz 4 Insert the optional submodule PZD extension 5 Assign the I O addresses for the module and the submodules You will find a detailed description for processing a GSDML file in HW Config in the SIMATIC documentation 11 3 4 Motion Control with PROFINET Motion Control isochronous drive link with PROFINET Figure 11 31 Motion Control isochronous drive link with PROFINET optimized cycle with ...

Page 823: ...ta are consistently processed in synchronism Designations and descriptions for motion control Table 11 15 Time settings and meanings Name Limit value Description TDC_BASE Time basis for cycle time TDC calculation TDC_BASE T_DC_BASE 31 25 µs 4 31 25 µs 125 µs TDC T_DC_MIN T_DC T_DC_MAX Cycle time TDC T_DC TDC_BASE T_DC integer factor CBE20 TDC_MIN T_DC_MIN TDC_BASE 4 125 µs 500 µs TDC_MAX T_DC_MAX ...

Page 824: ...IO_Output TIO_BASE T_IO_Output integer factor TIO_OutputMIN Minimum value for TIO_Output Calculation TIO_OutputMIN T_IO_OutputMIN TIO_BASE 250 µs T_IO_Output_valid The time after which the new control output data setpoints is available for the drive object Dx Data_Exchange This service is used to implement user data exchange between the IO controller and IO device 1 n R or Rx Computation time curr...

Page 825: ...toring The IO controller sign of life is monitored on the IO device and any sign of life errors are evaluated accordingly The maximum number of tolerated IO controller sign of life errors in succession can be set via p0925 If the number of tolerated sign of life errors set in p0925 is exceeded the response is as follows 1 A fault F01912 is output 2 The value 0 is output as the IO device sign of li...

Page 826: ...ile is loaded The new selection then becomes active Table 11 16 Functionality and selection in the pointer file Functionality p8835 Content Detailed information on this PROFINET device 1 PROFINET Gate 2 Section Communication via PROFINET Gate Page 827 SINAMICS Link 3 Section Communication via SINAMICS Link Page 888 EtherNet IP 4 Section Communication via EtherNet IP Page 873 Modbus TCP 5 Section C...

Page 827: ...CS S120 drives In addition to the SINAMICS S120 other PROFINET devices drives distributed I O etc can be connected Possible drive units CU320 2 PN The CBE20 in the CU320 2 PN of the SINAMICS S120 contains the PN Gate function p8835 2 The PN Gate represents the controller in the sense of PROFINET It covers a standard PROFINET network The CBE20 port 4 is connected via the standard Ethernet interface...

Page 828: ...tion Network topologies Line Star Tree Information from the PN Gate Device number Slot number with the associated subslot numbers IO address Diagnostic addresses Module ID vendor ID and module ID Send cycles and update times Activating deactivating Activating and deactivating devices via the API without alarm triggering Automatic address assignment Topology based initialization Number of IO device...

Page 829: ... PC must guarantee the short latency times required for operating the PN Gate Influencing variables are the CPU performance mainboard hardware Ethernet chipset and its connection and the BIOS and the software components involved operating system components such as memory mapping Ethernet driver interrupt link configuration Software STARTER as of V4 3 or Drive ES as of V5 5 or SIMATIC STEP 7 as of ...

Page 830: ...P7 5 5 SP2 STARTER 4 3 SINAMICS 4 5 PN Gate driver Bin Binary files of the driver in the Tar format Src Source files as a zip file and unzipped Doc Doxygen documentation as zip file The Doxygen documentation is available in HTML and PDF format Application example PROFIdrive sample applications in binary and in source code Documentation German PN Gate documentation in German English PN Gate documen...

Page 831: ... a Control Unit via PROFINET e g an automation controller A CPU and a safety controller F CPU SINAMICS S supports for this communication the PROFIsafe standard telegrams 30 and 31 as well as the Siemens telegrams 901 902 and 903 for the safety controller Example The following diagram shows a configuration example of a drive with three axes The A CPU sends Siemens telegram 105 for axis 1 and Siemen...

Page 832: ...afe telegrams are taken into consideration Note CPU failure Communication is carried out by both controllers independently of one another In the event of failure of a CPU communication with the other CPU is not interrupted it continues to operate without interruption Error messages are output regarding the components that have failed Resolve the fault and acknowledge the messages Communication to ...

Page 833: ...create an automation controller for the new project in the example called A CPU based on a SIMATIC 300 Figure 11 34 Creating a new S7 project 2 In HW Config select the controller CPU 315 2 PN DP and connect the PROFINET IO as a communication network 3 Select an S120 drive from the object manager in the example a CU320 2 PN Figure 11 35 Automation controller created in HW Config ...

Page 834: ...nual 11 2017 6SL3097 4AB00 0BP5 4 Select menu Station save and compile Ctrl S The previous project is saved 5 To configure the drives in STARTER from the shortcut menu of the S120 drive select Open object with STARTER Figure 11 36 New project transferred from HW Config into STARTER ...

Page 835: ...or the drives Then click under project Save and recompile all Click in the navigation window Communication Telegram Configuration Figure 11 37 Telegram overview for PROFIdrive channel IF1 2 Under add the safety telegrams 30 for the 1st and 3rd drive In the table click the drive that you want to monitor with PROFIsafe Click the Adapt telegram configuration button and select Add PROFIsafe Figure 11 ...

Page 836: ...ual 11 2017 6SL3097 4AB00 0BP5 3 To transfer your telegram changes into HW Config click on Set up addresses Figure 11 40 The telegrams were aligned with HW Config After the telegrams have been successfully transferred to HW Config the red exclamation mark is replaced by a checkmark ...

Page 837: ...onfiguring the safety controller 1 In the HW Config window click the S120 drive Figure 11 41 Updated project in HW Config There is full access to all telegrams You must enable this in order that the PROFIsafe controller can access telegram 30 2 From the shortcut menu of the S120 drive select menu Object properties ...

Page 838: ...AB00 0BP5 3 In the following window you lock the access of the PROFIsafe telegrams through the A CPU Figure 11 42 Safety telegrams of the A CPU enabled Inserting the PROFIsafe controller in STEP 7 You configure the PROFIsafe controller in precisely the same way as the automation controller under STEP 7 ...

Page 839: ...r example a CPU 317F 2 PN DP We have manually renamed the PROFIsafe controller to F CPU 2 To establish the communication select PROFINET IO again Figure 11 43 PROFIsafe controller configuration 3 In HW Config click Station Save and compile 4 In the automation controller window click the S120 drive 5 In the menu select Edit copy to start copying 6 Return to the HW Config window of the PROFIsafe con...

Page 840: ...7 4AB00 0BP5 8 Select Insert shared in the shortcut menu The S120 automation controller is connected to the PROFINET of the PROFIsafe controller In the table the PROFIsafe controller has automatically been allocated full access for PROFIsafe telegram 30 Figure 11 44 New project completed in HW Config ...

Page 841: ...e PROFIsafe telegrams have been assigned to PN IO 1 and the drive telegrams to PN IO Figure 11 45 New project completed in STARTER If there is a checkmark after each telegram type in STARTER then the Shared Device has been successfully configured 11 3 7 3 Overview of important parameters Overview of important parameters see SINAMICS S120 S150 List Manual p9601 SI enable functions integrated in the...

Page 842: ...ransfer is only briefly interrupted as the system switches over to the redundant data path If a short term interruption is not permitted data transfer must be set to IRT High Performance The uninterruptible MRRT is automatically set A SIMOTION controller or another suitable controller is required in this case The two integrated PROFINET IO interfaces of the Control Units CU320 2 PN and CU310 2 PN ...

Page 843: ...n changes possible during ongoing operation Automatic synchronization after replacing components Restrictions IRT is not supported No simultaneous operation of Shared Device and Shared I Device Maximum 2 cyclical PROFINET connections System redundancy only via the onboard interface of SINAMICS S120 PROFINET Control Unit For the duration of switching from one controller to the other the setpoints o...

Page 844: ...s Configuration The figure below shows a sample structure of a system redundant controller with 3 converters Figure 11 46 System redundancy with converters Configuring Configuring the redundancy takes place in STEP 7 In the converter you only have to configure the communication via PROFINET System redundancy does not depend on the topology of the system ...

Page 845: ...H systems SIMATICS S7 400H Manual https support industry siemens com cs ww en view 82478488 Application description Configuration examples for S7 400H PROFINET SIMATICS S7 400H Configuration examples https support industry siemens com cs ww en view 90885106 11 3 9 3 Messages and parameters Faults and alarms see SINAMICS S120 S150 List Manual F01910 N A Fieldbus Setpoint timeout A01980 PN Cyclic co...

Page 846: ...he drive with PROFINET data sets The PROFIenergy commands are transferred using the PROFINET data set 0x80A0 PROFIenergy data record access is only accepted via the connection types RT connection or IRT connection If access is made via another type of connection e g Supervisor connection system redundancy connection the data record access is rejected with error code 0x80B0 Invalid Index There is e...

Page 847: ...munication 11 3 Communication via PROFINET IO Drive functions Function Manual 11 2017 6SL3097 4AB00 0BP5 847 SINAMICS devices support the following PROFIenergy functions Figure 11 47 PROFIenergy functions ...

Page 848: ...ng during pauses with PROFIenergy The following objectives are reached in detail by temporarily shutting down or stopping unused drives and equipment Lower energy costs Reduction of thermal emissions Longer service life by reducing the effective operating times The drive units provide standardized consumption data for analysis The PROFIenergy state of the participating devices is displayed The PRO...

Page 849: ...all up device information via additional PROFIenergy functions You can use these to transfer the START_Pause END_Pause command in plenty of time PROFIenergy control commands Control commands Description START_Pause Switches from the operating state to the energy saving mode depending on the pause duration Switches from the energy saving mode to the operating state depending on the pause duration S...

Page 850: ...easurement_Values command Get_Measurement_List_with_object _number Returns the measured value IDs and the associated object number that can be accessed using the Get_Measurement_Values_with_object_number command Get_Measurement_Values Returns the requested measured value using the measured value ID For power measured values The command addresses the sum of the measured value over all control drive...

Page 851: ... Using interconnectable bits the r5613 parameter indicates whether the PROFIenergy energy saving is active Activating the energy saving mode The energy saving mode can activated or deactivated using the PROFIenergy control commands see also PROFIenergy commands Page 849 General converter behavior when in the PROFIenergy energy saving mode When the PROFIenergy energy saving mode is active the conve...

Page 852: ...greater than the value in p5602 1 then the inverter goes into the energy saving mode If the pause time is less than p5602 1 the inverter ignores the command Maximum duration p5606 11 3 10 6 Function diagrams and parameters Function diagrams see SINAMICS S120 S150 List Manual 2381 PROFIenergy Control commands query commands 2382 PROFIenergy States 2610 Sequence control Sequencer Overview of importa...

Page 853: ...e or forwarded for convenient display to the corresponding user interfaces SIMATIC HMI TIA Portal etc The messages are shown on the respective user interfaces similarly as in STARTER In this way problems or faults can be located immediately regardless of the tool currently being used and then corrected immediately Also note the general information on the diagnostics channels in Section Diagnostics...

Page 854: ...leted by SINAMICS when closing the communication connection Messages The message texts are described in detail in the SINAMICS S120 S150 List Manual Chapter Explanations on the list of faults and alarms A current list of the message texts can be found in the Message classes and coding of different diagnostics interfaces table 11 3 12 Support of I M data sets 1 4 Identification Maintenance I M I M ...

Page 855: ...ate of the installation or the initial commissioning of the device The fol lowing date formats are supported YYYY MM DD YYYY MM DD hh mm YYYY Year MM Month 01 12 DD Day 01 31 hh Hours 00 23 mm Minutes 00 59 The separators between the individual speci fications i e hyphen blank and colon must be entered I M 3 DESCRIPTOR Visible string 54 Space 0x20 0x20 p8808 0 53 Text with any comments or notes I ...

Page 856: ...ction does not have any effect on the content of the parameters I M data sets are not changed when the alternative parameter sets are stored or loaded The transfer of parameter sets between a memory card and non volatile device memory does not have any effect on the I M data sets Overview of important parameters see SINAMICS S120 S150 List Manual p8806 0 53 Identification and Maintenance 1 p8807 0...

Page 857: ...ta throughput is greater than in ASCII code Modbus TCP via Ethernet data as TCP IP packages TCP port 502 is reserved for Modbus TCP Only transfer type Modbus TCP is available for SINAMICS S120 Possible drive units CU320 2 PN CU320 2 DP CBE20 CU310 2 PN Modbus functionality Process data and parameters are accessed via the Modbus register Process data 40100 40119 Drive data 40300 40522 All parameter...

Page 858: ...an be addressed via Modbus With Modbus TCP you always address the first control drive object from the list of drive objects p0978 0 A servo or vector drive object must be in this parameter However Modbus TCP is only activated if under p0978 0 there is a drive object that is supported by Modbus TCP If p0978 0 does not contain a valid drive object then establishing communication is acknowledged with...

Page 859: ...following parameters set the communication for Modbus TCP with a X150 interface Parameters Explanation p2040 Setting the monitoring time to monitor the received process data via fieldbus inter face If process data is not transferred within one cycle of the fieldbus monitoring time then the drive shuts down with fault F01910 r2050 0 19 Connector output to interconnect the PZD received from the fiel...

Page 860: ...ameters set the communication for Modbus TCP with a X1400 interface Parameters Explanation r2050 0 19 Connector output to interconnect the PZD received from the fieldbus controller via IF1 p2051 0 24 Selects the PZD actual values to be sent to the fieldbus controller in the word format via IF1 r2053 0 24 Displays the PZD actual values sent to the fieldbus controller in the word format via IF1 r205...

Page 861: ...the parameters process data Register Description Ac cess Unit Scaling ON OFF text or Value range Data parameter Control data 40100 Control word see SINAMICS S120 150 List Manual function diagram 2442 R W 1 Process data 1 40101 Main setpoint R W 1 Process data 2 40102 STW 3 R W 1 Process data 3 40103 STW 4 R W 1 Process data 4 40104 PZD 5 R W 1 Process data 5 40105 PZD 6 R W 1 Process data 6 40106 ...

Page 862: ...5 r0025 40344 DC link voltage R V 1 0 65535 r0026 40345 Actual current value R A 100 0 655 35 r0027 40347 Actual active power R kW 100 0 655 35 r0032 40349 Control priority R 1 HAND AUTO r0807 Fault diagnostics 40400 Failure number index 0 R 1 0 65535 r0947 0 40401 Failure number index 1 R 1 0 65535 r0947 1 40402 Failure number index 2 R 1 0 65535 r0947 2 40403 Fault number index 3 R 1 0 65535 r09...

Page 863: ...gy controller R 100 100 0 100 0 r2294 1 For these registers for S120 servo drives parameters p1120 and p1121 are only available and can only be parameter ized with the extended setpoint channel 2 These registers are not supported for linear motors as the unit and value range differ from normal rotary drives 3 The technology controller parameters can only be accessed if in the STARTER project also ...

Page 864: ...o several registers Structure of a Modbus TCP message Figure 11 50 Individual components including Modbus Application Header MBAP and function code Structure of a read request via Modbus function code 03 FC 03 Any valid register address is permitted as the start address Via FC 03 the control can address more than one register with one request The number of addressed registers is contained in bytes...

Page 865: ...e set to 0 Read a reserved register Controller addresses more than 125 registers Exception code 03 invalid data value The start address and the number of registers of an address are located outside of a defined register block Exception code 02 invalid data address Structure of a write request via Modbus function code 06 FC 06 Start address is the holding register address Via FC 06 with one request...

Page 866: ...e holding register 40499 you can read out the internal drive error code which has occurred for the last parameter access via the holding register 11 4 6 Communication via data set 47 Via FC 16 with one request up to 122 registers can be written to directly one after the other while for Write Single Register FC 06 you must individually write the header data for each register Header In addition to t...

Page 867: ...re contained in registers 40603 40722 Communication overview Value in the register Explanation 40601 40602 40603 40722 0 47 Write values for acyclic access 1 47 Request length bytes Request data Activate acyclic access 2 47 Response length bytes Response data Response for a successful request 2 47 0 Error code Response for an erronous request Error codes 1 hex Invalid Length invalid length 2 hex I...

Page 868: ...number of parameters 1 40605 Attribute number of elements 1 40606 Parameter number 2 40607 Subindex 0 Table 11 29 Start parameter request Reading parameter value of r0002 from device number 17 Value Byte Description MBAP header 03 h 0258 h 0007 h 0010 h 7 8 9 10 11 12 13 Function code read Register start address Number of registers to be read 40601 40607 Number of registers Table 11 30 Response fo...

Page 869: ... 9 10 11 12 Function code write multiple Register start address Number of registers to be written to 40601 40610 Number of data bytes 10 registers each 2 bytes 20 bytes 0001 h 2F10 h 8002 h 0101 h 1001 h 0461 h 0000 h 0801 h 4142 h 6666 h 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 40601 C1 activate request 40602 Function 2F h 47 request length 16 bytes 10 h 40603 Request reference...

Page 870: ...s 16 registers 0001 h 2F00 h 0004 h 9 10 11 12 13 14 40601 DS47 Control 1 request is processed 40602 Function 2F h 47 response length 0 fault 40603 Error code 0004 Response Not Ready response has still not been issued 11 4 7 Communication procedure Logical error If the device detects a logical error within a request it responds to the controller with an exception response In the response the devic...

Page 871: ...ut F01910 is issued by the Modbus if p2040 is set to a value 0 ms and no process data is requested within this time period COMM BOARD In parameter p8840 you define the time for cyclic process data exchange Setting range 0 2000 s The time depends on the amount of data to be transferred and the control Setpoint timeout F08501 is issued by the Modbus if p8840 is set to a value 0 ms and no process dat...

Page 872: ...ostics PZD send word r2054 PROFIBUS status p8835 CBE20 firmware selection p8839 0 1 PZD interface hardware assignment p8840 COMM BOARD monitoring time r8850 0 19 CO IF2 PZD receive word p8851 0 24 CI IF2 PZD send word r8853 0 24 IF2 diagnostics PZD send r8854 COMM BOARD state p8920 0 239 PN Name of Station p8921 0 3 PN IP address p8922 0 3 PN default gateway p8923 0 3 PN Subnet Mask p8924 PN DHCP ...

Page 873: ...cted to a control system via Ethernet your control system requires a generic I O module for cyclic communication via EtherNet IP You manually create this generic I O module in the control system Create generic I O module and connect the drive to the control system To connect the drive to a control system via Ethernet proceed as follows 1 Connect the drive to the control system via an Ethernet cabl...

Page 874: ...R set the same values for IP address subnet mask standard gateway and the name station as in the control system see Chapter Configuring communication Page 875 Result You have connected the drive to the control system via EtherNet IP Further you can find a detailed description of how to create a generic I O module on the following Internet page Creating a generic I O module http support automation ...

Page 875: ... in order to communicate with a higher level control via EtherNet IP 1 With p8835 4 set the firmware version EtherNet IP 2 Set the IP address using p8941 You can find the currently valid address in r8951 3 Set the subnet mask using p8943 You can find the currently valid subnet mask in r8953 4 Set the standard gateway using p8942 You can find the currently valid standard gateway in r8952 5 Set the ...

Page 876: ...ject x 302 hex 770 Adapter Diagnostic Object x 303 hex 771 Explicit Messages Diagnostic Object x 304 hex 772 Explicit Message Diagnostic List Object x 401 hex 1025 Parameter object x 402 hex 43E hex 1026 10 86 Parameter object x 1 These objects are part of the Ethernet IP system management For Assembly Object 4 hex you define the data length Assembly Object is assigned a cycle in the control syste...

Page 877: ...ame max length 32 byte Table 11 39 Explanation for No 5 of the previous table Byte Bit Name Description 1 0 Owned 0 Converter is not assigned to a controller 1 Converter is assigned to a controller 1 Reserved 2 Configured 0 Ethernet IP basic settings 1 Modified Ethernet IP settings 3 Reserved 4 7 Extended De vice Status 0 Self test or status not known 1 Firmware update active 2 At least one I O co...

Page 878: ...ttribute all Get Attribute single Instance Forward open Forward close Get Attribute single Set Attribute single Table 11 42 Class Attribute No Service Type Name 1 get UINT16 Revision 2 get UINT16 Max Instance 3 get UINT16 Num of Instances Table 11 43 Instance Attribute No Service Type Name Value explanation 1 get UINT16 OpenReqs Counters 2 get UINT16 OpenFormat Rejects Counters 3 get UINT16 OpenRe...

Page 879: ... 35 ZSW1 15 36 get Actual Frequency Main actual value actual frequency 37 get set Ramp Up Time p1120 0 ramp function generator ramp up time 38 get set Ramp Down Time p1121 0 ramp function generator ramp down time 39 get set Current Limit p0640 0 current limit 40 get set Frequency MAX Limit p1082 0 maximum speed 41 get set Frequency MIN Limit p1080 0 minimum speed 42 get set OFF3 Ramp Down Time p11...

Page 880: ... digital inputs status 65 get Digital Outputs r0747 digital outputs status 66 get Analog Input 1 r0752 0 analog input 1 67 get Analog Input 2 r0752 1 analog input 2 68 get Analog Output 1 r0774 0 analog output 1 69 get Analog Output 2 r0774 1 analog output 2 70 get Fault Code 1 r0947 0 fault number 1 71 get Fault Code 2 r0947 1 fault number 2 72 get Fault Code 3 r0947 2 fault number 3 73 get Fault...

Page 881: ...ssioning parameter filter 3 get set INT16 Motor Type p0300 motor type 6 get set REAL Rated Current p0305 rated motor current 7 get set REAL Rated Voltage p0304 rated motor voltage 8 get set REAL Rated Power p0307 rated motor power 9 get set REAL Rated Frequency p0310 rated motor frequency 10 get set REAL Rated Tempera ture p0605 threshold and temperature value for monitor ing the motor temperature...

Page 882: ... by DHCP or saved values 2 get UNIT32 Configuration Capability Fixed value 94 hex 4 hex DHCP supported 10 hex Configuration can be adjusted 80 hex ACD capable 3 get set UNIT32 Configuration Control 1 hex Saved values 3 hex DHCP 4 get UNIT16 Physical Link Path Size in WORDs Fixed value 2 hex UNIT8 Path 20 hex F6 hex 24 hex 05 hex where 5 hex is the number of instances of F6 hex four physical ports ...

Page 883: ...utomatic state identification Bit 6 Reset required Bit 7 Local hardware fault 0 ok 3 get ARRAY Physical Address r8935 Ethernet MAC address 4 get get_and_ clear Struct of Interface Coun ters Optional required if the Media Counters Attribute is implemented UINT32 In Octets Received octets UINT32 In Ucast Packets Received Unicast packets UINT32 In NUcast Pack ets Received non Unicast packets UINT32 I...

Page 884: ...ive Colli sions Transmission unsuccessful as a result of intensive collisions UINT32 MAC Transmit Errors Transmission unsuccessful as a result of an internal MAC sublayer transmission error UINT32 Carrier Sense Errors Number of errors when attempting to send a re quest frame where the transmission condition was lost or was not assigned UINT32 Frame Too Long Structure too large UINT32 MAC Receive E...

Page 885: ... 2050 802 hex parameter number Attribute 10 A hex Index 10 Example Parameter 1520 0 writing upper torque limit Set Attribute single function with the following values Class 401 hex Instance 1520 5F0 hex parameter number Attribute 0 0 hex index 0 Data 500 0 value Parameter Object Instance Number 401 hex 43E hex Supported services Class Get Attribute All Get Attribute Single Instance Get Attribute S...

Page 886: ...gns the IP address based on the station name 2 Save the settings with p8945 2 When it is switched on the next time the drive retrieves the IP address made available by a DHCP You can address the drive as Ethernet node Note Immediate switchover without restart The switchover to DHCP is performed immediately and without a restart if the change is carried out with the Ethernet IP command Set Attribut...

Page 887: ...NAMICS S120 S150 List Manual p0978 0 n List of drive objects p0922 IF1 PROFIdrive PZD telegram selection p0999 0 99 List of modified parameters 10 p8835 CBE20 firmware selection p8842 COMM BOARD activate send configuration p8940 0 239 CBE2x Name of Station p8941 0 3 CBE2x IP address p8942 0 3 CBE2x Default Gateway p8943 0 3 CBE2x Subnet Mask p8944 CBE2x DHCP mode p8945 CBE2x interfaces configurati...

Page 888: ... slave function for infeed units Links between SINAMICS DC MASTER and SINAMICS S120 Requirements The following preconditions must be fulfilled to operate SINAMICS Link One CBE20 must be inserted for each drive object In the isochronous mode p8812 0 1 the bus cycle time p8812 1 must be an integer multiple of p0115 0 current controller clock cycle In the isochronous mode the current controller cycle...

Page 889: ...uble words can be sent and received You must write double words in two consecutive PZDs Limitations In a telegram a PZD may only be sent and received once If a PZD occurs more than once in a telegram then Alarm A50002 or A50003 is output It is not possible to read in your own send data SINAMICS S then initiates the corresponding alarms The following alarms are possible A50006 It is parameterized t...

Page 890: ...t selection Number of nodes project no PZD count Bus cycle ms 64 16 1 or 2 16 16 0 5 12 24 0 5 4 32 0 5 In the non synchronized mode the bus cycle of the SINAMICS Link can be set with p8812 1 to 1000 µs or 2000 µs Then via p8811 a maximum of 64 nodes can communicate via SINAMICS Link After changing parameter p8811 p8812 p8835 or p8836 carry out a POWER ON to transfer the settings 11 6 2 Topology O...

Page 891: ... CBE20 must be interconnected strictly in accordance with the above diagram You must always connect port 2 P2 of node n with port 1 P1 of node n 1 In the SINAMICS Link mode ports 3 and 4 of the CBE20 can only be used to connect to the STARTER commissioning tool or Startdrive Corresponding parameters for IF1 or IF2 Use different parameters for configuring depending on which interface SINAMICS Link ...

Page 892: ... nodes in parameter p8836 to the SINAMICS Link node number The first Control Unit is always assigned the number 1 Node number 0 means that for this Control Unit SINAMICS Link has been shut down Observe the specifications under Topology 6 Check and or correct the following parameters p8811 must be identical for all nodes p8812 1 must be identical for all nodes p8812 0 may be different for local nod...

Page 893: ...en p8851 must be used for the setting The data is simultaneously reserved in the send slot of the p8871 0 31 2 Enter the double words in p2061 x Double word data is simultaneously written to p8861 0 31 3 For each drive object allocate the send parameters in p8871 0 31 to a send slot of its own node Table 11 55 Compile send data of drive 1 DO2 p2051 x Index p2061 x Index Contents From parame ter Te...

Page 894: ...ol Unit 1 DO1 p2051 x Index p2061 x Index Contents From pa rameter Slots in the send buffer p8871 x x Telegram word 0 112 0 0 Control word faults alarms r2138 12 13 1 Missing enables part 1 r0046 13 14 Missing enables part 2 14 15 15 0 0 15 0 31 0 0 31 0 2 0 11 here remain free as they are already assigned by DO2 and DO3 Send slots PZD 16 to 31 are not required for this telegram and are therefore ...

Page 895: ... not read in PZD 16 2 After setting the parameters using parameter r2050 0 31 or r2060 0 31 you can read out the values Table 11 58 Receive data for Control Unit 2 From the sender Receiver Transfer from Tel word1 p8871 x Address p8872 x Receive buffer p8870 x Data transferred in Parameter Contents r2050 x r2060 x p2051 0 0 1 PZD 1 0 r0899 ZSW1 p2061 1 1 1 PZD 2 1 r0061 0 Actual speed value part 1 ...

Page 896: ...s case the SINAMICS Link connections can also be connected via p8842 1 11 6 4 Example Task Configure SINAMICS Link for two nodes and transfer the following values Send data from node 1 to node 2 r0898 CO BO Control word sequence control drive 1 1 PZD in the example PZD 1 r0079 CO Total torque setpoint 2 PZD in the example PZD 2 r0021 CO Smoothed actual speed 2 PZD in the example PZD 3 Send data fr...

Page 897: ...ive1 r0021 PZD 4 PZD 5 Place these PZD in the send buffer p8871 of node 1 p8871 0 1 r0898 p8871 1 2 r0079 1st part p8871 2 3 r0079 2nd part p8871 3 4 r0021 1st part p8871 4 5 r0021 2nd part 9 Define the receive data for node 2 Specify that the data placed in the receive buffer p8872 of node 2 in locations 0 to 4 will be received by node 1 p8872 0 1 p8872 1 1 p8872 2 1 p8872 3 1 p8872 4 1 Specify t...

Page 898: ...node 1 in location 0 received from node 2 p8872 0 2 Define that PZD1 of node 2 is saved in the receive buffer p8870 of node 1 in location 0 p8870 0 1 r2050 0 subsequently contains after step 13 the value of PZD 1 of node 2 12 At the two nodes carry out a Copy RAM to ROM to backup the parameterization and the data 13 Set p8842 1 to activate parameters p8870 p8871 and p8872 Figure 11 52 SINAMICS Lin...

Page 899: ...y with different node numbers After you have resolved all of the faults the system automatically withdraws the alarm When a node fails in cyclic operation in addition to alarm A50005 fault F08501 is output COMM BOARD Monitoring time process data expired At node 1 fault F08501 is not triggered This node should be used for specifying setpoint values to other nodes 11 6 6 Examples Transmission times ...

Page 900: ...k send data r0108 31 1 p8835 3 Overview of important parameters see SINAMICS S120 S150 List Manual p0115 0 Sampling time for additional functions p2037 IF1 PROFIdrive STW1 10 0 mode r2050 0 31 CO IF1 PROFIdrive PZD receive word p2051 0 31 CI IF1 PROFIdrive PZD send word r2060 0 30 CO IF1 PROFIdrive PZD receive double word p2061 0 30 CI IF1 PROFIdrive PZD send double word p8811 SINAMICS Link projec...

Page 901: ...PROFINET protocols DCP Discovery and configuration protocol Not relevant 2 Ethernet II and IEEE 802 1Q and Ethertype 0x8892 PROFINET Accessible nodes PROFINET Discovery and configuration DCP is used by PROFINET to determine PROFINET devices and to make basic settings DCP uses the special multicast MAC address xx xx xx 01 0E CF xx xx xx Organization ally Unique Identifier LLDP Link Layer Dis covery...

Page 902: ...yclic IO data transfer The PROFINET IO tele grams are used to cycli cally transfer IO data between the PROFINET IO controller and IO devices via Ethernet PROFINET Con text Manager 34964 4 UDP PROFINET connection less RPC The PROFINET context manager provides an endpoint mapper in order to establish an application relationship PROFINET AR Connection oriented communication protocols FTP File transfe...

Page 903: ...protocol 161 4 UDP Simple network management protocol SNMP enables the read ing out and setting of network management data SNMP managed Objects by the SNMP manager Is open in the delivery state and is always re quired https Secure Hypertext transfer protocol 443 4 TCP Secure Hyper text transfer protocol https is used for the communication with the CU internal web server via Transport Layer Securit...

Page 904: ...plicit messaging 44818 4 TCP 4 UDP Is used for parameter access etc Is closed when deliv ered and is opened when selecting Ether Net IP Implicit messaging 2222 4 UDP Is used for exchanging I O data Is closed when deliv ered and is opened when selecting Ether Net IP Modbus TCP protocols server Request Re sponse 502 4 TCP Is used for exchanging data packages Is closed when deliv ered and is opened w...

Page 905: ...tion using ping compensation for non isochronous communication approx 10 ms Synchronization using ping compensation for isochronous communication approx 1 ms Synchronization with the Network Time Protocol via a PROFINET connection approx 10 ms Principle of operation of time synchronization Basic synchronization The control system transfers the time to the converter at time intervals that you speci...

Page 906: ...ion value is determined in the converter not isochronous You can influence the accuracy of the ping compensation using the PZD sampling time p2048 Time synchronization via Network Time Protocol NTP Through NTP all computers worldwide can synchronize their time An inverter configured as an NTP client synchronizes the time via a PROFINET connection to an NTP server a time source As NTP server the fo...

Page 907: ...If you are using a free telegram 999 interconnect the ping source p3104 via BICO in the control word If you are working with CANopen interconnect a free bit in the CANopen control word with p3104 via a BICO connection Result After time synchronization the current time is obtained from the time transferred by the time master plus the delay time associated with the transfer ping snap time The actual...

Page 908: ...example You can find an application example for SINAMICS time synchronization in the SIEMENS Industry Online Support Example Specific SINAMICS time synchronization https support industry siemens com cs de en view 88231134 11 8 3 Set NTP time synchronization Setting time synchronization with NTP 1 Using p3100 changeover the time format from operating hours into the UTC format see Changing the time ...

Page 909: ...em Load Project to PG function 3 In STARTER using the Project Disconnect connection to target device function exit the ONLINE mode 4 Offline in the expert list of the control unit make the setting p3100 1 5 Reactivate the ONLINE mode 6 Carry out a parameter download Target system Load Load project to target system followed by copy from RAM to ROM You have now changed over the converter time format...

Page 910: ...nnot be reached Overview of important parameters see SINAMICS S120 S150 List Manual p2048 IF1 PROFIdrive PZD sampling time p3100 RTC time stamp mode p3101 0 1 Set UTC time r3102 0 1 Display UTC time p3103 UTC synchronization technique p3104 BI UTC PING synchronization p3105 0 3 NTP server IP address p3106 NTP time zone r3107 0 3 UTC synchronization time out of tolerance r3108 0 1 UTC synchronizati...

Page 911: ...or scaling setpoints and actual values Explanation of the necessary configuring steps together with screenshots Security through already tested programs and modules for accessing parameters Significantly lower commissioning times Detailed documentation with parts lists of the hardware and software components being used Further you can also find technological application examples such as winders tr...

Page 912: ...application examples Home Index language en 2 Select the required filter in the search mask Example The result list is updated every time a filter setting is specified Individual filters can be reset by clicking the X to the right of the filter You can reset all filters simultaneously by clicking the Reset filters button 3 The first details of the required application description can then be displ...

Page 913: ...xamples Drive functions Function Manual 11 2017 6SL3097 4AB00 0BP5 913 The required tooltip is then displayed in the Siemens Industry Online Support Generally you can download a detailed application description as PDF via the tooltip ...

Page 914: ...ing this BICO interconnection a drive object DO X_INF all drive objects Infeed i e A_INF B_INF S_INF can be activated by a SERVO VECTOR drive object This switch on version is mainly used for drive units in the chassis format if a single Infeed Module and a Motor Module are used Figure 12 1 BICO interconnection Switching on an infeed by a drive ...

Page 915: ...R function the following conditions must be fulfilled The flying restart function p1200 must be activated on the VECTOR drive object so that a flying restart can be made The supply voltage must be reliably available at the Infeed Module before the switch on command an additional line contactor or motor relay must have closed Individual steps when restarting After the line supply returns and the el...

Page 916: ...drive object X_INF WARNING Unplanned motion when the automatic restart function is active When the automatic restart is activated when the line supply returns unexpected motion can occur that may result in death or serious injury Take the appropriate measures on the plant system side so that there is no safety risk as a result of an unexpected restart Overview of important parameters see SINAMICS ...

Page 917: ...rolled by precisely one Control Unit and which includes a drive object X_INF1 the BICO interconnection p0864 p0863 0 is established automatically during commissioning 1 X_INF stands for all drive objects Infeed i e A_INF B_INF S_INF In the following cases the BICO input p0864 must be supplied manually Smart Line Modules without DRIVE CLiQ 5 kW and 10 kW DC link line up with more than one Control U...

Page 918: ...rol Units control the drives connected to the same DC link The source for the Infeed operation signal is a digital input in the example Figure 12 4 Example interconnection with more than one Control Unit Overview of important parameters see SINAMICS S120 S150 List Manual r0722 0 21 CO BO CU digital inputs status r0863 0 2 CO BO Drive coupling status word control word p0864 BI Infeed operation ...

Page 919: ...trol Supply Module and a Braking Module is being used This means that the connected motors coast down The Control Supply Module provides the electronics with power via the supply system or DC link In this way controlled movements can be made if a power failure occurs provided that the DC link voltage is still available The following section describes how all the drives carry out a quick stop OFF3 ...

Page 920: ... the OFF3 function quick stop the following parameters need to be set p1240 5 activates Vdc_min monitoring As well as the DC link monitor which is always active this activates another variable alarm threshold which should be set to a value above the undervoltage shutdown threshold of 360 V 2 in p1248 p1248 570 V for Active Line Modules p1248 510 V for Smart Line Modules This alarm level in volts i...

Page 921: ...age 271 function must be activated p1200 Note When changing over the drive data set between several motors that physically exist with integrated holding brakes it is not permissible that the internal brake control is used Example of a motor changeover for four motors encoderless Requirements The first commissioning has been completed 4 motor data sets MDS p0130 4 4 drive data sets DDS p0180 4 4 di...

Page 922: ...rom r0830 to the MDS If p0827 0 1 for example bit p0830 1 is set when MDS0 is se lected via DDS0 r0830 0 to r0830 3 Digital outputs contac tors The digital outputs for the contactors are assigned to the bits p0831 0 3 Digital inputs auxiliary contacts The digital inputs for the feedback signal of the motor contactors are assigned p0833 0 2 0 0 0 The drive controls the contactor circuit and pulse i...

Page 923: ...k signal motor contactor closed for motor contactor 2 the bit motor changeover active r0835 0 is reset and the pulses are enabled The motor has now been changed over Example of a star delta changeover via speed threshold encoderless Requirements The first commissioning has been completed 2 motor data sets MDS p0130 2 2 drive data sets DDS p0180 2 2 digital outputs to control the auxiliary contacto...

Page 924: ...ts the speed at which the circuit is to be changed over to the delta connection Note Using p2140 you can define an additional hyste resis for the changeover refer to function diagram 8010 in the SINAMICS S120 150 List Manual Procedure for star delta changeover 1 Start condition For synchronous motors the actual speed must be lower than the star field weakening speed This prevents the regenerative ...

Page 925: ...mber p0140 Encoder data sets EDS number p0180 Drive data set DDS number p0186 0 n Motor data set MDS number p0187 0 n Encoder 1 encoder data set number p0188 0 n Encoder 2 encoder data set number p0189 0 n Encoder 3 encoder data set number p0820 0 n BI Drive data set selection DDS bit 0 p0824 0 n BI Drive data set selection DDS bit 4 p0826 0 n Motor changeover motor number p0827 0 n Motor changeov...

Page 926: ...cations which require DRIVE CLiQ nodes to be removed in groups without interrupting the DRIVE CLiQ line and therefore the data exchange process DME20 DME20 offers the same functions as the DMC20 However the difference is that it has a different enclosure with degree of protection IP67 for mounting outside a control cabinet Features The DRIVE CLiQ Hub Module Cabinet 20 DMC20 has the following featu...

Page 927: ...ng Using the hot plugging function components can be withdrawn from the operational drive line up the other components continue to operate on the DRIVE CLiQ line This means that all of the drive objects or components involved must first be deactivated parked using parameter p0105 or STW2 7 The following requirements must be satisfied Hot plugging only functions when a drive object is connected in ...

Page 928: ...remain active The Park axis function is only enabled by setting the ZSW2 7 bit in combination with pulse inhibit Note Drives with enabled Safety functions must not be deactivated see Section Safety Integrated for further details Figure 12 9 Example topology for hot plugging for vector V f control Note In order to disconnect and isolate the power unit from the DC link additional measures must be ap...

Page 929: ...ine drive device 2 Right click Topology in the project navigator and call the Add new object DRIVE CLiQ hub context menu 3 Configure the topology Overview of important parameters see SINAMICS S120 S150 List Manual p0105 Activate deactivate drive object r0106 Drive object active inactive p0151 0 1 DRIVE CLiQ Hub Module component number p0154 DRIVE CLiQ Hub Module detection via LED r0157 DRIVE CLiQ ...

Page 930: ...g application examples 1 Call the following Internet site in your browser SINAMICS application examples https www automation siemens com mc app sinamics application examples Home Index language en 2 If you are looking for applications with DCC select the DCC feature in the search mask All the DCC applications for which you can download application examples are then shown in the results Example Fig...

Page 931: ...n is then displayed in the Siemens Industry Online Support Generally you can download a detailed application description as PDF via the tooltip Example Synchronous operation applications with DCC You require the Synchronous operation drive function and the DCC feature as filter settings Figure 12 11 The most important synchronous operation application examples are marked in red in the figure ...

Page 932: ......

Page 933: ...of p parameters using the mechanisms defined in the PROFIdrive profile Parameter categories The parameters of the individual drive objects are categorized into data sets as follows Data set independent parameters These parameters exist only once per drive object Data set dependent parameters These parameters can exist several times for each drive object and can be addressed via the parameter index...

Page 934: ...on Manual 11 2017 6SL3097 4AB00 0BP5 The CDS and DDS can be switched over during normal operation Further types of data set also exist however these can only be activated indirectly by means of a DDS changeover EDS Encoder Data Set MDS Motor Data Set Figure 13 2 Parameter categories ...

Page 935: ...ters of the drive object Control Unit CU_ p0009 30 parameter reset p0976 1 automatically reset to 0 Access level The parameters are subdivided into access levels The SINAMICS S120 S150 List Manual specifies the access level in which the parameter is displayed and can be changed The required access levels 0 to 4 can be set in p0003 Table 13 1 Access levels Access level Remark 0 User defined Paramet...

Page 936: ...ontrol handles closed loop control of the motor At least 1 Motor Module and at least 1 motor and up to 3 sensors are assigned to the drive control Various drive control modes can be configured e g servo control vector control etc Several drive controls can be configured depending on the performance of the Control Unit and the demands made on the drive control system Control Unit inputs outputs The...

Page 937: ...handles evaluation of the respective optional Terminal Modules Evaluating an external ENCODER A dedicated drive object is responsible for evaluating an optional additional encoder that can be connected Note Drive objects A list of all drive objects is provided in the SINAMICS S120 S150 List Manual in Section Overview of parameters Configuring drive objects Various drive objects can be created with...

Page 938: ...3097 4AB00 0BP5 Overview of important parameters see SINAMICS S120 S150 List Manual p0101 0 n Drive object numbers r0102 0 1 Number of drive objects p0107 0 n Drive object type p0108 0 n Drive object function module only for Control Unit drive object r0108 Drive object function module all other drive objects ...

Page 939: ...called a Certificate of License CoL Note Refer to the order documentation e g catalogs for information on basic functions and functions subject to license Properties of the license key Is assigned to a specific memory card Is stored retentively on the memory card Is not transferrable Can already be permanently assigned to an ordered memory card during the ordering process Can also be generated sub...

Page 940: ...e drive is stopped with an OFF1 response LED READY Red light flashing at 2 Hz Note It is not possible to operate a drive system with an insufficient license for a function module The drive requires a sufficient license in order for it to operate System response if there is a not a sufficient license for an technology extension An insufficient license for a technology extension also known under the...

Page 941: ...view of licenses Overview of licenses A license overview page is included in the commissioning tools Startdrive and STARTER and in the S120 web server General license status e g underlicensed System response to the current license status e g blocks the renewed switch on of a drive The required number of licenses compared with the number of licenses included with the li cense key For operation the ...

Page 942: ...License Key Page 947 Display and copy the serial number of the memory card being used Activate trial license mode refer to Chapter Activating a trial license Page 943 Trial licenses Valid licenses can either be ordered together with a memory card or when subsequently ordered can be assigned to your memory card via the Web License Manager Most of the SINAMICS functions requiring a license can be op...

Page 943: ...e an activated option again or enter a valid License Key The Trial License Mode can be activated only as a block i e for all options together An activation for individual options is not possible You receive messages in plenty of time before a period has expired You can then activate the next free Trial License Period or you can replace the Trial License by a full license The next time that the dri...

Page 944: ...or Select the subentry License overview in the project navigator Web server S120 Call Licenses in the navigation 2 Click the Activate trial license mode button Figure 13 6 Activate trial license 3 To activate this mode in the query dialog click on Activate Alarm A13030 indicates that Trial License Mode is activated The status overview then shows the remaining operating time of the licensed options...

Page 945: ... subfunctions afterwards Purchase a full license for the affected subfunctionalities Generate a new License Key see Chapter Creating a license key Page 945 Enter the new License Key see Chapter Displaying entering the License Key Page 947 13 3 4 Creating a license key The WEB License Manager informs you about how many and which licenses are assigned to your memory card If you need additional licen...

Page 946: ...es to be assigned column you can activate the desired licenses or also specify how many additional licenses you require 6 Activate the additional required licenses and then click Next The progress indicator is at Assign licenses A summary of the selected licenses is displayed here for checking 7 To start the assignment click Assign A prompt appears 8 When you are sure that the license has been cor...

Page 947: ...s report contains all previously ordered licenses for this memory card Missing licenses can be detected and re ordered on the basis of this report 4 Enter your address in the E mail address field and then click the Request license report button 13 3 5 Displaying entering the License Key A license overview page is included in the commissioning tools Startdrive and STARTER and in the S120 web server...

Page 948: ...n Figure 13 8 Example Overview of licenses in the web server 2 In the license overview page click on Display enter license key A dialog opens having the same name The current license key of your drive is visible in the upper field if already present Figure 13 9 Displaying or entering a license key 3 If you wish to use a new license key then enter New license key in this field example E1MQ 4BEA For...

Page 949: ...is not sufficient F13010 Licensing function module not licensed A13030 Trial license activated A13031 Trial license period expired A13032 Trial license last period activated A13033 Trial license last period expired Overview of important parameters see SINAMICS S120 S150 List Manual p9918 Activate the licensing of a trial license p9919 Licensing trial license status p9920 0 99 Licensing enter licen...

Page 950: ...r CO in their parameter name These parameters are identified accordingly in the parameter list or in the function diagrams Note The STARTER commissioning tool is recommended when using BICO technology 13 4 1 Binectors connectors Binectors BI Binector Input BO Binector Output A binector is a digital binary signal without a unit which can assume the value 0 or 1 Binectors are subdivided into binecto...

Page 951: ...t as source The number of the connector output must be entered as a parameter value CO Connector output signal source Can be used as a source for a connector input 13 4 2 Interconnecting signals using BICO technology To interconnect two signals a BICO input parameter signal sink must be assigned to the desired BICO output parameter signal source The following information is required in order to co...

Page 952: ...eter Example Unsigned32 Integer16 Data type BICO output Data type BICO parameter Example FloatingPoint32 The possible interconnections between the BICO input signal sink and BICO output signal source are listed in the table titled Possible combinations for BICO interconnections which can be found in the Explanations on the parameter list section of the SINAMICS S120 S150 List Manual The BICO param...

Page 953: ...e a drive via terminals DI 0 and DI 1 on the Control Unit using jog 1 and jog 2 Figure 13 12 Interconnection of digital signals example Example 2 Connection of OC OFF3 to several drives The OFF3 signal should be connected to two drives via terminal DI 2 on the Control Unit Each drive has the two binector inputs 1st OFF3 and 2nd OFF3 The two signals are processed via an AND gate to STW1 2 OFF3 Figu...

Page 954: ...ith it Binector connector converters and connector binector converters Binector connector converter Several digital signals are converted to a 32 bit integer double word or to a 16 bit integer word p2080 0 15 BI PROFIdrive PZD send bit serial Connector binector converter A 32 bit integer double word or a 16 bit integer word is converted to individual digital signals p2099 0 1 CI PROFIdrive PZD sel...

Page 955: ...nk voltage value r0070 V p2001 Total torque setpoint r0079 Nm p2003 Actual active power r0082 kW r2004 Control deviation r0064 rpm p2000 Modulation depth r0074 Reference modulation depth Torque generating current setpoint r0077 A p2002 Torque generating actual cur rent value r0078 A p2002 Flux setpoint r0083 Reference flux Flux actual value r0084 Reference flux Speed controller PI torque output r1...

Page 956: ...DCC chart on the Control Unit using a DCC block There are the following types of propagation BICO The fault is propagated to all active drive objects with closed loop control functions infeed drive to which there is a BICO interconnection DRIVE The fault is propagated to all active drive objects with closed loop control functions GLOBAL The fault is propagated to all active drive objects LOCAL The...

Page 957: ...ject can depending on the type manage up to 4 command data sets The number of command data sets is configured with p0170 The following parameters are available for selecting command data sets and for displaying currently selected command data sets e g in the vector mode Binector inputs p0810 to p0811 are used to select a command data set They represent the number of the command data set 0 to 3 in ...

Page 958: ...signed encoder data sets EDS Various control parameters e g Fixed speed setpoints p1001 to p1015 Speed limits min max p1080 p1082 Characteristic data of ramp function generator p1120 ff Characteristic data of controller p1240 ff The parameters that are grouped together in the drive data set are identified in the SINAMICS S120 S150 List Manual by Data Set DDS and are assigned an index 0 n It is pos...

Page 959: ...evant for configuring the drive e g Encoder interface component number p0141 Encoder component number p0142 Encoder type selection p0400 The parameters that are grouped together in the encoder data set are identified in the parameter list by Data Set EDS and are assigned an index 0 n A separate encoder data set is required for each encoder controlled by the Control Unit Up to three encoder data se...

Page 960: ... to establish DRIVE CLiQ communication only possible with some restrictions If a motor is operated with motor encoder 1 and then later with motor encoder 2 two different MDSs must be created with identical motor data One drive object can manage up to 16 encoder data sets The number of encoder data sets configured is specified in p0140 When a drive data set is selected the assigned encoder data set...

Page 961: ...tor data set can only be changed using a DDS changeover The motor data set changeover is for example used for Changing over between different motors Changing over different windings in a motor e g star delta changeover Adapting the motor data If several motors are operated alternately on a Motor Module a matching number of drive data sets must be created Further information about motor changeover ...

Page 962: ...tor p0186 Encoder 1 p0187 Encoder 2 p0188 Encoder 3 p0189 DDS 0 MDS 0 EDS 0 EDS 1 EDS 2 DDS 1 MDS 0 EDS 0 EDS 3 DDS 2 MDS 0 EDS 0 EDS 4 EDS 5 DDS 3 MDS 1 EDS 6 13 5 5 Function diagrams and parameters Function diagrams see SINAMICS S120 S150 List Manual 8560 Data sets Command Data Sets CDS 8565 Data sets Drive Data Sets DDS 8570 Data sets Encoder Data Sets EDS 8575 Data sets Motor Data Sets MDS ...

Page 963: ...t DDS number p0186 0 n Motor data sets MDS number p0187 0 n Encoder 1 encoder data set number p0188 0 n Encoder 2 encoder data set number p0189 0 n Encoder 3 encoder data set number p0809 0 2 Copy Command Data Set CDS p0810 BI Command data set selection CDS bit 0 p0811 BI Command data set selection CDS bit 1 p0819 0 2 Copy drive data set DDS p0820 0 n BI Drive data set selection DDS bit 0 p0821 0 ...

Page 964: ...4 TM31 8 4 2 2 Relay outputs 2 Temperature sensor input 1 TM41 4 4 1 Incremental encoder emulation 1 TM120 Temperature sensor inputs 4 1 Adjustable floating or non floating 2 Six of these are high speed inputs 3 Additional inputs for Safety Integrated Basic Functions Note Detailed information on the hardware properties of the inputs outputs can be found in the SINAMICS S120 Control Units Manual Fo...

Page 965: ...lock by block set by jumper Jumper open Isolated The digital inputs function only if a reference ground is connected Jumper closed non isolated The reference potential of the digital inputs is the ground of the Control Unit Sampling time for digital inputs outputs can be adjusted p0799 Function diagrams see SINAMICS S120 S150 List Manual Control Unit 320 2 2120 CU320 2 input output terminals isola...

Page 966: ...2032 CU310 2 input output terminals digital input outputs bidirectional DI DO 12 DI DO 13 2033 CU310 2 input output terminals digital input outputs bidirectional DI DO 14 DI DO 15 2038 CU310 2 input output terminals digital output DO 16 Digital outputs Signal processing using the digital outputs is shown in the function diagrams listed below Properties Separate power supply for the digital outputs...

Page 967: ...cessing using the bidirectional inputs outputs is shown in the function diagrams listed below Properties Can be parameterized as digital input or output When set as digital input Six high speed inputs on Control Unit If these inputs are used for example for the flying measurement function they act as high speed inputs with virtually no time delay when the actual value is saved The properties of th...

Page 968: ...0 2 input output terminals digital input outputs bidirectional DI DO 10 and DI DO 11 2132 CU320 2 input output terminals digital input outputs bidirectional DI DO 12 and DI DO 13 2133 CU320 2 input output terminals digital input outputs bidirectional DI DO 14 and DI DO 5 TM15 9400 Terminal Module 15 TM15 digital inputs outputs bidirectional DI DO 0 DI DO 7 9401 Terminal Module 15 TM15 digital inpu...

Page 969: ...el with DO1 telegram is always written in parallel Parameter r0729 is updated if the direction of the onboard terminals changes over p0728 or the signal sources for the outputs p0738 ff are changed Access priorities Reparameterization output controller output drive via parameter p0738 ff The drive output has higher priority than a standard controller output using the DO1 telegram but direct access...

Page 970: ...parameterizable Adjustable offset Signal can be inverted via binector input Adjustable absolute value generation Noise suppression p4068 Enabling of inputs via binector input Output signal available via connector output Scaling Smoothing Note Parameters p4057 to p4060 of the scaling do not limit the voltage values current values for TM31 the input can be used as current input Analog input of Contr...

Page 971: ... of important parameters see SINAMICS S120 S150 List Manual r0752 0 CO CU analog input current input voltage current p0753 0 CU analog input smoothing time constant p0761 0 CU analog input wire break monitoring response threshold p0762 0 CU analog input wire break monitoring delay time p0763 0 CU analog input offset p0766 0 CU analog input activate absolute value generation p0769 0 BI CU analog in...

Page 972: ...te value generation Inversion via binector input Adjustable smoothing Adjustable transfer characteristic Output signal can be displayed via visualization parameter Note Parameters p4077 to p4080 of the scaling do not limit the voltage values current values for TM31 the output can be used as current output Function diagrams see SINAMICS S120 S150 List Manual 9106 Terminal Board 30 TB30 Analog outpu...

Page 973: ...TER then write protection is only effective online The offline project is not write protected The following user interfaces are write protected STARTER commissioning tool Parameter changes via fieldbus No password is required for write protection Setting up and activating write protection 1 Go online 2 Select the required drive unit in the project navigator of your STARTER project 3 Call the short...

Page 974: ...ivating write protection 1 Go online 2 Select the required drive unit in the project navigator of your STARTER project 3 Call the shortcut menu Write protection drive unit Deactivate The hatching in the expert list disappears after deactivation The parameters can be set again 4 Select the Copy RAM to ROM icon to retentively save the settings Exceptions to write protection Some functions are exclud...

Page 975: ...ve functions Function Manual 11 2017 6SL3097 4AB00 0BP5 975 Overview of important parameters see SINAMICS S120 S150 List Manual r7760 Write protection know how protection status p7761 Write protection p7762 Write protection multi master fieldbus system access behavior ...

Page 976: ...r know how protection Know how protection without copy protection is possible with or without memory card Know how protection with copy protection is only possible with a Siemens memory card Know how protection without copy protection The drive unit can be operated with or without a memory card You can transfer drive unit settings to other drive units using a memory card an operator panel or START...

Page 977: ...rotection is active Several adjustable parameters can be read and changed when know how protection is active You can find a list of the readable and adjustable parameters that can be read in the SINAMICS S120 S150 List Manual in Chapter Parameters for write protection and know how protection under KHP_WRITE_NO_LOCK In addition you can define an exception list of adjustable parameters which end use...

Page 978: ...tection The data is located on the memory card in the USER SINAMICS DATA directory Note Diagnostics under know how protection If service or diagnostics is to be performed when know how protection is active then Siemens AG can only provide support in collaboration with the OEM partner Functions locked using know how protection Active know how protection inhibits the following functions Download of ...

Page 979: ...w how protection enter the parameters in this exception list that are permitted to remain readable and writable for the end user despite the know how protection The exception list can only be created via the expert list The exception list has no influence on the input screen forms in STARTER In the factory setting the exception list only includes the password for know how protection You do not nee...

Page 980: ...eption list 4 Save the project 5 Go online 6 Load the project to the drive unit using the icon in order to make them effective 7 In p7764 0 n 1 assign the required parameter numbers to the indices of p7763 You have extended the exception list for know how protection 13 8 3 2 Activate know how protection Requirements Before activating know how protection the following conditions must be met The dri...

Page 981: ...ng 5 The Without copy protection option is active by default When an appropriate memory card is inserted in the Control Unit you can choose from two copy protection options With basic copy protection permanently linked to the memory card With extended copy protection permanently linked to the memory card and Control Unit Select the required copy protection option 6 Click Specify The Know how Prote...

Page 982: ...uring functions option with a mouse click This allows the trace function the measuring function and the function generator to be used despite know how protection 10 The Copy RAM to ROM option is active by default and ensures that the know how protection is permanently stored in the Control Unit If you want to use the know how protection temporarily deactivate this option 11 Click OK Know how prote...

Page 983: ...project 4 In the shortcut menu select Drive unit know how protection Deactivate The Deactivate Know how Protection for Drive Unit dialog box opens Figure 13 19 Deactivating 5 Select the required option Temporarily deactivating Know how protection is active again after switching off and switching on Permanently deactivating Know how protection remains deactivated even after switching off and switch...

Page 984: ...nect the drive unit to the programming device 2 Go online with STARTER If you have generated a project offline on your computer you must load the project into the drive unit and go online 3 Select the required drive unit in the project navigator of your STARTER project 4 Call the shortcut menu Drive unit know how protection Change password The Change Password dialog box opens Figure 13 20 Changing...

Page 985: ...e end user s STARTER project files of the machine Sequence 1 The end user sends the OEM the serial numbers of the new Control Unit r7758 and the new memory card r7843 and specifies the machine in which the Control Unit is installed 2 The OEM loads the STARTER project data of the end user 3 The OEM performs the STARTER function Load to file system see Chapter Save data to the file system Page 985 T...

Page 986: ...L3097 4AB00 0BP5 Calling the Load to File System dialog box 1 Call STARTER 2 Open the required project 3 Select the required drive unit in the project navigator of your STARTER project 4 Call the Load to file system function The Load to File System dialog box opens Figure 13 21 Load to file system default setting ...

Page 987: ...data in compressed form click the Save compressed zip archive option button The Store additional data on the target device option is deactivated in the default setting 2 If you want to store additional data such as program sources on the target device activate this option Optionally you can also activate Including DCC chart data Graphical chart data can then also be stored 3 Enter the path for the...

Page 988: ... protection not recommended you can exit the dialog box with OK or Cancel at this point 2 If you want to store with protection activate one of the following options with a mouse click Know how prot without copy prot Required inputs New password and Confirm password Know how protection with basic copy protection permanently linked to the memory card Required inputs New password Confirm password and...

Page 989: ...e new memory card for which the data is intended The serial number of the Control Unit 5 If despite active know how protection you permit diagnostic functions activate the Allow diagnostic functions trace and measuring function option with a mouse click This allows the trace function the measuring function and the function generator to be used despite know how protection 6 Click OK to confirm the ...

Page 990: ...7758 0 19 KHP Control Unit serial number p7759 0 19 KHP Control Unit reference serial number r7760 Write protection know how protection status p7763 KHP OEM exception list number of indices for p7764 p7764 0 n KHP OEM exception list p7765 KHP configuration p7766 0 29 KHP password input p7767 0 29 KHP password new p7768 0 29 KHP password confirmation p7769 0 20 KHP memory card reference serial numb...

Page 991: ...ransferred from the actual topology to the reference topology and then saved in the non volatile memory When p9909 0 serial numbers and hardware versions are not automatically transferred In this case when the data in the electronic rating plate match the transfer is realized using p9904 1 or p9905 1 For the components that have been replaced the electronic rating plate must match as far as the fo...

Page 992: ...eplaced component has a different article number Table 13 7 Example Replacing a component with different article number Action Reaction Remark Switch off the power supply Replace the defective com ponent and connect the new one Switch on the power supply Alarm A01420 Load the project from the Control Unit to the STARTER PG Configure the replacement drive and select the current component Load the p...

Page 993: ...to the target topology and saved Example p9909 0 replacing a defective component with an identical article number Requirement The replaced component has an identical article number Topology comparison component replacement inactive p9909 0 Table 13 8 Example Replacing a Motor Module Action Reaction Remark Switch off the power supply Replace the defective com ponent and connect the new one Switch o...

Page 994: ... new one Switch on the power supply Alarm A01420 Drive object CU p0009 1 p9906 2 p0009 0 p0977 1 Device configuration Component comparison Completing the configuration Data backup For p9906 2 Caution Topology monitoring for all components has been significantly reduced so that if DRIVE CLiQ lines are accidentally changed over this will not be detected Drive object component p0201 r0200 p0010 0 p09...

Page 995: ...ata has been successfully cleared a POWER ON is automatically carried out p7775 is automatically set to 0 if the operation was successful If the operation was not successful p7775 indicates a corresponding fault value Further details of the fault values can be found in the SINAMICS S120 S150 List Manual Note NVRAM data change The data in the NVRAM can only be restored or deleted if the pulse inhib...

Page 996: ...lt of the modified Control Unit serial number After the POWER ON the NVRAM of the Control Unit is first deleted The new NVRAM data is then loaded NVRAM restoration A specific restoration of the saved NVRAM data is initiated by setting p7775 2 The original file in the NVRAM is first deleted If the file PMEMORY ACX is available with a valid checksum it is loaded to the NVRAM The following data is no...

Page 997: ...rtition from the backup partition at the next ramp up of the CU The fault F01072 memory card recreated from backup copy is emitted A running restoration of the data is indicated via the LEDs FW Loading Generally the restoration of the data takes one minute The duplication of changed project data on the backup partition takes just a few seconds during ramp up After write operations on the working p...

Page 998: ...are download via the Web server In exceptional circumstances memory cards with older firmware versions can be used for the firmware download via the Web server However there is no guarantee of retentive data storage Reading off the CU version The following table lists the versions required to use the Redundant data backup on memory card for each Control Unit The appropriate data is available on yo...

Page 999: ...mponents by the Control Unit Standard interfaces to all components Standardized diagnostics down to component level Standardized service down to component level Electronic rating plate The electronic rating plate contains the following data Component type e g SMC20 Article number e g 6SL3055 0AA0 5BA0 Manufacturer e g SIEMENS Hardware version e g A Serial number e g T PD3005049 Technical specifica...

Page 1000: ... target topology stored on the memory card You can specify how the electronic rating plates are compared for all the components of a Control Unit via p9906 The type of comparison can be changed subsequently for each individual component You can use p9908 for this or right click in the topology view in the STARTER tool All data on the electronic rating plate is compared by default The following dat...

Page 1001: ...VE CLiQ detailed diagnostics configuration p9939 DRIVE CLiQ detailed diagnostics time interval p9942 DRIVE CLiQ detailed diagnostics individual connection selection r9943 DRIVE CLiQ detailed diagnostics individual connection error counter 13 11 3 Emergency operating mode for DRIVE CLiQ components In order to protect the drive system against excessive voltage when the Control Unit or DRIVE CLiQ com...

Page 1002: ...hat no bus timing changes have been made with respect to the old parameterization then synchronization is possible The time slice system remains the same as before Note All algorithms for autonomous operation are executed as a background process for the component They thus have no influence on the computer resources utilized cyclically by the component Communication restart includes a topology det...

Page 1003: ...t is possible that the component is already operational In order that a 2nd download reparameterization factory setting is possible the DRIVE CLiQ master must deactivate the protective function if one is selected and thus also autonomous time slice operation All timing changes can be accepted in this state The DRIVE CLiQ master performs a relevance check on the download only those settings which a...

Page 1004: ...il in the following sub sections After this there are notes on the number of controllable drives and some example topologies The following standard quantity structures are operable with standard clock cycles 12 V f control axes with 500 µs 6 vector axes with 500 µs 6 servo axes with 125 μs 3 vector axes with 250 μs 3 servo axes with 62 5 μs 1 servo axis with 31 25 μs single axis module Note Specia...

Page 1005: ...r PM340 Power Module or for operation with a maximum of one AC AC Power Module in the Chassis format via the X100 DRIVE CLiQ connection For the CU320 2 Control Unit the following applies The CU320 2 Control Unit is a multi axis control module for operating Motor Modules in the Booksize Chassis and Blocksize formats PM240 2 and PM340 via CUA For multi axis modules each axis counts individually one ...

Page 1006: ...e Basic Line Module BLM type is permitted An active Voltage Sensing Module VSM must be assigned to each active Active Line Module ALM or Smart Line Module SLM of the chassis format A violation of this rule causes fault F05061 to be issued Two further Voltage Sensing Modules can be operated with the network transformer function module for Active Line Modules ALM The following applies to parallel co...

Page 1007: ...rive objects can be operated concurrently for a DRIVE CLiQ Hub Module DMC20 or DME20 DMC20 DME20 do not count twice here 13 12 3 Rules on the sampling times 13 12 3 1 Rules when setting the sampling times The following rules apply when setting the sampling times General rules There are a maximum 2 possible cycle levels on the Control Unit where the lowest sampling times are not integer multiples w...

Page 1008: ...s format or 250 µs booksize format Motor Modules For Single Motor Modules in booksize format a current controller sampling time of minimum 31 25 µs can be set 31 25 µs p0115 0 500 µs For Double Motor Modules in booksize format a current controller sampling time of minimum 62 5 µs can be set 62 5 µs p0115 0 500 µs For Motor Modules in chassis format a current controller sampling time of minimum 125...

Page 1009: ...ive objects in vector control Ti 400 µs Max five drive objects in vector control Ti 500 µs Max six drive objects in vector control Note Restriction of the number of axes for chassis in vector control For active edge modulation optimized pulse patterns and active wobbling only half the number of axes is permitted The fastest sampling time of a drive object in V f control mode is obtained as follows...

Page 1010: ... times for servo control Page 1026 can be set for servo control The current controller sampling times from Table 13 16 Pulse frequencies and current controller sampling times for vector control Page 1028 can be set for vector control The setting rules for the safety actual value acquisition cycle and the safety monitoring cycle must be observed for details see SINAMICS S120 Safety Integrated Funct...

Page 1011: ...1224 If the application requires a change of the preset sampling times they can be set using parameters p0112 and p0113 or directly using p0115 p0799 and p4099 Note Recommendation Only appropriately qualified experts should change the sampling times set as default values When commissioning for the first time the current controller sampling times p0115 0 are automatically preset with factory settin...

Page 1012: ...s p0092 0 500 µs p0092 1 1 333 kHz 1 25 kHz 1 0 kHz Note If a Power Module Blocksize is connected to a Control Unit the sampling times of all vector drives are set according to the rules for Power Modules Blocksize only 250 µs or 500 µs possible 13 12 3 4 Setting the pulse frequency The sampling times for the following functions are set by selecting the appropriate values in p0112 for the closed l...

Page 1013: ... is changed online then the values of higher indices are automatically adapted Note Do not change the sampling times when the commissioning tool is in the offline mode because in this case if there is an incorrect parameterization the project download is canceled Making and checking settings 1 Activate in the expert list of the Control Unit the drive base configuration with p0009 3 2 In the expert...

Page 1014: ...1082 0 n Maximum velocity p1800 0 n Pulse frequency setpoint p4099 Inputs outputs sampling time r9780 SI monitoring cycle Control Unit r9880 SI monitoring cycle Motor Module r9976 0 7 System utilization 13 12 4 Rules for wiring with DRIVE CLiQ Rules apply for wiring components with DRIVE CLiQ A distinction is made between binding DRIVE CLiQ rules which must be unconditionally observed and recommen...

Page 1015: ...RIVE CLiQ components that are not supported by the type and the firmware version of the Control Unit are not permitted The sampling times p0115 0 and p4099 of all components that are connected to a DRIVE CLiQ line must be divisible by one another with an integer result or all the sampling times set for the components must be an integer multiple of a common base cycle Example 1 A Line Module with 2...

Page 1016: ...trol more than 4 motor modules can only be connected to one DRIVE CLiQ line of the Control Unit With a current controller sampling time of 31 25 μs a filter module should be directly connected to a DRIVE CLiQ socket of the Control Unit A maximum of four Motor Modules with Safety Extended Functions may be operated on one DRIVE CLiQ line for current controller sampling time TIReg 125 μs on all axes ...

Page 1017: ...trol Motor Modules should be connected directly to the Control Unit in vector control If DRIVE CLiQ socket X100 is already assigned to a Line Module DRIVE CLiQ socket X101 should be used Several Motor Modules should be connected in a line In servo control Motor Modules should be connected to a DRIVE CLiQ line together with the Line Module Several Motor Modules should be connected in a line If ther...

Page 1018: ...cted to the associated Motor Module Connecting the motor encoder via DRIVE CLiQ Single Motor Module Booksize to terminal X202 Double Motor Module Booksize motor X1 to terminal X202 and motor X2 to terminal X203 Single Motor Module chassis to terminal X402 Power Module blocksize with CUA31 Encoder to terminal X202 Power Module blocksize with CU310 2 Encoder to terminal X100 or to terminal X501 of a...

Page 1019: ...2 booksize format or X402 chassis format of the associated Line Module Figure 13 26 Example of a topology with VSM for booksize and chassis components Terminal Modules Terminal Modules should be connected to DRIVE CLiQ socket X103 of the Control Unit in series If possible Terminal Modules should not be connected to the DRIVE CLiQ line of Motor Modules but rather to free DRIVE CLiQ sockets of the C...

Page 1020: ... second encoder is connected to a Motor Module in addition to the motor encoder it is assigned to the drive as encoder 2 The encoder connected to terminal X202 or X402 is then the motor encoder encoder 1 If a TM120 or TM150 is connected to the Motor Module the temperature channels of the TM are connected with the motor temperature monitoring of the drive In this case the motor encoder may be conne...

Page 1021: ...e STARTER commissioning tool The device topology can be changed in the STARTER commissioning tool by shifting the components in the topology tree Example Changing the DRIVE CLiQ topology 1 Select the DRIVE CLiQ component 2 While holding down the mouse button drag the component to the required DRIVE CLiQ interface and release the mouse button You have changed the topology in the STARTER commissioni...

Page 1022: ...machine you must mark drive objects and encoders that are not used in the STARTER topology To do this for the corresponding drive objects and encoder set parameter p0105 or p0145 2 deactivate component and does not exist Components set to the value 2 in a project generated offline must never be inserted in the actual topology at all If a component fails the sub topology can also be used to allow a...

Page 1023: ...13 12 System rules sampling times and DRIVE CLiQ wiring Drive functions Function Manual 11 2017 6SL3097 4AB00 0BP5 1023 3 Transfer the project with Download to drive unit 4 Then execute a Copy RAM to ROM Figure 13 27 Example of a sub topology ...

Page 1024: ...for the component change parameter p0105 or p0145 from 1 to 0 The deactivated components remain inserted however they are deactivated Errors are not displayed from deactivated components Overview of important parameters see SINAMICS S120 S150 List Manual p0105 Activating deactivating drive object r0106 Drive object active inactive p0125 0 n Activate deactivate power unit component r0126 0 n Power ...

Page 1025: ...Axes Infeed 125 125 6 1 250 μs 6 6 3 2000 μs 62 5 62 5 3 1 250 μs 3 3 3 2000 μs 31 252 31 252 1 1 250 μs 1 1 3 2000 μs 1 Valid for TM31 or TM15IO restrictions are possible for TM54F TM41 TM15 TM17 TM120 TM150 depending on the set sampling time 2 In the cycle level 31 25 µs you can also create the following objects Sensor Module External SME and SMC20 that support the current firmware and hardware ...

Page 1026: ...vo control Pulse fre quency kHz Current controller sampling time µs 250 0 187 5 150 0 125 0 100 0 93 75 75 0 62 5 50 0 37 5 31 25 16 0 X X X XX 13 333 X X XX 12 0 X 10 666 X X X 10 0 X XX 8 888 X 8 0 X X XX X 6 666 X XX X X 6 4 X 5 333 X XX X X 5 0 XX X 4 444 X 4 0 X XX X 3 555 X 3 333 XX X X 3 2 X 2 666 XX X 2 5 X 2 222 X 2 133 X 2 0 XX X X 1 777 X 1 666 X 1 6 X 1 333 X X Note Clock cycle mix Det...

Page 1027: ...5 1 250 μs 5 5 3 2000 μs 250 µs 1000 µs 3 1 250 μs 3 3 3 2000 μs 1 Valid for TM31 or TM15IO restrictions are possible for TM54F TM41 TM15 TM17 TM120 TM150 depending on the set sampling time 2 For power units in chassis format the infeed cycle depends on the power rating of the module and can be 400 μs 375 μs or 250 μs 3 This setting results in lower remaining computation times Adjustable pulse fre...

Page 1028: ...vector control Pulse fre quency kHz Current controller sampling time µs 500 0 375 0 312 5 250 0 218 75 200 0 187 5 175 0 156 25 150 0 137 5 125 0 16 0 X X X X X X 15 0 X 14 545 X 14 0 X 13 714 X 13 333 X X 12 8 X X 12 0 X X 11 428 X 10 666 X X 10 0 X X 9 6 X 9 142 X 8 0 X X X X 7 272 X 6 666 X 6 4 X X 6 0 X 5 714 X 5 333 X X 5 0 X 4 571 X 4 0 X X X 3 636 X 3 333 X 3 2 X X 2 857 X 2 666 X X 2 5 X 2...

Page 1029: ...s depends on the current controller sampling time Table 13 17 Sampling time setting for V f control Cycle times µs Number Motor dir measur ing systems TM TB Current con troller Speed controller Drives Infeed 500 2000 12 1 250 μs 3 2000 μs Mixed operation of servo control and V f open loop control In mixed operation with servo control and V f control one axis in servo control at 125 µs uses exactly...

Page 1030: ... time setting for servo control Cycle times µs Number Via DQ2 Snapped on TM1 TB Current con troller Speed controller Axes Infeed Motor Module Power Module 125 125 1 1 3 2000 μs 62 5 62 5 1 1 3 2000 μs 1 Valid for TM15 TM17 or TM41 for TM54F TM31 TM120 TM150 restrictions are possible dependent on the set sampling time 2 DQ DRIVE CLiQ If the 310 2 Control Unit is snapped on to a PM340 or a PM240 2 F...

Page 1031: ... The available computation time can be used for the SINAMICS Web server The following boundary condition applies here The utilization of the system r9976 must be less than 90 A maximum of five users can access data on the same drive via the SINAMICS Web server Using CUA31 CUA32 Information on using the Control Unit Adapter CUA31 or CUA32 CUA31 32 is the first component in the CUA31 32 topology 5 a...

Page 1032: ...0 125 00 250 250 187 50 125 00 375 750 150 00 125 00 750 750 125 00 125 00 125 250 100 00 125 00 500 500 93 75 125 00 375 750 75 00 125 00 375 750 62 50 125 00 125 250 50 00 125 00 250 250 37 50 125 00 750 750 31 25 125 00 125 250 Base cycles for the isochronous PROFIBUS for a cycle mix with 125 μs Table 13 23 Examples for cycle mixes for vector control Cycle mix Current controller sam pling times...

Page 1033: ...o longer be operated with the default setting adaptations must be made to the hardware configuration The increased setting values for Ti To and Tdp have disadvantageous effects on the dynamics of the position control loop Despite a cycle mix the parameter p2049 can be used to operate the axis with the different current controller sampling time asynchronously on the isochronous PROFIBUS This allows...

Page 1034: ...Basic information about the drive system 13 12 System rules sampling times and DRIVE CLiQ wiring Drive functions 1034 Function Manual 11 2017 6SL3097 4AB00 0BP5 ...

Page 1035: ...Advanced Positioning Control AR Automatic Restart Automatic restart ASC Armature Short Circuit Armature short circuit ASCII American Standard Code for Information Interchange American coding standard for the exchange of information AS i AS Interface Actuator Sensor Interface AS Interface open bus system in automation technology ASM Asynchronmotor Induction motor AVS Active Vibration Suppression Ac...

Page 1036: ...tup CP Communication Processor Communications processor CPU Central Processing Unit Central processing unit CRC Cyclic Redundancy Check Cyclic redundancy check CSM Control Supply Module Control Supply Module CU Control Unit Control Unit CUA Control Unit Adapter Control Unit Adapter CUD Control Unit DC Control Unit DC D DAC Digital Analog Converter Digital analog converter DC Direct Current Direct ...

Page 1037: ...romotive force EMK Elektromotorische Kraft Electromotive force EMV Elektromagnetische Verträglichkeit Electromagnetic compatibility EN Europäische Norm European standard EnDat Encoder Data Interface Encoder interface EP Enable Pulses Pulse enable EPOS Einfachpositionierer Basic positioner ES Engineering System Engineering system ESB Ersatzschaltbild Equivalent circuit diagram ESD Electrostatic Sen...

Page 1038: ...ogic with high interference threshold HW Hardware Hardware I i V In Vorbereitung Under development This property is currently not available I O Input Output Input output I2C Inter Integrated Circuit Internal serial data bus IASC Internal Armature Short Circuit Internal armature short circuit IBN Inbetriebnahme Startup ID Identifier Identification IE Industrial Ethernet Industrial Ethernet IEC Inte...

Page 1039: ...tor data set MLFB Maschinenlesbare Fabrikatebezeichnung Machine readable product code MM Motor Module Motor Module MMC Man Machine Communication Man machine communication MMC Micro Memory Card Micro memory card MSB Most Significant Bit Most significant bit MSC Motor Side Converter Motor side converter MSCY_C1 Master Slave Cycle Class 1 Cyclic communication between master class 1 and slave MSR Moto...

Page 1040: ...Master control PD PROFIdrive PROFIdrive PDC Precision Drive Control Precision Drive Control PDS Power unit Data Set Power unit data set PDS Power Drive System Drive system PE Protective Earth Protective ground PELV Protective Extra Low Voltage Safety extra low voltage PFH Probability of dangerous failure per hour Probability of dangerous failure per hour PG Programmiergerät Programming device PI P...

Page 1041: ...s Data Object RS232 Recommended Standard 232 Interface standard for cable connected serial data transmission between a sender and receiver also known as EIA232 RS485 Recommended Standard 485 Interface standard for a cable connected differen tial parallel and or serial bus system data trans mission between a number of senders and receivers also known as EIA485 RTC Real Time Clock Real time clock RZ...

Page 1042: ...tor Module Single Motor Module SN Sicherer Software Nocken Safe software cam SOS Safe Operating Stop Safe operating stop SP Service Pack Service pack SP Safe Position Safe position SPC Setpoint Channel Setpoint channel SPI Serial Peripheral Interface Serial peripheral interface SPS Speicherprogrammierbare Steuerung Programmable logic controller SS1 Safe Stop 1 Safe Stop 1 time monitored ramp monit...

Page 1043: ...eie 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 voltage negative VdcP Partial DC link voltage positive VDE Verband Deutscher Elektrotechniker Verband Deutscher Elektrotechniker Association of German Electrical Engineers VDI Verein Deutscher Ingenieure Verein Deutsc...

Page 1044: ...Appendix A 2 Documentation overview Drive functions 1044 Function Manual 11 2017 6SL3097 4AB00 0BP5 A 2 Documentation overview ...

Page 1045: ...oksize format in vector control mode The Motor Modules chassis format with identical pulse frequencies or the Motor Modules booksize format in vector control mode can be connected to 1 DRIVE CLiQ interface on the Control Unit In the following diagram three Motor Modules are connected to the DRIVE CLiQ socket X101 Note The offline topology automatically generated in the STARTER commissioning tool m...

Page 1046: ...ckets of the Control Unit They may also be connected at the same DRIVE CLiQ line In the following diagram two Motor Modules 400 V output 250 kW pulse frequency 2 kHz are connected to interface X101 and two Motor Modules 400 V output 250 kW pulse frequency 1 25 kHz are connected to interface X102 Note The offline topology automatically generated in the STARTER commissioning tool must be manually mo...

Page 1047: ...dules in the chassis format of the same type can be connected to a DRIVE CLiQ socket of the Control Unit In the following diagram two Active Line Modules and two Motor Modules are connected to the X100 or X101 socket You can find additional notes in Chapter Parallel connection of power units in the SINAMICS S120 Function Manual Note The offline topology automatically generated in the STARTER commi...

Page 1048: ...pendix A 3 Supported sample topologies Drive functions 1048 Function Manual 11 2017 6SL3097 4AB00 0BP5 A 3 3 Topology example Power Modules Blocksize Figure A 4 Drive line ups with Power Modules blocksize ...

Page 1049: ...Appendix A 3 Supported sample topologies Drive functions Function Manual 11 2017 6SL3097 4AB00 0BP5 1049 Chassis Figure A 5 Drive line up of a Power Module chassis ...

Page 1050: ...m number of controllable drives with servo control and additional components The sampling times of individual system components are Active Line Module p0115 0 250 µs Motor Modules p0115 0 125 µs Terminal Module Terminal Board p4099 1 ms ALM Active Line Module SMM Single Motor Module DMM Double Motor Module SMx Motor encoder SMy Direct measuring system TMx TM31 TM15DI DO TB30 Figure A 6 Topology ex...

Page 1051: ...g systems Topology 2 1 ALM 250 μs 2 servo 62 5 μs 2 V f 500 μs 3 TM15 Base p4099 0 2000 µs 2 Safety Integrated Extended Functions with encoder SI motion monitoring clock cycle p9500 12 ms SI Motion actual value sensing clock cycle p9511 4 ms 2 Safety Integrated Extended functions sensorless 2 dir measuring systems Topology 3 1 servo 62 5 μs 4 V f is not possible in conjunction with Safety Integrat...

Page 1052: ...vector control The following diagram shows the maximum number of controllable vector V f drives with additional components The sampling times of individual system components are Active Line Module p0115 0 250 µs Motor Modules p0115 0 500 µs Terminal Module Terminal Board p4099 2 ms Figure A 7 Topology example of a vector drive line up in V f control ...

Page 1053: ...isplays and keys Figure A 8 Overview of displays and keys Information on the displays Table A 1 LED Display Meaning top left 2 positions The active drive object of the BOP is displayed here The displays and key operations always refer to this drive object RUN Lit if at least one drive in the drive line up is in the RUN state in operation RUN is also displayed via bit r0899 2 of the drive top right...

Page 1054: ...l Note The effectiveness of these keys can be defined by appropriately parameterizing the BICO e g using these keys it is possible to simultaneously control all of the existing drives Functions The significance of this key depends on the actual display Note The effectiveness of this key to acknowledge faults can be defined using the appropriate BiCo parameterization Parameter The significance of t...

Page 1055: ...again The ON key and OFF key have no function Withdrawing and inserting has no effect on the drives Actuating keys The following applies to the P and FN keys When used in a combination with another key P or FN must be pressed first and then the other key Overview of important parameters see SINAMICS S120 S150 List Manual All drive objects p0005 0 1 BOP status display selection p0006 BOP status dis...

Page 1056: ... each drive object can be set using p0005 and p0006 Using the operating display you can change into the parameter display or to another drive object The following functions are possible Changing the active drive object Press key FN and Arrow up the drive object number at the top left flashes Select the required drive object using the arrow keys Acknowledge using the P key Parameter display Press t...

Page 1057: ...eached from the operating display by pressing the P key Parameters can be searched for using the arrow keys The parameter value is displayed by pressing the P key again You can toggle between the drive objects by simultaneously pressing the FN key and an arrow key You can toggle between r00000 and the parameter that was last displayed by pressing the FN key in the parameter display Figure A 9 Para...

Page 1058: ...017 6SL3097 4AB00 0BP5 Value display To switch from the parameter display to the value display press the P key In the value display the values of the adjustable parameters can be increased and decreased using the arrow The cursor can be selected using the FN key Figure A 10 Value display ...

Page 1059: ...the BOP20 Drive functions Function Manual 11 2017 6SL3097 4AB00 0BP5 1059 Example Changing a parameter Precondition The appropriate access level is set for this particular example p0003 3 Figure A 11 Example Changing p0013 4 from 0 to 300 ...

Page 1060: ...Manual 11 2017 6SL3097 4AB00 0BP5 Example Changing binector and connector input parameters For the binector input p0840 0 OFF1 of drive object 2 binector output r0019 0 of the Control Unit drive object 1 is interconnected Figure A 12 Example Changing indexed binector parameters ...

Page 1061: ...ix A 4 Parameterization using the BOP20 Drive functions Function Manual 11 2017 6SL3097 4AB00 0BP5 1061 A 4 3 Fault and alarm displays Displaying faults Figure A 13 Faults Displaying alarms Figure A 14 Alarms ...

Page 1062: ...e interconnections do not function if a standard PROFIdrive telegram was selected as its interconnection cannot be disconnected Table A 4 BOP20 control word Bit r0019 Name Example interconnection parameters 0 ON OFF OFF1 p0840 1 No coast down coast down OFF2 p0844 2 No fast stop fast stop OFF3 p0848 7 Acknowledge fault 0 1 p2102 13 Motorized potentiometer raise p1035 14 Motorized potentiometer low...

Page 1063: ...ent Article number Version Revisions 1 TM54F 6SL3055 0AA00 3BA New 2 Active Interface Module booksize 6SL3100 0BE AB New 3 Basic Line Module booksize 6SL3130 1TE 0AA New 4 DRIVE CLiQ encoder 6FX2001 5 D 0AA New 5 CUA31 Suitable for Safety Extended functions via PROFIsafe and TM54 6SL3040 0PA00 0AA1 New 6 CUA32 6SL3040 0PA01 0AA New 7 SMC30 30 mm wide 6SL3055 0AA00 5CA2 New Table A 7 Hardware compo...

Page 1064: ...2 2DB00 0AA New 11 Reinforced DC link busbars for 100 mm components 6SL3162 2DD00 0AA New Table A 8 Hardware components available as of 11 2009 No Hardware component Article number Version Revisions 1 Control Unit 320 2DP 6SL3040 1MA00 0AA1 Actual 2014 6SL3040 1MA00 0AA0 4 3 New 2 TM120 6SL3055 0AA00 3KA0 4 3 New 3 SMC10 30 mm wide 6SL3055 0AA00 5AA3 4 3 New Table A 9 Hardware components available...

Page 1065: ...E13 0AA0 6SL3420 2TE15 0AA0 4 4 New 5 Braking Module booksize 6SL3100 1AE31 0AB0 4 4 New Table A 11 Hardware components available as of 01 2012 No Hardware component Article number Version Revisions 1 TM150 evaluation of up to 12 temperature sensors 6SL3055 0AA0 3LA0 4 5 New 2 CU310 2 PN 6SL3040 1LA01 0AA0 4 5 New 3 CU310 2 DP 6SL3040 1LA00 0AA0 4 5 New Table A 12 Hardware components available as ...

Page 1066: ...nts available as of 10 2015 Nr Hardware component Article number Version Changes 1 Motor Module with up to 2x over load Booksize redesign 6SL3120 1TE21 8AC 18 A 6SL3120 1TE23 0AC 30 A 6SL3120 2TE21 8AC 2 x 18 A New 2 Motor Module with up to 3x over load Booksize redesign 6SL3120 1TE13 0AD 3 A 6SL3120 1TE15 0AD 5 A 6SL3120 1TE21 0AD 9 A 6SL3120 1TE21 8AD 18 A 6SL3120 1TE23 0AD 30 A 6SL3120 2TE13 0A...

Page 1067: ...3055 0AA00 3AA1 6SL3055 0AA00 3KA0 6SL3055 0AA00 3LA0 6SL3053 0AA00 3AA1 4 7 HF17 new Table A 18 Hardware components available from January 2017 or November 2017 No HW component Article number Version Revisions 1 Absolute encoder with DRIVE CLiQ Singleturn synchronous flange VW 6 mm Singleturn clamping flange VW 10 mm Singleturn hollow shaft 10 mm Singleturn hollow shaft 12 mm Multiturn synchronou...

Page 1068: ... 1PE27 5UL0 6SL3211 1PE27 5AL0 6SL3211 1PE31 1UL0 6SL3211 1PE31 1AL0 6SL3211 1PE32 5UL0 6SL3211 1PE32 5AL0 6SL3211 1PH24 2UL0 6SL3211 1PH24 2AL0 6SL3211 1PH26 2UL0 6SL3211 1PH26 2AL0 6SL3211 1PH31 4UL0 6SL3211 1PH31 4AL0 5 1 new 4 Mounting frames for PM240 2 Power Modules FSD FSE FSF 6SL3200 0SM17 0AA0 6SL3200 0SM18 0AA0 6SL3200 0SM20 0AA0 5 1 new 5 C D type Motor Modules 24 A C type 24 A D type 4...

Page 1069: ...Table A 20 New functions firmware 2 3 No SW function SERVO VECTOR HW component 1 Motor data set changeover eight motor data sets x x 2 Buffer for faults alarms x x 3 Rotor pole position identification x x 4 Booting with partial topology parking axis encoder deactivat ing activating components x x 5 Friction characteristic with ten interpolation points automatic char acteristic plot x x 6 Utilizati...

Page 1070: ...s motors kt estimator x 8 Hub functionality hot plugging distributed encoder star structure via DMC20 x x 9 Basic Operator Panel BOP20 x x 10 Evaluation of SSI encoder SMC30 x x 6SL3055 0AA00 5CA1 11 Pulse encoder emulation TM41 x x 12 Automatic restart with Active Line Module x x 13 PROFIBUS extensions Slave to slave communication Y link Telegram 1 also for servo Telegram 2 3 4 also for vector x ...

Page 1071: ...nchronizing x x For chassis drive units 25 Voltage Sensing Module VSM for Active Line Module Also for booksize drive units 26 Armature short circuit braking synchronous motors x 27 CANopen extensions vector free process data access profile DS301 x x 28 PROFINET IO communication with Option Module CBE20 x x 29 New hardware components are supported AC DRIVE SME120 125 BOP20 DMC20 TM41 x x 30 Positio...

Page 1072: ...rol SS1 Safe Stop 1 STO after a delay time has expired standstill without torque SOS Safe Operating Stop safe standstill with full torque SS2 Safe Stop 2 SOS after a delay time has expired standstill with full torque SLS Safely Limited Speed SSM Safe Speed Monitor safe speed monitor feedback n nx on a secure output Note The Safety Integrated Basic Functions STO and SBC have been implemented as of ...

Page 1073: ... 0AA1 Actual 2014 discon tinued 9 Edge modulation higher output voltages in the vector control mode also with booksize devices x Only for Motor Mod ules 6SL3 0AA3 10 DC braking x x 11 Armature short circuit Internal x x 12 Armature short circuit Intermittent voltage protection x Only for Motor Mod ules 6SL3 0AA3 13 Automatic firmware update for DRIVE CLiQ components x x 14 Save STARTER project dir...

Page 1074: ...ed Extended Functions Internal armature short circuit and integrated voltage protection x x Safety Integrated Extended Functions only for Motor Modules 6SL3 3 CUA31 6SL3040 0PA00 0AA1 3 PROFIsafe via PROFINET x x 4 Pulse frequency wobbling x Motor Modules in chassis format 6SL3 3 5 Position control load gear with multiple drive data sets DDS x x 6 Sensorless vector control SLVC New closed loop con...

Page 1075: ...t magnet synchronous motors can be controlled down to zero speed without having to use an encoder x 5 SINAMICS Link Direct communication between several SINAMICS S120 x x 6 Safety Integrated Control of the Basic Functions via PROFIsafe SLS without encoder for induction motors SBR without encoder for induction motors Own threshold value parameters for SBR Up until now SSM used parameter p9546 x x 7...

Page 1076: ...with encoder Supplementary condition for Safety without encoder for induc tion motors Only possible with devices in booksize and blocksize format Not for devices in chassis format x x 2 Communication PROFINET address can be written via parameter e g when completely generating the project offline Shared device for SINAMICS S PROFINET modules CU320 2 PN CU310 2 PN x x 3 Emergency retraction ESR Exte...

Page 1077: ...s for the send and receive directions x x Safety Integrated functions 16 CU310 2 safety functionality via terminals and PROFIsafe x x 17 Permanent activation of the speed limit and the safe direction of rotation without PROFIsafe or TM54F x x 18 Safely Limited Position SLP x x 19 Transfer of the Safely Limited Position via PROFIsafe x x 20 Variably adjustable SLS limit x x 21 New PROFIsafe telegra...

Page 1078: ...4 support x x 4 Isochronous support for IRT devices x 5 Dynamic IP address assignment DHCP and temporary device names for PROFINET x x 6 Fast flying restart with voltage measurement x x 7 One button tuning x 8 Online tuning x 9 Adaptive current setpoint filter for online tuning x 10 Independent setting of the pulse frequency and the PROFIBUS and PROFINET cycles x x 11 PROFIenergy for SINAMICS S120...

Page 1079: ...ncoder x x 11 Basic Functions controllable via TM54F x x 12 Safe Stop 2 with external stop SS2E x x Table A 30 New functions firmware 5 1 No SW function SERVO VECTOR HW component 1 Support of 1PH1 spindle motors x x 2 Voltage precontrol for servo control x 3 One Button Tuning extension x 4 Efficiency optimization extension additional method x 5 Essential service mode for CU310 2 on blocksize power...

Page 1080: ...d operation Torque setpoint limitation Current controller Current setpoint filter Note about the electronic motor model V f control for diagnostics Optimization of current and speed controller Encoderless operation Motor data identification stationary rotating measurement Pole position identification Vdc control Dynamic Servo Control DSC Travel to fixed stop Vertical axis Basic functions Reference...

Page 1081: ...connected according to the same principle System clocks The sampling times are permanently set to 125 μs for the following functions Current controller Speed controller and Flux controller The pulse frequency is permanently set to 4 kHz This means that a maximum spindle speed of 24000 rpm can be reached Available motors Synchronous motors 1FE1 1FT6 1FT7 1FK7 1FW6 Induction motors 1PH7 1PH4 1PL6 1P...

Page 1082: ...Appendix A 7 Functions of SINAMICS S120 Combi Drive functions 1082 Function Manual 11 2017 6SL3097 4AB00 0BP5 ...

Page 1083: ... APC without sensor on the load side 597 Commissioning the function module 595 Dependency on the parameter set 620 Licensing 596 Measuring frequency responses 622 Measuring functions 625 Parameter preassignment 596 Setting the activation parameter 619 Using the APC filter 620 ALM 29 Ambient temperature 424 Analog inputs CU310 2 970 Properties 970 Signal processing 970 Analog outputs Properties 972...

Page 1084: ... Current controller vector Current controller adaptation 247 Current distribution factor 555 Current setpoint 555 Current setpoint filter 244 Servo 104 Current setpoint filter adaptation Activating 127 Adaptation with variable resonance frequencies 131 Configuring 127 Deactivating 127 Effect 129 Internal activation threshold 130 Limit frequencies upper lower 132 Online tuning active 127 Range of m...

Page 1085: ... 328 Dynamic Servo Control 169 Dynamic setpoint limiting 169 E Edge evaluation of the zero mark 375 EDS switchover 960 Efficiency optimization Reluctance motor 265 Efficiency tuning Induction motor 263 Vector control 263 EIP 873 Electronic rating plate 999 Encoder External 171 Encoder dirty signal 370 Encoder evaluation 371 Encoder interface Find reference mark 744 Flying measurement 745 Encoder r...

Page 1086: ...measurement 273 For long cables 273 Of the synchronous reluctance motor 275 Following error monitoring Dynamic 503 Forced dormant error detection test stop Automatically when powering up 678 Basic Functions 677 Initiated by the application 678 Free telegrams 739 Freezing the speed raw value 374 Frequency setpoint SMC30 422 Friction characteristic Technology function 359 Function module 465 Additio...

Page 1087: ... the file system 986 List of exceptions 979 Locked functions 978 Optional functions 979 Parameters that can be changed 977 Password check 977 Restricted functions 979 With basis copy protection 976 With extended copy protection 976 Without copy protection 976 kT estimator Servo 485 L License key 939 Create 945 Display 945 947 Enter 947 Licensing 939 Trial license 942 Limits Torque setpoint 98 Line...

Page 1088: ...oring 640 CU310 2 662 CUA31 32 662 Motor Module 660 Motor with DRIVE CLiQ 663 Power Module 661 Sensor Module 648 SMC 648 SMC10 648 SMC20 648 SMC30 648 SMC40 648 SME120 125 649 Temperature sensor evaluation 663 Terminal Modules 651 Thermal motor model 1 641 Thermal motor model 2 643 TM120 653 TM150 655 TM31 652 Wire break short circuit 664 Motorized potentiometer 64 Motors Two winding system 569 Mu...

Page 1089: ...ts KPC 737 MOMRED 737 NSET_A 736 NSET_B 736 XERR 736 PROFIBUS 774 Device identification 783 Diagnostics 769 Forwarding of messages via diagnostics channels 802 Generic station description file 782 Interface Mode 742 Master class 1 and 2 775 Setting the address 781 Sign of life 791 825 Slave to slave communication 552 792 Telegrams 739 Terminating resistor 783 VIK NAMUR 783 PROFIBUS diagnostics dat...

Page 1090: ...r Module 694 Basic Functions via TM54F 695 Ring topology 842 Scalance 842 Rotating measurement shortened for vector control 256 Rotating measurement for vector control 254 RT Comparison with IRT 817 RT classes Send cycles 818 Setting 817 Update cycles 818 S S120 Combi 1080 Safe Brake Adapter Chassis format 691 Safe Brake Control Chassis format 691 SBC 689 Safe Stop 1 Basic Functions 685 SS1 685 Ti...

Page 1091: ...ve filter 324 Singleturn encoder 390 Slave to slave communication Faults 802 PROFIBUS 792 Setting in HW Config 796 Sliding averaging of the speed actual value 380 Slip compensation 305 SLM 29 Smart Infeed Control 43 Smart Line Module 29 Smart Mode 31 SMC30 Frequency setpoint 422 Software limit switch 513 Speed controller 220 Free Kp_n Tn_n adaptation 223 Limits 92 Properties 92 Reference model 226...

Page 1092: ...r monitoring Thermal motor models 640 Three winding transformer 552 Time stamp 905 Time synchronization 905 TM120 653 TM150 Forming groups 658 Sensor failure 659 Temperature sensor types 656 TM31 652 TM41 398 Referencing modes 401 SIMOTION mode 398 SINAMICS mode 399 Zero mark emulation 401 Tolerant encoder monitoring 371 Topology parallel connection with an auxiliary drive 572 Torque control 234 E...

Page 1093: ...nging parameter values 456 Configuration 428 431 Creating a parameter list 451 Data transfer 428 Deactivating 431 Default settings 431 Deleting a parameter list 454 Deleting list entries of the parameter list 454 Displaying device information 444 Displaying faults and alarms of the drive 450 Displaying the diagnostic buffer 448 DO status and operating display 445 Interfaces 429 Logging out 440 Log...

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